CN207345388U - Wheel construction, wheel system - Google Patents
Wheel construction, wheel system Download PDFInfo
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- CN207345388U CN207345388U CN201720930244.9U CN201720930244U CN207345388U CN 207345388 U CN207345388 U CN 207345388U CN 201720930244 U CN201720930244 U CN 201720930244U CN 207345388 U CN207345388 U CN 207345388U
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- foreign steamer
- wheel
- bearing
- centre bore
- cover board
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Abstract
The utility model discloses wheel construction, wheel system, belong to the application field of wheel and wheel.The wheel construction of the utility model, including：Foreign steamer, the inner peripheral surface of the foreign steamer are equipped with the tooth with gear engaged transmission；Eccentrically weighted shaft, the eccentrically weighted shaft are connected to the non-central place on outer wheel side.The purpose of the utility model is to overcome existing wheel on rugged road surface the poor deficiency of stationarity when driving, a kind of wheel construction, wheel system with the vertical direction free degree are provided, realizes on rugged road surface stationarity still preferable function when driving.
Description
Technical field
The application field of wheel and wheel is the utility model is related to, vertical direction is carried certainly more specifically to one kind
By wheel construction, the wheel system spent.
Background technology
Wheel system, such as castor system, can be installed in object or equipment in order to which it is moved.Castor system can
With fixed arrangement, so that roll in a single direction, or they can be installed on pivot so that wheel automatically revolves
Turn so that its own aligns with the direction of movement.
There is substantial amounts of handicapped person in the elderly/disabled person and patient in China at present, these people constitute quantity
Huge wheelchair demand colony, huge demand promote China's wheelchair industry and comparatively fast develop in recent years, electric wheelchair largely into
Enter huge numbers of families, improve quality of life.However, all inevitably to run into road conditions rough by most electric wheelchair user
Situation, wheelchair are undoubtedly one kind to user and decoct with jolting for road surface.There are more moneys that there is shockproof function currently on the market
Electric wheelchair, but expensive and moulding is complicated mostly, wheelchair overall operation is unstable and use is more laborious.With this
Meanwhile the robot of different purposes, such as storage robot, reconnaissance robot etc. also begin to come into our life, in order to suitable
Answer different geographical environments and operate steadily, it is necessary to be adjusted to robot itself to ensure it in different environment to realize
Default target, but all there is on rugged road surface when driving vehicle body stationarity it is difficult to ensure that the problem of, also not
The lift adjustment to vehicle body can be realized according to specific use environment.
Have related patents on the wheel system with elevating function in the prior art to disclose, such as patent publication No.：
CN102126400A, publication date：On 07 20th, 2011, invention and created name was：Wheel system with lifter apparatus, should
Application case is related to the wheel system with lifter apparatus, it includes：Frame；The wheel being rotationally mounted on frame；And
Lifter.Lifter limits first end and second end.The first end of lifter is pivotably mounted on frame, and lifter
Second end limits contact surface.The contact surface of lifter, which is suitable for being formed with vertically disposed barrier, to be initially contacted, and then
Riser configuration is pivoted into around first end so that wheel is lifted and crosses vertical barrier.But the deficiency of this application
Part is：Wheel is crossed vertical barrier by it by the form of lifter lifting wheel, is used and dumb, and its
The lift adjustment pattern of wheel is difficult in adapt to wheel and is continuously driven on rugged road surface.
In conclusion how to overcome the shortcomings of existing wheel, stationarity is poor when driving on rugged road surface,
It is the technical barrier of urgent need to resolve in the prior art.
Utility model content
1. utility model technical problems to be solved
The purpose of the utility model is to overcome existing wheel, stationarity is poor when driving on rugged road surface
Deficiency, there is provided a kind of wheel construction, wheel system with the vertical direction free degree, realize on rugged road surface
Stationarity still preferable function when driving.
2. technical solution
To reach above-mentioned purpose, technical solution provided by the utility model is：
The wheel construction of the utility model, including：
Foreign steamer, the inner peripheral surface of the foreign steamer are equipped with the tooth with gear engaged transmission；
Eccentrically weighted shaft, the eccentrically weighted shaft are connected to the non-central place on outer wheel side.
Wheel construction as the utility model further improves, and further includes foreign steamer cover board, the edge of the foreign steamer cover board
It is rotatably assorted in the annular groove on foreign steamer edge, an eccentric adjusting sleeve is extended with to side from the foreign steamer cover board, the bias
The junction that sleeve takes turns on cover board outside is the non-central place on outer wheel side.
Wheel construction as the utility model further improves, and one is extended with to opposite side from the foreign steamer cover board
Through the cover plate central axis of foreign steamer centre bore, the part that the cover plate central axis is pierced by foreign steamer centre bore is threaded rod；
Foreign steamer fastener is fixed with the outside of the foreign steamer centre bore, which is equipped with what is passed through for the threaded rod
Through hole, stop nut are threaded on the threaded rod, and packing ring is equipped between stop nut and foreign steamer fastener.
Wheel construction as the utility model further improves, and is provided with the centre bore of the foreign steamer and the lid
The clutch shaft bearing that plate central shaft coordinates；The lateral surface of the eccentric adjusting sleeve is equipped with least two axial notches.
The wheel system of the utility model, including wheel construction described above, further include：
Internal gear, the tooth engaged transmission that the internal gear and foreign steamer inner peripheral surface are equipped with, internal gear by connecting shaft with
First driving motor connection.
Wheel system as the utility model further improves, the eccentric adjusting sleeve it is concentric be sleeved on the company
Outside spindle, a worm gear set is on the lateral surface of the eccentric adjusting sleeve, and the centre bore of worm gear is equipped with and the axial notch
Matched lug boss；The worm gear and a worm engaging are driven, which is connected with the second driving motor.
Wheel system as the utility model further improves, installation at least two in the centre bore of the foreign steamer
Clutch shaft bearing, is provided with a positioning sleeve between two neighboring clutch shaft bearing；
The both ends of the worm screw are respectively cooperating with being provided with second bearing；
One 3rd bearing is sleeved on the lateral surface of the eccentric adjusting sleeve, and the inner ring wall of 3rd bearing is equipped with and the axis
To the lug boss of fit depressions；
Wheel system as the utility model further improves, and first overcoat includes two openings being connected
Cavity, one of open cavity and the 3rd overcoat be interlocked to be formed the first closed chamber so as to by connecting shaft, first driving motor,
Inside it, another open cavity is interlocked with the second overcoat, and to form second close for eccentric adjusting sleeve, worm gear and 3rd bearing positioning
Closed chamber is so that by worm screw, second bearing and the second driving motor positioning inside it.
Wheel system as the utility model further improves, and further includes supporting rack and mounting base, the branch
Support clamps the first closed chamber or the second closed chamber, and supporting rack is fixed on mounting base by the 3rd fastening bolt.
Wheel system described above is installed on the application of the wheel system of the utility model, robot or wheelchair or car
System.
The utility model climbs/descending method, and front and rear wheel is respectively the traveling apparatus of wheel system described above, its
Climb/descending process comprises the following steps：
P1：The internal gear on front-wheel is controlled, is at the bottom of corresponding foreign steamer；
P2：The internal gear on trailing wheel is controlled, is at the top of corresponding foreign steamer；
P3：Internal gear on internal gear and trailing wheel on control front-wheel in real time, makes the two be maintained at sustained height.
The throwing over barrier method of the utility model, wheel are the traveling apparatus of wheel system described above, it is crossed
Barrier process comprises the following steps：
F1：Before running into barrier, control internal gear is at the top of foreign steamer；
F2：During throwing over barrier, internal gear is kept to be in constant horizontal level.
3. beneficial effect
Using technical solution provided by the utility model, compared with prior art, there is following remarkable result：
(1) in the utility model, the inner peripheral surface of foreign steamer is equipped with the tooth with internal gear engaged transmission, and internal gear passes through company
Spindle be connected with the first driving motor, and first drives motor to provide power for the rotation of internal gear, by the rotation of internal gear into
One step foreign steamer is driven to rotate so that foreign steamer is realized on ground rolls movement.
(2) in the utility model, certain transformation has been carried out to foreign steamer using the principle of eccentric wheel, has been specially：From foreign steamer
An eccentric adjusting sleeve is extended with to side on cover board, which takes turns junction on cover board as in non-on outer wheel side outside
At the heart, eccentric adjusting sleeve is concentric to be sleeved on outside connecting shaft, is arranged with two axial notches on the lateral surface of eccentric adjusting sleeve, and one
Worm gear set on the lateral surface of eccentric adjusting sleeve, and the centre bore of worm gear be equipped with the matched lug boss of axial notch so that
So that worm gear location and installation, on eccentric adjusting sleeve, worm gear and a worm engaging are driven, which is connected with the second driving motor, when
When second driving motor is started to work, directly connected worm screw starts to rotate, and then drives worm gear to rotate, since worm gear is determined
Position be installed on eccentric adjusting sleeve on, eccentric adjusting sleeve can synchronously rotate, simultaneously as on foreign steamer cover board eccentric adjusting sleeve center line
Center line with foreign steamer is there are certain spacing, i.e., there are certain eccentricity, so that bias occurs for whole foreign steamer cover board
Rotate, meanwhile, the edge of foreign steamer cover board is rotatably assorted in the annular groove on foreign steamer edge, finally so that foreign steamer integrally also occurs
Eccentric rotary, and then can realize that the height of foreign steamer is adjusted.
(3) the disclosed wheel system with the vertical direction free degree of the utility model may be mounted at robot or wheelchair
Or car etc. arbitrarily needs to roll on mobile traveling apparatus, wheel system is realized outer automatically by the rotation of foreign steamer and eccentric rotary
The movement and lifting of wheel, while corresponding adjustment can be made to each wheel on traveling apparatus according to the complexity of geographical environment,
To ensure the even running of traveling apparatus, the traveling vibrations of traveling apparatus are reduced as far as possible so that on rugged road surface
On when driving stationarity it is still preferable.
(4) when the traveling apparatus that front and rear wheel is respectively wheel system in the utility model is in climbing state, before control
Internal gear on wheel is in the bottom of its foreign steamer, controls the internal gear on trailing wheel to be in the top of its foreign steamer, by front-wheel, after
The height of wheel is adjusted so that the internal gear on internal gear and trailing wheel on front-wheel remains at sustained height, so that whole
A traveling apparatus remains that horizontality is climbed, and the center of gravity of traveling apparatus is in the center of itself all the time, and climbing is steady；
Wherein, the descending step of traveling apparatus is same as above.
(5) when the traveling apparatus that wheel is wheel system in the utility model runs into barrier, the second driving electricity is opened
Machine so that top of the internal gear adjustment in foreign steamer, and then the center of gravity of foreign steamer entirety moves up, then in the process of throwing over barrier
In, remain internal gear in constant horizontal level so that by foreign steamer rotate easily, smoothly go over barrier.
Brief description of the drawings
, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the structure diagram one of the wheel system of embodiment 1 (from depression angle)；
Fig. 2 is the structure diagram two of the wheel system of embodiment 1 (from angle is looked up)；
Fig. 3 is the structure diagram three of the wheel system of embodiment 1 (after installation foreign steamer cover board and overcoat)；
Fig. 4 is the structure diagram that embodiment 1 takes turns cover board at home and abroad；
Fig. 5 is the structure diagram of foreign steamer in embodiment 1；
Fig. 6 is the structure diagram of the 3rd overcoat in embodiment 1；
Fig. 7 is the structure diagram of the second overcoat in embodiment 1；
Fig. 8 is the structure diagram of the first overcoat in embodiment 1；
Fig. 9 is the use state diagram one of wheel system in embodiment 1；
Figure 10 is the use state diagram two of wheel system in embodiment 1；
Figure 11 is the use state diagram three of wheel system in embodiment 1；
Figure 12 is the use state diagram four of wheel system in embodiment 1；
Figure 13 is the use state diagram five of wheel system in embodiment 1.
Label declaration in schematic diagram：1st, foreign steamer；2nd, internal gear；3rd, connecting shaft；4th, foreign steamer cover board；5th, the first driving electricity
Machine；6th, clutch shaft bearing；7th, positioning sleeve；8th, foreign steamer fastener；9th, the first fastening bolt；10th, worm gear；11st, worm screw；12nd, the second driving
Motor；13rd, stop nut；14th, second bearing；15th, the first overcoat；16th, the second overcoat；17th, the second fastening bolt；18th, the 3rd
Overcoat；19th, supporting rack；20th, mounting base；21st, the 3rd fastening bolt；22nd, 3rd bearing.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Therefore, below to providing in the accompanying drawings
The detailed description of embodiment of the utility model be not intended to limit claimed the scope of the utility model, but only
Represent the selected embodiment of the utility model.Based on the embodiment in the utility model, those of ordinary skill in the art are not having
All other embodiments obtained under the premise of creative work are made, shall fall within the protection scope of the present invention.
To further appreciate that the content of the utility model, the utility model is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
With reference to Fig. 1-8, the wheel system of the present embodiment, including wheel construction.The wheel construction include foreign steamer 1, eccentrically weighted shaft and
Foreign steamer cover board 4, the inner peripheral surface of foreign steamer 1 are equipped with the tooth with gear engaged transmission, and eccentrically weighted shaft is connected on 1 side of foreign steamer
Non-central place.In specific the present embodiment, the edge of foreign steamer cover board 4 is rotatably assorted in the annular groove on 1 edge of foreign steamer, (specific
In the present embodiment, at the edge protuberance of foreign steamer cover board 4 in the edge annular groove of foreign steamer 1, and foreign steamer cover board 4 can be in annular groove
Inside it is freely rotated), an eccentric adjusting sleeve (equivalent to previously described eccentrically weighted shaft) is extended with to side from foreign steamer cover board 4, should
It is the non-central place on 1 side of foreign steamer (in non-i.e. on 4 side of foreign steamer cover board that eccentric adjusting sleeve takes turns junction on cover board 4 outside
At the heart)；A cover plate central axis for passing through 1 centre bore of foreign steamer is extended with to opposite side from foreign steamer cover board 4, cover plate central axis is pierced by
The part of 1 centre bore of foreign steamer is threaded rod；Foreign steamer fastener 8 is fixed with the outside of 1 centre bore of foreign steamer, which is equipped with
The through hole passed through for threaded rod, stop nut 13 are threaded on threaded rod, are equipped between stop nut 13 and foreign steamer fastener 8
Packing ring so that when the cover plate central axis on foreign steamer cover board 4 is freely rotated in the centre bore of foreign steamer 1, do not take place along in foreign steamer 1
Rock in heart hole length direction；Wherein, stop nut 13 is not killed in the outside of foreign steamer fastener 8 so that cover plate central axis phase
It can be freely rotated for the centre bore of foreign steamer 1.
The clutch shaft bearing 6 coordinated with cover plate central axis is installed, the both ends of clutch shaft bearing 6 are limited in the centre bore of foreign steamer 1
System prevents clutch shaft bearing 6 from being skidded off out of foreign steamer 1 centre bore between foreign steamer fastener 8 and foreign steamer cover board 4, in specific the present embodiment,
Two clutch shaft bearings 6, rotation of the clutch shaft bearing 6 to cover plate central axis in 1 centre bore of foreign steamer are installed in the centre bore of foreign steamer 1
Supporting role is played, to prevent from because directly contacting causing between 1 rotation process cover plate central shaft of foreign steamer and 1 centre bore of foreign steamer
Abrasion, while in 1 centre bore of foreign steamer, a positioning sleeve 7 is installed between two clutch shaft bearings 6 so that two clutch shaft bearings 6 are outside
Take turns and relative constant distance is kept in 1 centre bore, while it is outer make it that the sum of length of all clutch shaft bearings 6 and positioning sleeve 7 is equal to
The length of 1 centre bore is taken turns, so as to avoid clutch shaft bearing 6 that the offset of axial direction occurs in 1 centre bore of foreign steamer, rocks.
The wheel system of the present embodiment, further includes internal gear 2, supporting rack 19 and mounting base 20, internal gear 2 and foreign steamer 1
The tooth engaged transmission that inner peripheral surface is equipped with, internal gear 2 are connected by connecting shaft 3 with the first driving motor 5.Eccentric adjusting sleeve is coaxial
The heart is sleeved on outside connecting shaft 3, and two axial notches are arranged with the lateral surface of eccentric adjusting sleeve, and a worm gear 10 is sleeved on eccentric bushing
On the lateral surface of cylinder, and the centre bore of worm gear 10 is equipped with and the matched lug boss of axial notch；10 and one worm screw 11 of worm gear
Engaged transmission, which is connected with the second driving motor 12, and in the present embodiment, the first driving motor 5 and second drives motor
12 be minitype speed reducing motor.The both ends of worm screw 11 are respectively cooperating with being provided with second bearing 14, and second bearing 14 is for worm screw 11
Supporting role is played in rotation, and a 3rd bearing 22 is sleeved on the lateral surface of eccentric adjusting sleeve, and is set on the inner ring wall of 3rd bearing 22
Have with the matched lug boss of axial notch, so that eccentric adjusting sleeve is positioned in 3rd bearing 22,3rd bearing 22 is for inclined
Supporting role is played in the rotation of heart sleeve.
In the present embodiment, the first overcoat 15 includes two connected open cavities, outside one of open cavity and the 3rd
Set 18 is interlocked to form the first closed chamber so as to which connecting shaft 3, first is driven motor 5, eccentric adjusting sleeve, worm gear 10 and 3rd bearing
22 position and simultaneously cover inside it, another open cavity and the second overcoat 16 are interlocked to form the second closed chamber so that by worm screw
11st, second bearing 14 and second drives motor 12 to position and cover inside it；In specific the present embodiment, by fastening formed the
One closed chamber and the second closed chamber, it can be achieved that connecting shaft 3, first drive motor 5, eccentric adjusting sleeve, worm gear 10,3rd bearing 22,
Worm screw 11, second bearing 14 and second drive the positioning and installation of motor 12, and intensive arrangement, structure are realized between each component
It is compact, accurate positioning and easy for installation.Pass through between an open cavity and the 3rd overcoat 18 wherein on the first overcoat 15
Two fastening bolts 17 are fixedly connected, and pass through the first fastening between another open cavity and the second overcoat 16 on the first overcoat 15
Bolt 9 is fixedly connected.
In the present embodiment, supporting rack 19 clamps the first closed chamber or the second closed chamber, and supporting rack 19 is tight by the 3rd
Fixing bolt 21 is fixed on mounting base 20, and can be fixed on mounting base 20 needs to roll on mobile traveling apparatus, you can
Realize application of the wheel system of the present embodiment on traveling apparatus, install and convenient to use.
The wheel system main actions of the present embodiment include following steps：
S1, the movement for realizing wheel system：
In the present embodiment, the inner peripheral surface of foreign steamer 1 is equipped with the tooth with the engaged transmission of internal gear 2, and internal gear 2 passes through connection
Axis 3 is connected with the first driving motor 5, and the first driving motor 5 provides power for the rotation of internal gear 2, passes through the rotation of internal gear 2
Further foreign steamer 1 is driven to rotate so that foreign steamer 1 is realized on ground rolls movement.
S2, the integral elevating for realizing wheel system：
In the present embodiment, certain transformation has been carried out to foreign steamer 1 using the principle of eccentric wheel, has been specially：From foreign steamer cover board 4
On to side be extended with an eccentric adjusting sleeve, the junction which takes turns on cover board 4 outside is non-central on 1 side of foreign steamer
Place, eccentric adjusting sleeve is concentric to be sleeved on outside connecting shaft 3, is arranged with two axial notches on the lateral surface of eccentric adjusting sleeve, and one
Worm gear 10 is sleeved on the lateral surface of eccentric adjusting sleeve, and the centre bore of worm gear 10 be equipped with the matched lug boss of axial notch,
So that 10 location and installation of worm gear, on eccentric adjusting sleeve, the engaged transmission of 10 and one worm screw of worm gear 11, the worm screw 11 and second drives
Dynamic motor 12 connects, and when the second driving motor 12 is started to work, directly connected worm screw 11 starts to rotate, and then drives
Worm gear 10 rotates, and since 10 location and installation of worm gear is on eccentric adjusting sleeve, eccentric adjusting sleeve can synchronously rotate, simultaneously as outside
The center line of eccentric adjusting sleeve and the center line (center line of foreign steamer 1) of foreign steamer cover board 4 are taken turns on cover board 4 there are certain spacing, i.e.,
There are certain eccentricity, so that eccentric rotary occurs for whole foreign steamer cover board 4, meanwhile, the edge of foreign steamer cover board 4, which rotates, matches somebody with somebody
Close in the annular groove on 1 edge of foreign steamer, finally so that foreign steamer 1 is overall also to occur eccentric rotary, and then can realize the height of foreign steamer 1
Degree is adjusted.
It should be noted that the disclosed wheel system with the vertical direction free degree of the present embodiment may be mounted at machine
People or wheelchair or car etc. arbitrarily need to roll on mobile traveling apparatus, rotation and eccentric rotary of the wheel system by foreign steamer 1
The automatic movement and lifting for realizing foreign steamer 1, while each wheel on traveling apparatus can be done according to the complexity of geographical environment
Go out corresponding adjustment, to ensure the even running of traveling apparatus, reduce the traveling vibrations of traveling apparatus as far as possible so that rugged
Stationarity is still preferable when driving on uneven road surface.
The wheel system of specific the present embodiment can be applied to storage robot, be carried by automatic controlled height by cargo
It is more convenient；Reconnaissance robot is can be applied to, the accurate positionin to target is realized by height adjustment；It can be applied to electric car,
Adjust the height of seat in real time on demand, reach the effect of damping；High-end wheelchair is can be applied to, seat is adjusted according to individual demand
Highly so that wheelchair operation is more steady, allows user to have more comfortable experience.
Below by taking the storage robot for installing the present embodiment wheel system as an example, introduce storage the various of robot and be moved through
Journey：
With reference to figure 9, when storage robot on level road when driving, the first driving motor 5 drives internal gear 2 to rotate,
Internal gear 2 is with w1Angular speed rotation, drive foreign steamer 1 to correspond to w2Angular speed rotate with, phase of the internal gear 2 on foreign steamer 1
Position is remained unchanged so that whole storage robot is constant, only carries out the movement of horizontal direction.
With reference to figure 10, when storage robot advances, on the one hand first drive motor 5 to drive internal gear 2 to rotate, pass through internal tooth
The rotation of wheel 2 drives foreign steamer 1 to rotate so that foreign steamer 1 is realized on ground rolls movement；On the other hand, the second driving motor 12 drives
Dynamic eccentric adjusting sleeve rotates so that foreign steamer 1 is overall to occur eccentric rotary, and then realizes that the height of foreign steamer 1 is adjusted, so that comprehensive foreign steamer
1 rotation and eccentric rotary reach whole storage robot and adjust and roll mobile effect.
With reference to figure 11, when the robot that stores in a warehouse is in climbing state, the internal gear 2 on front-wheel is controlled to be in its foreign steamer 1
Bottom, controls the internal gear 2 on trailing wheel to be in the top of its foreign steamer 1, by being adjusted to the height of front-wheel, trailing wheel so that front-wheel
On internal gear 2 and trailing wheel on internal gear 2 remain at sustained height, make the foreign steamer 1 on foreign steamer 1 and the trailing wheel on front-wheel
Identical linear velocity is kept to rotate, so that entirely storage robot remains that horizontality is climbed, store in a warehouse robot
Center of gravity is in the center of itself all the time, and climbing is steady.Wherein, the descending step of robot of storing in a warehouse is same as above.
With reference to figure 12, when the robot that stores in a warehouse runs into barrier, the second driving motor 12 is opened so that internal gear 2 adjusts
Center of gravity in the top of foreign steamer 1, and then the entirety of foreign steamer 1 moves up, and then during throwing over barrier, remains internal tooth
Wheel 2 in constant horizontal level so that by foreign steamer 1 rotate easily, smoothly go over barrier.
It is origin with the foreign steamer 1 close to turn direction side, opposite side foreign steamer 1 is around original when the robot that stores in a warehouse turns
Point rotates, and the relative position on corresponding adjustment both sides foreign steamer 1 residing for internal gear 2, the foreign steamer 1 rotated around origin is carried out by
Power is analyzed, with reference to figure 13, the holding power F suffered by foreign steamer 1 rotated around originNComponent F2Offset with suffered self gravitation,
Holding power FNComponent F1The circular motion done when turning for storage robot provides centripetal force, overall stress balance so that storage
Robot being capable of held stationary turning.
Schematically the utility model and embodiments thereof are described above, this describes no restricted, attached drawing
Shown in be also the utility model one of embodiment, actual structure is not limited thereto.So if this area
Those of ordinary skill enlightened by it, without deviating from the purpose of the present invention, not inventively design
The frame mode similar to the technical solution and embodiment, all should belong to the protection range of the utility model.
Claims (9)
1. wheel construction, it is characterised in that including：
Foreign steamer (1), the inner peripheral surface of the foreign steamer (1) are equipped with the tooth with gear engaged transmission；
Eccentrically weighted shaft, the eccentrically weighted shaft are connected to the non-central place on foreign steamer (1) side.
2. wheel construction according to claim 1, it is characterised in that further include foreign steamer cover board (4), the side of the foreign steamer cover board (4)
Edge is rotatably assorted in the annular groove on foreign steamer (1) edge, and an eccentric bushing is extended with to side from the foreign steamer cover board (4)
Cylinder, the junction which takes turns on cover board (4) outside are the non-central place on foreign steamer (1) side.
3. wheel construction according to claim 2, it is characterised in that be extended with from the foreign steamer cover board (4) to opposite side
One passes through the cover plate central axis of foreign steamer (1) centre bore, and the part that the cover plate central axis is pierced by foreign steamer (1) centre bore is screw thread
Bar；
Foreign steamer fastener (8) is fixed with the outside of foreign steamer (1) centre bore, which, which is equipped with, supplies the threaded rod
The through hole passed through, stop nut (13) are threaded on the threaded rod, are set between stop nut (13) and foreign steamer fastener (8)
There is packing ring.
4. wheel construction according to claim 3, it is characterised in that be provided with the centre bore of the foreign steamer (1) with it is described
The clutch shaft bearing (6) that cover plate central axis coordinates；The lateral surface of the eccentric adjusting sleeve is equipped with least two axial notches.
5. wheel system, it is characterised in that including wheel construction as claimed in claim 4, further include：
Internal gear (2), the tooth engaged transmission that the internal gear (2) is equipped with foreign steamer (1) inner peripheral surface, internal gear (2) pass through
Connecting shaft (3) is connected with the first driving motor (5).
6. wheel system according to claim 5, it is characterised in that：The eccentric adjusting sleeve it is concentric be sleeved on the connection
Axis (3) is exterior, and a worm gear (10) is sleeved on the lateral surface of the eccentric adjusting sleeve, and the centre bore of worm gear (10) be equipped with it is described
The matched lug boss of axial notch；The worm gear (10) and a worm screw (11) engaged transmission, the worm screw (11) and the second driving
Motor (12) connects.
7. wheel system according to claim 6, it is characterised in that：Installation at least two in the centre bore of the foreign steamer (1)
A clutch shaft bearing (6), is provided with a positioning sleeve (7) between two neighboring clutch shaft bearing (6)；
The both ends of the worm screw (11) are respectively cooperating with being provided with second bearing (14)；
One 3rd bearing (22) is sleeved on the lateral surface of the eccentric adjusting sleeve, and the inner ring wall of 3rd bearing (22) is equipped with and institute
State the matched lug boss of axial notch.
8. wheel system according to claim 7, it is characterised in that：Two openings that first overcoat (15) includes being connected are empty
Chamber, one of open cavity and the 3rd overcoat (18) are interlocked to form the first closed chamber so as to which connecting shaft (3), first be driven
Motor (5), eccentric adjusting sleeve, worm gear (10) and 3rd bearing (22) position inside it, another open cavity and the second overcoat
(16) it is interlocked to form the second closed chamber so as to which worm screw (11), second bearing (14) and the second driving motor (12) are positioned at it
It is internal.
9. wheel system according to claim 8, it is characterised in that：Supporting rack (19) and mounting base (20) are further included,
Support frame as described above (19) clamps the first closed chamber or the second closed chamber, and supporting rack (19) is solid by the 3rd fastening bolt (21)
It is scheduled on mounting base (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720930244.9U CN207345388U (en) | 2017-07-28 | 2017-07-28 | Wheel construction, wheel system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720930244.9U CN207345388U (en) | 2017-07-28 | 2017-07-28 | Wheel construction, wheel system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345388U true CN207345388U (en) | 2018-05-11 |
Family
ID=62359728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720930244.9U Expired - Fee Related CN207345388U (en) | 2017-07-28 | 2017-07-28 | Wheel construction, wheel system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207345388U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364283A (en) * | 2017-07-28 | 2017-11-21 | 上海七桥机器人有限公司 | Wheel construction, wheel system and its application and climb/descending, throwing over barrier method |
| CN111038739A (en) * | 2019-12-04 | 2020-04-21 | 武彦庆 | Lunar vehicle |
| EP3756744A1 (en) * | 2019-06-28 | 2020-12-30 | Shantou Yi Er Le Toy Co., Ltd | An eccentric omnidirectional wheel |
-
2017
- 2017-07-28 CN CN201720930244.9U patent/CN207345388U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364283A (en) * | 2017-07-28 | 2017-11-21 | 上海七桥机器人有限公司 | Wheel construction, wheel system and its application and climb/descending, throwing over barrier method |
| CN107364283B (en) * | 2017-07-28 | 2023-12-15 | 上海七桥机器人有限公司 | Wheel structure, wheel system, application of wheel system and method for climbing/descending slope and obstacle-crossing |
| EP3756744A1 (en) * | 2019-06-28 | 2020-12-30 | Shantou Yi Er Le Toy Co., Ltd | An eccentric omnidirectional wheel |
| CN111038739A (en) * | 2019-12-04 | 2020-04-21 | 武彦庆 | Lunar vehicle |
| CN111038739B (en) * | 2019-12-04 | 2021-08-06 | 武彦庆 | Lunar vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180511 Termination date: 20210728 |