CN210882376U

CN210882376U - Universal wheel device

Info

Publication number: CN210882376U
Application number: CN201921977053.3U
Authority: CN
Inventors: 贾烨磊; 王帅; 欧阳若林; 吴爱峰; 苏衍宇
Original assignee: Suzhou Bozhong Robot Co ltd
Current assignee: Suzhou Bozhong Intelligent Robot Co ltd
Priority date: 2019-11-15
Filing date: 2019-11-15
Publication date: 2020-06-30
Anticipated expiration: 2029-11-15

Abstract

The utility model discloses an universal wheel device belongs to machine parts technical field, and is too big to the angle of attack of barrier for solving the universal wheel device among the prior art, runs into higher obstacle unable passing through, hinders the not good technical problem of performance and designs more, the utility model discloses an universal wheel device includes base and universal wheel subassembly, and the universal wheel subassembly links to each other with the base and can drive the base and go forward or retreat, and the universal wheel subassembly includes direction wheelset and heavy burden wheelset, and the direction wheelset is two, and two direction wheelsets all are located the top of heavy burden wheelset and the contained angle that the center line of heavy burden wheelset and two direction wheelsets formed is the obtuse angle, and this universal wheel device is less relatively to the angle of attack α of barrier, meets higher barrier and passes through easily, hinders the performance well more.

Description

Universal wheel device

Technical Field

The utility model relates to a machine parts technical field especially relates to an universal wheel device.

Background

As shown in figure 5, in the structure of the traditional universal wheel 2 ', due to the eccentric distance and the rotating radius, the occupied space of the universal wheel is larger than that of other casters, and due to the spatial relationship, the universal wheel 2 ' is usually smaller relative to the wheel diameter, the attack angle α ' to an obstacle is too large, the obstacle crossing performance is not good, and the obstacle crossing performance is not good when the universal wheel cannot pass through the obstacle.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an universal wheel device, this universal wheel device is less relatively to the angle of attack α of barrier, meets higher barrier and passes through easily, hinders the functional good more.

To achieve the purpose, the utility model adopts the following technical proposal:

a universal wheel device comprises a base and a universal wheel component, wherein the universal wheel component is connected with the base and can drive the base to move forward or backward; the universal wheel assembly comprises two guide wheel sets and two load-bearing wheel sets, wherein the two guide wheel sets are located above the load-bearing wheel sets, and the included angle formed by the center connecting line of the two load-bearing wheel sets is an obtuse angle.

Optionally, the universal wheel assembly further comprises a first frame and a track, and both the guide wheel set and the load wheel set are rotatably connected to the first frame; and the crawler belt is tensioned on the two guide wheel sets and the loading wheel set.

Optionally, the universal wheel device further comprises an elastic supporting member, two ends of the elastic supporting member are respectively connected with the base and the first frame, the elastic supporting member can stretch or contract along the length direction of the elastic supporting member, and the first frame is rotatably connected with the base; when the universal wheel assembly moves on a plane or ascends over an obstacle, the elastic support piece is in a contracted state; when the universal wheel assembly falls after crossing the obstacle, the elastic support piece is in a stretching state.

Optionally, the number of the elastic supporting members is two, and the two elastic supporting members are oppositely arranged on two sides of the universal wheel assembly.

Optionally, the two guide wheel sets are respectively a first guide wheel set and a second guide wheel set, the first guide wheel set includes a first guide wheel and a first spindle body, the first spindle body is connected with the first frame, and the first guide wheel is rotatably sleeved on the first spindle body; the second guide wheel set comprises a second guide wheel and a second rotating shaft body, the second rotating shaft body is connected with the first machine frame, and the second guide wheel is rotatably sleeved on the second rotating shaft body; the loading wheel set comprises a loading wheel and a third rotating shaft body, the third rotating shaft body is connected with the first machine frame, and the loading wheel is rotatably sleeved on the third rotating shaft body.

Optionally, the first guide wheel set is located at an end away from the elastic support member, and the first frame is capable of rotating around the first rotating shaft body.

Optionally, the universal wheel device further comprises a rotating assembly, the rotating assembly is connected with the base and located below the base, and the rotating assembly can rotate around an axis perpendicular to the base.

Optionally, the rotating assembly includes connecting piece, limiting plate and second frame, the one end of connecting piece is worn to locate on the base, and the other end is worn to locate on the limiting plate, the second frame cover is established just be located on the connecting piece the base with between the limiting plate, the second frame can center on the central axis of connecting piece is rotatory 360.

Optionally, the distance between the central axis of the connecting piece and the central axis of the load wheel group is larger than zero; and/or the rotating assembly further comprises a plurality of first steel balls, corresponding first circumferential grooves are formed in the lower end surface of the base and the upper end surface of the second rack, and the first steel balls are matched in the first circumferential grooves; and/or the rotating assembly further comprises a plurality of second steel balls, corresponding second circumferential grooves are formed in the lower end face of the second rack and the upper end face of the limiting plate, and the second steel balls are matched in the second circumferential grooves.

Optionally, the universal wheel device further comprises a connecting block, and the connecting block is respectively connected with the rotating assembly and the universal wheel assembly.

The utility model discloses for prior art's beneficial effect: the universal wheel subassembly links to each other and can drive the base and advance or retreat with the base to drive equipment on the base and equip the article of placing and advance or retreat, the universal wheel subassembly includes direction wheelset and heavy burden wheelset, the direction wheelset is two, two direction wheelsets all are located the top of heavy burden wheelset and the contained angle that the line of centre of heavy burden wheelset and two direction wheelsets formed is the obtuse angle, consequently the angle of attack to the barrier is less relatively, run into higher barrier and pass through easily, obstacle crossing performance is good.

Drawings

Fig. 1 is a schematic structural view of a universal wheel device according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a universal wheel device according to an embodiment of the present invention;

fig. 3 is a schematic view of an elastic supporting member of the universal wheel apparatus according to an embodiment of the present invention in a stretched state;

FIG. 4 is a schematic view of the elastic support member in a contracted state when the universal wheel apparatus according to the embodiment of the present invention is over obstacles;

FIG. 5 is a schematic representation of a prior art universal wheel crossing an obstacle.

Reference numerals:

the device comprises a base-1, a universal wheel assembly-2, a first guide wheel assembly-21, a first guide wheel-211, a first rotating shaft body-212, a second guide wheel assembly-22, a second guide wheel-221, a second rotating shaft body-222, a loading wheel assembly-23, a loading wheel-231, a third rotating shaft body-232, a first frame-24, a crawler-25, an elastic supporting member-3, a rotating assembly-4, a connecting member-41, a limiting plate-42, a second frame-43, a first steel ball-44, a second steel ball-45 and a connecting block-5.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner.

As shown in fig. 1 and 2, the universal wheel device includes a base 1 and a universal wheel assembly 2, wherein the universal wheel assembly 2 is connected to the base 1 and can drive the base 1 to move forward or backward; the universal wheel assembly 2 comprises two guide wheel sets and two load-bearing wheel sets 23, the two guide wheel sets are all located above the load-bearing wheel set 23, and an included angle formed by the load-bearing wheel set 23 and a center connecting line of the two guide wheel sets is an obtuse angle, namely, an included angle formed by the center connecting line of the load-bearing wheel set 23 and one of the guide wheel sets and the center connecting line of the load-bearing wheel set 23 and the other guide wheel set is an obtuse angle.

It can be understood that universal wheel subassembly 2 links to each other and can drive base 1 and advance or retreat to drive equipment on the base 1 and the article of equipping and placing and advance or retreat, universal wheel subassembly 2 includes direction wheelset and heavy burden wheelset 23, the direction wheelset is two, two direction wheelsets all are located the top of heavy burden wheelset 23 and the contained angle that heavy burden wheelset 23 and the line of center of two direction wheelsets formed is the obtuse angle, consequently the angle of attack α to the barrier is relatively less (see fig. 4 and 5 contrast), meet higher barrier and pass through easily, obstacle crossing performance is good.

As shown in fig. 4 and fig. 5, the attack angle α 'when the universal wheel 2' of the prior art climbs over the obstacle is significantly larger than the attack angle α of the universal wheel assembly 2 of the present invention, which particularly illustrates that the obstacle of the prior art and the obstacle of the present invention are the same obstacle, i.e. the height is the same.

Optionally, as shown in fig. 2, the universal wheel assembly 2 further includes a first frame 24 and a crawler track 25, the two guide wheel sets and the load wheel set 23 are rotatably connected to the first frame 24, and the crawler track 25 is tensioned on the two guide wheel sets and the load wheel set 23.

It should be noted that the two guide wheel sets and the load wheel set 23 are located on the same plane, there are two first racks 24, and the two first racks 24 are respectively disposed at two ends of the two guide wheel sets and the load wheel set 23 for limiting; the crawler belt 25 is tensioned on the two guide wheel sets and the loading wheel set 23, and due to the large contact area of the crawler belt 25 with the ground, the pressure on the ground is reduced, thereby facilitating smooth crossing of obstacles and improving the stability of the equipment on the base 1 and the objects on the equipment.

Optionally, as shown in fig. 1, the universal wheel apparatus further includes an elastic support member 3, two ends of the elastic support member 3 are respectively connected to the base 1 and the first frame 24, the elastic support member 3 can be extended or contracted along a length direction thereof, and the first frame 24 is rotatably connected to the base 1; wherein, as shown in fig. 4, when the universal wheel assembly 2 moves on a plane or ascends over an obstacle, the elastic support 3 is in a contracted state; as shown in fig. 3, when the universal wheel assembly 2 falls down after crossing an obstacle, the elastic support member 3 is in a stretched state.

It can be understood that when the universal wheel assembly 2 moves on a plane or ascends over an obstacle, the elastic support 3 is in a contracted state under the action of the gravity of the equipment and the objects on the equipment carried by the base 1, when the universal wheel assembly 2 descends after crossing over the obstacle, the crawler 25 which is in contact with the ground before lifts off, the elastic support 3 is rapidly in a stretched state, so that the first frame 24 is driven to rotate relative to the base 1, the crawler 25 contacts the ground again, the equipment and the objects on the equipment are supported under the action of the elastic force and the damping force of the elastic support 3, the damping effect is achieved, the stability of the equipment on the base 1 and the objects on the equipment is good, the structure is simple, and the applicability is strong.

Advantageously, the elastic support 3 is a gas spring. Of course, in other embodiments of the present invention, the elastic supporting member 3 may be selected according to the magnitude of the elastic force and the damping force required in practice.

Optionally, as shown in fig. 2, there are two elastic supporting members 3, and the two elastic supporting members 3 are oppositely disposed on two sides of the universal wheel assembly 2, so that the stability of the equipment and the articles on the equipment in the obstacle crossing process is further improved, and the shock absorption effect is better.

Alternatively, as shown in fig. 2, the two guide wheel sets are a first guide wheel set 21 and a second guide wheel set 22, respectively, the first guide wheel set 21 includes a first guide wheel 211 and a first axle body 212, the first axle body 212 is connected to the first chassis 24, and the first guide wheel 211 is rotatably sleeved on the first axle body 212; the second guide wheel set 22 comprises a second guide wheel 221 and a second rotating shaft body 222, the second rotating shaft body 222 is connected with the first machine frame 24, and the second guide wheel 221 is rotatably sleeved on the second rotating shaft body 222; the loading wheel set 23 comprises a loading wheel 231 and a third rotating shaft body 232, the third rotating shaft body 232 is connected with the first frame 24, and the loading wheel 231 is rotatably sleeved on the third rotating shaft body 232.

It can be understood that, since the first guide wheel 211 is rotatably sleeved on the first rotating shaft body 212, the second guide wheel 221 is rotatably sleeved on the second rotating shaft body 222, and the load-bearing wheel group 23 is rotatably sleeved on the third rotating shaft body 232, the track 25 is driven to move forward or backward by the driving force, so as to cross over the obstacle.

It is supplementary to explain that when the universal wheel assembly 2 walks forwards to cross an obstacle, the crawler 25 at the first guide wheel set 21 is firstly contacted with the ground to play a forward guiding role; when the universal wheel assembly 2 backs backwards to cross the obstacle ditch, the inclined plane formed by the connection of the second guide wheel set 22 and the load bearing wheel set 23 can drive the universal wheel device to cross the obstacle ditch, so that the backward guide effect is achieved; when the universal wheel assembly 2 walks on a plane, the crawler belt 25 at the position of the load bearing wheel set 23 is always in contact with the plane, and the first guide wheel set 21 and the second guide wheel set 22 are always not in contact with the plane.

Alternatively, the first guiding wheel set 21 is located at an end away from the elastic support 3, and the first frame 24 is capable of rotating around the first axle body 212.

It can be understood that, since the first frame 24 can rotate around the first pivot body 212, when the universal wheel assembly 2 falls down after crossing an obstacle, the caterpillar 25 which is in contact with the ground before is lifted off, and the elastic support member 3 is rapidly in a stretching state, so that the first frame 24 is driven to rotate around the first pivot body 212, the caterpillar 25 is enabled to contact with the ground again, and the equipment and the object on the equipment are supported under the action of the elastic force and the damping force of the elastic support member 3, so that the damping effect is achieved, the stability of the equipment on the base 1 and the object on the equipment is good, the structure is simple, and the applicability is strong.

Optionally, as shown in fig. 1, the universal wheel device further includes a rotating assembly 4, the rotating assembly 4 is connected to the base 1 and located below the base 1, and the rotating assembly 4 can rotate around an axis perpendicular to the base 1, so that the universal wheel device can rotate 360 degrees, and is free to move and wide in use range.

Optionally, as shown in fig. 2, the rotating assembly 4 includes a connecting member 41, a limiting plate 42, and a second frame 43, one end of the connecting member 41 penetrates through the base 1, the other end penetrates through the limiting plate 42, the second frame 43 is sleeved on the connecting member 41 and is located between the base 1 and the limiting plate 42, the second frame 43 can rotate 360 ° around the central axis of the connecting member 41, 360 ° rotation of the universal wheel device is achieved, the movement is free, and the use range is large.

Alternatively, as shown in fig. 2, the distance of the central axis of the link 41 from the central axis of the load-bearing wheel group 23 is greater than zero, so that the second frame 43 can rotate 360 ° around the central axis of the link 41.

As shown in fig. 2, the rotating assembly 4 further includes a plurality of first steel balls 44, corresponding first circumferential grooves are formed in the lower end surface of the base 1 and the upper end surface of the second frame 43, the plurality of first steel balls 44 are fitted in the first circumferential grooves, and the first steel balls 44 can reduce the resistance of the second frame 43 to rotate around the central axis of the connecting member 41, so as to ensure the smoothness of the rotating process.

As shown in fig. 2, the rotating assembly 4 further includes a plurality of second steel balls 45, the lower end surface of the second frame 43 and the upper end surface of the limiting plate 42 are provided with corresponding second circumferential grooves, the plurality of second steel balls 45 are fitted in the second circumferential grooves, and the second steel balls 45 can reduce the resistance of the second frame 43 to rotate around the central axis of the connecting member 41, so as to further ensure the smoothness of the rotating process.

Optionally, as shown in fig. 1, the universal wheel device further includes a connecting block 5, and the connecting block 5 is respectively connected with the rotating component 4 and the universal wheel component 2, and plays a role in fixing and connecting.

The universal wheel assembly 2 moves from a plane to a working process of turning over an obstacle forwards: when the universal wheel assembly 2 moves from a plane to a position where the universal wheel assembly 2 rolls over an obstacle forwards, the elastic support members 3 are in a contraction state under the action of gravity of equipment carried by the base 1 and articles on the equipment, when the universal wheel assembly 2 rolls over the obstacle and falls down, the crawler belts 25 which are in contact with the ground before lift off, and the elastic support members 3 are rapidly in a stretching state, so that the first machine frame 24 is driven to rotate around the first rotating shaft body 212, the crawler belts 25 are in contact with the plane again, and the equipment and the articles on the equipment are supported under the action of elastic force and damping force of the elastic support members 3 to play a role in shock absorption.

In the description herein, references to the description of "some embodiments," "other embodiments," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Further, it is to be understood that the terms "upper", "lower", "inner", "outer", "vertical", "horizontal", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "connected," "mounted," "secured," and the like are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The above-mentioned meaning belonging to the present invention can be understood by those skilled in the art according to the specific situation.

Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims

1. A caster device, comprising:

a base (1); and

the universal wheel assembly (2) is connected with the base (1) and can drive the base (1) to move forward or backward; and

universal wheel subassembly (2) are including direction wheelset and heavy burden wheelset (23), the direction wheelset is two, two the direction wheelset all is located the top of heavy burden wheelset (23) just heavy burden wheelset (23) and two the contained angle that the center line of direction wheelset formed is the obtuse angle.

2. The universal wheel apparatus according to claim 1, wherein said universal wheel assembly (2) further comprises:

the two guide wheel sets and the load wheel set (23) are rotatably connected to the first frame (24); and

a track (25), the track (25) being tensioned over the two guide wheel sets and the load wheel set (23).

3. The universal wheel device according to claim 2, further comprising an elastic supporting member (3), wherein both ends of the elastic supporting member (3) are respectively connected with the base (1) and the first frame (24), the elastic supporting member (3) can be stretched or contracted along the length direction thereof, and the first frame (24) is rotatably connected with the base (1); wherein the content of the first and second substances,

when the universal wheel assembly (2) moves on a plane or ascends over an obstacle, the elastic support (3) is in a contracted state; when the universal wheel assembly (2) falls after crossing the obstacle, the elastic support member (3) is in a stretching state.

4. A castor assembly according to claim 3, wherein there are two resilient support members (3), and the two resilient support members (3) are disposed opposite each other on either side of the castor assembly (2).

5. The universal wheel device according to claim 3, wherein the two guide wheel sets are a first guide wheel set (21) and a second guide wheel set (22), respectively, the first guide wheel set (21) comprises a first guide wheel (211) and a first axle body (212), the first axle body (212) is connected with the first frame (24), and the first guide wheel (211) is rotatably sleeved on the first axle body (212);

the second guide wheel set (22) comprises a second guide wheel (221) and a second rotating shaft body (222), the second rotating shaft body (222) is connected with the first rack (24), and the second guide wheel (221) is rotatably sleeved on the second rotating shaft body (222);

the heavy burden wheelset (23) includes that bogie wheel (231) and third pivot body (232), third pivot body (232) with first frame (24) link to each other, bogie wheel (231) rotationally overlaps and establishes on the third pivot body (232).

6. A castor assembly according to claim 5, wherein the first guide wheel set (21) is located at an end remote from the resilient support (3), the first frame (24) being rotatable about the first axle body (212).

7. The universal wheel apparatus according to claim 1, further comprising a rotating assembly (4), wherein the rotating assembly (4) is connected with the base (1) and is positioned below the base (1), and the rotating assembly (4) can rotate around an axis perpendicular to the base (1).

8. The universal wheel device according to claim 7, wherein the rotating assembly (4) comprises a connecting member (41), a limiting plate (42) and a second frame (43), one end of the connecting member (41) is inserted into the base (1), the other end of the connecting member is inserted into the limiting plate (42), the second frame (43) is sleeved on the connecting member (41) and located between the base (1) and the limiting plate (42), and the second frame (43) can rotate 360 ° around the central axis of the connecting member (41).

9. The castor arrangement according to claim 8, wherein the distance of the central axis of the connecting piece (41) from the central axis of the load wheel set (23) is greater than zero;

and/or the rotating assembly (4) further comprises a plurality of first steel balls (44), corresponding first circumferential grooves are formed in the lower end surface of the base (1) and the upper end surface of the second rack (43), and the first steel balls (44) are matched in the first circumferential grooves;

and/or the rotating assembly (4) further comprises a plurality of second steel balls (45), corresponding second circumferential grooves are formed in the lower end face of the second rack (43) and the upper end face of the limiting plate (42), and the second steel balls (45) are matched in the second circumferential grooves.

10. The universal wheel apparatus according to claim 7, further comprising a connection block (5), said connection block (5) connecting said rotating assembly (4) and said universal wheel assembly (2), respectively.