CN111684175B - Wheel module and moving mechanism - Google Patents

Abstract

The present invention relates to a wheel module and a movement mechanism, and according to an embodiment, the wheel module includes: a gear mechanism for decelerating the rotation generated by the motor unit; a bearing part for inserting the rotation shaft of the gear mechanism; a support portion for supporting the bearing portion; and an elastic member disposed in a gap formed between the outer wall of the bearing portion and the inner wall of the support portion, and abutting against the outer wall of the bearing portion and the inner wall of the support portion.

Description

Wheel module and moving mechanism

Technical Field

The present invention relates to a wheel module and a movement mechanism.

Background

Conventionally, in a wheel module having a planetary gear mechanism for decelerating rotation generated by a drive motor, it is known that a planetary gear is supported by a carrier via a connecting pin (for example, refer to patent document 1).

Patent document 1: japanese patent laid-open No. 2008-17588

However, in the above-described technique, there is a concern that vibrations generated by meshing of gears in the gear mechanism are transmitted to other members such as the case, and noise is generated.

Disclosure of Invention

The present invention has been made in view of the above-described problems, and an object thereof is to provide a wheel module and a movement mechanism that reduce propagation of vibrations caused by meshing of gears.

A wheel module according to an embodiment of the present invention includes: a gear mechanism for decelerating the rotation generated by the motor unit; a bearing part into which the rotation shaft of the gear mechanism is inserted; a support portion for supporting the bearing portion; and an elastic member disposed in a gap formed between an outer wall of the bearing portion and an inner wall of the supporting portion, and abutting against the outer wall of the bearing portion and the inner wall of the supporting portion.

According to one aspect of the present invention, a wheel module and a movement mechanism that reduce propagation of vibrations caused by meshing of gears can be provided.

Drawings

Fig. 1 is a perspective view showing an external appearance of a bogie hearth including a wheel module.

Fig. 2 is a perspective view showing an external appearance of the wheel module.

Fig. 3 is a perspective view showing an external appearance of the wheel module.

Fig. 4 is an exploded view of a portion of the wheel module of fig. 3.

Fig. 5 is a cross-sectional view of the wheel module along the axial direction.

Fig. 6 is a VI-VI cross-sectional view of fig. 5.

Fig. 7 is a cross-sectional view showing a part of the wheel module including the bolts in the axial direction.

Fig. 8 is an enlarged view of the vicinity of the planetary gear of fig. 5.

Fig. 9 is a perspective view of the second fixing member and the bearing portion as seen from the near front side.

Fig. 10 is an exploded view of fig. 9.

Fig. 11 is a perspective view of a wheel module according to a modification.

Fig. 12 is an enlarged cross-sectional view of the vicinity of the second bearing portion of the wheel module according to the modification.

Fig. 13 is an enlarged cross-sectional view of the vicinity of the second bearing portion of the wheel module according to the modification.

Detailed Description

The wheel module and the movement mechanism according to the embodiment will be described below with reference to the drawings. In the drawings referred to in the following description, dimensional relationships, ratios, and the like of the elements may be different from those of the actual ones. In addition, there are cases where the drawings include portions having different dimensional relationships and ratios from each other. In the drawings, the same reference numerals are given to constituent elements that perform the same function.

As shown in fig. 1, the carriage 100 has a stage 110, a handle 120, and a wheel module 200. Fig. 1 is a perspective view showing an external appearance of a bogie 100 including a wheel module 200 according to the embodiment. The stage 110 constitutes a body.

The stage 110 is a thick plate-shaped member, and loads a load on its surface. The handle 120 is a curved bar-shaped member for a user to hold when moving the carriage 100, and is rotatably attached to the upper surface of the stage 110. The wheel module 200 is a wheel that rotates by a driving current supplied from a power supply, not shown, and is mounted on the rear surface of the stage 110.

The wheel module 200 is used as a moving mechanism of the carriage 100. For example, the wheel module 200 is driven when the user is assisting in using the load placed on the stage 110 to transport the load, or is driven according to the distance from another carriage 100 when the carriage 100 has a function of automatically traveling along with another carriage 100. The wheel module 200 may be provided as a front wheel to the bogie 100, as a middle wheel to the bogie, as a rear wheel to the bogie, or as a combination of any two or more of the front wheel, the middle wheel, and the rear wheel. For example, in the case of a six-wheeled dolly, cornering performance is improved, but the number of wheels to be equipped is not limited to four wheels or the like.

The wheel module 200 can also be used as a moving mechanism of a so-called service robot such as a transport/conveyance robot or a cleaning robot.

As shown in fig. 2 to 5, the wheel module 200 includes a connection member 210 and a wheel unit 220. Fig. 2 is a perspective view showing an external appearance of the wheel module 200. Fig. 3 is a perspective view showing an external appearance of the wheel module 200. Fig. 4 is an exploded view of a portion of the wheel module 200 of fig. 3. Fig. 5 is a cross-sectional view of the wheel module 200 along the axial direction. In fig. 3 and 4, the tire 10 is omitted. The wheel module 200 may be constituted only by the wheel unit 220.

In the present embodiment, an example will be described in which the wheel module 200 is mounted near an end of the back surface of the stage 110 of the carriage 100, and the wheel unit 220 is disposed outside the support member 41b. Therefore, in the following description, the side closer to the inside of the carriage 100 is referred to as the "deep side" and the side closer to the outside of the carriage 100 is referred to as the "near-front side" in the axial direction (hereinafter referred to as the "axial direction") of the rotation shaft of the wheel module 200. The vertical direction is referred to as "lower", and the direction opposite to the vertical direction is referred to as "upper". Further, the outer side in the radial direction of the wheel body 11 of the wheel module 200 may be referred to as the "radial outer side", and the inner side in the radial direction may be referred to as the "radial inner side".

The connection member 210 is attached to the rear surface of the stage 110 of the carriage 100, and supports the wheel unit 220. The connection member 210 is formed in a substantially L-shape when viewed from the axial direction. The connecting member 210 includes a fixing portion 1, a pillar portion 2, a first holding portion 3, and a second holding portion 4. The fixing portion 1, the pillar portion 2, and the first holding portion 3 are integrally formed. The fixing portion 1, the pillar portion 2, and the first holding portion 3 may be formed as separate members. The fixing portion 1 is formed in a thick plate shape and is attached to the back surface of the stage 110. The pillar portion 2 extends downward from the deep-side end of the fixing portion 1.

The first holding portion 3 is provided at the lower end of the pillar portion 2, and extends in a direction perpendicular to the axial direction and the extending direction of the pillar portion 2. A first clamping portion 3a and a first feeder line holding portion 3b are formed on the lower surface of the first holding portion 3.

The first clamp portion 3a is formed in a semicircular arc shape recessed upward, and is formed along the axial direction. The first clamping portion 3a is formed to clamp the support member 41b of the wheel portion 220. The first feeder holding portion 3b is formed in a semicircular arc shape recessed upward, and is formed along the axial direction. The first power supply line holding portion 3b is formed to hold a power supply line 221, and the power supply line 221 supplies a driving current to the wheel portion 220. The first clamping portion 3a is not limited to the above-described shape as long as it can clamp the support member 41b. The first feeder line holding unit 3b is not limited to the above-described shape as long as it can hold the feeder line 221.

The second holding portion 4 is disposed below the first holding portion 3. The second holding portion 4 extends in a direction perpendicular to the axial direction and the extending direction of the pillar portion 2, similarly to the first holding portion 3. A second clamping portion 4a and a second feeder line holding portion 4b are formed on the upper surface of the second holding portion 4.

The second clamping portion 4a is formed in a semicircular arc shape recessed downward, and is formed in the axial direction. The second clamping portion 4a is formed to clamp the supporting member 41b. The second feeder holding portion 4b is formed in a semicircular arc shape recessed downward, and is formed in the axial direction. The second feeder line holding portion 4b is formed to hold the feeder line 221. The second clamping portion 4a is not limited to the above-described shape as long as it can clamp the support member 41b. The second feeder holding portion 4b is not limited to the above-described shape as long as it can hold the feeder 221.

The second holding portion 4 is attached to the first holding portion 3 by, for example, a screw 80 or the like in a state where the support member 41b is sandwiched between the first clamping portion 3a and the second clamping portion 4 a. Thus, the support member 41b is sandwiched by the connection members 210, and the wheel unit 220 is attached and fixed to the stage 110.

The connection member 210 may be configured to attach the wheel module 200 to the stage 110 by sandwiching the support member 41b between three or more holding portions, for example.

The wheel unit 220 is supplied with a driving current from a power source, not shown, via the power supply line 221, whereby the wheel unit 220 rotates about a rotation axis.

The wheel unit 220 includes the tire 10, the wheel body 11, the driving unit 12, and the braking unit 13.

The tire 10 is a cylindrical member formed of rubber or the like and having elasticity. Here, for example, the tire 10 has a diameter of 100 to 300mm. The wheel body 11 is formed in a cylindrical shape, and the tire 10 is mounted on the outer peripheral side.

The driving unit 12 is disposed inside the wheel 11, specifically, radially inside the wheel 11, and is driven by a current supplied through the power supply line 221 to rotate the wheel 11 about the rotation axis. The driving unit 12 includes a stator 15, a rotor 16, a rotary shaft 17, a planetary gear mechanism 18, and a housing 19.

The stator 15 and the rotor 16 constitute an inner rotor type motor, and the rotor 16 rotates around a rotation axis by a driving current. The rotational force generated by the rotation of the rotor 16 is transmitted to the wheel body 11 via the rotation shaft 17 and the planetary gear mechanism 18. Thereby, the tire 10 rotates together with the wheel 11.

The stator 15 rotates the rotor 16 around a rotation axis by a driving current. Specifically, the stator 15 has a structure in which a plurality of salient poles are arranged in a circumferential direction on an inner peripheral surface of a stator base formed in a hollow cylindrical shape, and coils are wound around the salient poles.

The rotor 16 is disposed radially inward of the stator 15, and rotates about a rotation axis with respect to the stator 15, thereby rotating the wheel 11. Specifically, the rotor 16 has a structure in which a plurality of magnets are arranged in a circumferential direction along an outer peripheral surface of a base portion formed in a cylindrical shape, and each magnet is arranged so as to face each coil of the stator 15. Thus, the rotor 16 rotates around the rotation axis by the electromagnetic force generated in the coil when the drive current flows through the coil of the stator 15.

The rotation shaft 17 is disposed so that the axial center coincides with the rotation shaft, and is fixed to the rotor 16 in a state of penetrating the center of the rotor 16. Here, the rotation shaft 17 is rotatably supported by the second fixing member 42 of the housing 19 via a bearing 60 disposed on the deeper side than the rotor 16 and a bearing 61 disposed on the front side than the rotor 16. Thereby, the rotation shaft 17 rotates around the rotation shaft in accordance with the rotation of the rotor 16.

As shown in fig. 6, the planetary gear mechanism 18 includes a sun gear 18a, three planetary gears 18b, and an internal gear 18c disposed so as to surround the three planetary gears 18b. Fig. 6 is a VI-VI cross-sectional view of fig. 5.

The planetary gear 18b is integrally coupled to the rotary shaft 18d. The planetary gear 18b meshes with the sun gear 18a, and rotates around the rotation shaft 18d together with the rotation shaft 18d. In addition, the internal gear 18c meshes with three planetary gears 18b. Returning to fig. 5, a sun gear 18a is formed at the end portion of the rotating shaft 17 on the near front side. One end of the planetary gear 18b is rotatably supported by the second fixing member 42 of the housing 19 via an end of the first bearing portion 20a. The other end of the planetary gear mechanism 18 is rotatably supported by the third fixing member 43 of the housing 19 via the end of the second bearing portion 20 b. The rotation shaft 18d of the planetary gear 18b and the supporting mechanism of the rotation shaft 18d will be described in detail later. The bearing portions 20a, 20b are sintered oil-impregnated bearings.

The internal gear 18c is fixed to the first rotating member 31 of the housing 19 by screws (not shown) or the like.

As a result, when the rotation shaft 17 rotates in accordance with the rotation of the rotor 16, the three planetary gears 18b engaged with the sun gear 18a formed on the rotation shaft 17 rotate. Then, the internal gear 18c is fixed to the first rotating member 31 by screws or the like, whereby the three planetary gears 18b rotate, and the internal gear 18c engaged with each of the planetary gears 18b rotates. The wheel 11 and the tire 10 rotate together with the rotation of the internal gear 18c. As a result, the rotational output generated by the rotation of the rotor 16 is inversely proportional to the reduction gear ratio, the rotational speed is reduced, and the torque increased in proportion to the reduction gear ratio is transmitted to the wheel body 11 and the tire 10.

The housing 19 has a rotating member 30 and a stationary member 40. The housing 19 is disposed inside the wheel body 11, and accommodates the braking portion 13, the stator 15, the rotor 16, the rotary shaft 17, and the planetary gear mechanism 18.

The rotating member 30 has a first rotating member 31 and a second rotating member 32. The first rotating member 31 is formed in a bottomed cylinder having a bottom 31a on a near side and an opening on a deep side. The first rotating member 31 is attached to the wheel 11 by a screw 81 or the like. The first rotating member 31 is rotatably supported by the third fixing member 43 via a bearing 62.

A projection 31b projecting toward the deep side is formed on the bottom 31a of the first rotary member 31. The protruding portion 31b is formed to face the rotation shaft 17. The protruding portion 31b is inserted into a hole 43c formed in the third fixing member 43. The protruding portion 31b is formed with a supply hole 31c for supplying the lubricating oil/grease to the planetary gear mechanism 18. The supply hole 31c is provided with a grease nipple 33. The supply hole 31c and the grease nipple 33 constitute a supply portion.

As shown in fig. 7, a discharge hole 31d is formed in the bottom 31a of the first rotary member 31 radially outward of the supply hole 31c. The discharge hole 31d is provided with a bolt 34 for opening and closing the discharge hole 31d. The bolt 34 is detachable from the discharge hole 31d. Fig. 7 is a cross-sectional view showing a part of the wheel module 200 including the bolts 34 in the axial direction. The discharge hole 31d and the bolt 34 constitute a discharge portion. In addition, the bolts 34 seal the discharge holes 31d.

The bolt 34 is attached to the discharge hole 31d to close the discharge hole 31d, except for the case of discharging the deteriorated lubricating oil and grease and the case of supplying the lubricating oil and grease from the grease nipple 33. When the grease nipple 33 is used to supply the lubricating oil and grease to the planetary gear mechanism 18, the lubricating oil and grease is supplied from the grease nipple 33 in a state in which the bolt 34 is removed from the discharge hole 31d. Thereby, air and deteriorated lubricating oil and grease present in the second housing portion 45 described later are discharged from the discharge hole 31d, and the lubricating oil and grease is supplied to the planetary gear mechanism 18.

Returning to fig. 5, the second rotating member 32 is formed in a cylindrical shape. The second rotating member 32 is disposed adjacent to the first rotating member 31 in the axial direction, and is disposed further toward the depth side than the first rotating member 31. The second rotating member 32 is attached to the first rotating member 31 by a screw 82 or the like. The second rotating member 32 is rotatably supported by the first fixing member 41 via a bearing 63.

The fixed member 40 is disposed radially inward of the rotary member 30. The fixing member 40 has a first fixing member 41, a second fixing member 42, and a third fixing member 43.

The first fixing member 41, the second fixing member 42, and the third fixing member 43 are arranged in this order from the deep side to the near side in the axial direction. The fixing member 40 forms a first accommodating portion 44 accommodating the driving portion 12 by the first fixing member 41 and the second fixing member 42. The fixed member 40 forms a second housing 45 that houses the planetary gear mechanism 18 by a part of the second rotary member 32, the second fixed member 42, and the third fixed member 43. That is, the second fixing member 42 is divided into a first housing portion 44 and a second housing portion 45. The second fixing member 42 constitutes a first wall portion. The third fixing member 43 constitutes a second wall portion.

The first fixing member 41 is formed in a bottomed cylinder having a bottom 41a on the deep side and an opening on the near front side. A support member 41b extending in the axial direction is formed at the bottom portion 41a of the first fixing member 41. The support member 41b extends from the bottom 41a toward the deep side. The support member 41b may be provided separately from the first fixing member 41. The first fixing member 41 constitutes a fixing-side member.

The support member 41b is formed in a cylindrical shape. A cover 41c is attached to an end of the support member 41b on the deep side. The cover 41c is formed in a bottomed cylinder shape having a bottom on the deep side and an opening on the near front side. By attaching the cover 41c to the support member 41b, a third receiving portion 46 for receiving the brake portion 13 is formed on the deep side of the support member 41b.

Further, the support member 41b is formed with a thick portion 41d. The wall thickness portion 41d is formed on the bottom portion 41a side of the first fixing member 41, that is, on the front side of the third housing portion 46, and is formed to be thicker than the portion where the third housing portion 46 is formed. The thick portion 41d is formed at a portion sandwiched by the connecting members 210. The support member 41b may have a wall thickness portion 41d formed at least in a part of the portion sandwiched by the connection members 210. The support member 41b has the thick portion 41d, and therefore, strength can be improved.

A hole 41e into which the rotation shaft 17 is inserted is formed in the thick portion 41d. The thick portion 41d rotatably supports the rotation shaft 17 via the bearing 60.

The second fixing member 42 is formed in a substantially circular shape. The second fixing member 42 is disposed adjacent to the first fixing member 41 in the axial direction, and is disposed on the front side of the first fixing member 41. The second fixing member 42 is attached to the first fixing member 41 by a screw 83 or the like.

The second fixing member 42 is formed with a hole 42a into which the rotation shaft 17 is inserted. A cylindrical bearing support portion 42b protruding toward the deep side in the axial direction is formed around the hole 42a. A bearing 61 is disposed between the inner peripheral wall of the bearing support portion 42b and the outer peripheral wall of the rotary shaft 17.

A first support portion 42c recessed toward the deep side in the axial direction is formed on a surface of the second fixing member 42 on the front side, that is, a surface facing the planetary gear 18b. The first support portion 42c is formed in a bottomed shape in which the bottom portion 42g is closed. A rotation shaft 18d integral with the planetary gear 18b is inserted into the first support portion 42c through the first bearing portion 20a. The first support portion 42c supports the rotation shaft 18d of the planetary gear 18b via the first bearing portion 20a. The first support portion 42c is formed in three portions in correspondence with the planetary gear 18b. In the present embodiment, the planetary gear 18b is formed in three parts, but the wheel module 200 may be provided with one or more planetary gears. The second fixing member 42 rotatably supports the planetary gear 18b. The details of the first support portion 42c will be described later.

The third fixing member 43 includes a base plate 43a and a coupling portion 43b. The third fixing member 43 is disposed opposite to the second fixing member 42. Specifically, the third fixing member 43 is disposed so that the substrate 43a faces the second fixing member 42 through the planetary gears 18b of the planetary gear mechanism 18.

A hole 43c into which the projection 31b of the first rotary member 31 is inserted is formed in the base plate 43 a. A cylindrical bearing support portion 43d protruding toward the proximal side in the axial direction is formed around the hole 43c. A bearing 62 is disposed between the outer peripheral wall of the bearing support portion 43d and the inner peripheral wall of the bottom portion 31a of the first rotary member 31.

Further, a second support portion 43e recessed toward the front side in the axial direction is formed on the surface of the substrate 43a on the deep side, that is, the surface facing the planetary gear 18b. The second support portion 43e is formed in a bottomed shape. The rotation shaft 18d of the planetary gear 18b is inserted into the second support portion 43e through the second bearing portion 20 b. The second support portion 43e is formed in three places in correspondence with the planetary gear 18b. A hole 43g penetrating in the axial direction is formed in the bottom 43f of the second support portion 43e. The second support portion 43e is described in detail below.

The coupling portion 43b protrudes from the base plate 43a toward the deep side between the adjacent planetary gears 18b. The coupling portion 43b is attached to the second fixing member 42 by a screw 84 (see fig. 7) or the like. The coupling portion 43b is disposed radially inward of the internal gear 18c of the planetary gear mechanism 18, and does not contact the internal gear 18c. The third fixing member 43 rotatably supports the planetary gear 18b.

The braking unit 13 is accommodated in the third accommodation unit 46, and generates braking force for decelerating the rotation shaft 17.

Here, the supporting structure of the planetary gear 18b of the planetary gear mechanism 18, the first supporting portion 42c of the second fixing member 42, and the second supporting portion 43e of the third fixing member 43 will be described in detail with reference to fig. 8. Fig. 8 is an enlarged view of the vicinity of the planetary gear in fig. 5.

As described above, one end of the planetary gear 18b is rotatably supported by the second fixing member 42 via the first bearing portion 20a, and the other end is rotatably supported by the third fixing member 43 via the second bearing portion 20 b. The rotation shaft 18d of the planetary gear 18b is formed with a hollow portion 18e in the axial direction. That is, the rotation shaft 18d of the planetary gear 18b is formed in a hollow shape. The hollow portion 18e constitutes a hollow portion.

The planetary gear 18b has washers 52 and 53 on the end surfaces thereof, and the planetary gear 18b is held in contact with the end surfaces of the first bearing portion 20a and the second bearing portion 20b via the washers 52 and 53, leaving a gap between the rotation shaft 18d and the second fixing member 42 and the third fixing member 43. With this configuration, the planetary gear 18b is rotatably supported.

The first bearing portion 20a is formed in a cylindrical shape, and has a rotation preventing portion 20c protruding from an end portion on the near front side, i.e., the planetary gear 18b side, toward the radial outside of the first bearing portion 20a. As shown in fig. 9 and 10, the rotation preventing portion 20c is formed in an elliptical shape. That is, the rotation preventing portion 20c includes two linear outer walls 20c1 and an arc-shaped outer wall 20c2 connecting the two outer walls 20c 1. Fig. 9 is a perspective view of the second fixing member 42 and the first bearing portion 20a from the near front side. Fig. 10 is an exploded view of fig. 9.

The first support portion 42c of the second fixing member 42 is formed to be recessed stepwise toward the deep side. Thus, the second fixing member 42 has a first concave portion 42d, a second concave portion 42e, and a third concave portion 42f formed in this order from the deep side. That is, the first support portion 42c is formed by the first concave portion 42d, the second concave portion 42e, and the third concave portion 42f. The first recess 42d in a cross section perpendicular to the axial direction is circular in shape.

The second recess 42e in a cross section perpendicular to the axial direction is circular in shape. The diameter of the inner peripheral wall 42e1 of the first support portion 42c forming the second concave portion 42e is larger than the diameter of the inner peripheral wall 42d1 of the first support portion 42c forming the first concave portion 42 d. The first support portion 42c accommodates the O-ring 50 in the second recess 42e. The second concave portion 42e constitutes a concave portion.

The third recess 42f in the cross section perpendicular to the axial direction has an elliptical shape. That is, the third concave portion 42f is formed by two opposed linear inner walls 42f1 and two circular arc inner walls 42f2 connecting between the two inner walls 42f 1. The diameter of the circular arc-shaped inner wall 42f2 is larger than the diameter of the inner peripheral wall 42e1 forming the second concave portion 42e. Further, the distance between the two linear inner walls 42f1 is larger than the diameter of the inner peripheral wall 42e1 forming the second concave portion 42e.

Referring back to fig. 8, the second bearing portion 20b has the same structure as the first bearing portion 20a, and detailed description thereof is omitted. The second bearing portion 20b is formed in a cylindrical shape, and has a rotation preventing portion 20d.

The second support portion 43e formed on the base plate 43a of the third fixing member 43 is formed to be recessed stepwise toward the near front side. Thus, the third fixing member 43 has a first concave portion 43h, a second concave portion 43i, and a third concave portion 43j formed in this order from the near side. That is, the second support portion 43e is formed by the first concave portion 43h, the second concave portion 43i, and the third concave portion 43j. The shape of each of the concave portions 43h to 43j is the same as that of each of the concave portions 42d to 42f of the second fixing member 42, and detailed description thereof is omitted. The second support portion 43e accommodates the O-ring 51 in the second recess 43i. The second concave portion 43i constitutes a concave portion.

The hole 43g formed in the bottom 43f of the second support portion 43e of the third fixing member 43 is formed so as to face the hollow portion 18e of the rotation shaft 18d of the planetary gear 18b. The hole 43g communicates with the hollow portion 18e. The diameter of the hole 43g is smaller than the diameter of the hollow portion 18e. The opening of the proximal side of the hole 43g is closed by a bearing 62. The bearing 62 constitutes a swivel bearing portion.

The O-rings 50, 51 are elastic members. The O-ring 50 is disposed in a gap formed between the inner peripheral wall 42e1 of the second recess 42e forming the first support portion 42c and the outer peripheral wall 20a1 of the first bearing portion 20a, and abuts against the inner peripheral wall 42e1 and the outer peripheral wall 20a1.

Thereby, a gap is formed between the inner peripheral wall 42d1 of the first recess 42d forming the first support portion 42c and the outer peripheral wall 20a1 of the first bearing portion 20a. Further, gaps are formed between the inner walls 42f1 (see fig. 9) and 42f2 of the third recess 42f forming the first support portion 42c and the outer walls 20c1 (see fig. 9) and 20c2 of the rotation preventing portion 20c of the first bearing portion 20a.

That is, the O-ring 50 is in contact with the inner peripheral wall 42e1 and the outer peripheral wall 20a1 in a state where a gap is generated between the first support portion 42c and the first bearing portion 20a.

The O-ring 51 is disposed in a gap formed between the inner peripheral wall 43i1 of the second recess 43i forming the second support portion 43e and the outer peripheral wall 20b1 of the second bearing portion 20b, and abuts against the inner peripheral wall 43i1 and the outer peripheral wall 20b1.

Thereby, a gap is formed between the inner peripheral wall 43h1 of the first concave portion 43h forming the second support portion 43e and the outer peripheral wall 20b1 of the second bearing portion 20 b. In addition, a gap is formed between the inner wall 43j1 of the third recess 43j forming the second support portion 43e and the outer wall 20d1 of the rotation preventing portion 20d of the second bearing portion 20 b.

That is, the O-ring 51 is in contact with the inner peripheral wall 43i1 and the outer wall 20d1 in a state where a gap is generated between the second support portion 43e and the second bearing portion 20 b.

In the wheel module 200, the planetary gears 18b are elastically deformed by the O-rings 50, 51, whereby they can be displaced in the radial direction. Therefore, the wheel module 200 can absorb vibration generated by the meshing of the planetary gear 18b with the sun gear 18a and the internal gear 18c by the O-rings 50, 51. In addition, when assembling the planetary gear mechanism 18, the planetary gear mechanism 18 can be assembled while deforming the O-rings 50, 51, so that the hole accuracy between the fixing member 42 and the fixing member 43 at the time of assembly does not need to be improved.

Next, an assembling step of the planetary gears 18b of the planetary gear mechanism 18 will be described.

In assembling the planetary gear 18b, first, the O-ring 50 is attached to the outer peripheral wall 20a1 of the first bearing portion 20a, and the first bearing portion 20a to which the O-ring 50 is attached is inserted into the first support portion 42c of the second fixing member 42. Thereby, the O-ring 50 is accommodated in the second recess 42e.

Next, the O-ring 51 is attached to the outer peripheral wall 20b1 of the second bearing portion 20b, and the second bearing portion 20b to which the O-ring 51 is attached is inserted into the second support portion 43e. Thereby, the O-ring 51 is accommodated in the second recess 43i.

Next, the rotation shaft 18d is pressed into the planetary gear 18b. Thereby, the planetary gear 18b and the rotation shaft 18d are integrated. Then, the rotation shaft 18d is inserted into the first bearing portion 20a, and the first bearing portion 20a is inserted into the first supporting portion 42c of the second fixing member 42. At this time, air in the first concave portion 42d and residues such as lubricating oil and grease are discharged from the first concave portion 42d through the hollow portion 18e of the rotary shaft 18d. Accordingly, the air and the residue such as the lubricating oil and the grease can be suppressed from being compressed in the first concave portion 42d, and the insertion resistance of the rotary shaft 18d due to the compression of the air and the residue such as the lubricating oil and the grease in the first concave portion 42d can be eliminated, so that the planetary gear 18b can be assembled.

Next, the second bearing portion 20b is inserted into the rotation shaft 18d, and the planetary gear 18b is attached to the third fixing member 43. At this time, air in the first concave portion 43h and residues such as lubricating oil and grease are discharged from the hole 43g formed in the bottom portion 43f of the second support portion 43e. Accordingly, the air and the residue such as the lubricating oil and the grease can be suppressed from being compressed in the first concave portion 43h, and the insertion resistance of the rotary shaft 18d due to the compression of the air and the residue such as the lubricating oil and the grease in the first concave portion 43h can be eliminated, so that the planetary gear 18b can be assembled.

In the wheel module according to the present embodiment, for example, a housing accommodating the driving unit, an internal gear, and the like are fixed by bolts, and are attached to the device using attachment holes provided in the housing.

However, in the wheel module according to the present embodiment, the housing must be changed according to the equipment to which the wheel module is attached, and there is room for improvement in terms of versatility of the wheel module.

In contrast, the wheel module 200 is fixed to the stage 110 by sandwiching the support member 41b extending from the first fixing member 41 by the connection member 210. Thus, for example, in a case where the size of the stage 110 and the mounting method to the stage 110 are different, the wheel unit 220 of the wheel module 200 is not required to be changed, and the wheel module 200 can be mounted on the stage 110 by changing the connection member 210, so that the versatility of the wheel module 200 can be improved.

The wheel module 200 accommodates the brake unit 13 in the support member 41b sandwiched by the connection members 210. This can miniaturize the wheel module 200. In addition, by sandwiching the support member 41b housing the brake portion 13 with the connection member 210, the wheel module 200 can be mounted on the stage 110, and thus the assemblability can be improved.

The wheel module 200 has a wall thickness portion 41d at a portion sandwiched by the connection members 210. This can improve the strength of the support member 41b sandwiched by the connection members 210, and can suppress deformation of the support member 41b. Accordingly, the wheel module 200 can be fixed to the stage 110.

The wheel module 200 sandwiches the support member 41b by the first holding portion 3 and the second holding portion 4. This makes it possible to easily mount the wheel module 200 on the stage 110, thereby improving the assemblability.

The wheel module 200 holds a power supply line 221 for supplying power to the driving portion 12 via a connection member 210. This can suppress the power feeding line 221 from contacting the tire 10 and the wheel 11.

The wheel module 200 is divided by the second fixing member 42 into a first housing portion 44 housing the driving portion 12 and a second housing portion 45 housing the planetary gear mechanism 18. In addition, a hollow portion 18e is formed in the rotation shaft 18d of the planetary gear 18b in the axial direction. The second fixing member 42 is formed with a first support portion 42c having a bottom shape, the first support portion 42c supporting the rotation shaft 18d of the planetary gear 18b, and the bottom portion 42g being closed. In addition, a hole 43g communicating with the hollow portion 18e is formed in the third fixing member 43 forming the second housing portion 45 opposite to the first fixing member 41.

This can suppress the outflow of the lubricating oil/grease from the second housing portion 45 to the first housing portion 44, and can delay the occurrence of oil break in the planetary gear mechanism 18. Therefore, the initial transmission efficiency of the power in the planetary gear mechanism 18 can be maintained for a longer time. In addition, generation of noise in the planetary gear mechanism 18 can be suppressed.

In the wheel module having no hollow portion 18e and no hole 43g, air existing between the second fixing member and the planetary gear, specifically, in the first recess of the second fixing member becomes resistance, and there is a concern that assembly of the wheel module becomes difficult.

In contrast, in the wheel module 200, by providing the hollow portion 18e and the hole 43g, air, residual lubricating oil, grease, and the like in the first concave portion 42d of the second fixing member 42 can be suppressed from being compressed when the planetary gear 18b is assembled, and the rotary shaft 18d can be easily inserted into the first support portion 42c. In addition, the air, the residue such as the lubricating oil and the grease, and the like can be suppressed from being compressed in the first recess 43h of the third fixing member 43, and the rotary shaft 18d can be easily attached to the second support portion 43e. Therefore, the assembling property of the wheel module 200 can be improved.

The hole 43g is formed in the bottom 43f of the second support portion 43e. Accordingly, when the planetary gear 18b is assembled, air, and residues such as lubricating oil and grease can be discharged from the hole 43g of the bottom 43f facing the rotation shaft 18d. Therefore, the air, the residue such as the lubricating oil and the grease, and the like can be suppressed from being compressed in the first recess 43h of the third fixing member 43, and the rotary shaft 18d can be easily attached to the second support portion 43e. Therefore, the assembling property of the wheel module 200 can be improved.

The wheel module 200 closes the hole 43g with the bearing 62. This can prevent the lubricant grease from flowing out of the second housing 45 through the hole 43g. This suppresses oil breakage of the planetary gear mechanism 18, and improves the power transmission efficiency of the planetary gear mechanism 18. In addition, generation of noise in the planetary gear mechanism 18 can be suppressed.

The wheel module 200 rotatably supports the rotation shaft 18d of the planetary gear 18b via the bearing portions 20a and 20b as sintered oil bearings by the second fixing member 42 and the third fixing member 43. This can reduce the number of components and the planetary gear mechanism 18. That is, the wheel module 200 can be miniaturized.

The first fixing member 41 is formed with a supply hole 31c for supplying the lubricating oil/grease to the second housing portion 45 from the outside, and a discharge hole 31d for discharging the air and deteriorated lubricating oil/grease existing in the second housing portion 45 to the outside when the lubricating oil/grease is supplied to the second housing portion 45. This makes it possible to easily discharge the air existing in the second housing portion 45 to the outside, and to easily supply the lubricating oil and grease to the second housing portion 45.

The wheel module 200 has bolts 34 capable of opening and closing the discharge holes 31d. This makes it possible to easily open and close the discharge hole 31d.

A supply hole 31c and a discharge hole 31d are formed in the bottom 31a of the first rotary member 31. That is, the supply hole 31c and the discharge hole 31d are formed on the same surface. Accordingly, the opening and closing of the discharge hole 31d and the supply of the lubricating oil and grease can be performed by the bolt 34 from the near side, and the operation for supplying the lubricating oil and grease can be easily performed.

The wheel module 200 rotatably supports the rotation shaft 18d of the planetary gear 18b via the bearing portions 20a and 20b, and an O-ring 50 as an elastic member is provided in a gap formed between, for example, the outer peripheral wall 20a1 of the first bearing portion 20a and the inner peripheral wall 42e1 of the second recess 42e forming the second fixing member 42. The O-ring 50 is in contact with the outer peripheral wall 20a1 of the first bearing portion 20a and the inner peripheral wall 42e1 of the second fixing member 42.

Accordingly, the O-ring 50 absorbs vibrations generated by the meshing of the planetary gears 18b with the sun gear 18a and the internal gear 18c, and thus transmission of the vibrations to other members such as the housing 19 can be suppressed. Thus, noise can be reduced. In addition, dimensional errors of the planetary gear mechanism 18 can be absorbed by the O-ring 50, so that the planetary gear mechanism 18 can be easily assembled. In addition, the dimensional error of the planetary gear mechanism 18 can be absorbed by the O-ring 50, and the allowable value of the dimensional accuracy of each component constituting the planetary gear mechanism 18 can be increased, so that each component, that is, the planetary gear mechanism 18 can be easily manufactured. In addition, the use of the O-rings 50 and 51 can improve versatility.

The wheel module 200 accommodates the O-rings 50 and 51 in the second recesses 42e and 43i. This can improve the assembling property of the planetary gear mechanism 18.

The wheel module 200 includes, for example, a rotation preventing portion 20c for preventing rotation relative to the second fixing member 42 in the first bearing portion 20a. This prevents the first bearing portion 20a from rotating relative to the second fixing member 42.

As shown in fig. 11, in the wheel module 200 according to the modification, the support member 41b may be inserted into the circular arc-shaped clamping hole 212 having the notch 211, and the support member 41b may be clamped by fastening a connection member 210 as the clamping support member 41b with a screw 213 or the like. Fig. 11 is a perspective view of a wheel module 200 according to a modification. The portion to be fastened by the screw 213 or the like is preferably a plurality of portions, for example, two portions, at least one of which is a portion formed with the thick portion 41d (see fig. 5). The portion to be fastened by the screw 213 or the like may be one portion. Accordingly, the wheel module 200 can be fixed to the stage 110 (see fig. 1) by the simple structure of the connecting member 210 and the supporting member 41b.

As shown in fig. 12, in the wheel module 200 according to the modification, for example, a recess 20e may be formed in the outer peripheral wall 20b1 of the second bearing portion 20b, and the O-ring 51 may be accommodated in the recess 20e. Fig. 12 is an enlarged cross-sectional view of the vicinity of the second bearing portion 20b of the wheel module 200 according to the modification. The recess 20e is formed over the entire periphery of the outer peripheral wall 20b1 of the second bearing portion 20 b. The recess 20e for accommodating the O-ring 51 may be formed in the third fixing member 43, or may be formed in the second bearing portion 20b and the third fixing member 43, for example. The recess 20e may be formed in the first bearing portion 20a.

In the wheel module 200 according to the modification, for example, the cross-sectional shape of the support member 41b obtained by cutting the support member 41b with a plane perpendicular to the axial direction may be set to be substantially D-shaped, and the shapes of the first clamping portion 3a and the second clamping portion 4a may be set to be substantially D-shaped in conformity with the support member 41b. This allows the attachment position of the wheel unit 220 to the connection member 210 to be matched with a predetermined position, thereby improving the assemblability.

The wheel module 200 according to the modification may be configured to fix the brake 13 or other members from the outer peripheral side of the support member 41b, for example, by screws. Even in such a case, the wheel module 200 according to the modification can clamp the support member 41b from the up-down direction by the first holding portion 3 and the second holding portion 4, thereby preventing the support member 41b from contacting the screw and clamping the support member 41b.

In the above embodiment, the planetary gear mechanism is exemplified as the gear mechanism, but the present invention is not limited to the planetary gear mechanism, and the same effects can be obtained as long as the gear mechanism transmits the rotational force while the gears mesh. In particular, in the case of using the planetary gear mechanism, since the number of gears meshed with one gear is large, an effect of further reducing the propagation of vibration is easily obtained.

In the above embodiment, the O-rings 50 and 51 are used as the elastic members, but a resin, rubber, or the like having a smaller elastic modulus than metal may be used as the elastic members. In addition, the elastic member may have a sealing function. When the O-rings 50 and 51 are used as the elastic members, it is possible to seal the lubricating oil and grease and prevent inflow of water from the outside as the sealing members of the gear mechanism.

As shown in fig. 13, the wheel module 200 according to the modification may be configured without the O-rings 50 and 51 (see fig. 8) according to the above-described embodiment between the first bearing portion 20a and the second fixing member 42 and between the second bearing portion 20b and the third fixing member 43. Fig. 13 is an enlarged cross-sectional view of the vicinity of the second bearing portion 20b of the wheel module 200 according to the modification.

The present invention is not limited to the above embodiment. The present invention also includes a configuration in which the above-described components are appropriately combined. Further effects and modifications can be easily derived by those skilled in the art. Accordingly, the broader aspects of the present invention are not limited to the above embodiments, and various modifications are possible.

Description of the reference numerals

3 … first retaining portions; 4 … second retaining portions; 10 … tire; 11 … wheel body; 12 … drive part; 13 … brake part; 18 … planetary gear mechanism; 18b … planetary gear; 18d … rotation axis; 18e … hollow portion; 19 … shell; 20a … first bearing portions; 20b … second bearing portions; 20c … rotation preventing portions; 30 … rotary part; 31c … feed holes; 31d … discharge orifice; 33 … grease fitting; 34 … bolt; 40 … fixing member; 41b … support member; 41d … wall thickness; 42 … second fixing member; 42c … first support; 42e … second recesses; 43 … third fixing member; 43e … second support; 43f … bottom; 43g … wells; 43i … second recesses; 44 … first receiving portion; 45 … second receiving portion; a 50 … O-ring; 51 … O-ring; 62 … bearings; 100 … trolley; 110 … stage; 200 … wheel module; 210 … connection means; 220 … wheel portions.

Claims (17)

1. A wheel module is provided with:

a gear mechanism for decelerating the rotation generated by the motor unit;

a bearing portion into which a rotation shaft of the gear mechanism is inserted;

a support portion that supports the bearing portion;

an elastic member disposed in a gap formed between an outer wall of the bearing portion and an inner wall of the supporting portion, and abutting against the outer wall of the bearing portion and the inner wall of the supporting portion;

a first wall portion that defines a first housing portion in which the motor portion is housed and a second housing portion in which the gear mechanism is housed;

a second wall portion provided opposite to the first wall portion, forming the second housing portion;

a rotating member provided on the outer side of the second wall portion in the radial direction of the wheel module; and

a rotation bearing part for rotatably supporting the rotation member,

the gear mechanism is a planetary gear mechanism,

the rotation shaft of the gear mechanism is provided with a hollow part formed along the axial direction of the rotation shaft,

the first wall part is provided with a first supporting part which supports the rotating shaft and has a closed bottom and a bottom shape,

the second wall portion has a hole communicating with the hollow portion,

the rotating member rotates together with an internal gear of the planetary gear mechanism,

the swivel bearing portion closes the aperture.

2. The wheel module of claim 1, wherein,

at least one of the support portion and the bearing portion includes a recess in which the elastic member is disposed.

3. The wheel module of claim 1, wherein,

the bearing portion includes a rotation preventing portion that prevents rotation relative to the support portion.

4. The wheel module of claim 1, wherein,

the elastic component is O type ring.

5. The wheel module of claim 1, wherein,

the gear mechanism is a planetary gear mechanism.

6. The wheel module according to any one of claims 1 to 5, wherein,

the second wall portion includes a bottomed second support portion that supports the rotation shaft and has the hole formed therein.

7. The wheel module of claim 6, wherein,

the rotary shaft is supported by the first support portion and the second support portion via a sintered oil-impregnated bearing.

8. The wheel module according to any one of claims 1 to 5, wherein,

the rotating member includes:

a supply unit configured to supply oil from outside to the second storage unit; and

and a discharge unit that discharges air existing in the second housing unit to the outside when the oil is supplied to the second housing unit.

9. The wheel module of claim 8, wherein,

the wheel module includes an opening/closing portion that opens/closes the discharge portion.

10. The wheel module of claim 8, wherein,

the rotary member includes the supply portion and the discharge portion on the same surface.

11. The wheel module according to any one of claims 1 to 5, comprising:

the wheel body is used for mounting a tire;

a driving part arranged in the wheel body and used for rotating the wheel body; and

and a support member extending from the fixed side member of the driving unit, and clamped and fixed to the body.

12. The wheel module of claim 11, wherein,

the support member accommodates a braking portion that generates braking force.

13. The wheel module of claim 12, wherein,

the support member includes a wall thickness portion thicker than a portion accommodating the brake portion at a portion to be clamped.

14. The wheel module of claim 11, wherein,

the wheel module includes a connecting member that clamps the support member and fixes the support member to the body.

15. The wheel module of claim 14, wherein,

the connecting member clamps the supporting member by a plurality of members.

16. The wheel module of claim 14, wherein,

the connection member includes a power supply line holding portion that holds a power supply line that supplies power to the driving portion.

17. A moving mechanism, wherein,

the moving mechanism includes the wheel module according to any one of claims 1 to 5.