CN107310377A - Rolling in multiple directions device - Google Patents
Rolling in multiple directions device Download PDFInfo
- Publication number
- CN107310377A CN107310377A CN201710591128.3A CN201710591128A CN107310377A CN 107310377 A CN107310377 A CN 107310377A CN 201710591128 A CN201710591128 A CN 201710591128A CN 107310377 A CN107310377 A CN 107310377A
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- China
- Prior art keywords
- rolling
- stator
- multiple directions
- annular stent
- rotor
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
A kind of rolling in multiple directions device, has：The rolling unit of a plurality of coaxial arrangements, the rolling unit has annular stent, the annular stent is furnished with a plurality of rotating wheels along its circumferential ring, the axis of rotation of the rotating wheel is parallel with the tangential direction of the annular stent excircle and vertical with the axis of rotation of the annular stent, is fixedly connected one by one between a plurality of annular stents；The driver element of a plurality of coaxial arrangements, the driver element has to be fixedly connected one by one between stator and the rotor being rotatably held on the stator, a plurality of stators, and a plurality of rotors are fixedly connected with the annular stent respectively.The invention provides the rolling in multiple directions device that a kind of cramped construction with one realizes multidirectional flexible motion.
Description
Technical field
It is a kind of rolling in multiple directions device specifically the invention belongs to field of mechanical technique.
Background technology
Wheel is considered as that the mankind are most ancient, one of most important invention, and its significance level is enough mutually to carry simultaneously with the use of fire
By.The appearance of wheel makes the mankind to exceed the object of own wt with fast removal, efficiently solves transportation problem, promotes
The commodity circulation and Trade Development of society.
With the development of modern science and technology, wheel is applied in various kinds of equipment, and equipment movement is provided to be in rolling contact
Basis.However, traditional wheel only has the motion in a direction, it is difficult to flexibly turn under heavy duty and complex working condition.For
This, prior art usually needs to use extra steering mechanism, causes structure too fat to move, bulky.Steering mechanism is only with wheel
Vertical arrangement, also results in drive mechanism complexity, and the degree of reliability is relatively low with flexibility.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of rolling in multiple directions device, with the cramped construction of one
Realize multidirectional flexible motion.
The purpose of the present invention is achieved through the following technical solutions：
A kind of rolling in multiple directions device, has：
The rolling unit of a plurality of coaxial arrangements, the rolling unit has annular stent, the annular stent edge
Its circumferential ring is furnished with a plurality of rotating wheels, and the tangential direction of the axis of rotation of the rotating wheel and the annular stent excircle is put down
Row is simultaneously vertical with the axis of rotation of the annular stent, is fixedly connected one by one between a plurality of annular stents；
The driver element of a plurality of coaxial arrangements, the driver element has stator and is rotatably held in the stator
On rotor, be fixedly connected one by one between a plurality of stators, a plurality of rotors are solid with the annular stent respectively
Fixed connection.
As the improvement of above-mentioned technical proposal, the driver element has one to fix wheel shaft, and the fixed wheel shaft connects one by one
Connect a plurality of stators and be fixedly connected with the stator, and with for connecting for the rolling in multiple directions device with external equipment
The connection end connect.
As the further improvement of above-mentioned technical proposal, the stator axially has the first axis hole along it, a plurality of described
Stator linear distribution and constitute stator array, the front/rear end of the stator array has the end key for being used for realizing transmission respectively
Hole, the end keyhole is coaxial with first axis hole, and the fixed wheel shaft is in the lump through first axis hole and the end
Keyhole, the fixed wheel shaft is connected by locking key portion with the end key hole shaped bonding.
As the further improvement of above-mentioned technical proposal, the rotor has cirque structure and is rotatably sheathed on institute
State stator outside, at least one described annular stent is sheathed on the outside of the rotor and with the rotor there is one to revolve
The kinetic characteristic turned.
As the further improvement of above-mentioned technical proposal, the annular stent is connected by first connecting portion, and described
One connecting portion has preceding tight lock part, spacer and rear tight lock part, and the spacer is located between the adjacent annular stent, plural number
The individual annular stent linear distribution and constitute annular stent array, the preceding tight lock part is pressed respectively with the rear tight lock part
Tightly it is fixedly connected with a plurality of rolling units in the front/rear end of the annular stent array.
As the further improvement of above-mentioned technical proposal, the first connecting portion be sheathed on the outside of the rotor and with institute
Stating rotor has the kinetic characteristic rotated integrally.
As the further improvement of above-mentioned technical proposal, profile circle of a plurality of rotating wheels along the annular stent
Week is uniformly distributed.
As the further improvement of above-mentioned technical proposal, the adjacent rotor is connected by second connecting portion, and described
Two connecting portions have the second axis hole and two bearing holes located at the second axis hole two ends, second axis hole, the bearing
Hole is coaxial with the axis of rotation of the rotor, and wheel bearing is respectively equipped with inside the bearing hole.
As the further improvement of above-mentioned technical proposal, the stator, which has, stretches out shaft end, the institute of the adjacent stator
State stretching shaft end it is positioned opposite, the stretching shaft end is sheathed on the wheel bearing inner ring.
As the further improvement of above-mentioned technical proposal, the annular stent is fixedly connected with the second connecting portion.
The beneficial effects of the invention are as follows：
(1) there is a plurality of rolling units and driver element, rolling unit has annular stent and and annular stent
There is provided the movable Multidirectional motion function with lateral sliding for vertically arranged a plurality of rotating wheels；
(2) there is the driver element of a plurality of coaxial arrangements, driver element has between stator and rotor, a plurality of stators
It is fixedly connected, a plurality of rotors are fixedly connected with annular stent respectively, the driving structure complicated without other, and has one by one
The advantage and larger output torque of one application, and providing a kind of have integrative-structure and can realize the multidirectional rolling of Multidirectional motion
Dynamic device.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the first schematic diagram of the rolling in multiple directions device that the embodiment of the present invention 1 is provided；
Fig. 2 is the second schematic diagram of the rolling in multiple directions device that the embodiment of the present invention 1 is provided；
Fig. 3 is the 3rd schematic diagram of the rolling in multiple directions device that the embodiment of the present invention 1 is provided；
Fig. 4 is the 4th schematic diagram of the rolling in multiple directions device that the embodiment of the present invention 1 is provided；
Fig. 5 is the A-A section view axonometric schematic diagrams of rolling in multiple directions device in Fig. 4；
Fig. 6 is the B-B schematic cross-sectional views that rolling in multiple directions device removes after wheel bearing in Fig. 4.
Main element symbol description：
1000- rolling in multiple directions devices, 0100- rolling units, 0110- annular stents, 0120- rotating wheels, 0200- drivings
Unit, 0210- stators, the axis holes of 0211- first, 0212- ends keyhole, 0213- stretches out shaft end, 0220- rotors, 0300- first
Tight lock part after tight lock part before connecting portion, 0310-, 0320- spacers, 0330-, 0400- fixes wheel shaft, 0410- connection ends, 0420-
Locking key portion, 0500- second connecting portions, the axis holes of 0510- second, 0520- first axle bearing bore, 0530- second bearings hole, 0600-
Wheel bearing.
Embodiment
For the ease of understanding the present invention, rolling in multiple directions device is described more fully below with reference to relevant drawings.
The preferred embodiment of rolling in multiple directions device is given in accompanying drawing.But, rolling in multiple directions device can pass through many different forms
To realize, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is to make to fill rolling in multiple directions
The disclosure put is more thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also have element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
In the absence of intermediary element.Term as used herein " vertically ", " level ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.It is intended merely to herein in the term used in the description of rolling in multiple directions device
The purpose of specific embodiment is described, it is not intended that the limitation present invention.Term as used herein " and/or " include one or many
The arbitrary and all combination of individual related Listed Items.
Embodiment 1
Referring to Fig. 1, rolling in multiple directions device 1000 has a plurality of rolling units 0100 and a plurality of driver elements 0200,
Rolling unit 0100 is used for the rolling locomotive function for undertaking rolling in multiple directions device 1000, and driver element 0200, which is used to drive, rolls list
Member 0100 realizes motion.Here, because the structure of a plurality of rolling units 0100 and driver element 0200 is arranged, making rolling in multiple directions
The full free degree that device 1000 has multiple directions is rolled, and the flexible fortune of rolling in multiple directions device 1000 is realized with compact structure
It is dynamic.Lifting the person that wants of its structure below, details are as follows.
Fig. 1~2 are please referred to, rolling in multiple directions device 1000 has a plurality of rolling units 0100, a plurality of to roll list
First 0100 coaxial arrangement.Rolling unit 0100 has annular stent 0110, and annular stent 0110 can be in driver element 0200
Driving, which issues to be born from, to be turned, and in integrally being rolled on ground.Obviously, the rotating direction of annular stent 0110 is rolling in multiple directions
First direction of motion of device 1000.
Wherein, annular stent 0110 is furnished with a plurality of rotating wheels 0120, the axis of rotation of rotating wheel 0120 along its circumferential ring
It is parallel with the tangential direction of the excircle of annular stent 0110 and vertical with the axis of rotation of annular stent 0110, a plurality of annulus
It is fixedly connected one by one between shape support 0110.
Specifically, a plurality of rotating wheels 0120 can be held in rotation on annular stent 0110, a plurality of rotating wheels
0120 axis of rotation has coplanar relation, and the plane that the axis of rotation is coexisted is vertical with the axis of rotation of annular stent 0110.Herein
Under structure, on the one hand, rotating wheel 0120 has the motion state rolled with annular stent 0110；On the other hand, sent out with ground
In fine under external force effect rotation occurs for the rotating wheel 0120 of raw contact.Rotation and annular stent due to rotating wheel 0120
0110 rotation is vertical, and rolling in multiple directions device 1000 has the freedom of motion along orthogonal both direction.
Preferably, profile even circumferential distribution of a plurality of rotating wheels 0120 along annular stent 0110.Specifically, it is plural
The equidistant angle distribution in the range of 360 ° of the profile circumference of individual rotating wheel 0120, puts down the motion homogeneous of rolling unit 0100
Surely.With the quantity increase of rotating wheel 0120, the linear fortune of rotation direction of principal axis of the rolling unit 0100 along annular stent 0110
Dynamic further subdivision, and can have more preferably steering flexibility.
Preferably, annular stent 0110 is connected by first connecting portion 0300, and first connecting portion 0300 has preceding locking
Portion 0310, spacer 0320 and rear tight lock part 0330, spacer 0320 are located between adjacent annular stent 0110, a plurality of described
The linear distribution of annular stent 0110 and constitute the array of annular stent 0110, preceding tight lock part 0310 is distinguished with rear tight lock part 0330
It is pressed in the front/rear end of the array of annular stent 0110 and is fixedly connected with a plurality of rolling units 0100.
Specifically, the array of annular stent 0110 is the linear array being axially distributed along the rotation of annular stent 0110,
Separated respectively with spacer 0320 between wherein adjacent annular stent 0110, and before the array of annular stent 0110
Tight lock part 0310 is locked with rear tight lock part 0330 before rear end face.In an exemplary embodiment, positioned at outermost
Annular stent 0110 on be respectively equipped with connecting hole, preceding tight lock part 0310, rear tight lock part 0330 pass through threaded fastener respectively
It is connected with the locking of annular stent 0110, and makes whole linear array keep one fixed.
Fig. 3~6 are please referred to, rolling in multiple directions device 1000 has a plurality of driver elements 0200, and a plurality of drivings are single
First 0200 coaxial arrangement.Driver element 0200 has stator 0210 and the rotor 0220 being rotatably held on stator 0210,
It is fixedly connected one by one between a plurality of stators 0210, a plurality of rotors 0220 are fixedly connected with annular stent 0110 respectively.
Specifically, driver element 0200 uses the structure type of electric rotating machine.Usually, rotor 0220 is by permanent magnetism system
Into with magnetic.Stator 0210 has the iron core of stator 0210 and the magnet exciting coil on the iron core of stator 0210, for producing rotation
Turn magnetic field.In an exemplary embodiment, the iron core of stator 0210 has multiple multiple salient poles along its profile circle distribution,
Exciting Windings for Transverse Differential Protection is respectively equipped with salient pole, when being powered in Exciting Windings for Transverse Differential Protection, rotating excitation field will be produced.
Under the magnetic fields of stator 0210, rotor 0220 can rotate motion, be connected so as to drive with rotor 0220
Annular stent 0110 rotate.Wherein, when rolling in multiple directions device 1000 is applied, stator 0210 is used to be fixedly connected on outside
In equipment, and provide the structural support of the rotation of rotor 0220.
Preferably, rotor 0220 has cirque structure and is rotatably sheathed on the outside of stator 0210, at least one
Annular stent 0110 is sheathed on the outside of rotor 0220 and has the kinetic characteristic rotated integrally with rotor 0220.
Specifically, stator 0210 is held in inside the annulus of rotor 0220, driver element 0200 is had outer-rotor structure.
Here, annular stent 0110 can be directly sleeved on rotor 0220, forms a fixed connection and revolved with one with rotor 0220
Transfer the registration of Party membership, etc. from one unit to another.Meanwhile, annular stent 0110 is sheathed on outside rotor 0220, can further compress the axle of rolling in multiple directions device 1000
To size, structural compactness is improved.
Preferably, first connecting portion 0300 is sheathed on the outside of rotor 0220 and has the fortune rotated integrally with rotor 0220
Dynamic characteristic.Specifically, first connecting portion 0300 can use various structures mode, such as cylinder, annulus column structure.At one
In exemplary embodiment, in response in the outer-rotor structure of driver element 0200, first connecting portion 0300 uses cirque structure,
And can be sheathed on outside rotor 0220, and can integrally rotatably move.Here, the attachment structure of rolling unit 0100 can be simplified,
And compress the axial dimension of rolling in multiple directions device 1000.
Preferably, driver element 0200 has one to fix wheel shaft 0400, and fixed wheel shaft 0400 connects a plurality of stators one by one
0210 and be fixedly connected with stator 0210, and with the connection end for being used to be connected with external equipment for rolling in multiple directions device 1000
0410.Further preferably, stator 0210 axially has the first axis hole 0211 along it, and the first axis hole 0211 is through hole, a plurality of
The linear distribution of stator 0210 and constitute the array of stator 0210.
Specifically, the array of stator 0210 is the on the linear array along the axial distribution of rotor 0220, each stator 0210
One axis hole 0211 is coaxial and keeps insertion.Fixed wheel shaft 0400 connects each stator 0210 through the first axis hole 0211 one by one
Connect, the fixed axis hole 0211 of wheel shaft 0400 and first can coordinate for gap, also can be interference fit.Because fixed wheel shaft 0400 has
Connection end 0410 for connecting external equipment, fixed wheel shaft 0400, stator 0210 are fixed without occurring in the lump with external equipment
Rotary motion.
When the fixed axis hole 0211 of wheel shaft 0400 and first is interference fit, lead between fixed wheel shaft 0400 and stator 0210
The first axis hole 0211 is crossed to occur the effect of power and be connected as a single entity；When the fixed axis hole 0211 of wheel shaft 0400 and first coordinates for gap
When, fixed wheel shaft 0400 has relative motion trend, need to be locked using retaining mechanism, such as key connection, screw threads for fastening.
In an exemplary embodiment, the front/rear end of the array of stator 0210 has the end for being used for realizing transmission respectively
Portion's keyhole 0212, end keyhole 0212 is coaxial with the first axis hole 0211, fixed wheel shaft 0400 in the lump through the first axis hole 0211 with
End keyhole 0212, fixed wheel shaft 0400 is connected by locking key portion 0420 with the formation key of end keyhole 0212.
Specifically, locking key portion 0420 can be integrally connected to fix on wheel shaft 0400, can also the appearance of peripheral hardware part.Locking key
Portion 0420 is inserted in end keyhole 0212, and is loosened with being threadedly coupled progress locking.End keyhole 0212 can use various structures
Form, such as square hole, splined hole；Locking key portion 0420 has adaptable contour shape, such as square key, flower with end keyhole 0212
Key etc., and play a part of preventing stator 0210 from occurring relative motion with fixed wheel shaft 0400.
Preferably, adjacent rotor 0220 is connected by second connecting portion 0500, and second connecting portion 0500 has the second axle
Hole 0510 and two bearing holes located at the two ends of the second axis hole 0510, i.e. first axle bearing bore 0520 and second bearing hole 0530.The
Two axis holes 0510, first axle bearing bore 0520, second bearing hole 0530 are coaxial with the axis of rotation of rotor 0220, inside bearing hole respectively
Provided with wheel bearing 0600.
Specifically, first axle bearing bore 0520, the second axis hole 0510 form the big centre in aperture two ends with second bearing hole 0530
Three small sector hole formula structures.There is step respectively between second axis hole 0510 and first axle bearing bore 0520, second bearing hole 0530
Face, so that wheel bearing 0600 carries out location and installation.In response to different loaded state and applying working condition, wheel bearing 0600 can be adopted
With different bearing types.
Further preferably, stator 0210, which has, stretches out shaft end 0213, and the stretching shaft end 0213 of adjacent stator 0210 is relative
Arrangement, stretches out shaft end 0213 and is sheathed on the inner ring of wheel bearing 0600.
Specifically, the stretching shaft end 0213 of adjacent stators 0210 is arranged in such fashion that they oppose, and is inserted respectively same
In first axle bearing bore 0520 and second bearing hole 0530 in second connecting portion 0500.In this, shaft end 0213 and wheel shaft axle are stretched out
The inner ring for holding 0600 is contacted, and the second bearing hole 0530 of first axle bearing bore 0520/ is contacted with the outer ring of wheel bearing 0600, makes second
Connecting portion 0500, rotor 0220 can be in rotating, so as to realize Multidirectional motion with rolling unit 0100 on stator 0210.
Further preferably, annular stent 0110 is fixedly connected with second connecting portion 0500, further strengthens annular branch
Bonding strength and transmission sensitivity between frame 0110, second connecting portion 0500 and rotor 0220.
In a practical application, rolling in multiple directions device 1000 has 2 rolling units 0100 and 2 driver elements
0200.2 rolling units 0100 are sheathed on same driver element 0200, that is, the first driver element 0200, the first driving
There is the connection end 0410 for connecting external equipment simultaneously on unit 0200.
Another driver element 0200 that is, the second driver element 0200, then driven by second connecting portion 0500 with first
Unit 0200 is connected, and has both ensured the structural compactness of rolling in multiple directions device 1000, can also further enhance rolling in multiple directions device
1000 power output, makes rolling in multiple directions device 1000 have wider output area and larger load range, to simplify knot
Structure realizes larger torque output, and carrying carrying can be also carried out to heavier object.And rotating wheel 0120 is annularly distributed in annular branch
On frame 0110, and provide the Multidirectional motion ability of rolling in multiple directions device 1000.
In another practical application, the quantity of rolling unit 0100 and driver element 0200 depends on utmost carrying ability with making
Use operating mode.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore limitation of the scope of the invention can not be interpreted as.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of rolling in multiple directions device, it is characterised in that have：
The rolling unit of a plurality of coaxial arrangements, the rolling unit has annular stent, and the annular stent is justified along it
Chow ring is furnished with a plurality of rotating wheels, and the axis of rotation of the rotating wheel is parallel simultaneously with the tangential direction of the annular stent excircle
It is vertical with the axis of rotation of the annular stent, it is fixedly connected one by one between a plurality of annular stents；
The driver element of a plurality of coaxial arrangements, the driver element has stator and is rotatably held on the stator
It is fixedly connected one by one between rotor, a plurality of stators, a plurality of rotors are fixed with the annular stent respectively to be connected
Connect.
2. rolling in multiple directions device according to claim 1, it is characterised in that the driver element has one to fix wheel shaft,
The fixed wheel shaft connects a plurality of stators and is fixedly connected with the stator one by one, and with for supplying the multidirectional rolling
The connection end that dynamic device is connected with external equipment.
3. rolling in multiple directions device according to claim 2, it is characterised in that the stator axially has first axle along it
Hole, a plurality of stator linear distributions and constitute stator array, the front/rear end of the stator array have respectively be used for it is real
The end keyhole being now driven, the end keyhole is coaxial with first axis hole, and the fixed wheel shaft runs through described first in the lump
Axis hole and the end keyhole, the fixed wheel shaft are connected by locking key portion with the end key hole shaped bonding.
4. rolling in multiple directions device according to claim 1, it is characterised in that the rotor has cirque structure and can revolved
Turn ground be sheathed on the stator it is outside, at least one described annular stent be sheathed on the outside of the rotor and with described turn
Son has the kinetic characteristic rotated integrally.
5. rolling in multiple directions device according to claim 4, it is characterised in that the annular stent passes through first connecting portion
Connection, the first connecting portion has preceding tight lock part, spacer and rear tight lock part, and the spacer is located at the adjacent annular branch
Between frame, a plurality of annular stent linear distributions and constitute annular stent array, the preceding tight lock part with it is described after
Tight lock part is pressed in the front/rear end of the annular stent array and is fixedly connected with a plurality of rolling units respectively.
6. rolling in multiple directions device according to claim 5, it is characterised in that the first connecting portion is sheathed on the rotor
Outside and there is the kinetic characteristic that rotates integrally with the rotor.
7. rolling in multiple directions device according to claim 1, it is characterised in that a plurality of rotating wheels are along the annular
The profile even circumferential distribution of support.
8. rolling in multiple directions device according to claim 1, it is characterised in that the adjacent rotor passes through second connecting portion
Connection, the second connecting portion has the second axis hole and two bearing holes located at the second axis hole two ends, second axle
Hole, the bearing hole are coaxial with the axis of rotation of the rotor, and wheel bearing is respectively equipped with inside the bearing hole.
9. rolling in multiple directions device according to claim 8, it is characterised in that the stator, which has, stretches out shaft end, adjacent
The stretching shaft end of the stator is positioned opposite, and the stretching shaft end is sheathed on the wheel bearing inner ring.
10. rolling in multiple directions device according to claim 8, it is characterised in that the annular stent connects with described second
Socket part is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710591128.3A CN107310377A (en) | 2017-07-19 | 2017-07-19 | Rolling in multiple directions device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710591128.3A CN107310377A (en) | 2017-07-19 | 2017-07-19 | Rolling in multiple directions device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107310377A true CN107310377A (en) | 2017-11-03 |
Family
ID=60177892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710591128.3A Pending CN107310377A (en) | 2017-07-19 | 2017-07-19 | Rolling in multiple directions device |
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| CN (1) | CN107310377A (en) |
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2017
- 2017-07-19 CN CN201710591128.3A patent/CN107310377A/en active Pending
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|---|---|---|---|---|
| EP0983874A2 (en) * | 1998-08-21 | 2000-03-08 | Black & Decker Inc. | A wheel |
| US9327954B2 (en) * | 2012-05-15 | 2016-05-03 | Charles Frank Cozza | Lifting system for display cases |
| CN205523382U (en) * | 2016-03-11 | 2016-08-31 | 深圳小趴智能科技有限公司 | Omniwheel body structure and robot |
| CN105946547A (en) * | 2016-04-28 | 2016-09-21 | 上海钛米机器人科技有限公司 | Omni wheel |
| CN206029854U (en) * | 2016-08-31 | 2017-03-22 | 北京凌天世纪控股股份有限公司 | Robot of qxcomm technology |
| CN106364259A (en) * | 2016-09-12 | 2017-02-01 | 盐城工学院 | Speed reduction driving wheel and robot with same |
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Application publication date: 20171103 |