CN109159625A - A kind of universal wheel mechanism with double parallel rotating shaft - Google Patents
A kind of universal wheel mechanism with double parallel rotating shaft Download PDFInfo
- Publication number
- CN109159625A CN109159625A CN201811296980.9A CN201811296980A CN109159625A CN 109159625 A CN109159625 A CN 109159625A CN 201811296980 A CN201811296980 A CN 201811296980A CN 109159625 A CN109159625 A CN 109159625A
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- CN
- China
- Prior art keywords
- wheel
- ontology
- revolute pair
- wheel support
- rotating shaft
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- 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
-
- 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)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention discloses a kind of universal wheel mechanisms with double parallel rotating shaft, include wheel seat, wheel ontology, wheel support and transition piece；Wheel support is mounted on wheel seat by transition piece, and wheel support and transition piece constitute the first revolute pair, and transition piece and wheel seat constitute the second revolute pair, and the shaft of both the first revolute pair and second revolute pair is parallel to each other and the distance between the two shaft is the first eccentricity；Wheel ontology is rotatably installed on wheel support, and it is eccentrically mounted relative to wheel support, and center of rotation is deflected away from the shaft of the first revolute pair, and deflecting away from distance is the second eccentricity；First eccentricity is equal with the second eccentricity.Universal wheel mechanism with double parallel rotating shaft of the invention between wheel support and wheel seat by being arranged transition piece, it may make the equipment equipped with the universal wheel mechanism during counter motion, the backswing of wheel support will not make equipment itself deflect vibration, can effectively ensure that the riding stability and traveling precision of equipment.
Description
Technical field
Castor field of the present invention, more particularly to a kind of universal wheel mechanism with double parallel rotating shaft.
Background technique
Universal wheel is often used in industrial equipment with living facilities, generally in order to keep equipment turning convenient, ten thousand used
It is eccentric universal wheel to wheel, eccentric universal wheel is applied to a generally existing problem in equipment, i.e., equipment is originally towards a side
To movement, if movement stops then moving in the opposite direction, at this time since the wheel ontology of eccentric universal wheel cannot keep with wheel support
Stablize, wheel support can rotate relative to apparatus body carries out backswing, and the contact portion of ontology and ground is taken turns during backswing
The direction of motion that equipment can be deflected away from can generate the component being perpendicularly to the direction of movement, so since wheel ontology and ground have friction
It will lead to equipment itself and carry out the vibration that deflects relative to the direction of motion of movement, this phenomenon will affect running precision requirement
The operation stability and running precision of higher equipment (such as robot).
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of with double parallel rotating shaft
Universal wheel mechanism, it is intended to solve traditional eccentric universal wheel equipment made during equipment counter motion to generate beat to ask
Topic.
Technical solution: to achieve the above object, the universal wheel mechanism with double parallel rotating shaft of the invention includes wheel
Seat, wheel ontology, wheel support and transition piece；
The wheel support is mounted on the wheel seat by transition piece, and wheel support and transition piece constitute the first revolute pair, mistake
Cross part and wheel seat and constitute the second revolute pair, the shaft of both the first revolute pair and second revolute pair be parallel to each other and the two shaft it
Between distance be the first eccentricity；
The wheel ontology is rotatably installed on the wheel support, and it is eccentrically mounted relative to wheel support, center of rotation
It deflects away from the shaft of first revolute pair, and deflecting away from distance is the second eccentricity；
First eccentricity is equal with second eccentricity.
Further, the wheel ontology and the wheel support constitute third revolute pair.
Further, the wheel ontology has multiple, and all wheel ontologies are coaxially mounted side by side.
Further, the profile of the outer wheel face of the wheel ontology is wavy.
Further, the wheel ontology is spherical, constitutes spherical pair with the wheel support.
Further, the brake list that the wheel ontology is rotated relative to wheel support can be limited by being provided on the wheel support
Member.
The utility model has the advantages that the universal wheel mechanism with double parallel rotating shaft of the invention between wheel support and wheel seat by setting
Transition piece is set, may make the equipment equipped with the universal wheel mechanism during counter motion, the backswing of wheel support will not make to take turns
The contact portion on ontology and ground deviates the direction of motion of equipment, so that equipment itself will not be made to deflect vibration, it can be effective
Guarantee the riding stability and traveling precision of equipment.
Detailed description of the invention
Attached drawing 1 is the structure chart of universal wheel mechanism；
Attached drawing 2 is the structure chart of another universal wheel mechanism；
Attached drawing 3 (a) -3 (d) is the backswing Principle of Process figure of universal wheel mechanism；
Attached drawing 4 is the structure chart of universal wheel mechanism in second of embodiment；
Attached drawing 5 is the structure chart of universal wheel mechanism in the third embodiment.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
Universal wheel mechanism with double parallel rotating shaft as shown in Fig. 1, comprising wheel seat 1, wheel ontology 2, wheel support 3 with
And transition piece 4；The wheel support 3 is mounted on the wheel seat 1 by transition piece 4, and wheel support 3 and transition piece 4 constitute first turn
Dynamic pair, transition piece 4 and wheel seat 1 constitute the second revolute pair, the shaft of both the first revolute pair and second revolute pair be parallel to each other and
The distance between the two shaft is the first eccentricity (D1 as shown in figure 1)；The wheel ontology 2 is rotatably installed in the wheel support 3
On, and it is eccentrically mounted relative to wheel support 3, center of rotation is deflected away from the shaft of first revolute pair, and deflects away from distance
For the second eccentricity (D2 as shown in figure 1)；First eccentricity is equal with second eccentricity.
The form of wheel seat 1 can be flat or screw, and as shown in Fig. 1, main body is one to flat wheel seat 1
The form of plate is provided with several through-holes to facilitate the installation of wheel seat 1 to the position of required installation；The wheel seat 1 of screw
As shown in Fig. 2, it is provided with screw portion, screw portion may pass through the through-hole being reserved in equipment, and solid by screw
It is fixed.
After universal wheel mechanism of the invention is mounted in equipment, when universal wheel mechanism is in state shown in Fig. 3 (a), if
By arriving, tractive force direction is as shown by arrows in figure, and equipment will be moved to direction shown in arrow at this time, and universal wheel mechanism is due to ground
The various disturbance factors in face, it is impossible to it keeps stablizing in diagram state, therefore relative to wheel seat 1 backswing can occur for wheel support 3, this
When the first revolute pair can be rotated simultaneously with the second revolute pair, allow wheel ontology 2 relative to wheel seat 1 backward (away from movement side
To direction) movement, since the first eccentricity is equal with the second eccentricity, and the direction of tractive force be it is fixed, take turns ontology 2 and
The contact position on ground can be always held at one and be parallel on the line of the direction of motion, athletic posture variation such as attached drawing 3 (a)-
Attached drawing 3 (d), if since ground disturbing factor (such as ground unequal) wheel ontology 2 is slightly wandered off, wheel ontology 2 is also can be
Disturbing factor is corrected to time at once after disappearing, in this way, wheel ontology 2 and the contact position on ground will not shift, then takes turns ontology 2
Lateral power, which will not be generated, makes equipment beat, and the kinetic stability of equipment can greatly improve.
In the first embodiment, the wheel ontology 2 constitutes third revolute pair with the wheel support 3, such as attached drawing 1 and attached drawing
Shown in 2, shaft of the shaft of third revolute pair perpendicular to the first revolute pair at this time.
Frictional force is reduced while in order to increase pressure-bearing property, the wheel ontology 2 has multiple (being two in the present embodiment), institute
The wheel ontology 2 having coaxially is mounted side by side, and the profile for taking turns the outer surface of ontology 2 is arcuation.One kind as the embodiment
Mutation, wheel ontology 2 can also be with only one, and the profile of the outer wheel face of the wheel ontology 2 is wavy, the i.e. profile of its outer wheel face
With multiple lug bosses, shape is consistent with the shape of former scheme, in use, the highest point of lug boss and ground face contact.
3 backswing of wheel support can be reduced in use, wheel ontology 2 and the area of ground face contact are smaller using the wheel ontology 2 of both forms
When ground resistance.
In second of embodiment, as shown in Fig. 4, the wheel ontology 2 be it is spherical, with the wheel support 3 constitute ball
Face pair can also play the effect as first embodiment in this way.
In the third embodiment, In order to meet different use demands, as shown in Fig. 5, it is arranged on the wheel support 3
The brake units 5 that the wheel ontology 2 is rotated relative to wheel support 3 can be limited by having, and such user will can take turns 2 phase of ontology as needed
It is fixed for wheel support 3, it realizes brake, has use in the existing universal wheel product of the structure of brake units more, can directly refer to,
This is not introduced specifically.
Above-mentioned first revolute pair, the second revolute pair and third revolute pair part can configure as needed bearing (including
Copper sheathing, rolling bearing etc.) etc. make to move smooth element, these belong in technical solution of the present invention it is conventional improve, answer
When being regarded as falling into protection scope of the present invention.
Universal wheel mechanism with double parallel rotating shaft of the invention by the way that transition piece is arranged between wheel support and wheel seat,
It may make the equipment equipped with the universal wheel mechanism during counter motion, the backswing of wheel support will not make to take turns ontology and ground
Contact portion deviate the direction of motion of equipment, so that equipment itself will not be made to deflect vibration, can effectively ensure that equipment
Riding stability and traveling precision.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of universal wheel mechanism with double parallel rotating shaft, which is characterized in that include wheel seat (1), wheel ontology (2), wheel branch
Frame (3) and transition piece (4)；
The wheel support (3) is mounted on the wheel seat (1) by transition piece (4), and wheel support (3) and transition piece (4) constitute the
One revolute pair, transition piece (4) and wheel seat (1) constitute the second revolute pair, the shaft phase of the first revolute pair and both the second revolute pairs
Mutually parallel and the distance between the two shaft is the first eccentricity；
The wheel ontology (2) is rotatably installed on the wheel support (3), and it is eccentrically mounted relative to wheel support (3), rotation
Center is deflected away from the shaft of first revolute pair, and deflecting away from distance is the second eccentricity；
First eccentricity is equal with second eccentricity.
2. the universal wheel mechanism according to claim 1 with double parallel rotating shaft, which is characterized in that the wheel ontology
(2) third revolute pair is constituted with the wheel support (3).
3. the universal wheel mechanism according to claim 2 with double parallel rotating shaft, which is characterized in that the wheel ontology
(2) multiple, all wheel ontologies (2) is coaxially mounted side by side.
4. the universal wheel mechanism according to claim 2 with double parallel rotating shaft, which is characterized in that the wheel ontology
(2) profile of outer wheel face is wavy.
5. the universal wheel mechanism according to claim 1 with double parallel rotating shaft, which is characterized in that the wheel ontology
(2) to be spherical, spherical pair is constituted with the wheel support (3).
6. the universal wheel mechanism according to claim 1-5 with double parallel rotating shaft, which is characterized in that described
The brake units (5) that wheel ontology (2) rotates relative to wheel support (3) can be limited by being provided on wheel support (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811296980.9A CN109159625A (en) | 2018-11-01 | 2018-11-01 | A kind of universal wheel mechanism with double parallel rotating shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811296980.9A CN109159625A (en) | 2018-11-01 | 2018-11-01 | A kind of universal wheel mechanism with double parallel rotating shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109159625A true CN109159625A (en) | 2019-01-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811296980.9A Pending CN109159625A (en) | 2018-11-01 | 2018-11-01 | A kind of universal wheel mechanism with double parallel rotating shaft |
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| Country | Link |
|---|---|
| CN (1) | CN109159625A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111873710A (en) * | 2020-07-28 | 2020-11-03 | 广东博智林机器人有限公司 | Can lock universal wheel and AGV chassis |
| CN112297707A (en) * | 2019-07-26 | 2021-02-02 | 杭州海康机器人技术有限公司 | Universal wheel and transport device comprising same |
| CN116062067A (en) * | 2022-12-21 | 2023-05-05 | 诺力智能装备股份有限公司 | Omnidirectional driving device suitable for narrow tunnel AGV |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202163243U (en) * | 2011-06-14 | 2012-03-14 | 江门市新会区丰浩箱包配件厂 | Universal wheel for bottom plate of luggage |
| CN102501895A (en) * | 2011-11-14 | 2012-06-20 | 吴茂盛 | Double eccentric shaft linked swing type perambulator |
| WO2014013753A1 (en) * | 2012-07-17 | 2014-01-23 | 株式会社タイコー | Swivel caster |
| CN104802596A (en) * | 2015-05-06 | 2015-07-29 | 安徽华茂纺织股份有限公司 | Anti-winding universal wheel for textile transportation |
| CN106051089A (en) * | 2016-08-04 | 2016-10-26 | 兰州兰石集团有限公司 | Dual eccentric crank connecting rod device |
| CN107296720A (en) * | 2017-05-22 | 2017-10-27 | 宁波特能机电有限公司 | A kind of Multifunctional hemiplegia recovering walking training |
| CN209022684U (en) * | 2018-11-01 | 2019-06-25 | 苏州牧星智能科技有限公司 | A kind of universal wheel mechanism with double parallel rotating shaft |
-
2018
- 2018-11-01 CN CN201811296980.9A patent/CN109159625A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202163243U (en) * | 2011-06-14 | 2012-03-14 | 江门市新会区丰浩箱包配件厂 | Universal wheel for bottom plate of luggage |
| CN102501895A (en) * | 2011-11-14 | 2012-06-20 | 吴茂盛 | Double eccentric shaft linked swing type perambulator |
| WO2014013753A1 (en) * | 2012-07-17 | 2014-01-23 | 株式会社タイコー | Swivel caster |
| CN104802596A (en) * | 2015-05-06 | 2015-07-29 | 安徽华茂纺织股份有限公司 | Anti-winding universal wheel for textile transportation |
| CN106051089A (en) * | 2016-08-04 | 2016-10-26 | 兰州兰石集团有限公司 | Dual eccentric crank connecting rod device |
| CN107296720A (en) * | 2017-05-22 | 2017-10-27 | 宁波特能机电有限公司 | A kind of Multifunctional hemiplegia recovering walking training |
| CN209022684U (en) * | 2018-11-01 | 2019-06-25 | 苏州牧星智能科技有限公司 | A kind of universal wheel mechanism with double parallel rotating shaft |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112297707A (en) * | 2019-07-26 | 2021-02-02 | 杭州海康机器人技术有限公司 | Universal wheel and transport device comprising same |
| CN111873710A (en) * | 2020-07-28 | 2020-11-03 | 广东博智林机器人有限公司 | Can lock universal wheel and AGV chassis |
| CN111873710B (en) * | 2020-07-28 | 2022-04-01 | 广东博智林机器人有限公司 | Can lock universal wheel and AGV chassis |
| CN116062067A (en) * | 2022-12-21 | 2023-05-05 | 诺力智能装备股份有限公司 | Omnidirectional driving device suitable for narrow tunnel AGV |
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