阅读说明：本技术 一种万向轮及具有该万向轮的载体 (Universal wheel and carrier with same ) 是由 易祖冲 于 2018-08-17 设计创作，主要内容包括：本发明涉及滚轮技术领域,尤其涉及一种万向轮及具有该万向轮的载体。万向轮包括支撑盘和轮组,轮组安装于支撑盘的旋转轴上,轮组包括轮组运动轴,旋转轴的轴线与轮组运动轴的中线重合。载体包括上述的万向轮。本发明提供的万向轮的旋转轴的轴线与轮组运动轴的中线重合,不存在位置偏差而导致运动滞后问题,减小了转向时产生的阻尼,载体在侧向和反向运动时稳定性好；此外,在承载较大的负载时,车体不存在摆尾现象。(The invention relates to the technical field of rollers, in particular to a universal wheel and a carrier with the same. The universal wheel comprises a supporting disc and a wheel set, the wheel set is installed on a rotating shaft of the supporting disc, the wheel set comprises a wheel set moving shaft, and the axis of the rotating shaft is overlapped with the center line of the wheel set moving shaft. The carrier comprises the above-described universal wheel. The axis of the rotating shaft of the universal wheel provided by the invention is superposed with the center line of the moving shaft of the wheel set, so that the problem of motion lag caused by position deviation does not exist, the damping generated during steering is reduced, and the stability of the carrier during lateral and reverse motion is good; in addition, when a large load is borne, the tail swinging phenomenon does not exist in the vehicle body.)

1. The universal wheel is characterized by comprising a supporting disc (1) and a wheel set (2), wherein the wheel set (2) is installed on a rotating shaft (6) of the supporting disc (1), the wheel set (2) comprises a wheel set moving shaft (3), and the axis of the rotating shaft (6) is coincided with the central line of the wheel set moving shaft (3).

2. The universal wheel according to claim 1, wherein the wheel set (2) comprises two rollers (21), the wheel set motion shaft (3) comprises a first rotating shaft (31) and a second rotating shaft (32), the two rollers (21) are respectively arranged on the first rotating shaft (31) and the second rotating shaft (32), the two rollers (21) are coaxial, and at least one roller (21) is connected with a driving component (4) for driving the roller (21) to rotate.

3. The castor according to claim 2, characterized in that said drive assembly (4) comprises a drive motor (41) and a transmission (42) connected to the output shaft of said drive motor (41), the output of said transmission (42) being connected to said roller (21).

4. The universal wheel according to claim 3, characterized in that a first bearing (43) is arranged on the outer side of the transmission (42), the first bearing (43) is sleeved on the housing of the transmission (42), and the roller (21) is sleeved on the first bearing (43).

5. The universal wheel according to claim 2, wherein a second bearing (22) is arranged on the wheel set (2), the end surface of the second bearing (22) is fixedly connected with the wheel set (2), and one end of the rotating shaft (6) is fixedly connected with the inner ring of the second bearing (22).

6. The universal wheel according to claim 1, wherein the wheel set (2) comprises two sets of roller sets symmetrically disposed on the wheel set movement shaft (3) with the rotation axis (6) as a center of symmetry, each set of roller sets comprises at least one roller (21), and each roller (21) is rotatably connected to the wheel set movement shaft (3) respectively.

7. The universal wheel according to claim 6, wherein a third bearing (23) is correspondingly arranged at the joint of each roller (21) and the moving axle (3), the inner ring of the third bearing (23) is fixedly connected with the moving axle (3), and the roller (21) is sleeved on the outer ring of the third bearing (23).

8. The universal wheel according to claim 6, wherein the two groups of roller wheels each comprise two rollers (21) which are respectively an a-wheel (211), a b-wheel (212), a c-wheel (213) and a d-wheel (214), the linear velocity of the a-wheel (211) is equal to the linear velocity of the d-wheel (214), the linear velocity of the b-wheel (212) is equal to the linear velocity of the c-wheel (213), the linear velocity of the a-wheel (211) is greater than the linear velocity of the b-wheel (212), and the linear velocity of the d-wheel (214) is greater than the linear velocity of the c-wheel (213).

9. The universal wheel according to claim 6, further comprising a steering driving device for driving the wheel set (2) to steer, wherein the steering driving device comprises a gear set and a driver, the gear set comprises a driving gear connected to the driver and a driven gear (5) engaged with the driving gear, the driven gear (5) is disposed on the wheel set (2) and sleeved on the rotating shaft (6) through a fourth bearing (7).

10. A carrier comprising a castor according to any one of claims 1 to 9, wherein at least two pairs of said castor are provided on the carrier.

Technical Field

The invention relates to the technical field of rollers, in particular to a universal wheel and a carrier with the same.

Background

The universal wheel is a mechanical structure which is very common in application, and is widely applied due to the characteristics of simplicity and flexibility. The eccentric passive universal wheel on the market at present mainly utilizes eccentric hysteresis motion to realize the function of turning, and although the eccentric passive universal wheel is low in manufacturing cost and easy to manufacture, the steering damping is large, and the problem that the posture of a vehicle body is unstable when the vehicle body moves laterally or reversely due to motion hysteresis exists. In addition, when a large load is carried, the vehicle body has the phenomenon of tail wagging.

Disclosure of Invention

The invention aims to provide a universal wheel and a carrier with the universal wheel, which have no problem of motion lag caused by position deviation and have small steering damping.

In order to achieve the purpose, the invention adopts the following technical scheme:

the universal wheel comprises a supporting disc and a wheel set, wherein the wheel set is installed on a rotating shaft of the supporting disc, the wheel set comprises a wheel set moving shaft, and the axis of the rotating shaft is coincided with the center line of the wheel set moving shaft.

As a preferred technical scheme, the wheel set comprises two rollers, the moving shaft of the wheel set comprises a first rotating shaft and a second rotating shaft, the two rollers are respectively arranged on the first rotating shaft and the second rotating shaft, the two rollers are coaxial, and at least one roller is connected with a driving assembly for driving the rollers to rotate.

Preferably, the driving assembly comprises a driving motor and a transmission connected with an output shaft of the driving motor, and an output shaft of the transmission is connected with the roller.

As a preferred technical scheme, a first bearing is arranged on the outer side of the speed changer, the first bearing is sleeved on a shell of the speed changer, and the roller is sleeved on the first bearing.

As a preferred technical scheme, a second bearing is arranged on the wheel set, the end face of the second bearing is fixedly connected with the wheel set, and one end of the rotating shaft is fixedly connected with an inner ring of the second bearing.

As a preferred technical scheme, the wheel set includes two groups of roller sets, the two groups of roller sets are symmetrically disposed on the wheel set moving shaft with the rotating shaft as a center of symmetry, the two groups of roller sets each include at least one roller, and each roller is respectively rotatably connected with the wheel set moving shaft.

As an optimal technical scheme, a third bearing is respectively and correspondingly arranged at the joint of each roller and the moving shaft of the wheel set, the inner ring of each third bearing is fixedly connected with the moving shaft of the wheel set, and the rollers are sleeved on the outer rings of the third bearings.

As a preferred technical scheme, the two groups of roller groups each include two rollers, which are an a-wheel, a b-wheel, a c-wheel and a d-wheel, respectively, wherein the linear velocity of the a-wheel is equal to the linear velocity of the d-wheel, the linear velocity of the b-wheel is equal to the linear velocity of the c-wheel, the linear velocity of the a-wheel is greater than the linear velocity of the b-wheel, and the linear velocity of the d-wheel is greater than the linear velocity of the c-wheel.

As a preferred technical scheme, still include and be used for driving the wheelset turns to the steering drive device, turn to the drive device and include gear train and driver, the gear train include with the driving gear that the driver is connected and with the driven gear of driving gear meshing, the driven gear set up in on the wheelset to overlap through the fourth bearing cover and establish on the rotation axis.

The invention also provides a carrier, which comprises the universal wheels, and at least two pairs of the universal wheels are arranged on the carrier.

The invention has the beneficial effects that: the axis of the rotating shaft of the universal wheel is superposed with the center line of the moving shaft of the wheel set, so that the problem of motion lag caused by position deviation does not exist, the damping generated during steering is reduced, and the stability of the carrier during lateral and reverse motion is good; in addition, when a large load is carried, the carrier does not have the tail wagging phenomenon.

Drawings

FIG. 1 is a schematic diagram of the position relationship between the axis of a rotating shaft and the centerline of a moving axle of a wheel set according to an embodiment of the present invention;

FIG. 2 is a perspective view of a universal wheel according to a first embodiment of the present invention;

FIG. 3 is a schematic cross-sectional view of a universal wheel according to a first embodiment of the present invention;

FIG. 4 is a schematic diagram of the forward or backward movement of the gimbaled wheel-mounted carrier according to one embodiment of the present invention;

FIG. 5 is a schematic diagram of the right or left movement of the gimbaled wheel carrier according to one embodiment of the present invention;

FIG. 6 is a schematic diagram of the universal wheel mounted carrier moving diagonally forward or backward according to one embodiment of the present invention;

FIG. 7 is a schematic illustration of the rotation in place of the gimbaled wheel-mounted carrier according to a first embodiment of the present invention;

FIG. 8 is a schematic cross-sectional view of a universal wheel according to a second embodiment of the present invention;

FIG. 9 is a schematic view of the carrier with the universal wheels mounted thereon moving forward or backward according to the second embodiment of the present invention;

FIG. 10 is a schematic diagram of the carrier with dual-power active universal wheels moving to the left or right according to the second embodiment of the present invention;

FIG. 11 is a schematic diagram of the carrier with the universal wheels mounted thereon moving obliquely forward or backward according to the second embodiment of the present invention;

FIG. 12 is a schematic illustration of the rotation in place of the gimbaled wheel-mounted carrier according to a second embodiment of the present invention;

fig. 13 is a schematic perspective view of a universal wheel according to a third embodiment of the present invention;

FIG. 14 is a schematic cross-sectional view of a universal wheel according to a third embodiment of the present invention;

FIG. 15 is a schematic view showing the forward or backward movement of the vehicle body with the universal wheels according to the third embodiment of the present invention;

fig. 16 is a schematic diagram of the vehicle body with the universal wheels mounted thereon moving leftward or rightward according to the third embodiment of the invention;

FIG. 17 is a schematic view of the vehicle body with the universal wheels mounted thereon moving obliquely forward and backward according to a third embodiment of the present invention;

fig. 18 is a schematic view of the pivot rotation of the vehicle body with the universal wheels according to the third embodiment of the present invention.

In the figure:

1. a support disc; 2. a wheel set; 21. a roller; 211. a wheel; 212. b, performing wheel; 213. c, performing wheel rolling; 214. d, wheel; 215. a driving wheel; 216. a driven wheel; 22. a second bearing; 23. a third bearing; 3. a wheel set motion shaft; 31. a first rotating shaft; 32. a second rotating shaft; 4. a drive assembly; 41. a drive motor; 42. a transmission; 43. a first bearing; 5. a driven gear; 6. a rotating shaft; 7. a fourth bearing; 8. a box body; 9. connecting blocks; 10. a fifth bearing; 11. a sixth bearing; 12. fixing a bracket; 121. a transverse plate; 122. side plates.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.