CN208469463U - A kind of Telescopic universal wheel device - Google Patents
A kind of Telescopic universal wheel device Download PDFInfo
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- CN208469463U CN208469463U CN201820713813.9U CN201820713813U CN208469463U CN 208469463 U CN208469463 U CN 208469463U CN 201820713813 U CN201820713813 U CN 201820713813U CN 208469463 U CN208469463 U CN 208469463U
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- Prior art keywords
- universal wheel
- pars contractilis
- idler wheel
- motor
- telescopic universal
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Abstract
The utility model discloses a kind of Telescopic universal wheel devices, can not be suitable for precision equipment or intelligent robot for solving the problem of that existing universal wheel has a single function.Telescopic universal wheel device includes idler wheel, the motor for driving the idler wheel to roll；Change the transfer of the idler wheel direction of travel and adjusts the pars contractilis of the idler wheel collapsing length.The function that the utility model has traveling by the cooperation of idler wheel, transfer and pars contractilis, turns to and stretch；The demand that transfer driving pars contractilis is rotated about axis, and will be suitable for precision equipment and intelligent robot movement and work.
Description
Technical field
The utility model belongs to machinery field, and in particular to a kind of Telescopic universal wheel device.
Background technique
Universal wheel is a kind of mobile device for being widely used in utensil, article, and common universal wheel can only be used as motive objects
Body, direction of travel, travel speed can not be quantified by external force, and not have Telescopic；This of common universal wheel lacks
It falls into and all brings inconvenience to operation and life.For moveable precision equipment or intelligent robot；It is general
Logical universal wheel is unable to satisfy mobile demand.
Precision equipment or intelligent robot usually require universal wheel in use reasonably to adjust direction of travel simultaneously
It is required that universal wheel itself has the function that driving is advanced.And for the intelligent robot at tip, universal wheel is required toward contact
Device has Telescopic, to adjust the level levelling degree or whole height of precision equipment or intelligent robot；Existing ten thousand
It is unable to satisfy the demand completely to wheel apparatus.
It is a kind of scalable ten thousand mounted in object bottom for walking such as " retractable universal castor " (CN 2496686Y)
To castor, which has the wheel body connecting with table leg, and wheel body is provided with wheel carrier, and upper end is equipped with moving up and down in wheel carrier
Positioning sleeve, lower end are equipped with universal wheel, and the engaging portion of wheel carrier and positioning sleeve is equipped with positioning component, positioning sleeve and wheel body inner top it
Between carry out adjustment up and down so that need will the object equipped with castor it is mobile after position when universal wheel can be put down, push its rolling
Walking；Object can then pack up universal wheel after in place, so that castor is not able to rotate and fixes object.This device can move
Object, and it is capable of fixing object.The Telescopic of this universal wheel unit has universal wheel when needing fixed by flexible
And fixed effect, but can not be stretched to change the height of universal wheel unit, also not having driving, it is advanced and turns
To effect.
As shown in figure 5, the existing universal wheel for being able to achieve turning function, the upper connection point of rolling wheel support and lower part
Tie point is not on same vertical line, there is offset (CN201730006142.3； CN201730061064.7；
CN201630634703.X etc. is also the universal wheel of this type), a possibility that the purpose is to provide steering or it is more convenient for turning to,
But such steering mode necessarily drives the rotation of intelligent robot or precision equipment itself, that is, when turning to, universal wheel and thereon
Equipment body be unitary rotation, cannot achieve the motionless effect that can change main body direction of travel of equipment body.
Summary of the invention
The purpose of the utility model is to overcome the deficiencies of the prior art and provide a kind of Telescopic universal wheel devices, same
When have the traveling, steering and Telescopic of universal wheel；And it is able to achieve the motionless i.e. changeable main body direction of travel of equipment body
Effect；Suitable for the demand that precision equipment and intelligent robot are mobile and work.
The technical solution of the utility model is as follows:
The Telescopic universal wheel device of the utility model includes idler wheel, the motor for driving the idler wheel to roll；Described in change
The transfer of idler wheel direction of travel and the pars contractilis for adjusting the idler wheel collapsing length.
As a preferred embodiment of the present invention, the transfer includes: steering motor；It is defeated with the steering motor
The connected transmission component of shaft；Cooperate the driven subassembly for realizing transmission with the transmission component；The pars contractilis with it is described driven
Component is fixedly linked, and the pars contractilis can rotate under driven subassembly drive around pars contractilis axis.
As a preferred embodiment of the present invention, the pars contractilis is made of fixing end and expansion end；The fixation
It holds and is fixedly linked with the driven subassembly of transfer；The expansion end is fixedly linked by rolling wheel support and idler wheel；It is scalable
End can fix relatively end and move along pars contractilis axis direction.The fixing end includes spindle motor, lead screw；Described is scalable
End includes sliding block and push rod；Wherein the spindle motor connects lead screw；Sliding block is set on screw rod, and push rod one end passes through idler wheel
Bracket is connected with idler wheel, and the other end is fixedly linked with sliding block.
As a preferred embodiment of the present invention, the idler wheel center is located on the pars contractilis axis
As a preferred embodiment of the present invention, the push rod has more, and the push rod is circularly and evenly distributed.
As a preferred embodiment of the present invention, the motor that the driving idler wheel rolls is hub motor.Hub motor position
In in idler wheel wheel hub.
As a preferred embodiment of the present invention, the motor that the driving idler wheel rolls is equipped with locking device.
As a preferred embodiment of the present invention, the steering motor is equipped with locking device.
As a preferred embodiment of the present invention, the spindle motor is equipped with locking device.
Motor that the driving idler wheel rolls, steering motor, spindle motor locking device can be using in the prior art
Motor can be made to lock any technology of (not rotating), if locking device can keep brake for power-off, this brake is general
Powered using 24V, using electromagnetic principle, 24V voltage is inputted to it, and then brake is opened, and motor is free to rotate, when power-off from
Dynamic closure locking motor；Spring pin assembly can also be used, achievees the purpose that motor is locked using the cooperation of spring and pin；Or electricity
Machine uses stepper motor, to achieve the purpose that accurate positionin.
As a preferred embodiment of the present invention, the transmission component and driven subassembly are pitch wheel group
Part.
Compared with prior art, the utility model has the beneficial effect that
The utility model is provided simultaneously with the traveling, steering and Telescopic of universal wheel；By precision equipment or intelligent robot
It is connected by the rack of the fixed device steering motor fixed with utility model device；The traveling of equipment can be realized, turn to
And Telescopic.
The traveling of universal wheel is turned to and is stretched by motor control, and the output quantity of motor can be quantified by encoder, so as to
Accurately controlled.
When the universal wheel of the utility model turns to, entire pars contractilis is rotated together with universal wheel；Pars contractilis and universal wheel phase
Only there is telescopic relation, without the relationship of relative rotation between mutually；And it is not sent out between transfer and pars contractilis fixing end
The displacement of raw vertical direction；I.e. when universal wheel unit is mounted on precision equipment or intelligent robot, relative to precision equipment or
For intelligent robot, steering motor, lead screw electrode, lead screw position be fixed and invariable, change simply wants to sliding block, pushes away
The height and position of bar and idler wheel；Because the control terminal of precision equipment or intelligent robot is normally at precision equipment or intelligent robot
On ontology, which is easy to so that precision equipment or intelligent robot become possible to the wiring between universal wheel unit
Control terminal is realized to the control of universal wheel unit and obtains feedback signal.
Detailed description of the invention
Fig. 1 is the outline drawing of the utility model Telescopic universal wheel device；
Fig. 2 is the main view of the utility model；
Fig. 3 is the cross-sectional view of the utility model；
Fig. 4 is the pars contractilis structural schematic diagram of the utility model；
Fig. 5 is traditional universal wheel schematic diagram.
Specific embodiment
The utility model is described further with reference to the accompanying drawings and examples.
As shown in Figure 1, for the outline drawing of Telescopic universal wheel device in a specific embodiment of the utility model；
Telescopic universal wheel device includes: idler wheel 1, the motor and the change idler wheel for driving the idler wheel to roll
The transfer of direction of travel and the pars contractilis 3 for adjusting the idler wheel collapsing length.
Idler wheel 1 realizes the main component advanced as Telescopic universal wheel device, is connected with pars contractilis 3, by pars contractilis 3
Control its collapsing length；Whole controlled by transfer that pars contractilis 3 and idler wheel 1 form is turned to；The driving of transfer
Mechanism is steering motor 2.
When the universal wheel of the utility model turns to, entire pars contractilis is rotated together with universal wheel；Pars contractilis and universal wheel phase
Only there is telescopic relation, without the relationship of relative rotation between mutually；And it is not sent out between transfer and pars contractilis fixing end
The displacement of raw vertical direction, the design are conducive to the wiring between precision equipment or intelligent robot and universal wheel unit, easily
To the control of universal wheel unit and feedback signal is obtained in realization control terminal.
As shown in Figures 2 and 3, in a specific embodiment of the utility model, the Telescopic universal wheel device is also
Specifically include transmission component 4, driven subassembly 5, rolling wheel support 6, rack 7.
Transmission component 4 is connected with 2 output shaft of steering motor；Transmission is realized in driven subassembly 5 and the transmission component 4 cooperation；
The pars contractilis 3 is fixedly linked with the driven subassembly 5, and the pars contractilis can turn under driven subassembly drive around pars contractilis axis
It is dynamic.Rolling wheel support 6 is connected with idler wheel 1.Rolling wheel support 6 is connected with pars contractilis 3.Steering motor 2 is mounted in the rack 7.
Rack 7, which is used to be fixedly connected, needs mobile equipment.
As shown in figure 4, in a specific embodiment of the utility model, the pars contractilis is by fixing end and scalable
End composition；The driven subassembly of the fixing end and transfer is fixedly linked；The expansion end passes through rolling wheel support and idler wheel
It is fixedly linked.The fixing end includes spindle motor 31, lead screw 32；The expansion end includes sliding block 33 and push rod 34；
Wherein the spindle motor connects lead screw；Sliding block is set on screw rod, and push rod one end is connected by rolling wheel support with idler wheel, separately
One end is fixedly linked with sliding block.
When spindle motor 31 rotates, lead screw 32 is rotated with, and screw thread is equipped in sliding block 33, is matched with the screw thread of lead screw 32
Connection is closed, with the rotation of lead screw 32, sliding block 33 moves up and down (direction of rotation that moving direction depends on lead screw) on lead screw；It is sliding
Block 33 is connected by push rod 34 with rolling wheel support 6.The unit that sliding block 33, push rod 34, rolling wheel support 6 and idler wheel 1 form relative to
Lead screw can move up and down, that is, realize the Telescopic of the utility model universal wheel unit.
In order to enable device reliability of operation, the push rod has more, and the push rod is circularly and evenly distributed.Institute
The push rod stated can also close-packed arrays at cylinder ring or be directly cylinder ring.
The motor that the driving idler wheel rolls is preferably hub motor.Hub motor is located in idler wheel wheel hub.Hub motor
Technology is also referred to as wheel inner electric machine technology, its maximum feature be exactly by power device, transmission device and brake apparatus all
It integrates in wheel hub.The central axis of wheel hub is connected with rolling wheel support 6, realizes the connection of rolling wheel support 6 and idler wheel 1.Due to
Hub motor has the characteristic that single wheel independently drives, therefore either forerunner, rear-guard or 4 wheel driven form, it can compare
It more easily realizes, other than structure is more simple, better space benefit can be obtained using the vehicle of In-wheel motor driving
With rate, while transmission efficiency will be also higher by much.
Motor, steering motor, the spindle motor that the driving idler wheel rolls are also provided with locking device, and locking device can
Using any technology that motor can be made to lock (not rotating) in the prior art, such as locking device braking can be kept for power-off
Device, this brake generally use 24V to power, and using electromagnetic principle, 24V voltage is inputted to it, and then brake is opened, and motor can be certainly
By rotating, when power-off, is closed locking motor automatically；Spring pin assembly can also be used, the cooperation using spring and pin reaches motor
Locked purpose；Or motor uses stepper motor, to achieve the purpose that accurate positionin.
In a specific embodiment of the utility model, the transmission component and driven subassembly are intermeshing
Gear assembly.Transmission component and driven subassembly can have the device or structure of similar functions for realizing rotation for other.
If Fig. 5 is shown, traditional universal wheel unit structural schematic diagram；The difference of the universal wheel unit of the utility model and its
Place is that idler wheel center described in the utility model is located on the pars contractilis axis.It is described in the utility model universal
Wheel apparatus is driven when needing to turn to by steering motor, rotates pars contractilis integrally by transmission device, rotation
Movement is carried out around pars contractilis axis, and since idler wheel center is located on pars contractilis axis (on extended line), and pars contractilis is whole and rolls
Wheel is rigidly connected by bracket, therefore when pars contractilis rotation, idler wheel is also rotated.And in rotary course, entire universal wheel
Device does not move；Equipment body disposed thereon in this way is exactly static.Traditional precision instrument or intelligent robot
It needs to move integrally when turning to, turns to go backward through to need to relocate；And when having highly sophisticated device on equipment body, turn
Unnecessary instrument error is often introduced to movement, this problem can be solved in the utility model.It should be noted that if turning to
When, it needs that equipment body is allowed to move together, what the utility model also can be achieved on, by locking a universal wheel unit conduct
The fulcrum of equipment body rotation after other universal wheel units adjustment direction of travel, can be realized similar with existing universal wheel unit
Travel track.
The above is only the preferred embodiment of the utility model only, only to explain the utility model, and does not have to
In limitation the utility model, made any modifications, equivalent replacements, and improvements within all principles in the utility model and spirit
Deng being included within the protection scope of the utility model.
Claims (10)
1. a kind of Telescopic universal wheel device, characterized by comprising:
Idler wheel；
The motor for driving the idler wheel to roll；
Change the transfer of the idler wheel direction of travel；With
Adjust the pars contractilis of the idler wheel collapsing length.
2. Telescopic universal wheel device according to claim 1, it is characterised in that:
The transfer includes:
Steering motor；
The transmission component being connected with the steering motor output shaft；
Cooperate the driven subassembly for realizing transmission with the transmission component；The pars contractilis is fixedly linked with the driven subassembly,
The pars contractilis can rotate under driven subassembly drive around pars contractilis axis.
3. Telescopic universal wheel device according to claim 2, it is characterised in that:
The idler wheel center is located on the pars contractilis axis.
4. Telescopic universal wheel device described in -3 any bars according to claim 1, it is characterised in that:
The pars contractilis is made of fixing end and expansion end；
The driven subassembly of the fixing end and transfer is fixedly linked；
The expansion end is fixedly linked by rolling wheel support and idler wheel；
Expansion end can fix relatively end and move along pars contractilis axis direction.
5. Telescopic universal wheel device according to claim 4, it is characterised in that:
The fixing end includes spindle motor, lead screw；The expansion end includes sliding block and push rod；
Wherein the spindle motor connects lead screw；Sliding block is set on screw rod, and push rod one end passes through in rolling wheel support and idler wheel
The heart is connected, and the other end is fixedly linked with sliding block.
6. Telescopic universal wheel device according to claim 5, it is characterised in that: the push rod has more,
The push rod is circularly and evenly distributed.
7. Telescopic universal wheel device according to claim 1, it is characterised in that:
The motor that the driving idler wheel rolls is hub motor.
8. Telescopic universal wheel device according to claim 2, it is characterised in that:
The steering motor is equipped with locking device.
9. Telescopic universal wheel device according to claim 5, it is characterised in that:
The spindle motor is equipped with locking device.
10. Telescopic universal wheel device according to claim 2, it is characterised in that:
The transmission component and driven subassembly is pitch wheel component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820713813.9U CN208469463U (en) | 2018-05-14 | 2018-05-14 | A kind of Telescopic universal wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820713813.9U CN208469463U (en) | 2018-05-14 | 2018-05-14 | A kind of Telescopic universal wheel device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208469463U true CN208469463U (en) | 2019-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820713813.9U Expired - Fee Related CN208469463U (en) | 2018-05-14 | 2018-05-14 | A kind of Telescopic universal wheel device |
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| Country | Link |
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| CN (1) | CN208469463U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638755A (en) * | 2018-05-14 | 2018-10-12 | 浙江百施通网络科技有限公司 | Telescopic universal wheel device |
-
2018
- 2018-05-14 CN CN201820713813.9U patent/CN208469463U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638755A (en) * | 2018-05-14 | 2018-10-12 | 浙江百施通网络科技有限公司 | Telescopic universal wheel device |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190205 |