CN203172353U - Universal wheel device - Google Patents
Universal wheel device Download PDFInfo
- Publication number
- CN203172353U CN203172353U CN2013201832487U CN201320183248U CN203172353U CN 203172353 U CN203172353 U CN 203172353U CN 2013201832487 U CN2013201832487 U CN 2013201832487U CN 201320183248 U CN201320183248 U CN 201320183248U CN 203172353 U CN203172353 U CN 203172353U
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- wheel
- drive
- motor
- turning
- gyro
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Abstract
The utility model discloses a universal wheel device which comprises a casing, a transition plate, a rotation motor, a driving motor, a rotating body, a wheel, a cover plate, a rotating transmission mechanism and a driving transmission mechanism. The rotation motor is installed on the transition plate, the transition plate is fixed at the position of a notch positioned at the upper end of the casing, the driving motor is fixed on a large gear of the rotating transmission mechanism, the wheel is installed between the rotating body and the cover plate, the rotation motor drives the rotating body to rotate through the rotating transmission mechanism so as to achieve steering of the wheel device; the driving motor drives the wheel to move through the driving transmission mechanism to achieve advance or retreat of the wheel device; and universal movement of the wheel device is achieved through the rotation motor and the driving motor jointly. The universal wheel device is simple in structure and convenient to use, steering movement and driving movement can be performed synchronously, and working efficiency of robots or other devices borne by the universal wheel device is effectively improved.
Description
Technical field
The utility model relates to a kind of universal wheel assembly, mainly is used as universal movement and the related application field of robot.
Background technology
Mobile robot's research starts from late 1960s, continuous development along with computer technology, automatic technology, material science etc., the mobile robot has obtained using widely in industry, agricultural, medicine and service industry at present, thereby the travel mechanism of robot also becomes the focus of research.Mobile robot's travel mechanism mainly contains wheeled travel mechanism, double-feet travel mechanism and takes turns sufficient assembled moving mechanism etc., and double-feet travel mechanism is bigger because of technical risk, is not widely used.
There is complex structure in present wheeled travel mechanism, and speed of response is slow, can not turn to and drive two motions synchronously, shortcomings such as load-carrying capacity difference.
The utility model content
The purpose of this utility model is to solve the deficiency that above-mentioned prior art exists, and a kind of universal wheel assembly is provided.
For achieving the above object, the utility model has adopted following technical proposals:
A kind of universal wheel assembly comprises housing, rebound, turning motor, drive motor, gyro-rotor, wheel, cover plate, rotary drive mechanism and drive transmission device; Described turning motor is installed on the rebound, and rebound is fixed in the indentation, there of housing upper end, and drive motor is fixed on the big gear wheel of rotary drive mechanism; Described wheel is installed between gyro-rotor and the cover plate, and described turning motor drives gyro-rotor by a cover revolution transmission device and rotates, and realizes turning to of wheel assembly; Described drive motor drives wheel movement by a cover drive transmission device, realizes advancing or retreating of wheel assembly; Turning motor and drive motor are realized the universal movement of wheel assembly jointly.
Above-mentioned rotary drive mechanism comprises the intermeshing miniature gears that is installed in the housing and big gear wheel and connector; Miniature gears is installed in the below of rebound, be connected by key with the output shaft of turning motor, big gear wheel is fixed in gyro-rotor by a connector, the turning motor Drive pinion rotates and drives the big gear wheel rotation that is engaged with, thereby drive the gyro-rotor rotation and realize turning to of wheel assembly, deep groove ball bearing all is equipped with to reduce friction in miniature gears and connector and housing cooperation place.
Above-mentioned drive transmission device comprises a worm screw and a worm gear; Described drive motor is fixed on the big gear wheel, a through hole is respectively arranged on big gear wheel and the connector, two through hole alignment assemblings, the output shaft of drive motor is affixed by through hole and a worm screw, worm screw and a worm gear engagement, worm gear links together by key and axletree, and wheel is fixed together by bolt and axletree, and axletree cooperates to reduce friction by deep groove ball bearing and gyro-rotor and cover plate; Drive motor drives worm screw and rotates, and rotates thereby drive the worm gear that is engaged with, and finally drives the wheel movement that is attached thereto by axletree, realizes advancing or setback of wheel assembly.
Above-mentioned rotary drive mechanism is when turning to, and drive motor rotates with big gear wheel, connector, gyro-rotor, and drive motor drives wheel by drive transmission device and advances or setback when turning to, and what realization turned to and drove is synchronized with the movement.
The utility model and prior art are compared, and have following apparent substantive distinguishing features and progress:
The utility model is simple in structure, and is easy to use.The movement that the structure that adopts drive motor to rotate with the gyro-rotor of wheel assembly can make wheel assembly carry out forward or retreat when turning to is carried out divertical motion and actuation movement synchronously, accelerates that wheel assembly turns to and the efficient of movement.Adopt the mechanism of motor direct-drive gear and worm gear, worm screw can effectively accelerate the speed of response of whole wheel assembly, thereby promote the robot of its carrying or the kinematic velocity of other equipment.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation that the utility model has been removed rebound.
Fig. 3 is A-A cutaway view of the present utility model.
The specific embodiment
Describe exemplary embodiments of the present invention in detail below in conjunction with accompanying drawing and preferred embodiment.
Embodiment one:
Referring to accompanying drawing 1,2,3, a kind of universal wheel assembly comprises housing 1, rebound 2, turning motor 3, drive motor 4, gyro-rotor 5, wheel 6, cover plate 7, rotary drive mechanism and drive transmission device; Described turning motor 3 is installed on the rebound 2, and rebound 2 is fixed in the indentation, there of housing 1 upper end, and drive motor 4 is fixed on the big gear wheel 9 of rotary drive mechanism; Described wheel 6 is installed between gyro-rotor 5 and the cover plate 7, and described turning motor 3 drives gyro-rotor 5 by a cover revolution transmission device and rotates, and realizes turning to of wheel assembly; Described drive motor 4 drives wheel 6 motions by a cover drive transmission device, realizes advancing or retreating of wheel assembly; Turning motor 3 and the drive motor 4 common universal movements that realize wheel assembly.
Embodiment two:
Present embodiment and embodiment one are basic identical, and special feature is, described rotary drive mechanism comprises the intermeshing miniature gears 8 that is installed in the housing 1 and big gear wheel 9 and connector 10; Miniature gears 8 is installed in the below of rebound 2, be connected by key with the output shaft of turning motor 3, big gear wheel 9 is fixed in gyro-rotor 5 by a connector 10, turning motor 3 Drive pinions 8 rotate and drive big gear wheel 9 rotations that are engaged with, thereby drive gyro-rotor 5 rotations and realize turning to of wheel assembly, miniature gears 8 and connector 10 all are equipped with deep groove ball bearing to reduce friction with housing 1 cooperation place.
Described drive transmission device comprises a worm screw 11 and a worm gear 12; Described drive motor 4 is fixed on the big gear wheel 9, a through hole is respectively arranged on big gear wheel 9 and the connector 10, two through hole alignment assemblings, the output shaft of drive motor 4 is affixed by through hole and a worm screw 11, worm screw 11 and worm gear 12 engagements, worm gear 12 links together by key and axletree 13, and wheel 6 is fixed together by bolt and axletree 13, and axletree 13 cooperates to reduce friction by deep groove ball bearing and gyro-rotor 5 and cover plate 7; Drive motor 4 drives worm screw 11 and rotates, and rotates thereby drive the worm gear 12 that is engaged with, and finally drives wheel 6 motions that are attached thereto by axletree 13, realizes advancing or setback of wheel assembly.
Described rotary drive mechanism is when turning to, drive motor 4 is with big gear wheel 9, connector 10, gyro-rotor 5 rotations, drive motor 4 drives wheel 6 by drive transmission device and advances or setback when turning to, what realization turned to and drove is synchronized with the movement.
Claims (4)
1. a universal wheel assembly is characterized in that: comprise housing (1), rebound (2), turning motor (3), drive motor (4), gyro-rotor (5), wheel (6), cover plate (7), rotary drive mechanism and drive transmission device; Described turning motor (3) is installed on the rebound (2), and rebound (2) is fixed in the indentation, there of housing (1) upper end, and drive motor (4) is fixed on the big gear wheel (9) of rotary drive mechanism; Described wheel (6) is installed between gyro-rotor (5) and the cover plate (7), and described turning motor (3) drives gyro-rotor (5) by a cover revolution transmission device and rotates, and realizes turning to of wheel assembly; Described drive motor (4) drives wheel (6) motion by a cover drive transmission device, realizes advancing or retreating of wheel assembly; Turning motor (3) and drive motor (4) are realized the universal movement of wheel assembly jointly.
2. universal wheel assembly according to claim 1 is characterized in that: described rotary drive mechanism comprises an intermeshing miniature gears (8) and a big gear wheel (9) and the connector (10) that is installed in the housing (1); Miniature gears (8) is installed in the below of rebound (2), be connected by key with the output shaft of turning motor (3), big gear wheel (9) is fixed in gyro-rotor (5) by a connector (10), turning motor (3) Drive pinion (8) rotates and drives big gear wheel (9) rotation that is engaged with, thereby drive gyro-rotor (5) rotation and realize turning to of wheel assembly, miniature gears (8) and connector (10) all are equipped with deep groove ball bearing to reduce friction with housing (1) cooperation place.
3. universal wheel assembly according to claim 1, it is characterized in that: described drive transmission device comprises a worm screw (11) and a worm gear (12); Described drive motor (4) is fixed on the big gear wheel (9), on big gear wheel (9) and the connector (10) through hole is arranged respectively, two through hole alignment assemblings, the output shaft of drive motor (4) is affixed by through hole and a worm screw (11), worm screw (11) and a worm gear (12) engagement, worm gear (12) links together by key and axletree (13), wheel (6) is fixed together by bolt and axletree (13), and axletree (13) cooperates to reduce friction by deep groove ball bearing and gyro-rotor (5) and cover plate (7); Drive motor (4) drives worm screw (11) and rotates, and rotates thereby drive the worm gear (12) that is engaged with, and finally drives wheel (6) motion that is attached thereto by axletree (13), realizes advancing or setback of wheel assembly.
4. universal wheel assembly according to claim 1, it is characterized in that: described rotary drive mechanism is when turning to, drive motor (4) is with big gear wheel (9), connector (10), gyro-rotor (5) rotation, drive motor (4) drives wheel (6) by drive transmission device and advances or setback when turning to, what realization turned to and drove is synchronized with the movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201832487U CN203172353U (en) | 2013-04-12 | 2013-04-12 | Universal wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201832487U CN203172353U (en) | 2013-04-12 | 2013-04-12 | Universal wheel device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203172353U true CN203172353U (en) | 2013-09-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013201832487U Expired - Fee Related CN203172353U (en) | 2013-04-12 | 2013-04-12 | Universal wheel device |
Country Status (1)
| Country | Link |
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| CN (1) | CN203172353U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465729B (en) * | 2013-09-23 | 2016-01-13 | 深圳市纳瑞科技有限公司 | A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device |
| CN105890443A (en) * | 2014-12-15 | 2016-08-24 | 广西大学 | Universal drive device |
| CN105966175A (en) * | 2016-06-06 | 2016-09-28 | 成都天福创造机器人有限公司 | Steering driving wheel used for robot, robot movement chassis and robot |
| CN106068173A (en) * | 2014-03-05 | 2016-11-02 | 高通股份有限公司 | Multiaxis Electric Motor Wheel |
| CN106379442A (en) * | 2016-11-18 | 2017-02-08 | 安徽农业大学 | Elevation type movable electric platform applied to livestock farm |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN107415904A (en) * | 2017-07-14 | 2017-12-01 | 深圳市招科智控科技有限公司 | Harbour container is horizontal to carry unmanned vehicle exchange system and method |
| CN108407853A (en) * | 2018-03-02 | 2018-08-17 | 张立升 | A kind of adjustable flat-plate trolley of universal wheel quantity |
| CN108790781A (en) * | 2017-04-27 | 2018-11-13 | Zf 腓德烈斯哈芬股份公司 | Equipment for fastening the traveling driving mechanism in floor delivery tool |
| CN110371216A (en) * | 2019-07-02 | 2019-10-25 | 三峡大学 | A kind of turning and running mechanism and control method for AGV trolley |
| WO2020238516A1 (en) * | 2019-05-31 | 2020-12-03 | 上海途加箱包商贸有限公司 | Power-assisted wheel for luggage case, control method therefor and luggage case |
| CN112603672A (en) * | 2020-12-18 | 2021-04-06 | 杭州电子科技大学 | Mobile device and method suitable for narrow space |
-
2013
- 2013-04-12 CN CN2013201832487U patent/CN203172353U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465729B (en) * | 2013-09-23 | 2016-01-13 | 深圳市纳瑞科技有限公司 | A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device |
| CN106068173B (en) * | 2014-03-05 | 2018-01-16 | 高通股份有限公司 | Multiaxis Electric Motor Wheel |
| CN106068173A (en) * | 2014-03-05 | 2016-11-02 | 高通股份有限公司 | Multiaxis Electric Motor Wheel |
| CN105890443A (en) * | 2014-12-15 | 2016-08-24 | 广西大学 | Universal drive device |
| CN105966175A (en) * | 2016-06-06 | 2016-09-28 | 成都天福创造机器人有限公司 | Steering driving wheel used for robot, robot movement chassis and robot |
| CN106379442A (en) * | 2016-11-18 | 2017-02-08 | 安徽农业大学 | Elevation type movable electric platform applied to livestock farm |
| CN108790781A (en) * | 2017-04-27 | 2018-11-13 | Zf 腓德烈斯哈芬股份公司 | Equipment for fastening the traveling driving mechanism in floor delivery tool |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN106945467B (en) * | 2017-05-09 | 2023-07-07 | 崔书林 | Vehicle walking driving direction navigation mechanism |
| CN107415904A (en) * | 2017-07-14 | 2017-12-01 | 深圳市招科智控科技有限公司 | Harbour container is horizontal to carry unmanned vehicle exchange system and method |
| CN107415904B (en) * | 2017-07-14 | 2020-10-09 | 深圳市招科智控科技有限公司 | Reversing system and method for horizontally carrying unmanned vehicles by port containers |
| CN108407853A (en) * | 2018-03-02 | 2018-08-17 | 张立升 | A kind of adjustable flat-plate trolley of universal wheel quantity |
| WO2020238516A1 (en) * | 2019-05-31 | 2020-12-03 | 上海途加箱包商贸有限公司 | Power-assisted wheel for luggage case, control method therefor and luggage case |
| CN110371216A (en) * | 2019-07-02 | 2019-10-25 | 三峡大学 | A kind of turning and running mechanism and control method for AGV trolley |
| CN112603672A (en) * | 2020-12-18 | 2021-04-06 | 杭州电子科技大学 | Mobile device and method suitable for narrow space |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130904 Termination date: 20140412 |