CN110155153A - A kind of omnidirectional's bogie wheel configuration - Google Patents
A kind of omnidirectional's bogie wheel configuration Download PDFInfo
- Publication number
- CN110155153A CN110155153A CN201811536416.XA CN201811536416A CN110155153A CN 110155153 A CN110155153 A CN 110155153A CN 201811536416 A CN201811536416 A CN 201811536416A CN 110155153 A CN110155153 A CN 110155153A
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- Prior art keywords
- inner shaft
- screwed
- swinging
- swinging axle
- fixed
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- 229920002635 polyurethane Polymers 0.000 claims abstract description 15
- 239000004814 polyurethane Substances 0.000 claims abstract description 15
- 230000000694 effects Effects 0.000 claims abstract description 9
- 210000004907 gland Anatomy 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007547 defect 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
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
A kind of omnidirectional's bogie wheel configuration, the present invention relates to mechanical equipment technical fields；Mounting plate is sleeved and fixed on the top outer wall of outer shaft；Activity is equipped with swinging axle in the swinging end of inner shaft, and the left and right ends of swinging axle are each passed through after the left and right sides of inner shaft, is screwed with polyurethane rubber-covered wheel by ball rotation bearing；It is worn in the middle part of the swinging axle and is fixed with rotating axle pin using being bolted, in the mesopore on the front-rear side walls of the rear and front end of the rotating axle pin swinging end that activity is threaded through inner shaft respectively；Being screwed on of inner shaft is inserted with spring in holding, and the upper end of spring, which is supported, to be located at being screwed on for inner shaft and hold inner top, and the lower end of spring is fixed on the middle part upper wall of swinging axle.It can be realized and freely control steering, and surface wear is smaller over the ground, while is preferable with ground compactness, be easier to popularize, practicability is stronger.
Description
Technical field
The present invention relates to mechanical equipment technical fields, and in particular to a kind of omnidirectional's bogie wheel configuration.
Background technique
Automatic guided vehicle requires to realize free movement in small space, and to meet real requirement, omnidirectional's vehicle is
It is badly in need of at present.Omnidirectional's vehicle of existing comparative maturity is largely the structure using Mecanum wheel, because of Mecanum wheel itself
Design feature, lead to existing omnidirectional's vehicle manufactures that cost is very high, and requirement of the Mecanum wheel to ground
It is relatively high, industrially it is difficult to universal use.Therefore, it needs that a kind of structure is simple, and can be realized the wheel construction of omnidirectional's steering.
Summary of the invention
In view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of structure is simple, design rationally, make
With convenient omnidirectional's bogie wheel configuration, can be realized and freely control steering, and surface wear is smaller over the ground, at the same with ground compactness
Preferably, it is easier to popularize, practicability is stronger.
To achieve the above object, the technical solution adopted by the present invention is that: it include inner shaft, outer shaft, mounting plate, sprocket wheel, bullet
Spring, swinging axle, polyurethane rubber-covered wheel, thrust bearing, ball contact bearing, rotating axle pin, ball rotation bearing；The end that is screwed on of inner shaft
Bottom outer wall is screwed with outer shaft by thrust bearing, and outer shaft is set in outside the top at the end that is screwed on of inner shaft by ball contact bearing
The top of wall, the end that is screwed on of inner shaft is connected and fixed by flat key and sprocket wheel；The mounting plate is sleeved and fixed on the top of outer shaft
On outer wall；Activity is equipped with swinging axle in the swinging end of inner shaft, and the left and right ends of swinging axle are each passed through the left and right two of inner shaft
After side, polyurethane rubber-covered wheel is screwed with by ball rotation bearing；It is worn in the middle part of the swinging axle and solid using being bolted
Surely there is rotating axle pin, the gap on the front-rear side walls of the rear and front end of the rotating axle pin swinging end that activity is threaded through inner shaft respectively
In hole；Being screwed on of inner shaft is inserted with spring in holding, and the upper end of spring, which is supported, to be located at being screwed on for inner shaft and hold inner top, and the lower end of spring is solid
It is scheduled on the middle part upper wall of swinging axle.
Further, the top cover at the end that is screwed on of the inner shaft is equipped with chain grinding wheel press cap, and the peripheral wall of chain grinding wheel press cap is pressed on
The upper surface of sprocket wheel, and be connected and fixed using the upper end of bolt and the end that is screwed on of inner shaft.
Further, the left and right ends outer wall of the swinging axle, which is bolted, is fixed with bearing gland, bearing
Gland is set to the outside of polyurethane rubber-covered wheel.
Further, the interior bottom of the swinging end of the inner shaft offers swing limiting slot, swings activity in limiting slot
It is provided with limit pivot pin, and the upper end for limiting pivot pin is bolted on the middle part bottom wall for being fixed on swinging axle.
Further, the sprocket wheel is set in the groove body in mounting plate.
The working principle of the invention: sprocket wheel is drivingly connected by driving chain and external impetus, and inner shaft is driven to rotate, interior
Axis is connect with outer shaft by thrust bearing and ball contact bearing, realizes inner shaft while rotating, and mounting plate is in standing
State；Swinging axle is being flexibly connected (by mesopore reality between rotating axle pin and inner shaft with inner shaft by rotating axle pin 13
Existing clearance fit, swinging axle are in a certain range relative to inner shaft and rotate and move up and down around rotating axle pin)；Inner shaft passes through bullet
Spring pushes swinging axle, provides the pretightning force of downward pressure for polyurethane rubber-covered wheel；Limit pivot pin be fixed on swinging axle, by with
The clearance fit of swing limiting slot in inner shaft, limits the amplitude of swing.
After adopting the above structure, the invention has the following beneficial effects: a kind of omnidirectional's bogie wheel configuration of the present invention, Neng Goushi
Steering is now freely controlled, and surface wear is smaller over the ground, while preferable with ground compactness, is easier to popularize, practicability is stronger, this hair
It is bright to have structure simple, setting rationally, the advantages that low manufacture cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is structure sectional view of the invention.
Description of symbols:
Inner shaft 1, swinging end 1-1, it is screwed on and holds 1-2, mesopore 1-3, swings limiting slot 1-4, outer shaft 2, mounting plate 3, sprocket wheel 4, bullet
Spring 5, swinging axle 6, polyurethane rubber-covered wheel 7, bearing gland 8, limit pivot pin 9, thrust bearing 10, ball contact bearing 11, chain wheel load
Lid 12, rotating axle pin 13, ball rotation bearing 14.
Specific embodiment
The present invention will be further described below with reference to the drawings.
Referring to as depicted in figs. 1 and 2, present embodiment the technical solution adopted is that: it include inner shaft 1, outer shaft 2,
Mounting plate 3, sprocket wheel 4, spring 5, swinging axle 6, polyurethane rubber-covered wheel 7, thrust bearing 10, ball contact bearing 11, rotating axle pin 13,
Ball rotation bearing 14；Being screwed on for inner shaft 1 holds the bottom outer wall of 1-2 to be screwed with outer shaft 2(thrust bearing 10 by thrust bearing 10
Lower end wall, which is weldingly fixed on to be screwed on, holds the boss top of the lower end 1-2, and the upper end wall of thrust bearing 10 is weldingly fixed under outer shaft 2
On end wall), and outer shaft 2 is set in being screwed on for inner shaft 1 by ball contact bearing 11 and holds external wall of upper portion (two ball engagement shafts of 1-2
It holds 11 to be embedded in respectively in the upper and lower ends inner wall of outer shaft 2, is screwed on and holds outer wall in the middle part of 1-2 and two ball contact bearings 11
Inner ring interference fit is fixed), being screwed on for inner shaft 1 holds the top of 1-2 to be connected and fixed by flat key with sprocket wheel 4, realizes external impetus
The transmission in source；The mounting plate 3 is socketed and is weldingly fixed on the top outer wall of outer shaft 2 (is stamped with peace in advance on mounting plate 3
Threaded hole is filled, needs structure to be mounted for entire wheel construction to be mounted on)；Activity is equipped in the swinging end 1-1 of inner shaft 1
It is arranged between perforation in 6 middle part outer wall of swinging axle 6(swinging axle and swinging end 1-1 in certain interval), and the left and right of swinging axle 6
Both ends are each passed through after the left and right sides of inner shaft 1, are screwed with two ball rotations of polyurethane rubber-covered wheel 7(by ball rotation bearing 14
Shaft is held 14 and is embedded in the same wheel of polyurethane rubber-covered wheel 7 hub wall respectively, the end outer wall of swinging axle 6 and two balls
It is interference fitted and fixes between the inner ring of swivel bearing 14)；It is worn in the middle part of the swinging axle 6 and is fixed with rotation using being bolted
Roller pin 13, the rear and front end of the rotating axle pin 13 respectively activity be threaded through inner shaft 1 swinging end 1-1 front-rear side walls on present
In the mesopore 1-3 of lower vertical direction ellipticity setting；Being screwed on to hold of inner shaft 1 is inserted with spring 5 in 1-2, the upper end of spring 5 is supported
It is located at being screwed on for inner shaft 1 and holds 1-2 inner top, the lower end of spring 5 is fixed on the middle part upper wall of swinging axle 6.
Further, being screwed on for the inner shaft 1 holds the top cover of 1-2 to be equipped with chain grinding wheel press cap 12, the week of chain grinding wheel press cap 12
Wall pressure is located at the upper surface of sprocket wheel 4, and holds the upper end of 1-2 to be connected and fixed using bolt and being screwed on for inner shaft 1.
Further, the left and right ends outer wall of the swinging axle 6, which is bolted, is fixed with bearing gland 8, axis
Pressure cap 8 is set to the outside of polyurethane rubber-covered wheel 7.
Further, the interior bottom of the swinging end 1-1 of the inner shaft 1, which offers, swings limiting slot 1-4, swings limiting slot
Limit pivot pin 9 is movably set in 1-4, and the middle part bottom wall for being fixed on swinging axle 6 is bolted in the upper end for limiting pivot pin 9
On.
Further, the sprocket wheel 4 is set in the groove body in mounting plate 3.
The working principle of this specific embodiment:: sprocket wheel 4 is drivingly connected by driving chain and external impetus, and in drive
Axis 1 rotates, and inner shaft 1 is connect with outer shaft 2 by thrust bearing 10 and ball contact bearing 11, realizes inner shaft 1 while rotating,
Mounting plate 3 is in the state stood；Swinging axle 6 be flexibly connected by rotating axle pin 13 with inner shaft 1 (rotating axle pin 13 and
Clearance fit is realized by mesopore 1-3 between inner shaft 1, swinging axle 6 is in a certain range relative to inner shaft 1 around rotating axle pin
13 rotations and up and down motion)；Inner shaft 1 pushes swinging axle 6 by spring 5, provides the preload of downward pressure for polyurethane rubber-covered wheel 7
Power；Limit pivot pin 9 is fixed on swinging axle 6, by the clearance fit with the swing limiting slot 1-4 in inner shaft 1, limits swing
Amplitude.
After adopting the above structure, present embodiment has the beneficial effect that a kind of omnidirectional described in present embodiment
Bogie wheel configuration can be realized and freely control steering, and surface wear is smaller over the ground, while preferable with ground compactness, is easier to general
And the advantages that practicability is stronger, and the present invention has structure simple, and setting is reasonable, low manufacture cost.
The above is only used to illustrate the technical scheme of the present invention and not to limit it, and those of ordinary skill in the art are to this hair
The other modifications or equivalent replacement that bright technical solution is made, as long as it does not depart from the spirit and scope of the technical scheme of the present invention,
It is intended to be within the scope of the claims of the invention.
Claims (6)
1. a kind of omnidirectional's bogie wheel configuration, it is characterised in that: it include inner shaft (1), outer shaft (2), mounting plate (3), sprocket wheel (4),
Spring (5), swinging axle (6), polyurethane rubber-covered wheel (7), thrust bearing (10), ball contact bearing (11), rotating axle pin (13), ball
Swivel bearing (14)；The bottom outer wall at the end (1-2) that is screwed on of inner shaft (1) is screwed with outer shaft (2) by thrust bearing (10), and outer
Axis (2) is set in the external wall of upper portion of end (1-2) that be screwed on of inner shaft (1), the end that is screwed on of inner shaft (1) by ball contact bearing (11)
The top of (1-2) is connected and fixed by flat key with sprocket wheel (4)；The mounting plate (3) is sleeved and fixed outside the top of outer shaft (2)
On wall；Swinging end (1-1) interior activity of inner shaft (1) is equipped with swinging axle (6), and the left and right ends of swinging axle (6) are each passed through
After the left and right sides of inner shaft (1), polyurethane rubber-covered wheel (7) are screwed with by ball rotation bearing (14)；The swinging axle (6)
Middle part, which wears and utilizes to be bolted, is fixed with rotating axle pin (13), and activity is worn respectively for the rear and front end of the rotating axle pin (13)
In mesopore (1-3) on the front-rear side walls of the swinging end (1-1) of inner shaft (1)；It is plugged in the end (1-2) that is screwed on of inner shaft (1)
Have spring (5), end (1-2) inner top that is screwed on for being located at inner shaft (1) is supported in the upper end of spring (5), and the lower end of spring (5) is fixed on pendulum
On the middle part upper wall of moving axis (6).
2. a kind of omnidirectional's bogie wheel configuration according to claim 1, it is characterised in that: the end that is screwed on of the inner shaft (1)
The top cover of (1-2) is equipped with chain grinding wheel press cap (12), and the peripheral wall of chain grinding wheel press cap (12) is pressed on the upper surface of sprocket wheel (4), and utilizes
Bolt and the upper end at the end (1-2) that is screwed on of inner shaft (1) are connected and fixed.
3. a kind of omnidirectional's bogie wheel configuration according to claim 1, it is characterised in that: the left and right of the swinging axle (6)
Both ends outer wall, which is bolted, to be fixed with bearing gland (8), and bearing gland (8) is set to the outer of polyurethane rubber-covered wheel (7)
Side.
4. a kind of omnidirectional's bogie wheel configuration according to claim 1, it is characterised in that: the swinging end of the inner shaft (1)
The interior bottom of (1-1), which offers, swings limiting slot (1-4), swings and is movably set with limit pivot pin (9) in limiting slot (1-4), and
The upper end of limit pivot pin (9) is bolted on the middle part bottom wall for being fixed on swinging axle (6).
5. a kind of omnidirectional's bogie wheel configuration according to claim 1, it is characterised in that: the sprocket wheel (4) is set to peace
In groove body in loading board (3).
6. a kind of omnidirectional's bogie wheel configuration, it is characterised in that: its working principle: sprocket wheel (4) is dynamic by driving chain and outside
Power drive connection, and inner shaft (1) is driven to rotate, inner shaft (1) and outer shaft (2) pass through thrust bearing (10) and ball contact bearing
(11) it connects, realizes inner shaft (1) while rotating, mounting plate (3) is in the state stood；Swinging axle (6) is passing through rotation
Pivot pin 13 is flexibly connected with inner shaft (1)；Inner shaft (1) pushes swinging axle (6) by spring (5), is polyurethane rubber-covered wheel (7)
The pretightning force of downward pressure is provided；Limit pivot pin (9) be fixed on swinging axle (6), by with the swing limiting slot in inner shaft (1)
The clearance fit of (1-4) limits the amplitude of swing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811536416.XA CN110155153A (en) | 2018-12-14 | 2018-12-14 | A kind of omnidirectional's bogie wheel configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811536416.XA CN110155153A (en) | 2018-12-14 | 2018-12-14 | A kind of omnidirectional's bogie wheel configuration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110155153A true CN110155153A (en) | 2019-08-23 |
Family
ID=67645234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811536416.XA Pending CN110155153A (en) | 2018-12-14 | 2018-12-14 | A kind of omnidirectional's bogie wheel configuration |
Country Status (1)
| Country | Link |
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| CN (1) | CN110155153A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2424954Y (en) * | 2000-06-02 | 2001-03-28 | 何家铭 | Mid-set double front wheel suspension arrangement |
| US20040160031A1 (en) * | 2003-02-14 | 2004-08-19 | Seigo Shimizu | Swing mechanism for steering shaft in three-wheeled industrial vehicle |
| CN1955072A (en) * | 2005-10-27 | 2007-05-02 | 中国国际海运集装箱(集团)股份有限公司 | Walking mechanism of boarding bridge and its control method |
| US20120018984A1 (en) * | 2010-07-23 | 2012-01-26 | Navistar Canada, Inc. | Independent dual wheel direct drive axles, between the duals gear box, and independent servo drive steering for between the dual direct drive suspensions |
| CN202557597U (en) * | 2012-04-17 | 2012-11-28 | 长安大学 | Automotive vehicle capable of turning on site and turning around and moving universally |
| CN204250141U (en) * | 2014-12-05 | 2015-04-08 | 北京建筑大学 | Robot turns to gear frame |
| CN209290480U (en) * | 2018-12-14 | 2019-08-23 | 合肥井松自动化科技有限公司 | A kind of omnidirectional's bogie wheel configuration |
-
2018
- 2018-12-14 CN CN201811536416.XA patent/CN110155153A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2424954Y (en) * | 2000-06-02 | 2001-03-28 | 何家铭 | Mid-set double front wheel suspension arrangement |
| US20040160031A1 (en) * | 2003-02-14 | 2004-08-19 | Seigo Shimizu | Swing mechanism for steering shaft in three-wheeled industrial vehicle |
| CN1955072A (en) * | 2005-10-27 | 2007-05-02 | 中国国际海运集装箱(集团)股份有限公司 | Walking mechanism of boarding bridge and its control method |
| US20120018984A1 (en) * | 2010-07-23 | 2012-01-26 | Navistar Canada, Inc. | Independent dual wheel direct drive axles, between the duals gear box, and independent servo drive steering for between the dual direct drive suspensions |
| CN202557597U (en) * | 2012-04-17 | 2012-11-28 | 长安大学 | Automotive vehicle capable of turning on site and turning around and moving universally |
| CN204250141U (en) * | 2014-12-05 | 2015-04-08 | 北京建筑大学 | Robot turns to gear frame |
| CN209290480U (en) * | 2018-12-14 | 2019-08-23 | 合肥井松自动化科技有限公司 | A kind of omnidirectional's bogie wheel configuration |
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| CB02 | Change of applicant information |
Address after: 230000 No.88, Bisheng Road, north of Sishui Road, Xinzhan District, Hefei City, Anhui Province Applicant after: Hefei Jingsong Intelligent Technology Co., Ltd Address before: 230000 Yaohai Hefei Industrial Park Anhui three road 2 factory room Applicant before: HEFEI GEN-SONG AUTOMATION TECHNOLOGY Co.,Ltd. |
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