CN204726152U - Mobile robot's friction disk type quick detach tire construction - Google Patents
Mobile robot's friction disk type quick detach tire construction Download PDFInfo
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- CN204726152U CN204726152U CN201520280232.7U CN201520280232U CN204726152U CN 204726152 U CN204726152 U CN 204726152U CN 201520280232 U CN201520280232 U CN 201520280232U CN 204726152 U CN204726152 U CN 204726152U
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- tire
- compressing tablet
- friction
- pull bar
- quick detach
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- 238000010276 construction Methods 0.000 title claims abstract description 10
- 239000000463 material Substances 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000011324 bead Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
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Abstract
The utility model provides a kind of mobile robot's friction disk type quick detach tire construction, comprising: outside race and tire interference fit, bearing inner ring and tire rub compressing tablet interference fit; Output shaft friction compressing tablet is connected with power take-off shaft, and friction lining is simultaneously fixed on rub compressing tablet, another side and tire of output shaft and rubs on compressing tablet and coordinate; Tire sleeve is combined on tire friction compressing tablet, and tire and tire rub between compressing tablet and be provided with tyre pretightening spring; Power take-off shaft, output shaft friction compressing tablet, tire friction compressing tablet and friction lining are sequentially connected in series by quick detach pull bar, and quick detach pull bar one end screws in the tapped bore of power take-off shaft afterbody.The utility model beneficial effect: structure is simple, flexible operation, regulates transmitting torque by the material of more renewal of facing renewal, preloading spring, quick detach pull bar or structure; Can be used on the little various robot moving platform of load or similar travelling car.
Description
Technical field
The utility model relates to tyre element field, particularly relates to a kind of mobile robot's friction disk type quick detach tire construction.
Background technology
In Robot Design field now, the tire of most wheeled mobile robot is all directly be fixed on robot body.When robot carries some key equipments, often need to regulate traveling gear, to ensure that organism level or wheelspan error are in range of control.
But fixing tire traveling gear often cannot adjust or adjust very complicated, and, when adopting some robots of this class formation to apply out of doors, tire consumption is serious, and tire changing is very complicated, the device of the changing of tire that usual needs are special, cannot ensure changing of tire quickly.
Utility model content
The purpose of this utility model is exactly to overcome the above problems, provide a kind of mobile robot's friction disk type quick detach tire construction, the tire of the upper wearing and tearing of this structure energy quick-replaceable mobile robot, improves robot localization precision, in scientific research and application on the spot, all have practical value widely.
To achieve these goals, the utility model adopts following technical scheme:
A kind of mobile robot's friction disk type quick detach tire construction, comprising: output shaft friction compressing tablet, tire friction compressing tablet, friction lining, tire, tyre pretightening spring, bearing, quick detach pull bar and pull bar preloading spring;
Described outside race and tire interference fit, bearing inner ring and tire rub compressing tablet interference fit; Described output shaft friction compressing tablet is connected with power take-off shaft, and described friction lining is simultaneously fixed on rub compressing tablet, another side and tire of output shaft and rubs on compressing tablet and coordinate; Tire sleeve is combined on tire friction compressing tablet, rubs between compressing tablet be provided with tyre pretightening spring at described tire and tire;
Described power take-off shaft, output shaft friction compressing tablet, tire friction compressing tablet and friction lining are sequentially connected in series by quick detach pull bar, and described quick detach pull bar one end screws in the tapped bore of power take-off shaft afterbody; Rub between compressing tablet at described quick detach pull bar and tire and be provided with pull bar preloading spring.
On the wheel hub of described tire, pressing has bearing apical ring, pressing jam nut on described bearing apical ring.
Described quick detach pull bar comprises: cam, cam adapter shaft, pull bar and cam pad; Described cam is connected with pull bar one end by cam adapter shaft, and the described pull bar other end is provided with screw thread, can coordinate with the axle being threaded hole; The one side of described cam pad is plane, and another side is the concave surface matched with cam.
The utility model beneficial effect:
1. the utility model structure is simple, reliably, achieves the object of quick-detachment tire; Flexible operation, regulates transmitting torque by the material of more renewal of facing renewal, preloading spring, quick detach pull bar or structure; Can be used on the little various robot moving platform of load or similar travelling car, practical application is extensive.
2. the utility model is by realizing the object of fast changing type with the quick detach pull bar of cam mechanism; By the predetermincd tension of adjusting yoke, reach the effect regulating transmitting torque; By changing the preloading spring of unlike material and the number of turns, reach the object regulating transmitting torque; By changing the friction lining of unlike material and framework, reach the effect regulating transmitting torque; By installing additional friction lining on friction compressing tablet, reach the effect that namely increasing friction force increases transmitting torque.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is the overall perspective view of the utility model;
Fig. 3 is the utility model quick detach Tiebar structure schematic diagram;
Fig. 4 is bearing apical ring structural representation;
Fig. 5 is tire friction tabletting structure schematic diagram;
Fig. 6 is output shaft friction tabletting structure schematic diagram;
Wherein, 1, output shaft, 2, output shaft friction compressing tablet, 3, tire, 4, tire friction compressing tablet, 5, bearing apical ring, 6, friction lining, 7, quick detach pull bar, 8, jam nut, 9, screw, 10, tyre pretightening spring, 11, bearing, 12, pull bar preloading spring; A1, pull bar, A2, cam adapter shaft, A3, cam, A4, cam pad.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
A kind of mobile robot's friction disk type quick detach tire construction as depicted in figs. 1 and 2, this is taken turns mechanism for tire and carry out transmitting torque by special rubber friction disc between tire and power take-off shaft, this part is similar to friction disk clutch, there is special friction compressing tablet friction lining both sides to increase wipe contact area, finally, control friction predetermincd tension and axial location by quick detach pull bar, and realize the quick-replaceable object of wheel mechanism for tire by quick detach pull bar.
First output shaft friction compressing tablet 2 is connected on output shaft 1 by key, and output shaft friction compressing tablet 2 and the tire compressing tablet 4 that rubs are connected by friction lining 6, and three cooperatively interacts, and forms the output unit of similar power-transfer clutch.The torsion transmitting out from output shaft 1 is like this delivered to tire by the friction force between output shaft friction compressing tablet 2 and friction lining 6 and rubs compressing tablet 4.
Tire 3 is linked on tire friction compressing tablet 4, and tire 3 and tire rub the predetermincd tension having tyre pretightening spring 10 keep between the two between compressing tablet 4.The structural representation of tire friction compressing tablet 4 and output shaft friction compressing tablet 2 respectively as shown in Figure 5 and Figure 6.
Jam nut 8 is pressed together on to be had on great friction coefficient bearing apical ring 5, and bearing apical ring 5 is pressed together on bead seat.Like this, the moment of torsion passed over from tire friction compressing tablet 4 is delivered to tire 3 by the friction force between jam nut 8 and bearing apical ring 5.The structural representation of bearing apical ring 5 as shown in Figure 4.
Screw in the degree of depth of the tapped bore of output shaft 1 end to regulate axial pre tightening force finally by adjustment quick detach pull bar 7, then carry out axial location by the cam on closed quick detach pull bar 7.Quick detach pull bar 7 and tire rub between compressing tablet 4 pull bar preloading spring 12, can effectively prevent quick detach pull bar from loosening.Like this, the moment of torsion passed over from output shaft 1 is delivered to tire 3 by sleeve mechanism.
Be illustrated in figure 3 quick detach pull bar 7 structural representation, cam A3 is connected with pull bar A1 by cam adapter shaft A2, and cam pad A4 one side is plane, and another side is the concave surface matched with cam A3.When the handle of rotating cam A3 makes cam convex surface match with cam pad A4 concave surface, make cam pad A4 plane tightly compacting on agent surface, play fixing, loosen dynamic object.
Quick detach pull bar 7 is a cam lock holding mechanism, and its pull bar A1 end has screw thread, can be fastened on and be threaded on the axle in hole, cam A3, while be slack list, is pilled-in selvedge, when cam A3 is pressed down by handle, pilled-in selvedge is tightly fitted on pull bar A1, makes front and back two parts tightly compacting of transmission.
Specifically, first output shaft friction compressing tablet 2 is connected on power take-off shaft by key, and then friction lining 6 one side is fixed by screws on output shaft friction compressing tablet 2.When friction lining 6 another side presses on tire friction compressing tablet 4, the torsion transmitting out from output shaft just can be delivered to tire by the two cover friction force rubbed between compressing tablets and friction lining 6 and rub compressing tablet 4.Bearing 11 outer ring is arranged in tire 3 axle sleeve by interference fit, and bearing 11 inner ring is linked on tire friction compressing tablet 4 by interference fit, and tire 3 and tire rub the predetermincd tension having tyre pretightening spring 10 keep between the two between compressing tablet 4.Outside tire 3, jam nut 8 is pressed together on by thread connection and has on great friction coefficient bearing apical ring 5, bearing apical ring 5 is pressed together on bead seat, like this, the moment of torsion passed over from tire friction compressing tablet 4 is delivered to tire 3 by the friction force between jam nut 8 and bearing apical ring 5.Finally by quick detach pull bar 7, above a few part axial series is got up, and regulate axial pre tightening force by the degree of depth regulating quick detach pull bar 7 to screw in power take-off shaft, then form axial location by closed for quick detach pull bar 7.The moment of torsion passed over from power take-off shaft so is just delivered to tire 3 by this sleeve mechanism.
The utility model principal organ part can be purchased in market, as quick detach pull bar, and tire, friction lining, preloading spring etc.Its structure of substandand part is also uncomplicated, can pass through conventional equipment processing and manufacturing.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (3)
1. mobile robot's friction disk type quick detach tire construction, is characterized in that, comprising: output shaft friction compressing tablet, tire friction compressing tablet, friction lining, tire, tyre pretightening spring, bearing, quick detach pull bar and pull bar preloading spring;
Described outside race and tire interference fit, bearing inner ring and tire rub compressing tablet interference fit; Described output shaft friction compressing tablet is connected with power take-off shaft, and described friction lining is simultaneously fixed on rub compressing tablet, another side and tire of output shaft and rubs on compressing tablet and coordinate; Tire sleeve is combined on tire friction compressing tablet, rubs between compressing tablet be provided with tyre pretightening spring at described tire and tire;
Described power take-off shaft, output shaft friction compressing tablet, tire friction compressing tablet and friction lining are sequentially connected in series by quick detach pull bar, and described quick detach pull bar one end screws in the tapped bore of power take-off shaft afterbody; Rub between compressing tablet at described quick detach pull bar and tire and be provided with pull bar preloading spring.
2. a kind of mobile robot's friction disk type quick detach tire construction as claimed in claim 1, it is characterized in that, on the wheel hub of described tire, pressing has bearing apical ring, pressing jam nut on described bearing apical ring.
3. a kind of mobile robot's friction disk type quick detach tire construction as claimed in claim 1, it is characterized in that, described quick detach pull bar comprises: cam, cam adapter shaft, pull bar and cam pad; Described cam is connected with pull bar one end by cam adapter shaft, and the described pull bar other end is provided with screw thread, can coordinate with the axle being threaded hole; The one side of described cam pad is plane, and another side is the concave surface matched with cam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520280232.7U CN204726152U (en) | 2015-05-04 | 2015-05-04 | Mobile robot's friction disk type quick detach tire construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520280232.7U CN204726152U (en) | 2015-05-04 | 2015-05-04 | Mobile robot's friction disk type quick detach tire construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204726152U true CN204726152U (en) | 2015-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520280232.7U Active CN204726152U (en) | 2015-05-04 | 2015-05-04 | Mobile robot's friction disk type quick detach tire construction |
Country Status (1)
| Country | Link |
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| CN (1) | CN204726152U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2566017A (en) * | 2017-08-29 | 2019-03-06 | Q Bot Ltd | Robotic vehicle |
| CN112440619A (en) * | 2019-08-30 | 2021-03-05 | 北京海益同展信息科技有限公司 | Mobile device |
-
2015
- 2015-05-04 CN CN201520280232.7U patent/CN204726152U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2566017A (en) * | 2017-08-29 | 2019-03-06 | Q Bot Ltd | Robotic vehicle |
| GB2566017B (en) * | 2017-08-29 | 2020-06-17 | Q Bot Ltd | Robotic vehicle |
| CN112440619A (en) * | 2019-08-30 | 2021-03-05 | 北京海益同展信息科技有限公司 | Mobile device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201027 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |