CN206426758U - Universal wheel steering control system and robot and stroller and wheelchair and luggage case - Google Patents
Universal wheel steering control system and robot and stroller and wheelchair and luggage case Download PDFInfo
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- CN206426758U CN206426758U CN201621266473.7U CN201621266473U CN206426758U CN 206426758 U CN206426758 U CN 206426758U CN 201621266473 U CN201621266473 U CN 201621266473U CN 206426758 U CN206426758 U CN 206426758U
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- universal wheel
- control system
- steering control
- stator
- wheel steering
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- 239000000853 adhesive Substances 0.000 claims abstract description 5
- 230000001070 adhesive effect Effects 0.000 claims abstract description 5
- 239000007787 solid Substances 0.000 abstract 1
- 229920003266 Leaf® Polymers 0.000 description 10
- 238000000034 method Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The utility model discloses a kind of universal wheel steering control system and robot and stroller and wheelchair and luggage case, including universal wheel, the universal wheel top is connected with electromagnetic clutch, locating rotation device is set between the stator and rotor of the electromagnetic clutch, the locating rotation device includes at least one the orientation slideway for being arranged at stator bottom, the rotor upper end is provided with least one detent ball coordinated with orientation slideway, the orientation slideway is provided with stopper slot at least one setting position, detent ball automatically rotates to stopper slot in stator and rotor adhesive and completes positioning.The locating rotation apparatus structure of the utility model universal wheel steering control system is simple, be skillfully constructed, and performance is solid and reliable, the travel direction of universal wheel can be adjusted when running into obstacle, it is ensured that universal wheel can pass through obstacle.
Description
Technical field
The utility model belongs to advanced manufacture and technical field of automation, specifically a kind of universal wheel steering control system
And robot and stroller and wheelchair and luggage case.
Background technology
At present, the application of universal wheel is rather extensive, can freely be rotated with 360 degree, on normal ground (i.e. steady road surface)
Can very easily be turned to during walking, but it can not be travelled if obstacle such as step etc. is run into, can only manually lift to move, not only not
Easily operation, also expends a large amount of manpowers, greatly limit the application of universal wheel steering.How universal wheel steering is improved
Traveling in the complex environment for having various obstacles turns into urgent problem to be solved.
With demand of the outdoor operation to universal wheel walking mechanism, universal wheel walking mechanism is applied to the complicated ring such as field
In border, field complex environment faces many obstacles, such as water unlike normal ground, universal wheel walking mechanism when running out of doors
Pipe, raceway groove, step etc., driving wheel can run over obstacle, but universal wheel is often blocked because of rotating by obstacle, or fall into
Enter into raceway groove, so how to make universal wheel mechanism leaping over obstacles be the problem faced at present.
Utility model content
The purpose of this utility model is that there is provided a kind of universal wheel steering control system to overcome above-mentioned the deficiencies in the prior art
System, this system can easily be surmounted obstacles by setting electromagnetic clutch and locating rotation device in complex environment, improve ten thousand
To the application environment of wheel, surmounting obstacles offer for the mechanism using universal wheel may.
To achieve the above object, the utility model uses following technical proposals：
Universal wheel steering control system, including universal wheel, the universal wheel top are connected with electromagnetic clutch, the electromagnetism
Locating rotation device is set between the stator and rotor of clutch, and locating rotation device makes rotor when electromagnetic clutch is powered certainly
It is dynamic to turn to setting position.The locating rotation device includes at least one the orientation slideway for being arranged at stator bottom, described
Rotor upper end is provided with least one detent ball coordinated with orientation slideway, and the orientation slideway is at least one setting position
Provided with stopper slot, detent ball automatically rotates to stopper slot in stator and rotor adhesive and completes positioning.Universal wheel and electromagnetism from
Clutch coordinates, in normal road, and electromagnetic clutch power-off, universal wheel is freely rotated；When running into obstacle, electromagnetic clutch
Device is powered, rotor and stator adhesive, while locating rotation device makes rotor automatically rotate to setting position, universal wheel turns therewith
To will not be blocked by obstacle.By setting orientation slideway and detent ball, when electromagnetic clutch is powered, detent ball can be along calmly
Turned to slideway in stopper slot, be easily accomplished the positioning of universal wheel, prevented universal wheel from rotating again, row can only be oriented
Sail.
The orientation slideway is set along stator lower surface with circular arc, and the center of circle and the stator center of circle of circular arc orientation slideway are same
The heart；Facilitate detent ball to slide along, universal wheel can turn to setting position, its center of circle be arranged concentrically with the stator center of circle,
Ensure that deviation will not occur for rotor rotation process.
It is preferred that, the orientation slideway is obliquely installed, and orients slideway position highest at stopper slot；Orientation slideway, which is tilted, to be set
Put, under the suction-combining force of stator and rotor, detent ball can easily slip into stopper slot along it.
The universal wheel is fixedly connected with the rotor by connector；Universal wheel is fixed with rotor, and electromagnetic clutch, which is powered, to be turned
Son can drive universal wheel to turn to setting position when rotating.
The stator top is fixedly connected with spring leaf, and the stator interior sets magnetic coil；Set magnetic coil and
Chip architecture of the spring, realizes the clutch of clutch rotor for electromagnetic clutch and stator.
The utility model also provides a kind of robot, including main body, bottom part body set at least one described above ten thousand
To wheel steering control system.The universal wheel steering control system has the work(for making robot pass through obstacle under complex environment
Can, on the premise of ensureing that robot architecture is compact, improve its ability for tackling complex environment.
The utility model also provides a kind of stroller, including car body, and vehicle bottom sets at least one described above universal
Take turns steering control system.The universal wheel steering control system can pass through obstacle with auxiliary trammer, improve the application ring of stroller
Border.
The utility model also provides a kind of wheelchair, including wheelchair body, and wheelchair body bottom portion sets at least one institute above
The universal wheel steering control system stated.The universal wheel steering control system can aid in wheelchair to pass through obstacle, run into building
During the obstacles such as ladder, in that context it may be convenient to surmount obstacles, without artificial lift to move wheelchair.
The utility model also provides a kind of luggage case, including casing, bottom half set at least one described above ten thousand
To wheel steering control system.The universal wheel steering control system can aid in luggage case to pass through obstacle, pull luggage case
In walking process can light leaping over obstacles, it is time saving and energy saving without artificial lift to move luggage case.
The beneficial effects of the utility model are：
The locating rotation apparatus structure of the utility model universal wheel steering control system is simple, be skillfully constructed, and performance is firm
Reliably, the travel direction of universal wheel can be adjusted when running into obstacle, it is ensured that universal wheel can pass through obstacle.
The universal wheel that the utility model is used can use the universal wheel product of standard on the market, and interchangeability is good, can apply
Scope is wide.
Steering control system control method of the present utility model is simple, and when electromagnetic clutch is powered, locating rotation device makes
Rotor automatically rotates to setting position, without increasing the structures such as steering motor, it is to avoid a series of after increase steering motor to sentence
It is the problem of disconnected direction, practical.
Brief description of the drawings
Fig. 1 is the utility model universal wheel steering control system structural representation；
Fig. 2 is locating rotation device guiding principle schematic；
Fig. 3 is detent ball force analysis and shifting principle figure；
Fig. 4 is the schematic diagram that detent ball enters after stopper slot；
In figure, 1 universal wheel, 2 flat keys, 3 rotor mounts, 4 bearings, 5 rotors, 6 stators, 7 spring leafs, 8 spring leafs are installed
Seat, 9 stopper slots, 10 detent balls, 11 orientation slideways.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
Embodiment 1：
As shown in figure 1, electromagnetic clutch type universal wheel steering control system, including universal wheel 1, the top of universal wheel 1 and electromagnetism
Clutch is connected, and electromagnetic clutch includes rotor mount 3, bearing 4, rotor 5, stator 6, spring leaf 7, spring leaf mounting seat 8.
Universal wheel 1 is connected by flat key 2 with rotor 5, and bearing 4 is linked in rotor mount 3, and rotor 5 is linked in bearing 4
It is interior, in this way, universal wheel 1 can be rotated together with rotor 5 under the cooperation of bearing 4 in rotor mount 3.
The inner ring of spring leaf 7 is fixed together by screw with stator 6, and the outer ring of spring leaf 7 is installed by screw and spring leaf
Seat 8 is fixed together.The inside of stator 6 sets magnetic coil；Magnetic coil and chip architecture of the spring are set, realize that electromagnetic clutch turns
The clutch of son and stator.
Locating rotation device is set between the stator 6 and rotor 5 of electromagnetic clutch, and locating rotation device is in electromagnetic clutch
Rotor is set to automatically rotate to setting position during energization.
As shown in Fig. 2 locating rotation device includes 2 orientation slideways 11 for being arranged at the bottom of stator 6, the upper end of rotor 5
Portion is provided with 2 detent balls 10 coordinated with orientation slideway 11, and orientation slideway 11 is provided with stopper slot 9, positioning rolling in setting position
Pearl 10 automatically rotates to stopper slot 9 in 5 adhesive of stator 6 and rotor and completes positioning.By setting orientation slideway 11 and positioning to roll
Pearl 10, when electromagnetic clutch is powered, detent ball 10 can be turned in stopper slot 9 along orientation slideway 11, be easily accomplished universal wheel
Positioning, prevent universal wheel from rotating again, traveling can only be oriented.
Orientation slideway 11 on stator 6 can also set 1 or 3 etc., and the detent ball 10 on corresponding rotor sets 1
Individual or 3, stopper slot 9 is also provided with 1 or 3, locator slide 11, detent ball 10, the quantity of stopper slot 9 be it is corresponding,
Each detent ball 10 correspondence one orientation slideway 11, a stopper slot 9, detent ball 10 slide into limit along orientation slideway 11
It is the positioning for completing universal wheel at the groove 9 of position.
Orientation slideway 11 is set along the lower surface of stator 6 with circular arc, the center of circle and the center of circle of stator 6 of circular arc orientation slideway 11
With one heart；Facilitate detent ball to slide along, universal wheel can turn to setting position, by its center of circle with the stator center of circle is concentric sets
Put, it is ensured that deviation will not occur for rotor rotation process.
Orientation slideway 11 is obliquely installed, and orients the position highest at stopper slot 9 of slideway 11；Orientation slideway 11 is obliquely installed,
Under the suction-combining force of stator 6 and rotor 5, detent ball 10 can easily slip into stopper slot 9 along it.
As Figure 3-Figure 4, when electromagnetic clutch no power, stator 6 is kept under the support of spring leaf 7 with rotor 5
Certain distance, now detent ball 10 not with orientation slideway 11 contact, rotor 5 can keep rotating at any angle；
When electromagnetic clutch is powered, stator 6 will be moved down in the presence of magnetic force, and detent ball 10 starts contact
Slideway 11 is oriented, and in the presence of magnetic force, is moved to from high to low in stopper slot 9 along orientation slideway 11, it is spacing entering
After in groove 9, in the presence of stopper slot 9, detent ball 10 will be unable to movement, then rotor 5 will be unable to rotate, and universal wheel can only edge
Current direction running, until electromagnetic clutch power-off, untill spring leaf 7 pulls up stator 6.
The utility model critical piece is all made by duralumin, on the premise of structural strength is ensured, is greatly reduced whole
Body weight, improves endurance.
When universal wheel 1 is travelled on normal road surface, electromagnetic clutch power-off, universal wheel can be rotated freely；
When universal wheel 1 runs into obstacle, when such as water pipe, raceway groove and step, curb, electromagnetic clutch is powered, electromagnetic clutch
The rotor 5 of device is under the guiding of orientation slideway 11, and the position for making rotor 5 go back to initial 0 °, the orientation ball 10 of rotor 5 is snapped onto
In the stopper slot 9 of stator 6, make universal wheel be maintained on the position in 0 ° of direction (0 ° of position is that universal wheel is vertical with barrier,
In order to surmount obstacles in the embodiment, so being gone back to position is set as the universal wheel position vertical with barrier, to realize
Other purposes are, it is necessary to when universal wheel is turned into other directions, can set the position of stopper slot 9 in any direction).Universal wheel
After fixation, when across obstacles such as water pipe, raceway groove, steps, universal wheel would not be blocked by these obstacles, so as to smoothly logical
Obstacle is crossed, will not occur the situation that universal wheel is blocked because arbitrarily rotating by obstacle.
Embodiment 2：
A kind of robot, including main body, bottom part body set the universal wheel steering control system of at least one embodiment 1.
The universal wheel steering control system has the function of making robot pass through obstacle under complex environment, is ensureing robot knot
On the premise of structure is compact, its ability for tackling complex environment is improved.Universal wheel steering control system of the present utility model is practical
Property it is high, can be widely used on outdoor mobile underpan.
Embodiment 3：
A kind of stroller, including car body, vehicle bottom set the universal wheel steering control system of at least one embodiment 1.
Embodiment 4：
A kind of wheelchair, including wheelchair body, wheelchair body bottom portion set the universal wheel course changing control of at least one embodiment 1
System.
Embodiment 5：
A kind of luggage case, including casing, bottom half set the universal wheel steering control system of at least one embodiment 1.
It is not new to this practicality although above-mentioned embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deform still in protection model of the present utility model
Within enclosing.
Claims (9)
1. universal wheel steering control system, it is characterized in that, including universal wheel, the universal wheel top is connected with electromagnetic clutch,
Locating rotation device is set between the stator and rotor of the electromagnetic clutch, and the locating rotation device includes being arranged at stator
At least one orientation slideway of bottom, the rotor upper end is provided with least one detent ball coordinated with orientation slideway,
The orientation slideway is provided with stopper slot at least one setting position, and detent ball is automatically rotated in stator and rotor adhesive
Stopper slot completes positioning.
2. universal wheel steering control system as claimed in claim 1, it is characterized in that, the orientation slideway along stator lower surface with
Circular arc is set, and the center of circle and the stator center of circle of circular arc orientation slideway are concentric.
3. universal wheel steering control system as claimed in claim 1 or 2, it is characterized in that, the orientation slideway is obliquely installed, fixed
To slideway at stopper slot position highest.
4. universal wheel steering control system as claimed in claim 1, it is characterized in that, the universal wheel passes through connector and rotor
It is fixedly connected.
5. universal wheel steering control system as claimed in claim 1, it is characterized in that, the stator top is fixed with spring leaf to be connected
Connect, the stator interior sets magnetic coil.
6. a kind of robot, it is characterized in that, including main body, bottom part body sets at least one such as any one of claim 1-5 institutes
The universal wheel steering control system stated.
7. a kind of stroller, it is characterized in that, including car body, vehicle bottom sets at least one as described in claim any one of 1-5
Universal wheel steering control system.
8. a kind of wheelchair, it is characterized in that, including wheelchair body, wheelchair body bottom portion sets at least one to appoint such as claim 1-5
Universal wheel steering control system described in one.
9. a kind of luggage case, it is characterized in that, including casing, bottom half sets at least one such as any one of claim 1-5 institutes
The universal wheel steering control system stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621266473.7U CN206426758U (en) | 2016-11-21 | 2016-11-21 | Universal wheel steering control system and robot and stroller and wheelchair and luggage case |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621266473.7U CN206426758U (en) | 2016-11-21 | 2016-11-21 | Universal wheel steering control system and robot and stroller and wheelchair and luggage case |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206426758U true CN206426758U (en) | 2017-08-22 |
Family
ID=59588986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621266473.7U Active CN206426758U (en) | 2016-11-21 | 2016-11-21 | Universal wheel steering control system and robot and stroller and wheelchair and luggage case |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206426758U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357314A (en) * | 2018-02-06 | 2018-08-03 | 中北大学 | A kind of hydraulic lift hitch of the all-electric pleiotaxy mobile platform of intelligent control |
| CN108382151A (en) * | 2018-02-06 | 2018-08-10 | 中北大学 | A kind of hydraulic suspension intelligent control method of the all-electric mobile platform of pleiotaxy |
-
2016
- 2016-11-21 CN CN201621266473.7U patent/CN206426758U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357314A (en) * | 2018-02-06 | 2018-08-03 | 中北大学 | A kind of hydraulic lift hitch of the all-electric pleiotaxy mobile platform of intelligent control |
| CN108382151A (en) * | 2018-02-06 | 2018-08-10 | 中北大学 | A kind of hydraulic suspension intelligent control method of the all-electric mobile platform of pleiotaxy |
| CN108382151B (en) * | 2018-02-06 | 2020-07-31 | 中北大学 | Hydraulic suspension intelligent control method of multi-wheel type all-electric mobile platform |
| CN108357314B (en) * | 2018-02-06 | 2020-07-31 | 中北大学 | Hydraulic suspension device of intelligent control full-electric multi-wheel type mobile platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Co., Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201105 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: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
|
| TR01 | Transfer of patent right |