CN108162687A - The controllable universal travel wheel of state - Google Patents
The controllable universal travel wheel of state Download PDFInfo
- Publication number
- CN108162687A CN108162687A CN201711432429.8A CN201711432429A CN108162687A CN 108162687 A CN108162687 A CN 108162687A CN 201711432429 A CN201711432429 A CN 201711432429A CN 108162687 A CN108162687 A CN 108162687A
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- CN
- China
- Prior art keywords
- wheel
- flange
- hole
- steel ball
- locking
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/0028—Construction of wheels; methods of assembling on axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/02—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of controllable universal travel wheels of state, including wheel, wheel shaft, wheel arm, rotation flange and steering, locking mechanism, the wheel is rotatably connected by the wheel shaft and the lower end of the wheel arm, the upper end of the wheel arm is fixedly connected with the rotation flange, the rotation flange is rotatably connected with mounting bracket, the steering, locking mechanism is arranged between the rotation flange and the mounting bracket, and the steering, locking mechanism includes installing plate, positioning pin, mounting flange, steel ball, holddown spring and locking driving device；A kind of controllable universal travel wheel of state of the present invention drives steering, locking mechanism locking to rotate flange and mounting flange by locking driving mechanism, it is made to be in needs can be with locking wheel body, the situation that object shaking occur in the obstacles such as rubble is met when solving robot ambulation, meet universal wheel any angle turning power and fast pulley stable operation ability simultaneously, it is easy to control reliable, stable structure is suitble to adverse circumstances and longtime running.
Description
Technical field
The present invention relates to the controllable universal travel wheels of traveling wheel more particularly to a kind of state.
Background technology
At present, robot application is very extensive, and there is universal wheel good turn performance to be widely deployed,
With excellent pivot turn performance and flexible mobility, 360 ° of Arbitrary Rotations can be realized on smooth-riding surface,
But exactly because it is excessively flexible, when encountering Uneven road or having rubble hollow, will uncontrolled random swing, very
To being stuck, so as to influence the operation of the normal table of robot, so how not only to have retained the excellent turn performance of universal wheel, but also energy
Steadily leaping over obstacles is the problem faced at present.
Invention content
The purpose of the present invention is that solve the above-mentioned problems and provides a kind of state controllable universal travel wheel.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of controllable universal travel wheel of state passes through institute including wheel, wheel shaft, wheel arm and rotation flange, the wheel
It states wheel shaft and the lower end of the wheel arm is rotatably connected, the upper end of the wheel arm is fixedly connected with the rotation flange, described turn
Dynamic flange is rotatably connected with mounting bracket, and the universal travel wheel further includes steering, locking mechanism, and the steering, locking mechanism is set
It puts between the rotation flange and the mounting bracket；
The steering, locking mechanism includes installing plate, positioning pin, mounting flange, steel ball, holddown spring and locking driving dress
It puts, the installing plate is fixedly connected with the mounting bracket, and the mounting flange is provided with multiple through-holes, the upper end of the positioning pin
It is fixedly connected by stop screw with the installing plate, the positioning pin is arranged in the through-hole and can be along above and below the through-hole
It slides, the upper surface of the rotation flange is provided with blind hole corresponding with the through-hole, and the steel ball is arranged in the blind hole
And slidably in the through-hole, the holddown spring is arranged between the bottom surface of the steel ball and the blind hole, the rotation
Flange is rotatably connected by shaft and the mounting flange, and the locking driving device is fixedly connected with the installing plate, and
The positioning pin is driven to move down.
Specifically, the diameter of the diameter of the through-hole, the diameter of the blind hole and the steel ball is equal, the positioning pin
Move down the radius that stroke is the steel ball；
During in lockup state, the episphere of the steel ball is located in the through-hole, and the lower semisphere of the steel ball is located at institute
It states in blind hole；
When being in active state, the lower face of the positioning pin is overlapped with the lower face of the through-hole, and the steel ball is located at
In the blind hole.
Specifically, the locking driving mechanism includes electromagnet and resetting spring, and the electromagnet is consolidated with the installing plate
Fixed connection, the resetting spring are sleeved on the electromagnet, and the upper end of the resetting spring and the downside of the installing plate
Face is fixedly connected, and the lower end of the resetting spring is fixedly connected with the mounting flange, and the shaft is ferrimagnet, described
It is attracted when electromagnet is powered with the upper end of the shaft.
Preferably, it is rotatably connected between the shaft and the mounting flange by bearing.
Specifically, the locking driving mechanism can also be leading screw and nut mechanism, rack and pinion mechanism and link mechanism.
The beneficial effects of the present invention are：
A kind of controllable universal travel wheel of state of the present invention drives steering, locking mechanism locking to turn by locking driving mechanism
Dynamic flange and mounting flange, it is made to be in needs can be with locking wheel body, and object occur in the obstacles such as chance rubble when solving robot ambulation
The situation of shaking, while meet universal wheel any angle turning power and fast pulley stable operation ability, easy to control reliable, knot
Structure is stablized, and is suitble to adverse circumstances and longtime running.
Description of the drawings
Fig. 1 is the structure diagram of the controllable universal travel wheel of state of the present invention；
Fig. 2 is the side view of the controllable universal travel wheel of state of the present invention；
Fig. 3 is the front view of the controllable universal travel wheel of state of the present invention；
Fig. 4 is the sectional view of steering, locking mechanism of the present invention, is lockup state in figure；
Fig. 5 is the sectional view of steering, locking mechanism of the present invention, is head in figure.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1, Figure 2 and Figure 3, the controllable universal travel wheel of a kind of state of the present invention, including wheel 12, wheel shaft 15,
Wheel arm 13, rotation flange 7 and steering, locking mechanism, wheel 12 are rotatably connected by wheel shaft 15 and the lower end of wheel arm 13, wheel arm
13 upper end is fixedly connected with rotation flange 7, and rotation flange 7 is rotatably connected with mounting bracket, and steering, locking mechanism, which is arranged on, to be turned
It moves between flange 7 and mounting bracket；
As shown in Figure 4 and Figure 5, steering, locking mechanism includes installing plate 1, positioning pin 4, mounting flange 6, steel ball 11, compresses
Spring 12 and locking driving device, installing plate 1 are fixedly connected with mounting bracket, and mounting flange 6 is provided with multiple through-holes, positioning pin 4
Upper end be fixedly connected by stop screw 8 with installing plate 1, positioning pin 4 is arranged in through-hole and can be slided up and down along through-hole, turns
The upper surface of dynamic flange 7 is provided with blind hole corresponding with through-hole, and steel ball 11 is arranged in blind hole and slidably in through-hole, compresses
Spring 12 is arranged between steel ball 11 and the bottom surface of blind hole, and rotation flange 7 is rotatably connected by shaft and mounting flange 6, is locked
Only driving device is fixedly connected with installing plate 1, and positioning pin 4 is driven to move down, the diameter of through-hole, the diameter of blind hole and steel ball
11 diameter is equal, and positioning pin 4 moves down the radius that stroke is steel ball 11；
During in lockup state (Fig. 4), the episphere of steel ball 11 is located in through-hole, and the lower semisphere of steel ball 11 is located at blind hole
It is interior；
When being in active state (Fig. 5), the lower face of positioning pin 4 is overlapped with the lower face of through-hole, and steel ball 11 is located at blind hole
It is interior.
Locking driving mechanism includes electromagnet 2 and resetting spring 3, and electromagnet 2 is fixedly connected with installing plate 1, resetting spring 3
Be sleeved on electromagnet 2, and the upper end of resetting spring 3 is fixedly connected with the downside of installing plate 1, the lower end of resetting spring 3 with
Mounting flange 6 is fixedly connected, and shaft is ferrimagnet, and when electromagnet 2 the is powered and upper end of shaft is attracted, shaft and fixation
It is rotatably connected between orchid 6 by bearing 10.
In addition, locking driving mechanism can also be leading screw and nut mechanism, rack and pinion mechanism and link mechanism etc. other
Linear motion device.
The operation principle of the controllable universal travel wheel of state of the present invention is as follows：
When electromagnet 2 is cold (such as Fig. 4), resetting spring 3 by electromagnet 2, installing plate 1 and positioning pin 4 together
It pushes up to extreme higher position, at this point, steel ball 11, under the action of holddown spring 12, the episphere of steel ball 11 is located in through-hole, steel ball 11
Lower semisphere be located in blind hole, from stuck rotation flange 7, make opposite turn does not occur between rotation flange 7 and mounting flange 6
It is dynamic, realize locking；
When electromagnet 2 is powered (such as Fig. 5), electromagnet 2 is attracted with shaft, and drives installing plate 1 and positioning pin 4 one
It rising and moves downward, the steel ball 11 that will sink into through-hole is pushed back in the blind hole of rotation flange 7, and rotating flange 7 at this time can have rotated,
Realization activity.
The universal travel wheel can allow wheel 12 controlled, have universal effect when needing to turn to, in straight line or
It is locked when encountering obstacle, with good stability and obstacle performance；
Using modularized design, it is only necessary to replace few component and various sizes of wheel 12 can be replaced, using model
It encloses wide；
It is locked using holddown spring 12 and steel ball 11, wheel 12 returns positive auto lock, and fault-tolerance is strong, is not in stuck shape
State；
Using Electromagnetic Control, control mode is simple, and mechanism stable is reliable, is less prone to failure.
Technical scheme of the present invention is not limited to the limitation of above-mentioned specific embodiment, every to do according to the technique and scheme of the present invention
The technology deformation gone out, each falls within protection scope of the present invention.
Claims (5)
1. a kind of controllable universal travel wheel of state, including wheel, wheel shaft, wheel arm and rotation flange, the wheel passes through described
Wheel shaft and the lower end of the wheel arm are rotatably connected, and the upper end of the wheel arm is fixedly connected with the rotation flange, the rotation
Flange is rotatably connected with mounting bracket, it is characterised in that：Steering, locking mechanism is further included, the steering, locking mechanism is arranged on institute
It states between rotation flange and the mounting bracket；
The steering, locking mechanism includes installing plate, positioning pin, mounting flange, steel ball, holddown spring and locking driving device, institute
It states installing plate to be fixedly connected with the mounting bracket, the mounting flange is provided with multiple through-holes, and the upper end of the positioning pin passes through
Stop screw is fixedly connected with the installing plate, and the positioning pin is arranged in the through-hole and can glide along the through-hole
Dynamic, the upper surface of the rotation flange is provided with blind hole corresponding with the through-hole, the steel ball be arranged in the blind hole and
Slidably extremely in the through-hole, the holddown spring is arranged between the bottom surface of the steel ball and the blind hole, the rotation method
Orchid is rotatably connected by shaft and the mounting flange, and the locking driving device is fixedly connected with the installing plate, and is driven
The positioning pin is moved to move down.
2. the controllable universal travel wheel of state according to claim 1, it is characterised in that：It is the diameter of the through-hole, described
The diameter of the diameter of blind hole and the steel ball is equal, and the positioning pin moves down the radius that stroke is the steel ball；
During in lockup state, the episphere of the steel ball is located in the through-hole, and the lower semisphere of the steel ball is positioned at described blind
In hole；
When being in active state, the lower face of the positioning pin is overlapped with the lower face of the through-hole, and the steel ball is located at described
In blind hole.
3. the controllable universal travel wheel of state according to claim 1, it is characterised in that：The locking driving mechanism includes
Electromagnet and resetting spring, the electromagnet are fixedly connected with the installing plate, and the resetting spring is sleeved on the electromagnet
On, and the upper end of the resetting spring is fixedly connected with the downside of the installing plate, the lower end of the resetting spring with it is described
Mounting flange is fixedly connected, and the shaft is ferrimagnet, is attracted when the electromagnet is powered with the upper end of the shaft.
4. the controllable universal travel wheel of state according to claim 1, it is characterised in that：The shaft and the fixation
It is rotatably connected between orchid by bearing.
5. the controllable universal travel wheel of state according to claim 1, it is characterised in that：The locking driving mechanism may be used also
Think leading screw and nut mechanism, rack and pinion mechanism and link mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711432429.8A CN108162687B (en) | 2017-12-26 | 2017-12-26 | The controllable universal travel wheel of state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711432429.8A CN108162687B (en) | 2017-12-26 | 2017-12-26 | The controllable universal travel wheel of state |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108162687A true CN108162687A (en) | 2018-06-15 |
| CN108162687B CN108162687B (en) | 2019-09-20 |
Family
ID=62520872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711432429.8A Active CN108162687B (en) | 2017-12-26 | 2017-12-26 | The controllable universal travel wheel of state |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108162687B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108995478A (en) * | 2018-08-10 | 2018-12-14 | 浙江厚达智能科技股份有限公司 | Buffer wear-preventive castor assembly |
| CN109572322A (en) * | 2018-10-24 | 2019-04-05 | 深圳市朗驰欣创科技股份有限公司 | A kind of universal wheel of the robot with magnetic-holding electric magnet lockable mechanism |
| CN110281696A (en) * | 2019-08-07 | 2019-09-27 | 广州市中立智能装备科技有限公司 | One kind carrying greatly easy-to-dismount universal caster wheel |
| CN110793902A (en) * | 2019-12-18 | 2020-02-14 | 衡水积土科技有限公司 | Concrete impermeability test device for building |
| CN110901305A (en) * | 2018-08-10 | 2020-03-24 | 浙江厚达智能科技股份有限公司 | Buffer wear-proof type caster connector |
| CN112389133A (en) * | 2020-11-17 | 2021-02-23 | 杭州重力脚轮科技有限公司 | Self-locking caster |
| CN113372149A (en) * | 2021-07-05 | 2021-09-10 | 博创科为(北京)科技有限公司 | Self-propelled film rolling and laminating machine |
| CN113386878A (en) * | 2021-07-06 | 2021-09-14 | 王瑞豪 | AGV steering wheel zero deviation automatic calibration device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05262101A (en) * | 1991-11-16 | 1993-10-12 | Albert Schulte Soehne Gmbh & Co | Caster |
| CN2327555Y (en) * | 1993-03-23 | 1999-07-07 | 赵生勤 | WX type vertical industrial foot wheel |
| CN205631963U (en) * | 2016-06-01 | 2016-10-12 | 圣路机械(嘉兴)制造有限公司 | Universal wheel |
| CN205768362U (en) * | 2016-06-30 | 2016-12-07 | 宁波秀禾科技有限公司 | A kind of universal caster wheel of strap brake |
-
2017
- 2017-12-26 CN CN201711432429.8A patent/CN108162687B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05262101A (en) * | 1991-11-16 | 1993-10-12 | Albert Schulte Soehne Gmbh & Co | Caster |
| CN2327555Y (en) * | 1993-03-23 | 1999-07-07 | 赵生勤 | WX type vertical industrial foot wheel |
| CN205631963U (en) * | 2016-06-01 | 2016-10-12 | 圣路机械(嘉兴)制造有限公司 | Universal wheel |
| CN205768362U (en) * | 2016-06-30 | 2016-12-07 | 宁波秀禾科技有限公司 | A kind of universal caster wheel of strap brake |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108995478A (en) * | 2018-08-10 | 2018-12-14 | 浙江厚达智能科技股份有限公司 | Buffer wear-preventive castor assembly |
| CN108995478B (en) * | 2018-08-10 | 2020-02-18 | 浙江厚达智能科技股份有限公司 | Buffering anti-abrasion type caster assembly |
| CN110901305A (en) * | 2018-08-10 | 2020-03-24 | 浙江厚达智能科技股份有限公司 | Buffer wear-proof type caster connector |
| CN110901305B (en) * | 2018-08-10 | 2023-09-01 | 浙江厚达智能科技股份有限公司 | Buffering anti-abrasion castor connector |
| CN109572322A (en) * | 2018-10-24 | 2019-04-05 | 深圳市朗驰欣创科技股份有限公司 | A kind of universal wheel of the robot with magnetic-holding electric magnet lockable mechanism |
| CN110281696A (en) * | 2019-08-07 | 2019-09-27 | 广州市中立智能装备科技有限公司 | One kind carrying greatly easy-to-dismount universal caster wheel |
| CN110793902A (en) * | 2019-12-18 | 2020-02-14 | 衡水积土科技有限公司 | Concrete impermeability test device for building |
| CN112389133A (en) * | 2020-11-17 | 2021-02-23 | 杭州重力脚轮科技有限公司 | Self-locking caster |
| CN112389133B (en) * | 2020-11-17 | 2022-03-15 | 杭州重力脚轮科技有限公司 | Self-locking caster |
| CN113372149A (en) * | 2021-07-05 | 2021-09-10 | 博创科为(北京)科技有限公司 | Self-propelled film rolling and laminating machine |
| CN113386878A (en) * | 2021-07-06 | 2021-09-14 | 王瑞豪 | AGV steering wheel zero deviation automatic calibration device |
| CN113386878B (en) * | 2021-07-06 | 2022-11-15 | 王瑞豪 | AGV steering wheel zero deviation automatic calibration device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108162687B (en) | 2019-09-20 |
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