CN209499615U - A kind of driving wheel structure and intelligent self-moving device - Google Patents
A kind of driving wheel structure and intelligent self-moving device Download PDFInfo
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- CN209499615U CN209499615U CN201821476591.XU CN201821476591U CN209499615U CN 209499615 U CN209499615 U CN 209499615U CN 201821476591 U CN201821476591 U CN 201821476591U CN 209499615 U CN209499615 U CN 209499615U
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- wheel structure
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Abstract
The utility model provides a kind of driving wheel structure and intelligent self-moving device, and the driving wheel structure includes shell, wheel body, drive wheel bracket and twist mechanism, and the shell includes cover portion；The wheel body is installed in the cover portion by first axle；Above at least partly described shell, wherein the shell is rotatably mounted in the drive wheel bracket；The twist mechanism is arranged between the shell and the side wall of the drive wheel bracket, controls the wheel body from main regulation height to apply active force to the shell by the twist mechanism.The process that the driving wheel structure of the utility model simplifies the assembling of driving wheel later period improves assembly efficiency, reduces assembly cost.
Description
Technical field
The utility model is in particular to a kind of driving wheel structure and intelligent self-moving device.
Background technique
Intelligent self-moving device has high requirement for mobile stationarity and obstacle climbing ability, and this requires it to drive
The wheel construction demand mobile in addition to device to be met, also requires driving wheel to have certain ability from main regulation height, to guarantee
Machine during the motion can be in the ground even running of surface irregularity, and has the obstacle climbing ability of certain altitude.However mesh
Preceding existing driving wheel structure assembly is complex, reduces the formation efficiency and assembly efficiency of intelligent self-moving device, also,
It is larger that it also has the shortcomings that height space occupies.
Therefore, in view of the presence of above-mentioned technical problem, it is necessary to propose a kind of new driving wheel structure and intelligent shifting certainly
Dynamic device.
Utility model content
A series of concept of reduced forms is introduced in utility model content part, this will be in specific embodiment part
Middle further description.The utility model content part of the utility model is not meant to attempt to limit claimed
Technical solution key feature and essential features, do not mean that the guarantor for attempting to determine technical solution claimed more
Protect range.
In view of the deficiencies of the prior art, on the one hand the utility model provides a kind of driving wheel structure, the driving wheel knot
Structure includes:
Shell, the shell include cover portion；
Wheel body, the wheel body are installed in the cover portion by first axle；
Drive wheel bracket is located above at least partly described shell, wherein the shell is rotatably mounted in the drive
In driving wheel bracket；
Twist mechanism, the twist mechanism are arranged between the shell and the side wall of the drive wheel bracket, by institute
Twist mechanism is stated to apply active force to the shell and control the wheel body from main regulation height.
Illustratively, the driving wheel structure further include:
Second axis, setting is on the housing, wherein the twist mechanism is installed on second axis.
Illustratively, the twist mechanism includes coil part, and first be separately connected with the both ends of the coil part
Torque arm and the second torque arm, wherein the coil part is sheathed on second axis, so that the twist mechanism is installed on described
On two axis.
Illustratively, the driving wheel structure further include:
Fixation member is arranged on the outer surface of the shell, the top of fixed first torque arm of the fixation member,
Wherein, second torque arm is resisted against on the side wall parallel with the axis of second axis of the drive wheel bracket.
Illustratively, the twist mechanism includes torsionspring.
Illustratively, the twist mechanism includes two coil parts, the first torque arm and the second torque arm being spaced apart from each other,
In, the both ends of first torque arm, which are separately connected the outer end point of two coil parts and first torque arm is made to extend outwardly, is in
Fold-line-shaped, the interior endpoint that the both ends of second torque arm are separately connected the coil part extend outwardly in fold-line-shaped.
Illustratively, the driving wheel structure further includes third axis, wherein and second axis is hollow structure, described the
Three axis pass through second axis and are fixed in the drive wheel bracket, so that the shell is rotationally fixed to the driving wheel
In bracket.
Illustratively, the shell further includes driving device mounting portion, and the fixation member is specifically set to the drive
The top of dynamic device mounting portion.
Illustratively, the driving wheel structure further includes driving device, for driving the rotation of the wheel body, wherein institute
Driving device is stated the outside of the wheel body is arranged in and is fixedly installed on the driving device mounting portion.
Illustratively, the driving wheel structure further includes gear set and driving device, the driving device, the gear set
It is successively sequentially connected with the wheel body.
Illustratively, the shell further includes the driving device mounting portion for installing driving device, for installing tooth
The gear-box of wheel group, wherein the cover portion and the driving device mounting portion are arranged side by side in the same side of the shell, and
Side on the shell away from the driving device and the wheel body outwardly protrudes the tooth to be formed and accommodate the gear set
Roller box.
Illustratively, the driving wheel structure further includes gear set, wherein the shell further includes gear-box, the tooth
Wheel group is installed in the gear-box.
Illustratively, the internal diameter of the coil part is greater than the outer diameter of second axis.
Illustratively, axle sleeve is further fixedly arranged on the shell, second axis is matched with the axle sleeve, and makes institute
Expose from the axle sleeve at the both ends for stating the second axis.
Illustratively, the driving structure further includes wheel cap, and the wheel cap is set to the lower section of the drive wheel bracket, and
Installation is matched with the part drive wheel bracket, wherein the part wheel body is located at the lower section of the wheel cap.
Illustratively, the fixation member is specially the card slot being arranged on the housing, the top of first torque arm
It is snapped in the card slot.
Illustratively, second axis be arranged at the half height of the shell or half height with
On.
On the other hand the utility model also provides a kind of intelligent self-moving device, the intelligence self-moving device includes aforementioned
Driving wheel structure.
The process that the driving wheel structure of the utility model simplifies the assembling of driving wheel later period improves assembly efficiency, reduces dress
With cost；Also, driving wheel from main regulation height function is realized by twist mechanism, and twist mechanism has highly reliable
The characteristics of property, high life, it is ensured that the global reliability of driving wheel structure, while twist mechanism dynamics and accurate size are adjustable
It can guarantee driving wheel from the dynamics of main regulation and the accuracy of height；Finally, third axis in the driving wheel structure of the utility model
(namely shaft of entire shell) position is mobile toward the center of driving wheel structure, therefore can suitably reduce entire component in height side
To occupied space.
Since the intelligent self-moving device of the utility model includes driving wheel structure above-mentioned, equally there is driving
The above-mentioned advantage of wheel construction.
Detailed description of the invention
The following drawings of the utility model is used to understand the utility model in this as a part of the utility model.Attached drawing
In show the embodiments of the present invention and its description, for explaining the principles of the present invention.
In attached drawing:
Fig. 1 shows the stereoscopic schematic diagram of the driving wheel structure of one embodiment of the utility model；
Fig. 2 shows the decomposition texture schematic diagrams of driving wheel structure shown in FIG. 1；
Fig. 3 shows the sectional perspective schematic diagram of driving wheel structure shown in FIG. 1；
Fig. 4 A shows schematic diagram of the driving wheel structure shown in FIG. 1 in normal condition；
Fig. 4 B shows schematic diagram of the driving wheel structure shown in FIG. 1 in pressured state；
Fig. 4 C shows the schematic diagram of the wheel body rotating shaft position of driving wheel structure shown in FIG. 1.
Specific embodiment
In the following description, a large amount of concrete details are given more thoroughly to manage in order to provide to the utility model
Solution.It is, however, obvious to a person skilled in the art that the utility model may not need it is one or more of these thin
It saves and is carried out.In other examples, in order to avoid obscuring with the utility model, for more well known in the art
Technical characteristic is not described.
It should be understood that the utility model can be implemented in different forms, and should not be construed as being limited to mention here
Embodiment out.Disclosure will be made thoroughly and complete and the scope of the utility model is complete on the contrary, providing these embodiments
Ground passes to those skilled in the art.In the accompanying drawings, for clarity, the size and relative size in the area Ceng He may be exaggerated.
Same reference numerals indicate identical element from beginning to end.
It should be understood that when element or layer be referred to " ... on ", " with ... it is adjacent ", " being connected to " or " being coupled to " it is other
When element or layer, can directly on other elements or layer, it is adjacent thereto, be connected or coupled to other elements or layer, or
There may be elements or layer between two parties by person.On the contrary, when element is referred to as " on directly existing ... ", " with ... direct neighbor ", " directly
It is connected to " or " being directly coupled to " other elements or when layer, then there is no elements or layer between two parties.It should be understood that although can make
Various component, assembly units, area, floor and/or part are described with term first, second, third, etc., these component, assembly units, area, floor and/
Or part should not be limited by these terms.These terms be used merely to distinguish a component, assembly unit, area, floor or part with it is another
One component, assembly unit, area, floor or part.Therefore, it is not departing under the utility model introduction, first element discussed below,
Component, area, floor or part are represented by second element, component, area, floor or part.
Spatial relation term for example " ... under ", " ... below ", " below ", " ... under ", " ... it
On ", " above " etc., herein can for convenience description and being used describe an elements or features shown in figure with
The relationship of other elements or features.It should be understood that spatial relation term intention further includes making other than orientation shown in figure
With the different orientation with the device in operation.For example, then, being described as " under other elements if the device in attached drawing is overturn
Face " or " under it " or " under it " elements or features will be oriented in other elements or features "upper".Therefore, exemplary art
Language " ... below " and " ... under " it may include upper and lower two orientations.Device can additionally be orientated (be rotated by 90 ° or its
It is orientated) and spatial description language as used herein correspondingly explained.
The purpose of term as used herein is only that description specific embodiment and the limitation not as the utility model.?
This is in use, " one " of singular, "one" and " described/should " be also intended to include plural form, unless context understands finger
Other mode out.Be also to be understood that term " composition " and/or " comprising ", when being used in this specification, determine the feature,
The presence of integer, step, operations, elements, and/or components, but it is not excluded for one or more other features, integer, step, behaviour
Make, the presence or addition of component, assembly unit and/or group.Herein in use, term "and/or" includes any of related listed item
And all combinations.
In order to thoroughly understand the utility model, detailed structure will be proposed in following description, it is practical to illustrate
The technical solution of novel proposition.The preferred embodiment of the utility model is described in detail as follows, however other than these detailed descriptions,
The utility model can also have other embodiments.
For the space for simplifying driving wheel assembly method, reducing driving wheel short transverse, the utility model provides a kind of drive
Driving wheel structure, the driving wheel structure specifically include that
Shell, the shell include cover portion；
Wheel body, the wheel body are installed in the cover portion by first axle；
Drive wheel bracket is located above at least partly described shell, wherein the shell is rotatably mounted in the drive
In driving wheel bracket；
Twist mechanism, the twist mechanism are arranged between the shell and the side wall of the drive wheel bracket, by institute
Twist mechanism is stated to apply active force to the shell and control the wheel body from main regulation height.
The process that the driving wheel structure of the utility model simplifies the assembling of driving wheel later period improves assembly efficiency, reduces dress
With cost；Also, driving wheel from main regulation height function is realized by twist mechanism, and twist mechanism has highly reliable
The characteristics of property, high life, it is ensured that the global reliability of driving wheel structure, while twist mechanism dynamics and accurate size are adjustable
It can guarantee driving wheel from the dynamics of main regulation and the accuracy of height；Finally, third axis in the driving wheel structure of the utility model
(namely shaft of entire shell) position is mobile toward the center of driving wheel structure, therefore can suitably reduce entire component in height side
To occupied space.
In the following, elaborate with reference to driving wheel structure of Fig. 1, Fig. 2, Fig. 3, Fig. 4 A to Fig. 4 C to the utility model,
In, Fig. 1 shows the stereoscopic schematic diagram of the driving wheel structure of one embodiment of the utility model；Fig. 2 shows shown in FIG. 1
The decomposition texture schematic diagram of driving wheel structure；Fig. 3 shows the sectional perspective schematic diagram of driving wheel structure shown in FIG. 1；Fig. 4 A
Show schematic diagram of the driving wheel structure shown in FIG. 1 in normal condition；Fig. 4 B shows driving wheel structure shown in FIG. 1 and exists
Schematic diagram when pressured state；Fig. 4 C shows the schematic diagram of the wheel body rotating shaft position of driving wheel structure shown in FIG. 1.
As an example, as illustrated in fig. 1 and 2, the driving wheel structure 10 of the utility model includes shell 2, wherein the shell
2 include for installing the cover portion 21 of wheel body 5, the gear-box 22 for installing gear set and the drive for installing driving device
Dynamic device mounting portion 23.
Illustratively, the driving wheel structure 10 of the utility model includes wheel body 5, and the wheel body 5 can be art technology
Any Wheel structure that can be used for driving wheel known to personnel, for example, the wheel body 5 can be rubber wheel.
In one example, the wheel body 5 is installed in the cover portion 21 by first axle 4, wherein the first axle
4 are arranged in the central area of the cover portion 21.Optionally, the first axle 4 is transmission shaft, and the first axle 4, which can be, appoints
The suitable axis body for transmission shaft of meaning, such as the first axle 4 can be metal shaft, or may be other rubber axis
Deng.Optionally, the cover portion 21 generally disc-shape and there is the upper edge that outwardly protrudes, cover portion 21 and wheel body 5 are coaxial.
In one example, the driving wheel structure 10 further includes driving device 9, for driving the rotation of the wheel body 5,
Wherein, the driving device 9 is arranged in the outside of the wheel body 5 and is fixedly installed on the driving device mounting portion 23.It can
Selection of land, the driving device 9 can be motor or other suitable driving devices that can control the rotation of wheel body 5.
In one example, the driving wheel structure 10 further includes gear set (not shown), and the gear set is reducing gear
Wheel group, wherein the gear set is mounted in the gear-box 22, the driving device, the gear set and the wheel body according to
Secondary transmission connection.
For example, the gear set may include input gear, output gear and intermediate gear, input gear and driving device
(such as motor) is coaxial affixed；Output gear is coaxial affixed with wheel body 5；Intermediate gear includes multiple teeth that are coaxial and being fixed to each other
Wheel, wherein gear set, which can slow down the revolving speed of driving unit shaft, is transferred to output gear.The structure of said gear group only as
Example can also equally be used in the utility model for the structure of other suitable gear sets.
Illustratively, the first axle 4 can be the gear shaft of output gear in gear set, which is pierced by cover portion
21 are connected with wheel body, so that kinetic energy is transferred to wheel body 5 by gear shaft by output gear, thus, it is possible to convenient for wheel body 5 and output
The installation of gear connects, while can also improve the reliability connected between wheel body 5 and output gear.Optionally, described first
It can be attached in any suitable manner between axis 4 and wheel body 5, for example, first axle 4 and wheel body 5 can pass through screw
Connection, thus, it is possible to simplify the company between wheel body 5 and first axle 4 under the premise of guaranteeing wheel body 5 and 4 connection reliability of first axle
Binding structure improves assembly efficiency.
Further, the wheel body 5 and the driving device 9 be arranged in shell 2 the same side namely cover portion 21 and drive
Dynamic device mounting portion 23 is arranged side by side in the same side of shell, and the side on shell 2 away from driving device 9 and wheel body 5 is outside
Protrusion forms the gear-box 22 for accommodating gear set.Gear set can also be sealed in shell 2, such as be closed by case lid lid simultaneously
On the gear-box, gear engagement is influenced to avoid dust, impurity etc., to guarantee the service life of driving gear set.
In one example, driving wheel structure further includes drive wheel bracket 1, is located at least partly described 2 top of shell,
In, the shell 2 is rotatably mounted in the drive wheel bracket 1.
In one example, the drive wheel bracket 1 can be used for supporting the shell 2, while the wheel body 5 is on ground
It is easy to roll the substances such as dust, the clast on ground when upper walking, the drive wheel bracket is arranged above shell 2, can prevent
The substances such as dust, clast that wheel body 5 is rolled, which enter inside clean robot, leads to robot interior electronic equipment short circuit, therefore drives
Driving wheel bracket 1 also has dust reduction capability.
In one example, the drive wheel bracket 1 is in substantially rectangular shape, also has from its top surface and extends outwardly
Protrusion, the protruding parts in the top of the wheel body, 1 bottom opening of drive wheel bracket namely its there is no bottom surface.
In one example, the driving wheel structure further includes wheel cap 8, and the wheel cap 8 is set to the drive wheel bracket 1
Lower section, and match installation with the part drive wheel bracket 1, wherein the part wheel body 5 is located under the wheel cap 8
Side namely part wheel body expose in the bottom of the wheel cap 8.Optionally, the wheel cap 8 includes the pedestal of a writing board shape,
The wheel cap ontology by being substantially in rectangular shape is connected on the base, and the top of the wheel cap ontology has opening namely the wheel
Lid ontology does not have top surface, which has notch towards the side wall of the shell 2.
In one example, the drive wheel bracket 1 and the lid of the wheel cap 8 close connection, for example, drive wheel bracket 1 and institute
It states wheel cap 8 and passes through concave-convex seam allowance mutual cooperation connection, this assembly method is easily assembled, and process can be saved, assembly efficiency is improved,
Alternatively, can also be connected by other suitable connection types.
The driving wheel structure 10 of the utility model further includes twist mechanism 3, and the twist mechanism 3 is arranged in the shell
Between body 2 and the side wall of the drive wheel bracket 1, such as it is arranged between shell 2 and the inner sidewall of the drive wheel bracket 1,
The wheel body 5 is controlled from main regulation height to apply active force to the shell 2 by the twist mechanism 3, such as is being driven
When wheel construction bears gravity, twist mechanism is compressed, while most of retraction fuselage of the entire shell including wheel body 5,
And when the wheel body of driving wheel 5 is hanging, the twist mechanism 3 after compression applies substantially downward active force to the shell 2 and makes
Shell 2 moves down, and then controls the hanging wheel body 5 and move down and expose, and achievees the purpose that adjust 5 height of wheel body.
The twist mechanism 3 can be fixedly mounted in any suitable manner on the shell 2, illustratively, institute
Stating driving wheel structure 10 further includes the second axis 7 being arranged on the shell 2, and the twist mechanism 3 is installed on second axis 7
On.Optionally, second axis 7 can be rotation axis, and second axis 7 can be the axis of any suitable material, for example, described
Second axis 7 can be plastic shaft, or can also be metal shaft.
Further, axle sleeve is further fixedly arranged on the shell 2, second axis 7 is matched with the axle sleeve, and is made
The both ends of second axis 7 are exposed from the axle sleeve, and second axis 7 is fixed in the axle sleeve, and the axle sleeve plays
Second axis 7 is mounted on the shell 2 by supporting role, more specifically, the axle sleeve is mounted on the driving device installation
On the lateral wall in portion 23, so that the second axis 7 be made to be also mounted on the lateral wall of driving device mounting portion 23.The axle sleeve can lead to
It crosses any suitable fixed form to be installed on shell, such as can be by the modes such as being spirally connected, welding.Illustratively, the axis
Set and second axis 7 can also be integrated molding.Optionally, the axis of the axis of the first axle 4 and second axis 7 is flat
Row.
In one example, in order to reduce driving wheel structure in the occupied space of short transverse, the second axis can be made to set
It sets more than the one third height or one third height of shell, wherein preferably, second axis is arranged in the shell
Half height at or half height more than, more specifically, second axis be arranged in driving device mounting portion
Side wall one third height or one third height more than, the side of driving device mounting portion 23 is arranged in second axis 7
At the half height of wall or more than half height, the position that the third axis 6 in the second axis 7 is arranged in this way is opposite
It is relatively high, it is mobile toward the center of entire component, entire component can be suitably reduced in the occupied space of short transverse.
In one example, as shown in Fig. 2, the twist mechanism 3 include coil part 33, and with the coil part 33
The first torque arm 31 and the second torque arm 32 that both ends are separately connected, wherein as shown in figure 3, the coil part 33 is sheathed on described
On two axis 7, so that the twist mechanism 3 is installed on second axis 7.Optionally, in order to enable coil part 33 install to
On second axis 7, the internal diameter of the coil part 33 is greater than the outer diameter of second axis 7.
Further, the driving wheel structure 10 further includes fixation member, and the appearance of the shell 2 is arranged in fixation member
On face, the top of fixed first torque arm 31 of the fixation member, wherein second torque arm 32 is resisted against the driving wheel
On the side wall parallel with the axis of second axis 7 of bracket 1, for example, be resisted against the drive wheel bracket 1 with described second
On the parallel inner sidewall of the axis of axis 7.
The fixation member can be any bottom that can be used in fixing the first torque arm 31 well known to those skilled in the art
The component at end, for example, buckle, card slot etc..In the present embodiment, the fixation member can be card slot 231, and card slot 231 is arranged
On the outer surface of the shell 2, more specifically, the card slot 231 is set to the top of the driving device mounting portion 23, institute
The top for stating the first torque arm 31 is snapped in the card slot.
In one example, the twist mechanism 3 includes torsionspring or other suitable twist mechanisms.
In the present embodiment, the twist mechanism 3 includes two coil parts 33 being spaced apart from each other, the first torque arm 31 and the second torsion
Arm 32, wherein the both ends of first torque arm 31 are separately connected the outer end point of two coil parts 33 and make described first to turn round
Arm 31 extends outwardly in fold-line-shaped, and the interior endpoint that the both ends of second torque arm 32 are separately connected the coil part 33 extends outwardly
In fold-line-shaped.
It is noted that the circle number of coil part 33 and the first torque arm 31, the size and shape of the second torque arm 32 etc. can
To be reasonably selected and be arranged according to the actual needs, it is not specifically limited herein.Twist mechanism has high reliability, longevity
The characteristics of life, it is ensured that the global reliability of driving wheel structure, while twist mechanism dynamics and accurate size is adjustable also can guarantee
Driving wheel is from the dynamics of main regulation and the accuracy of height.
Illustratively, more than one twist mechanism can also be set, such as distinguished respectively in the both ends that the second axis 7 exposes
At least one twist mechanism is set.
Wherein, group as shown in Figure 3 is obtained after the components such as wheel body 5, driving device 9, twist mechanism 3 are assembled on shell 2
Part structure, due to the architectural characteristic of twist mechanism 3, its coil part 33 is directly inserted on the second axis 7 by when assembling, it first is turned round
Arm 31 is directly clipped to fixation member (such as in card slot 31), can be realized the installation of twist mechanism 3, and this assembly method can be with
It is very easy to fit together twist mechanism 3 with shell 2, simplify the process of driving wheel later period assembling, improves assembly efficiency, drop
Low assembly cost.
Further, in order to install shell 2 to drive wheel bracket 1, as shown in Fig. 2, the driving wheel structure is also
Including third axis 6, wherein second axis 7 is hollow structure, and the third axis 6 passes through second axis 7 and is fixed on the drive
In driving wheel bracket 1, so that the shell 2 is rotationally fixed in the drive wheel bracket 1.
More specifically, rotating shaft support portion (not shown) is additionally provided on an inner sidewall of the drive wheel bracket 1, described turn
Shaft supporting part is set to the both ends of the third axis 6, to support third axis 6 to rotate.Third axis 6 is arranged in shaft when installation
In support portion and the second axis, the assembling between component and drive wheel bracket as shown in Figure 3, this assembling mode letter can be realized
Single, assembly efficiency can be improved in Yi Shixian.
So far, the explanation and illustration for completing the main component to the driving wheel structure of the utility model, for complete
Driving wheel structure is also possible that other components are not done herein and repeats one by one.
In another embodiment, the utility model also provides a kind of intelligence including the driving wheel structure in previous embodiment
Energy self-moving device, wherein the intelligence self-moving device can be arbitrary the device for needing to be equipped with driving wheel structure, including
But be not limited to sweeping robot etc..Intelligent self-moving device can also include 1, two or more described driving wheel knots
Structure equally has driving wheel knot since the intelligent self-moving device of the utility model includes driving wheel structure above-mentioned
The above-mentioned advantage of structure.
When the driving wheel structure of the utility model is applied to intelligent self-moving device, as shown in Figure 4 B, intelligence from
When the host of mobile device is put it on the ground, made the most of retraction of wheel body 5 by gravity (namely wheel body effect of being under pressure)
In fuselage, twist mechanism 3 is compressed at this time, the extended line of the line between the axle center of third axis 6 and the axle center of wheel body 5 and driving
Angle between the top surface of wheel support 1 is B °, and the size that angle reaction wheel body 5 exposes outside fuselage (can also react wheel body
From the height after main regulation), the angle is bigger, and height is bigger；Floor surface out-of-flatness is encountered in mobile device motion process
When, such as when encountering pit, twist mechanism applies substantially downward pressure to shell at this time, turns shell 2 downwards around third axis 6
It is dynamic, thus move the wheel body being mounted on shell 25 from inside to outside under the action of the torsion that twist mechanism applies from fuselage, from
The dynamic height for having adjusted wheel body 5, twist mechanism as shown in Figure 4 A restore, and the size that wheel body 5 is located at outside fuselage reaches most
Greatly, the angle between the extended line of the line between the axle center of third axis 6 and the axle center of wheel body 5 and the top surface of drive wheel bracket 1
It is A °, this A ° is greater than B °, and in moving process, angle changes intelligent self-moving device between B ° and A °, even if encountering ground
The case where out-of-flatness, drives wheel apparatus that can guarantee even running, and the obstacle detouring energy with certain altitude from main regulation height
Power.
Also, as shown in Figure 4 C, third axis 6 (namely shaft of entire shell) position of the utility model driving wheel structure
It is mobile (namely up moving) toward component center, for example, the position of third axis 6 is located at the middle part or middle part of entire body height
More than, this setup compares the case where rotating shaft position is located at bottom, and shell 2 moves down out intelligence from shifting with wheel body 5
When moving the fuselage of device or being forced upward into fuselage, since the position of third axis 6 is high, entire driving wheel knot can be suitably reduced
Structure is in the occupied space of short transverse, more into one, can make include the intelligent self-moving device of the driving wheel structure machine
It is smaller in the occupied space of short transverse.
The utility model is illustrated through the foregoing embodiment, but it is to be understood that, above-described embodiment is
Purpose for illustrating and illustrating, and be not intended to limit the invention within the scope of described embodiment.Furthermore ability
Field technique personnel are it is understood that the utility model is not limited to above-described embodiment, and introduction according to the present utility model is also
More kinds of variants and modifications can be made, these variants and modifications all fall within the utility model range claimed with
It is interior.The protection scope of the utility model is defined by the appended claims and their equivalents.
Claims (10)
1. a kind of driving wheel structure, which is characterized in that the driving wheel structure includes:
Shell, the shell include cover portion；
Wheel body, the wheel body are installed in the cover portion by first axle；
Drive wheel bracket is located above at least partly described shell, wherein the shell is rotatably mounted in the driving wheel
In bracket；
Twist mechanism, the twist mechanism are arranged between the shell and the side wall of the drive wheel bracket, by the torsion
Rotation mechanism applies active force to the shell and controls the wheel body from main regulation height.
2. driving wheel structure as described in claim 1, which is characterized in that the driving wheel structure further include:
Second axis, setting is on the housing, wherein the twist mechanism is installed on second axis.
3. driving wheel structure as claimed in claim 2, which is characterized in that the twist mechanism includes coil part, and with institute
State the first torque arm and the second torque arm that the both ends of coil part are separately connected, wherein the coil part is sheathed on second axis,
So that the twist mechanism is installed on second axis.
4. driving wheel structure as claimed in claim 3, which is characterized in that the driving wheel structure further include:
Fixation member is arranged on the outer surface of the shell, the top of fixed first torque arm of the fixation member,
In, second torque arm is resisted against on the side wall parallel with the axis of second axis of the drive wheel bracket.
5. driving wheel structure as described in claim 1, which is characterized in that the twist mechanism includes torsionspring.
6. the driving wheel structure as described in one of claim 1 to 5, which is characterized in that the twist mechanism includes being spaced apart from each other
Two coil parts, the first torque arm and the second torque arm, wherein the both ends of first torque arm are separately connected two coil parts
The outer end point and so that first torque arm is extended outwardly in fold-line-shaped, the both ends of second torque arm are separately connected the coil part
Interior endpoint extend outwardly in fold-line-shaped.
7. driving wheel structure as claimed in claim 2, which is characterized in that the driving wheel structure further includes third axis, wherein
Second axis is hollow structure, and the third axis passes through second axis and is fixed in the drive wheel bracket, so that described
Shell is rotationally fixed in the drive wheel bracket.
8. driving wheel structure as claimed in claim 4, which is characterized in that the fixation member is specially to be arranged in the shell
On card slot, the top of first torque arm is snapped in the card slot.
9. driving wheel structure as claimed in claim 2, which is characterized in that second axis be arranged in the shell two/
At one height or more than half height.
10. a kind of intelligence self-moving device, which is characterized in that the intelligence self-moving device includes such as one of claim 1 to 9
The driving wheel structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821476591.XU CN209499615U (en) | 2018-09-10 | 2018-09-10 | A kind of driving wheel structure and intelligent self-moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821476591.XU CN209499615U (en) | 2018-09-10 | 2018-09-10 | A kind of driving wheel structure and intelligent self-moving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209499615U true CN209499615U (en) | 2019-10-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109008827A (en) * | 2018-09-10 | 2018-12-18 | 安克创新科技股份有限公司 | A kind of driving wheel structure and intelligent self-moving device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109008827A (en) * | 2018-09-10 | 2018-12-18 | 安克创新科技股份有限公司 | A kind of driving wheel structure and intelligent self-moving device |
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