CN204749736U - Mobile robot shell type quick detach tire structure that expands - Google Patents

Abstract

The utility model provides a mobile robot expansion sleeve type quick-release tire structure, comprising: one end of the first-stage expansion sleeve is connected with the tire expansion sleeve connection shaft, and the other end is connected with the power output shaft; the tire is connected with the tire expansion sleeve through the second-level expansion sleeve. Sleeve connection shaft connection, power output shaft, first-stage expansion sleeve, tire expansion sleeve connection shaft are connected in series in the axial direction through the quick release pull rod, one end of the quick release pull rod is screwed into the threaded hole of the power output shaft, between the power output shaft and the tire There is a pull rod preload spring between the connecting shafts of the expansion sleeve. The utility model has beneficial effects: the tire can be quickly disassembled by pulling out the quick-release tie rod; by adjusting the pre-tightening force of the quick-release tie rod, the effect of adjusting the pre-tightening force of the expansion sleeve is achieved, thereby achieving the effect of adjusting the tire torque.

Description

Mobile robot expansion sleeve type quick release tire structure

technical field

The utility model relates to the field of tire components, in particular to a mobile robot expansion sleeve type quick-release tire structure.

Background technique

In the field of robot design today, the tires of most wheeled mobile robots are directly fixed on the power output shaft of the robot body by screws or the like. Although this connection method is simple in structure, it is very difficult to maintain in the later stage. When the robot is used outdoors, the tires are seriously worn out, and tire replacement is very complicated. A special device for replacing tires is required; this will seriously affect the normal operation and maintenance of the robot.

Utility model content

The purpose of this utility model is to solve the above problems, providing a mobile robot expansion sleeve type quick release tire structure, which can quickly replace the worn tires on the mobile robot, improve the positioning accuracy of the robot, and has advantages in scientific research and field application. Practical value.

In order to achieve the above object, the utility model adopts the following technical solutions:

A mobile robot expansion sleeve type quick release tire structure, including: a primary expansion sleeve, a secondary expansion sleeve, a tire expansion sleeve connecting shaft, a tire, a quick release pull rod and a pull rod preload spring;

One end of the primary expansion sleeve is connected to the connecting shaft of the tire expansion sleeve, and the other end is connected to the power output shaft; the tire is connected to the connecting shaft of the tire expansion sleeve through the secondary expansion sleeve, and the power output shaft, the primary expansion sleeve . The connecting shaft of the tire expansion sleeve is connected in series in the axial direction through the quick-release pull rod. One end of the quick-release pull rod is screwed into the threaded hole of the power output shaft. Tighten the spring.

The quick-release pull rod includes: a cam, a cam connection shaft, a pull rod and a cam pad; the cam is connected to one end of the pull rod through the cam connection shaft, and the other end of the pull rod is provided with threads, which can cooperate with a shaft with a threaded hole; One side of the cam pad is a plane, and the other side is a concave surface matched with the cam.

Beneficial effects of the utility model:

1. The utility model quickly disassembles the tire by pulling out the quick-release tie rod; by adjusting the pre-tightening force of the quick-release tie rod, the effect of adjusting the pre-tightening force of the expansion sleeve is achieved, thereby achieving the effect of adjusting the tire torque.

2. The main components of the utility model can be selected from existing products on the market, such as Z1 and Z2 expansion sleeves, which have good interchangeability and are convenient for later maintenance.

3. The expansion sleeve selected by the utility model has centering properties, which can self-align the wheel center and improve the positioning accuracy of the tire. When applied to high-precision equipment such as robots, it can effectively ensure the running accuracy and prevent problems such as deviation. Industries such as robotics have extremely high practical value.

4. The expansion sleeve selected by the utility model will lose its connection function when overloaded, which can protect the equipment from damage.

Description of drawings

Fig. 1 is a structural representation of the utility model;

Fig. 2 is a schematic diagram of the overall three-dimensional structure of the utility model;

Fig. 3 is a schematic diagram of the structure of the quick release pull rod of the utility model;

Among them, 1. Power output shaft, 2. Tire, 3. Tire expansion sleeve connecting shaft, 4. Z2 type expansion sleeve, 5. Z1 type expansion sleeve, 6. Quick release pull rod, 7. Pull rod preload spring; A1, pull rod , A2, cam connection shaft, A3, cam, A4, cam pad.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

A mobile robot expansion sleeve type quick release tire structure is shown in Figures 1 and 2. The tire mechanism transmits torque between the tire 2 and the power output shaft 1 through two-stage expansion sleeves, and the types of the two-stage expansion sleeves are different. Finally, the pre-tightening force of the expansion sleeve is controlled by the quick-release tie rod 6, and the purpose of quick replacement of the tire mechanism is realized by pulling out the quick-release tie rod 6.

Specifically, the tire 2 and the tire expansion sleeve connecting shaft 3 are connected together through a Z2 type expansion sleeve 4, and then the tire expansion sleeve connecting shaft 3 and the power output shaft 1 are connected together through a Z1 type expansion sleeve 5. After several parts are connected, several parts are fastened by quick release pull rod 6.

First, the tire 2 is connected to the tire expansion sleeve connecting shaft 3 through the 4 expansion sleeve Z2, the power output shaft 1 and the tire expansion sleeve connecting shaft 3 are connected through the 5 expansion sleeve Z1, and the power output shaft 1 and the tire expansion sleeve connection shaft 3 There is a spring 7, which is convenient for withdrawing from the tire expansion sleeve connecting shaft 3 while providing pre-tightening force. One end of the quick-release pull rod 6 is screwed on the threaded hole at one end of the power output shaft 1, and the pre-tightening force is controlled by adjusting the screw-in depth. The pull rod pre-tightening spring 7 can effectively prevent the quick release pull rod 6 from loosening, and finally the cam of the quick release pull rod 6 is closed to generate axial positioning. Through the above cooperation, the torque transmitted from the power output shaft 1 is transmitted to the tire expansion sleeve connecting shaft 3 through the 5 expansion sleeve Z1, and then transmitted to the tire 2 through the 4 expansion sleeve Z2. The expansion sleeve is divided into two layers. The inner and outer layers are sleeves with a certain taper. Through the mutual extrusion of the inner and outer layers, the inner and outer layers are bonded together to transmit torque.

As shown in Figure 3, it is a schematic structural diagram of the quick-release pull rod 6. The cam A3 is connected to the pull rod A1 through the cam connection shaft A2. One side of the cam pad A4 is a plane, and the other side is a concave surface matched with the cam A3. When the handle of the rotating cam A3 makes the convex surface of the cam match with the concave surface of the cam pad A4, the plane of the cam pad A4 is tightly compacted on the surface of the acting object, so as to achieve the purpose of fixing, loosening and moving.

The quick-release lever 6 is a cam locking mechanism. The end of the lever A1 is threaded and can be fastened to a shaft with a threaded hole. One side of the cam A3 is loose and the other side is tight. When the cam A3 is pushed down by the handle At the same time, the tight side is tightly attached to the pull rod A1, so that the front and rear parts of the transmission are tightly compacted.

The utility model can quickly replace tires through the quick release pull rod, which is convenient and reliable. There are many types of expansion sleeves selected, and the types are complete. Different types of expansion sleeves can be matched with tires with different loads. It has good practicability, good interchangeability and convenient design.

The expansion sleeve selected by the utility model has centering property, can find the center of the wheel by itself, and improves the positioning accuracy of the tire. When applied to high-precision equipment such as robots, it can effectively ensure the running accuracy and prevent problems such as deviation. The industry has extremely high practical value.

The expansion sleeve selected by the utility model will lose the connection function when overloaded, and can protect the equipment from damage.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (2)

1. A mobile robot expansion sleeve type quick-release tire structure is characterized in that it includes: a first-level expansion sleeve, a second-level expansion sleeve, a tire expansion sleeve connecting shaft, a tire, a quick-release pull rod and a pull rod preload spring; One end of the primary expansion sleeve is connected to the connecting shaft of the tire expansion sleeve, and the other end is connected to the power output shaft; the tire is connected to the connecting shaft of the tire expansion sleeve through the secondary expansion sleeve, and the power output shaft, the primary expansion sleeve . The connecting shaft of the tire expansion sleeve is connected in series in the axial direction through the quick-release pull rod. One end of the quick-release pull rod is screwed into the threaded hole of the power output shaft. Tighten the spring. 2. A kind of mobile robot expansion sleeve type quick release tire structure as claimed in claim 1, is characterized in that, described quick release pull rod comprises: cam, cam connection shaft, pull bar and cam pad; Described cam is connected shaft by cam It is connected with one end of the pull rod, and the other end of the pull rod is provided with a thread, which can be matched with a shaft with a threaded hole; one side of the cam pad is a plane, and the other side is a concave surface matched with the cam.