阅读说明：本技术 一种柔性减震智能小车车轮模组 (Flexible shock attenuation intelligent vehicle wheel module ) 是由 张敏 刘言岩 范行知 于 2020-06-30 设计创作，主要内容包括：本发明公开了一种柔性减震智能小车车轮模组,车轮可转动安装在倒U型带轴车轮支架上,且位于匚型车架正下方,车轮滚动驱动机构穿设倒U型带轴车轮支架与车轮驱动连接,车轮转向驱动机构通过倒U型带轴车轮支架带动车轮转向,车轮转向驱动机构安装在匚型车架上,车轮转向驱动机构输出轴与倒U型带轴车轮支架顶部轴上下滑动连接,减震装置安装在倒U型带轴车轮支架顶部轴上,且位于匚型车架与倒U型带轴车轮支架之间,固定座固定在匚型车架侧面,用于配合连接件拼接组装柔性减震智能小车车轮模组。本发明结构简单紧凑,具有减震功能,同时车轮可滚动行进与转向,固定座配合连接件可组装多轮柔性减震智能小车车轮模组,产品灵活度高,应用范围广。(The invention discloses a flexible damping intelligent trolley wheel module, wherein wheels are rotatably arranged on an inverted U-shaped belt shaft wheel support and are positioned under a T-shaped trolley frame, a wheel rolling driving mechanism penetrates through the inverted U-shaped belt shaft wheel support to be in driving connection with the wheels, a wheel steering driving mechanism drives the wheels to steer through the inverted U-shaped belt shaft wheel support, the wheel steering driving mechanism is arranged on the T-shaped trolley frame, an output shaft of the wheel steering driving mechanism is in up-and-down sliding connection with a top shaft of the inverted U-shaped belt shaft wheel support, a damping device is arranged on the top shaft of the inverted U-shaped belt shaft wheel support and is positioned between the T-shaped trolley frame and the inverted U-shaped belt shaft wheel support, and a fixing seat is fixed on the side surface of the T-shaped trolley frame and is used for matching with a connecting piece to splice and. The flexible damping intelligent trolley wheel module is simple and compact in structure, has a damping function, can roll, advance and steer wheels, can be assembled by matching the fixed seat with the connecting piece, and is high in product flexibility and wide in application range.)

1. The utility model provides a flexible shock attenuation intelligent vehicle wheel module, includes T type frame (1) and wheel (2), its characterized in that still includes damping device (3) and fixing base (4), wheel roll actuating mechanism (5) and wheel steering actuating mechanism (6), wheel (2) rotatable mounting is on the belt axle wheel support of falling U type (7), and is located T type frame (1) under, wheel roll actuating mechanism (5) wear to establish belt axle wheel support of falling U type (7) and wheel (2) drive connection, wheel steering actuating mechanism (6) drive wheel (2) through belt axle wheel support of falling U type (7) and turn to, wheel steering actuating mechanism (6) are installed on T type frame (1), and wheel steering actuating mechanism (6) output shaft and belt axle wheel support of falling U type (7) top shaft sliding connection from top to bottom, damping device (3) are installed at inverted U type area axle wheel support (7) top epaxially, and are located between T type frame (1) and inverted U type area axle wheel support (7), fixing base (4) are fixed in T type frame (1) side for cooperation connecting piece (8) concatenation equipment flexible shock attenuation intelligent vehicle wheel module.

2. The flexible damping intelligent trolley wheel module as claimed in claim 1, wherein: the wheel (2) adopts a rubber tire, the middle part of the rubber tire is fixedly provided with a hub (9) with a shaft, the middle part of one side of the hub (9) with the shaft is provided with a fixed shaft, and the middle part of the fixed shaft is provided with a triangular hole (9 a).

3. The flexible damping intelligent trolley wheel module as claimed in claim 2, wherein: the inverted U-shaped wheel support with the shaft (7) comprises an inverted U-shaped wheel support (7-1) and a sliding shaft (7-2), wheel shaft mounting bearings (7-3) are symmetrically mounted on left and right side plates of the inverted U-shaped wheel support (7-1), the wheel (2) is rotatably mounted on the inverted U-shaped wheel support (7-1) through matching of a wheel hub (9) with the wheel shaft mounting bearings (7-3), the sliding shaft (7-2) is fixed to the top of the inverted U-shaped wheel support (7-1), a triangular hole channel (7-2 a) is formed in the middle of the sliding shaft (7-2), and an annular groove (7-2 b) is formed in the outer side wall of the upper end of the sliding shaft (7-2).

4. The flexible damping intelligent trolley wheel module as claimed in claim 3, wherein: the damping device (3) comprises a damping spring (3-1) and a C-shaped check ring (3-2), the upper end and the lower end of the damping spring (3-1) are respectively connected with an upper thrust bearing (3-3) and a lower thrust bearing (3-4), the upper thrust bearing (3-3), the damping spring (3-1) and the lower thrust bearing (3-4) are sleeved on a sliding shaft (7-2) and limited between a T-shaped frame (1) and an inverted U-shaped wheel support (7-1), and the C-shaped check ring (3-2) is buckled in an annular groove (7-2 b) and limited between the upper plate surface and the lower plate surface of the T-shaped frame (1).

5. The flexible damping intelligent trolley wheel module as claimed in claim 4, wherein: the wheel steering driving mechanism (6) is a steering engine, the steering engine is installed at the top of the T-shaped frame (1), an output shaft of the steering engine is a triangular shaft, the size of the triangular shaft is matched with that of a triangular hole channel (7-2 a), the triangular shaft penetrates through the upper plate surface of the T-shaped frame (1), is vertically inserted and embedded in the triangular hole channel (7-2 a), and is vertically connected with the sliding shaft (7-2) in a sliding mode.

6. The flexible damping intelligent trolley wheel module as claimed in claim 5, wherein: the wheel rolling driving mechanism (5) comprises a wheel rolling motor (5-1), the wheel rolling motor (5-1) is installed on the steering engine, an output shaft (5-2) of the wheel rolling motor (5-1) is a flexible shaft, a triangular shaft is arranged at the axis of the lower end of the flexible shaft, the triangular shaft is connected with a triangular hole (9 a) at the center of a fixed shaft of a hub (9) with a shaft in a buckling mode, and the triangular shaft is locked and fixed through a fixing ring (5-3) outside the flexible shaft and a machine meter screw (5-4).

7. The flexible damping intelligent trolley wheel module as claimed in claim 6, wherein: the wheel rolling motor (5-1) is a direct current motor or a direct current speed reducing motor or a stepping motor or a servo motor, and an encoder is installed on the wheel rolling motor (5-1) and used for monitoring the rotating speed in real time.

8. The flexible damping intelligent trolley wheel module as claimed in claim 7, wherein: the device also comprises a motor controller, wherein the motor controller respectively controls the wheel rolling driving mechanism (5) and the wheel rolling motor (5-1) to start, stop and rotate in the positive and negative directions.

9. The flexible damping intelligent trolley wheel module as claimed in claim 1, wherein: the number of the fixing seats (4) is 1-3, and the fixing seats are arranged on one side end face or two adjacent side end faces or opposite side faces or three adjacent side end faces of the T-shaped frame (1).

10. The flexible damping intelligent vehicle wheel module set as claimed in claim 9, wherein: connecting piece (8) are the 2020 aluminium alloy, fixing base (4) are the 2020 aluminium alloy fixing base, insert through the 2020 aluminium alloy and are connected with the 2020 aluminium alloy fixing base, and flexible shock attenuation intelligent vehicle wheel module is assembled into to a plurality of flexible shock attenuation intelligent vehicle wheels.

Technical Field

The invention belongs to the technical field of intelligent trolleys, and particularly relates to a flexible damping intelligent trolley wheel module.

Background

The intelligent trolley can automatically operate in an environment according to a preset mode, can be applied to the fields of shooting, transportation and the like, and is popular with the public. However, various intelligent trolleys such as the conventional AGV trolley and the like generally have the following technical defects: 1. the shock is not absorbed, and the articles are easy to damage in the transportation process; 2. the size of the trolley is not adjustable, and the application range is limited. Therefore, in order to expand the application range of the intelligent car and improve the practicability of the intelligent car, the intelligent car with the shock absorption function and the adjustable size needs to be designed urgently.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the size-adjustable flexible damping intelligent trolley wheel module which has a damping function and can be spliced and assembled.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows: a flexible damping intelligent trolley wheel module comprises a T-shaped frame, wheels, a damping device, a fixed seat, a wheel rolling driving mechanism and a wheel steering driving mechanism, wherein the wheels are rotatably arranged on an inverted U-shaped belt shaft wheel bracket, and is positioned under the T-shaped frame, the wheel rolling driving mechanism is penetrated through the inverted U-shaped belt shaft wheel bracket and is connected with the wheel in a driving way, the wheel steering driving mechanism drives the wheel to steer through the inverted U-shaped belt shaft wheel bracket, the wheel steering driving mechanism is arranged on the T-shaped frame, the output shaft of the wheel steering driving mechanism is connected with the top shaft of the inverted U-shaped belt shaft wheel bracket in a vertical sliding way, the damping device is arranged on the top shaft of the inverted U-shaped belt shaft wheel bracket, and be located between T type frame and the area axle wheel support of falling U-shaped, the fixing base is fixed in T type frame side for cooperation connecting piece concatenation equipment flexible shock attenuation intelligent vehicle wheel module.

Further, the wheel adopts the rubber tire, rubber tire middle part fixed mounting has the belt shaft wheel hub, one side mid-mounting of belt shaft wheel hub has the fixed axle, the triangular hole has been seted up at the fixed axle middle part.

Further, the wheel support is installed including the type of the falling U wheel support and sliding shaft to the left and right sides curb plate symmetry of type of the falling U wheel support, is connected through the cooperation of band hub and wheel hub installation bearing, the wheel is rotatable to be installed on the type of the falling U wheel support, the sliding shaft is fixed at type of the falling U wheel support top, the sliding shaft middle part is equipped with the triangular pore, and sliding shaft upper end lateral wall is equipped with annular groove.

Further, damping device includes damping spring and C type retaining ring, the damping spring upper and lower end is connected with thrust bearing and lower thrust bearing respectively, it establishes on the sliding shaft to go up thrust bearing, damping spring and lower thrust bearing cover, and spacing between T type frame and the type of the wheel support of falling U, C type retaining ring buckle is in the annular groove, and spacing between the upper and lower face of T type frame.

Further, the wheel steering driving mechanism is a steering engine, the steering engine is installed at the top of the T-shaped vehicle frame, an output shaft of the steering engine is a triangular shaft, the size of the triangular shaft is matched with that of a triangular hole channel, the triangular shaft penetrates through an upper plate surface of the T-shaped vehicle frame, and the triangular shaft is vertically inserted into the triangular hole channel and is vertically connected with the sliding shaft in a sliding mode.

Further, the wheel rolling driving mechanism comprises a wheel rolling motor, the wheel rolling motor is installed on the steering engine, an output shaft of the wheel rolling motor is a flexible shaft, a triangular shaft is arranged at the axis of the lower end of the flexible shaft, the triangular shaft is connected with a triangular hole at the center of a fixed shaft of the hub with the shaft in a buckling mode, and the triangular shaft is matched with a machine rice screw through a fixed ring outside the flexible shaft to be locked and fixed.

Further, the wheel rolling motor is a direct current motor or a direct current speed reducing motor or a stepping motor or a servo motor, and an encoder is installed on the wheel rolling motor and used for monitoring the rotating speed in real time.

Further, the device also comprises a motor controller, wherein the motor controller respectively controls the wheel rolling driving mechanism and the wheel rolling motor to start, stop and rotate in the positive and negative directions.

Furthermore, the number of the fixing seats is 1-3, and the fixing seats are arranged on one side end face or two adjacent side end faces or opposite side faces or three adjacent side end faces of the T-shaped frame.

Further, the connecting piece is the 2020 aluminium alloy, the fixing base is the 2020 aluminium alloy fixing base, inserts through 2020 aluminium alloy and 2020 aluminium alloy fixing base and inlays and be connected, and flexible shock attenuation intelligent vehicle wheel module is assembled into to a plurality of flexible shock attenuation intelligent vehicle wheels.

The invention has the following beneficial effects: the flexible damping intelligent trolley wheel module provided by the invention is simple and compact in structure, and can realize the damping function of a trolley by arranging the damping device, so that the transportation stability is improved; the wheels can be controlled to turn and roll to advance by arranging the wheel rolling driving mechanism and the wheel turning driving mechanism; through setting up 1 ~ 3 fixing bases at T type frame side, connecting pieces such as fixing base cooperation 2020 aluminium alloy on the different intelligent vehicle wheels can splice and assemble into the flexible shock attenuation intelligent vehicle wheel module of many rounds, control different wheel rotations respectively through machine controller moreover, can realize wheel module multi-mode motion, and the product flexibility ratio is high, can satisfy the multiple demand of user to dolly size or stability, and the practicality is strong, extensive applicability.

Drawings

FIG. 1 is a schematic structural diagram of a flexible damping intelligent trolley wheel in embodiment 1 of the invention;

FIG. 2 is a first perspective exploded view of the components of FIG. 1;

FIG. 3 is a second perspective exploded view of the components of FIG. 1;

FIG. 4 is a third perspective exploded view of the components of FIG. 1;

FIG. 5 is a schematic structural diagram of a flexible damping intelligent trolley wheel in embodiment 2 of the invention;

FIG. 6 is a schematic structural diagram of a wheel module of a four-wheel flexible damping intelligent vehicle in embodiment 2 of the invention;

FIG. 7 is a schematic structural diagram of a flexible damping intelligent trolley wheel in embodiment 3 of the invention;

FIG. 8 is a schematic structural diagram of a flexible damping intelligent trolley wheel in embodiment 4 of the invention;

FIG. 9 is a view of the damper spring of FIG. 8 in a compressed state;

FIG. 10 is a view of the wheel rotation state of FIG. 8;

FIG. 11 is a schematic structural diagram of a wheel module of a three-wheeled flexible damping intelligent vehicle according to embodiment 4 of the present invention;

fig. 12 is a schematic structural view of a six-wheeled flexible damping intelligent vehicle wheel module according to embodiment 4 of the invention;

fig. 13 is a schematic structural view of an eight-wheel flexible damping intelligent vehicle wheel module in embodiment 4 of the invention;

fig. 14 shows various movement modes of the four-wheel flexible damping intelligent trolley wheel module in embodiment 2 of the invention.

Wherein the reference numerals are: the device comprises a T-shaped frame 1, wheels 2, a damping device 3, a damping spring 3-1, a C-shaped check ring 3-2, an upper thrust bearing 3-3, a lower thrust bearing 3-4, a fixed seat 4, a wheel rolling driving mechanism 5, a wheel rolling motor 5-1, an output shaft 5-2, a flexible shaft external fixing ring 5-3, a machine rice screw 5-4, a wheel steering driving mechanism 6, an inverted U-shaped wheel support 7-1, a sliding shaft 7-2, a triangular pore channel 7-2a, an annular groove 7-2b, a wheel shaft mounting bearing 7-3, a connecting piece 8 and a wheel hub with a shaft 9.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.