一种永磁体固定装置、万向轮组件和自移动设备

Abstract

本申请公开了一种永磁体固定装置、从动轮组件和自行走设备，涉及自移动设备技术领域。该永磁体固定装置，包括：安装座和永磁体固定结构，安装座的底壁上开设有安装孔，安装孔用于安装轴杆，轴杆经安装孔伸入至安装座中，轴杆能够在安装座中作直线运动，轴杆的运动方向与安装孔的轴线相平行；永磁体固定结构具有中心孔和容置腔，容置腔用于放置永磁体，容置腔的开口位于永磁体固定结构的周侧面上，容置腔的轴线与中心孔的轴线相交；中心孔的轴线与安装孔的轴线相平行，永磁体固定结构通过中心孔套设于轴杆上，轴杆具有卡接部，永磁体固定结构与卡接部相卡接，以使永磁体固定结构能够跟随轴杆在安装座中做直线运动。

Claims

1. A permanent magnet fixture, characterized by, include: The mounting base has a mounting hole on its bottom wall for mounting a shaft. The shaft extends into the mounting base through the mounting hole and is able to move linearly within the mounting base. The direction of movement of the shaft is parallel to the axis of the mounting hole. A permanent magnet fixing structure has a central hole and a receiving cavity. The receiving cavity is used to place a permanent magnet. The opening of the receiving cavity is located on the peripheral side of the permanent magnet fixing structure. The axis of the receiving cavity intersects the axis of the central hole. The axis of the central hole is parallel to the axis of the mounting hole. The permanent magnet fixing structure is sleeved on the shaft through the central hole. The shaft has a snap-fit ​​part. The permanent magnet fixing structure snaps into the snap-fit ​​part so that the permanent magnet fixing structure can follow the shaft to move linearly in the mounting base.

2. The permanent magnet fixing device according to claim 1, characterized in that, The permanent magnet fixing structure includes: The first seat has a first central hole and the receiving cavity. The first central hole penetrates the first seat and is used to install a shaft. The shaft can be inserted into the first central hole so that the first seat can be engaged with the snap-fit ​​part. The second seat has a second central hole, which penetrates the second seat and communicates with the first central hole to form the central hole. A fastener that passes through the second seat and is detachably connected to the first seat.

3. The permanent magnet fixing device according to claim 2, characterized in that, The first central hole includes a first hole segment and a second hole segment. The first hole segment is close to the second seat body, and the cross-sectional area of ​​the first hole segment is larger than the cross-sectional area of ​​the second hole segment. The snap-fit ​​part includes a snap-fit ​​spring, and the shaft is snapped into the first seat body by the snap-fit ​​spring, which is located within the first hole segment.

4. The permanent magnet fixing device according to claim 2, characterized in that, The first seat includes a seat body and a connecting cylinder. The inner cavity of the connecting cylinder is the receiving cavity. The seat body has the first central hole. The connecting cylinder is connected to the seat body. A portion of the structure of the connecting cylinder protrudes from the surface of the seat body. The second seat is provided with a clearance space, which is used to avoid the connecting cylinder.

5. The permanent magnet fixing device according to claim 4, characterized in that, The axis of the connecting cylinder is perpendicular to the axis of the first central hole.

6. The permanent magnet fixing device according to claim 4, characterized in that, The second base is provided with a recessed groove for accommodating the fastener, and the recessed groove is spaced apart from the clearance space in the circumferential direction of the second central hole.

7. The permanent magnet fixing device according to claim 4, characterized in that, The second seat body is recessed with an annular groove, the inner wall of which is used to form the second central hole, and the outer wall of which is flush with the outer peripheral surface of the first seat body.

8. The permanent magnet fixing device according to claim 3, characterized in that, The axis of the accommodating cavity is perpendicular to the axis of the first central hole.

9. The permanent magnet fixing device according to claim 8, characterized in that, The retaining ring has a spacer ring on at least one side of the shaft in the axial direction.

10. The permanent magnet fixing device according to any one of claims 1 to 9, characterized in that, The mounting base includes a first mounting base, the first mounting base having a first receiving cylinder; The permanent magnet fixing device further includes a buffer assembly, which is disposed between the first mounting base and the permanent magnet fixing structure. The buffer assembly is used at least to buffer the force between the shaft and the first mounting base during the movement of the shaft.

11. The permanent magnet fixing device according to claim 10, characterized in that, The buffer assembly includes an elastic element. The first receiving cylinder includes a first end face and a second end face disposed opposite to each other. The second end face is provided with the mounting hole. The elastic element is located between the first end face and the rod end face of the shaft. The elastic element is used to apply a spring force to the shaft to move the shaft away from the first end face.

12. The permanent magnet fixing device according to claim 11, characterized in that, The first accommodating cylinder includes a first cylindrical section and a second cylindrical section, the first cylindrical section being close to the first end face, and the cross-sectional area of ​​the second cylindrical section being larger than the cross-sectional area of ​​the first cylindrical section. The first cylindrical section is provided with the elastic element, which is disposed on the inner surface of the first end face. The second cylindrical section is provided with the permanent magnet fixing structure, and the shaft can pass through the second cylindrical section and extend into the first cylindrical section.

13. The permanent magnet fixing device according to claim 12, characterized in that, The first mounting base includes a first cylindrical base and a cylindrical cover. The cylindrical cover is provided with the first cylindrical section, and the first cylindrical base is provided with the second cylindrical section. The mounting hole is opened on the bottom wall of the first cylindrical base. The first cylindrical base and the cylindrical cover are engaged to form the first accommodating cylinder.

14. The permanent magnet fixing device according to claim 13, characterized in that, The cylinder cover includes a cover plate and a raised cylinder. The raised cylinder penetrates the cover plate along its thickness direction. The central cavity of the raised cylinder is the first cylinder segment. The raised cylinder has a closed end and an open end. The surface of the closed end is the first end face. The open end extends into the first cylinder seat. The radial dimension of the cover plate is greater than the radial dimension of the raised cylinder. The lower surface of the periphery of the cover plate is in contact with the top surface of the first cylinder seat.

15. The permanent magnet fixing device according to claim 13, characterized in that, The first cylindrical base is provided with a first limiting rib, and the cylindrical cover is provided with a second limiting rib. The second cylindrical section is formed between the second limiting rib and the first limiting rib, and the permanent magnet fixing structure is confined within the first mounting base.

16. The permanent magnet fixing device according to claim 15, characterized in that, The buffer assembly includes a first elastic ring, which can be sleeved on the shaft, and the first elastic ring is located between the second limiting rib and the first mounting seat; The shaft is provided with a stop flange, which stops outside the mounting hole to limit the length of the shaft extending into the first receiving cylinder; the buffer assembly includes a second elastic ring, which can be sleeved on the shaft and is disposed between the mounting hole and the stop flange.

17. The permanent magnet fixing device according to claim 1, characterized in that, The permanent magnet fixing structure includes: a permanent magnet fixing component and a stop assembly; the permanent magnet fixing component has a guide slot and the receiving cavity, the guide slot is provided through in a first direction for the shaft to move through, the guide slot is the center hole, and the length of the guide slot in a second direction is greater than the diameter of the shaft, so that the permanent magnet fixing component and the shaft can move relative to each other in the second direction; The stop assembly engages with the snap-fit ​​part to allow the permanent magnet fixing structure to be detachably connected to the shaft. The stop assembly is used to restrict the movement of the permanent magnet fixing member relative to the shaft in the first direction. When the permanent magnet fixing member moves along the first direction following the shaft, it drives the permanent magnet fixing member to move relative to the shaft along the second direction, which is perpendicular to the first direction and parallel to the axis of the shaft located in the mounting base.

18. The permanent magnet fixing device according to claim 17, characterized in that, The permanent magnet fixing component includes a bearing ring and a fixing block. The central cavity of the bearing ring is the guide slot, and the fixing block is connected to the peripheral side of the bearing ring. The fixing block has the receiving cavity on the side surface away from the bearing ring along the second direction, and the axis of the receiving cavity is parallel to the second direction.

19. The permanent magnet fixing device according to claim 18, characterized in that, The snap-fit ​​portion includes a first slot and a second slot spaced apart on the shaft along the axial direction of the shaft, with an installation space between the first slot and the second slot. The stop assembly includes a first stop ring and a second stop ring, with the first stop ring engaging with the first slot and the second stop ring engaging with the second slot, so that the permanent magnet fixing member is restricted in the mounting base in the first direction.

20. The permanent magnet fixing device according to claim 18, characterized in that, The mounting base includes a second mounting base, the second mounting base having a second receiving cylinder and a first guide surface communicating with the second receiving cylinder, the first guide surface being inclined relative to the first direction; The permanent magnet fixing structure also includes a second guide surface, which is connected to the second accommodating cylinder and slides in cooperation with the first guide surface.

21. The permanent magnet fixing device according to claim 20, characterized in that, The first guide surface includes a first sub-inclined surface and a second sub-inclined surface, the second sub-inclined surface being parallel to and spaced apart from the first sub-inclined surface, so that the permanent magnet fixing member is located between the first sub-inclined surface and the second sub-inclined surface; When the aforementioned shaft rises, the first sub-inclined surface engages with the second guide surface, and the first sub-inclined surface is used to apply a force to the permanent magnet fixing member to cause the permanent magnet fixing member to move positively along the second direction; When the aforementioned shaft descends, the second sub-inclined surface applies a force to the permanent magnet fixing member, causing the permanent magnet fixing member to move in the opposite direction along the second direction.

22. The permanent magnet fixing device according to claim 21, characterized in that, The second mounting base includes a base and a top cover, wherein the base and the top cover are engaged to form the second receiving cylinder; A first rib is connected to the inner wall of the upper cover, and the surface of the first rib away from the inner wall of the upper cover is inclined relative to the first direction to form the first sub-sloping surface. A second rib is connected to the inner wall of the base, and the surface of the second rib away from the inner wall of the base is inclined relative to the first direction to form a second sub-inclined surface.

23. The permanent magnet fixing device according to any one of claims 20 to 22, characterized in that, The second mounting base is provided with a stop rib, which is located in the second accommodating cylinder. The stop rib is used to restrict the permanent magnet fixing member from rotating around the axis of the second accommodating cylinder.

24. The permanent magnet fixing device according to any one of claims 1-9 and 11-22, characterized in that, The permanent magnet fixing device is provided with a detection unit, which includes a mounting part and a sensor. The sensor is disposed on the mounting part and is configured such that when the distance between the sensor and the permanent magnet is less than or equal to a first distance, the permanent magnet triggers the sensor to work.

25. A universal wheel assembly comprising: include: Shaft; The permanent magnet fixing device as described in any one of claims 1 to 24, wherein the permanent magnet fixing structure is sleeved on the shaft; The caster wheel is rotatably connected to the end of the shaft away from the permanent magnet fixing device.

26. A self-moving device, characterized by include: The omnidirectional wheel assembly as described in claim 25.

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