CN108162687B - The controllable universal travel wheel of state - Google Patents
The controllable universal travel wheel of state Download PDFInfo
- Publication number
- CN108162687B CN108162687B CN201711432429.8A CN201711432429A CN108162687B CN 108162687 B CN108162687 B CN 108162687B CN 201711432429 A CN201711432429 A CN 201711432429A CN 108162687 B CN108162687 B CN 108162687B
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- CN
- China
- Prior art keywords
- wheel
- flange
- hole
- steel ball
- locking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
Abstract
The invention discloses a kind of universal travel wheels that state is controllable, 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 rack, the steering, locking mechanism is arranged between the rotation flange and the mounting rack, and the steering, locking mechanism includes mounting plate, positioning pin, mounting flange, steel ball, holddown spring and locking driving device；A kind of universal travel wheel that state is controllable of the present invention drives steering, locking mechanism locking to rotate flange and mounting flange by locking driving mechanism, making it be in needs can be with locking wheel body, the obstacles such as rubble are met when solving robot ambulation the case where object shaking occurs, 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 traveling wheel more particularly to a kind of universal travel wheels that state is controllable.
Background technique
Currently, 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 that the normal table operation of robot is influenced, 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.
Summary of the invention
The object of the invention is that providing a kind of universal travel wheel that state is controllable to solve the above-mentioned problems.
The present invention through the following technical solutions to achieve the above objectives:
A kind of universal travel wheel that state is controllable, including wheel, wheel shaft, wheel arm and rotation flange, the wheel pass through institute
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, and described turn
Dynamic flange is rotatably connected with mounting rack, and the universal travel wheel further includes steering, locking mechanism, and the steering, locking mechanism is set
It sets between the rotation flange and the mounting rack；
The steering, locking mechanism includes mounting plate, positioning pin, mounting flange, steel ball, holddown spring and locking driving dress
It sets, the mounting plate is fixedly connected with the mounting rack, 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 mounting plate, the positioning pin is arranged in the through-hole and can be above and below the through-hole
The upper surface of sliding, 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 steel ball and the bottom surface of 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 mounting plate, and
The positioning pin is driven to move down.
Specifically, the diameter of the diameter of the through-hole, the diameter of blind hole and the steel ball is equal, the positioning pin
Move down the radius that stroke is the steel ball；
When 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 end surface of the positioning pin is overlapped with the lower end surface of the through-hole, and the steel ball is located at
In the blind hole.
Specifically, the locking driving mechanism includes electromagnet and reset spring, and the electromagnet and the mounting plate are solid
Fixed connection, the reset spring is sleeved on the electromagnet, and the downside of the upper end of the reset spring and the mounting plate
Face is fixedly connected, and the lower end of the reset 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, gear and rack teeth mechanism and link mechanism.
The beneficial effects of the present invention are:
A kind of universal travel wheel that state is controllable of the present invention drives steering, locking mechanism locking to turn by locking driving mechanism
Dynamic flange and mounting flange make it need to be that can meet the obstacles such as rubble with locking wheel body, when solving robot ambulation object occur
The case where shaking, while meeting universal wheel any angle turning power and fast pulley stable operation ability, easy to control reliable, knot
Structure is stablized, and adverse circumstances and longtime running are suitble to.
Detailed description of the invention
Fig. 1 is the structural schematic 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 cross-sectional view of steering, locking mechanism of the present invention, is lockup state in figure；
Fig. 5 is the cross-sectional view of steering, locking mechanism of the present invention, is head in figure.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in Figure 1, Figure 2 and Figure 3, a kind of universal travel wheel that state is controllable 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 rack, and the setting of steering, locking mechanism is turning
Between dynamic flange 7 and mounting rack；
As shown in Figure 4 and Figure 5, steering, locking mechanism includes mounting plate 1, positioning pin 4, mounting flange 6, steel ball 11, compresses
Spring 12 and locking driving device, mounting plate 1 are fixedly connected with mounting rack, and mounting flange 6 is provided with multiple through-holes, positioning pin 4
Upper end be fixedly connected with mounting plate 1 by stop screw 8, positioning pin 4 is arranged in through-hole and can slide up and down along through-hole, turn
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 with mounting flange 6, locks
Only driving device is fixedly connected with mounting plate 1, and positioning pin 4 is driven to move down, diameter, diameter of blind hole and the steel ball of through-hole
11 diameter is equal, and positioning pin 4 moves down the radius that stroke is steel ball 11；
When 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 end surface of positioning pin 4 is overlapped with the lower end surface of through-hole, and steel ball 11 is located at blind hole
It is interior.
Locking driving mechanism includes electromagnet 2 and reset spring 3, and electromagnet 2 is fixedly connected with mounting plate 1, reset spring 3
Be sleeved on electromagnet 2, and the upper end of reset spring 3 is fixedly connected with the downside of mounting plate 1, the lower end of reset 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 for leading screw and nut mechanism, gear and rack teeth mechanism and link mechanism etc. other
Linear motion device.
The working 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), reset spring 3 by electromagnet 2, mounting 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 to rotate opposite turn do not occur between flange 7 and mounting flange 6
It is dynamic, realize locking；
When electromagnet 2 is powered (such as Fig. 5), electromagnet 2 and shaft are attracted, and drive mounting plate 1 and positioning pin 4 one
It rising and moves downward, the steel ball 11 that will sink into through-hole pushes 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
Locking when encountering obstacle, with good stability and obstacle performance；
Using modularized design, it is only necessary to which replacing few component can be replaced various sizes of wheel 12, using model
It encloses wide；
It is locked using holddown spring 12 and steel ball 11, wheel 12 returns positive automatically 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.
The limitation that technical solution of the present invention is not limited to the above specific embodiments, it is all to do according to the technique and scheme of the present invention
Technology deformation out, falls within the scope of protection of the present invention.
Claims (5)
1. a kind of universal travel wheel that state is controllable, including wheel, wheel shaft, wheel arm, rotation flange and steering, locking mechanism, described
Wheel is rotatably connected by the wheel shaft and the lower end of the wheel arm, the upper end of the wheel arm and the fixed company of the rotation flange
It connects, the rotation flange is rotatably connected with mounting rack, and the steering, locking mechanism is arranged in the rotation flange and the peace
Between shelving, it is characterised in that:
The steering, locking mechanism includes mounting plate, positioning pin, mounting flange, steel ball, holddown spring and locking driving device, institute
It states mounting plate to be fixedly connected with the mounting rack, 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 mounting plate, and the positioning pin is arranged in the through-hole and can glide on 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 steel ball and the bottom surface of 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 mounting 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: the diameter of the through-hole, described
The diameter of diameter of blind hole and the steel ball is equal, and the positioning pin moves down the radius that stroke is the steel ball；
When 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 described blind
In hole；
When being in active state, the lower end surface of the positioning pin is overlapped with the lower end surface 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 reset spring, the electromagnet are fixedly connected with the mounting plate, and the reset spring is sleeved on the electromagnet
On, and the upper end of the reset spring is fixedly connected with the downside of the mounting plate, the lower end of the reset 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, gear and rack teeth 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 CN108162687A (en) | 2018-06-15 |
| CN108162687B true 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) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN109572322B (en) * | 2018-10-24 | 2023-05-26 | 深圳市朗驰欣创科技股份有限公司 | Universal wheel with magnetic latching electromagnet locking mechanism for robot |
| 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 |
| 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 |
| CN113386878B (en) * | 2021-07-06 | 2022-11-15 | 王瑞豪 | AGV steering wheel zero deviation automatic calibration device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4137757C2 (en) * | 1991-11-16 | 1995-02-16 | Schulte Soehne Gmbh Co A | Swivel castor, in particular for movable hospital beds |
| 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 |
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2017
- 2017-12-26 CN CN201711432429.8A patent/CN108162687B/en active Active
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| Publication number | Publication date |
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| CN108162687A (en) | 2018-06-15 |
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