Rotary motion device and suspension system

Abstract

A rotary motion device and a suspension system. The rotary motion device comprises a wheel (1), a motor (2), a motor control circuit, an electrical connector and insulating members. A positive electrode wiring end of a power supply wiring terminal is connected to a positive electrode of the electrical connector, a negative electrode wiring end of the power supply wiring terminal is connected to a negative electrode of the electrical connector, and the positive electrode of the electrical connector and the negative electrode of the electrical connector are located on the wheel by means of the insulating members. The suspension system comprises a track and the rotary motion device, the wheel (1) matches the track, a power supply component is arranged in the track, the power supply component comprises a conductive positive electrode and a conductive negative electrode, and the conductive positive electrode and the conductive negative electrode matching the positive electrode of the electrical connector and the negative electrode of the electrical connector are provided on the track. Aiming at the technical problem in the prior art of poor flexibility and adaptability of a rotary motion device due to passive movement, the rotary motion device can autonomously change the movement speed and direction, has flexibility and adaptability, and is beneficial to improving the production and processing efficiency of the suspension system.

Description

Rotating motion device and suspension system Technical Field

[0001] The present invention relates to the technical field of automated material handling and transportation, and in particular to a rotary motion device and a suspension system. Background Art

[0002] In the context of intelligent industrial manufacturing, the design of suspended conveyor systems presents several key technical challenges, particularly regarding the motion of the carriages. In this system, items are handled and transported by being suspended from dynamic carriages and moving unidirectionally within a closed track via motorized chains. While this approach improves production efficiency to a certain extent, it exhibits several significant limitations within the context of intelligent manufacturing.

[0003] First, the unidirectional movement of the bracket significantly limited the system's flexibility. This lack of adaptability is crucial in modern industrial production, especially when production processes need to be rapidly adjusted to meet changing market demands. The enclosed track design further limited the bracket's mobility, making any path changes or adjustments complex and time-consuming.

[0004] Secondly, maintaining a constant speed for the carriage is another significant issue. Intelligent industrial manufacturing requires flexible adjustment of production line speeds based on the specific needs of different workstations. However, in this system, because the motor runs at a fixed speed, the carriage's movement speed cannot be adjusted, resulting in efficiency bottlenecks between workstations with varying processing speed requirements.

[0005] Finally, when multiple production lines are involved, the scheduling of items between them becomes inefficient due to the one-way and closed nature of the system. This design’s inability to quickly respond to changes in production demand can lead to delays and reduced efficiency in the overall production process.

[0006] In summary, within the framework of intelligent industrial manufacturing, the unidirectional, passive, and constant-speed movement of the brackets in the existing suspended conveyor line system presents obvious technical challenges in terms of flexibility, adaptability, and efficiency. Summary of the Invention

[0007] In response to the technical problems of existing rotary motion devices due to their poor flexibility and adaptability due to passive movement, this application proposes a rotary motion device and suspension system. The device can autonomously change the speed and direction of movement, has its own flexibility and adaptability, and helps improve the production and processing efficiency of the system.

[0008] In order to solve the above problems, the technical solution provided by the present invention is:

[0009] A rotary motion device includes a wheel, a motor, a motor control circuit, an electrical connection piece and an insulating piece, wherein the motor is provided with an output shaft, the output shaft is connected to the wheel, and the control terminal of the motor is connected to the motor control circuit; the electrical connection piece includes a positive electrical connection piece and a negative electrical connection piece, the positive terminal of the power terminal is connected to the positive terminal of the electrical connection piece, the negative terminal of the power terminal is connected to the negative terminal of the electrical connection piece, and the positive and negative electrical connection pieces are located on the wheel through an insulating piece.

[0010] Optionally, the positive pole or negative pole of the power connection component is located on the tire of the wheel, and the positive pole or negative pole of the power connection component located on the tire is a conductive coil, and the conductive coil is arranged around the surface of the tire.

[0011] Optionally, when there is one wheel, the two sides of the wheel are connected by an intermediate rod; when there are more than two wheels, multiple wheels are connected by an intermediate rod; the positive pole or negative pole of the power connection component is located on the inner wheel or the intermediate rod of the wheel; the positive pole or negative pole of the power connection component located on the inner wheel is a conductive coil, a conductive strip or a pantograph, and the conductive coil is arranged around the surface of the inner wheel, and the conductive strip or pantograph is connected to the inner wheel; the positive pole or negative pole of the power connection component located on the intermediate rod is a conductive strip or a pantograph, and the conductive strip or pantograph is connected to the intermediate rod; or the conductive strip is a straight bar or a curved bar.

[0012] Optionally, the conductive bar and the inner wheel are detachably connected, or the conductive bar and the middle rod are detachably connected.

[0013] Optionally, when there is one wheel, the two sides of the wheel are connected by an intermediate rod; when there are more than two wheels, multiple wheels are connected by an intermediate rod, and the motor is located inside the tire of the wheel or inside the intermediate rod.

[0014] Optionally, it also includes a battery or a charging coil. When there is only one wheel, the two sides of the wheel are connected by an intermediate rod. When there are more than two wheels, multiple wheels are connected by an intermediate rod. The battery is located inside the tire of the wheel, or inside the intermediate rod. The charging coil is located on the side of the wheel. The positive pole of the battery output is connected to the positive terminal of the power terminal, the negative pole of the battery output is connected to the negative terminal of the power terminal, the positive pole of the power connection component is connected to the positive pole of the battery input and the positive pole of the charging coil, and the negative pole of the power connection component is connected to the negative pole of the battery input and the negative pole of the charging coil.

[0015] Optionally, if the motor is located in the tire of the wheel, the wheel includes a bearing, an inner wheel, a tire and an outer wheel frame; along the axial direction of the motor, the output shaft and the planetary gearbox are connected, the motor is located in the bearing, the bearing and the planetary gearbox are both installed in the bearing outer wheel frame, an inner wheel is provided on both sides of the outer wheel frame, and the tire ring is provided on the outside of the outer wheel frame; if there is one wheel, the two ends of the intermediate rod are respectively connected to the inner wheels located on both sides of the outer wheel frame; if there are multiple wheels, the two ends of the intermediate rod are respectively connected to the inner wheels on one side of the adjacent wheels.

[0016] Optionally, the intermediate rod includes a horizontal rod or a vertical rod, the motor is located in the horizontal rod or the vertical rod of the intermediate rod, and the output shaft of the motor located in the vertical rod is connected to the tire through an intermediate piece.

[0017] Optionally, it further includes at least one of a distance sensor, an electronic tag and a display screen, wherein the distance sensor, the electronic tag and the display screen are all connected to a control circuit, and the control circuit is connected to a motor control circuit.

[0018] A suspension system includes a track and a rotary motion device as described in any one of the above items, wherein the wheel cooperates with the track, a power supply component is provided in the track, the power supply component includes a conductive positive electrode and a conductive negative electrode, and the track is provided with a conductive positive electrode and a conductive negative electrode that cooperate with the positive electrode and the negative electrode of the power connection component.

[0019] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0020] The embodiment of the present application proposes a rotary motion device, in which the electrical connection part is connected to the power supply terminal of the motor to provide the required electrical energy for the operation of the motor. The output shaft of the motor is connected to the wheel. After the motor is running, the output shaft rotates, and the wheel is driven to rotate through the output shaft. The motor can be a stepper motor or other type of motor. The motor control circuit has a built-in software program known in the prior art. By connecting to the control terminal of the motor, the motor is controlled to accelerate, decelerate, rotate forward, reverse, stop and start, and the wheel is driven to accelerate, decelerate, rotate forward, reverse, stop and start through the output shaft of the motor, thereby realizing the overall speed change, reversing and self-driving of the device, which is conducive to improving the intelligence and production and processing efficiency of the suspension system proposed in the embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a schematic structural diagram of a rotary motion device connected to a clothes hanger according to an embodiment of the present invention.

[0022] FIG2 is a schematic structural diagram of a rotary motion device provided with a conductive coil according to an embodiment of the present invention.

[0023] FIG3 is a schematic structural diagram of a pantograph provided in a rotary motion device according to an embodiment of the present invention.

[0024] FIG4 is one of the structural schematic diagrams of a rotary motion device provided with conductive bars according to an embodiment of the present invention.

[0025] FIG5 is a second structural schematic diagram of a rotary motion device provided with conductive bars according to an embodiment of the present invention.

[0026] FIG6 is a third structural schematic diagram of a rotary motion device provided with conductive bars according to an embodiment of the present invention.

[0027] FIG7 is a schematic structural diagram of a rotary motion device with auxiliary positioning wheels according to an embodiment of the present invention.

[0028] FIG8 is a schematic structural diagram of four wheels of a rotary motion device proposed in an embodiment of the present invention.

[0029] FIG9 is a schematic structural diagram of a rotary motion device in which a motor is disposed in a vertical rod according to an embodiment of the present invention.

[0030] FIG10 is a schematic diagram of an exploded structure of a rotary motion device with a motor disposed in a tire according to an embodiment of the present invention.

[0031] FIG11 is a second schematic diagram of an exploded structure of a rotary motion device with a motor disposed in a tire according to an embodiment of the present invention.

[0032] FIG12 is a schematic structural diagram of a rotary motion device provided with a charging coil according to an embodiment of the present invention.

[0033] FIG13 is a schematic structural diagram of a rotary motion device selecting a single wheel according to an embodiment of the present invention.

[0034] FIG14 is a block diagram of a control structure of a rotary motion device proposed in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to further understand the content of the present invention, the present invention is described in detail with reference to the accompanying drawings and embodiments.

[0036] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are intended solely to illustrate the relevant inventions and are not intended to limit the inventions. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the drawings. It should be noted that the embodiments and features within the embodiments of this application may be combined unless there is a conflict. In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings and are intended solely to facilitate description and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and are therefore not to be construed as limiting the present invention. Unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly, meaning, for example, fixed, removable, or integral; mechanical or electrical; direct or indirect through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances. Multiple technical solutions in the same embodiment, as well as multiple technical solutions in different embodiments, can be permuted and combined to form new technical solutions that do not conflict or contradict each other, and all of these solutions are within the scope of protection claimed by the present invention.

[0037] Example 1

[0038] This embodiment proposes a rotary motion device, including a wheel 1, a motor 2, a motor control circuit, an electrical connection member and an insulating member. The motor 2 is provided with an output shaft 21, the output shaft 21 is connected to the wheel 1, and the control terminal of the motor 2 is connected to the motor control circuit; the electrical connection member includes a positive electrode and a negative electrode, the positive terminal of the power terminal is connected to the positive electrode of the power terminal, and the negative terminal of the power terminal is connected to the negative electrode of the power terminal, and the positive electrode and the negative electrode of the power terminal are located on the wheel 1 through an insulating member.

[0039] The electrical connector is connected to the power terminals of motor 2 to provide the required electrical energy for the operation of motor 2. The output shaft 21 of motor 2 is connected to the axle of wheel 1. When motor 2 is running, output shaft 21 rotates, driving wheel 1 to rotate through output shaft 21. Motor 2 can be a stepper motor 2 or other type of motor. The motor control circuit has a built-in software program known in the prior art. By connecting to the control terminals of motor 2, it controls motor 2 to accelerate, decelerate, rotate forward, reverse, stop, and start. The output shaft 21 of motor 2 drives the axle on wheel 1 to accelerate, decelerate, rotate forward, reverse, stop, and start, thereby realizing overall speed change, reversing, and self-drive of the device, which is conducive to improving the intelligence of the suspension system and production and processing efficiency.

[0040] The rotary motion device of this embodiment is typically used in suspended assembly lines or automated transport systems. The self-propelled rotary motion device, with wheels 1 suspended from a track, connects the two sides of the wheels 1, and intermediate rods between different numbers of wheels 1. Various structures can be connected to achieve item transfer, including: 1) Hooks or hooks: used to directly hang clothing, components, or other items with hanging points, such as a cut-out hanger, as shown in Figure 1. 2) Clamping devices: suitable for items that require secure clamping, such as plates, glass, or components of specific shapes. 3) Frames or racks: for items that are difficult to directly hang, various frames or racks can be used to stably transport them. 4) Containers or baskets: used to carry small items such as screws and parts. These containers can be hung below the wheels 1. 5) Adjustable arms: for items that need to be handled at different heights or angles, adjustable arms can be used for precise positioning. 6) Pallet handling systems: used to carry items placed on pallets, particularly common in warehousing and logistics. 7) Rotating platforms: for items that need to be rotated or flipped during transport, platforms with rotating mechanisms can be used. 8) Telescopic Device: Used for transporting items that need to extend a certain distance from the track to reach a specific location. 9) Customized Device: Customized transport devices can be designed for special applications or specific items to meet unique operational requirements. The above implementation is not limited by conditions such as the number of wheels 1 and can be freely combined with other technical feature implementations where there is no conflict.

[0041] In practical applications, the choice of these structures depends on the type, weight, and shape of the items being transported, as well as the specific requirements during the transfer process. The self-propelled wheels 1 structure of the motion rotation device in this embodiment, in a suspended system, make transporting items in vertical spaces and complex environments more flexible and efficient, and are particularly suitable for scenarios where space is limited or multiple stops are required.

[0042] The technical solution of this embodiment, in conjunction with the aforementioned connection structure, is used to carry items and move them from one location to another for processing or assembly. These items can be garment processing parts, such as cut pieces or hanging pieces. Hangers are placed on a rotating motion device, and the device moves, moving the cut pieces between a warehouse and different workstations to complete corresponding processing steps. Alternatively, the device can transport and transfer spare parts from different manufacturing fields for processing and assembly. This adapts to the logistics and transportation needs of different application fields within the context of intelligent industrial manufacturing, flexibly adapting to corresponding industrial intelligent manufacturing processes and realizing corresponding intelligent assembly line systems.

[0043] In one specific embodiment, the connection method between the positive and negative poles of the power connector and the positive and negative poles of the power supply terminals of motor 2 includes: direct connection, that is, the positive and negative poles of the power connector are connected to the power supply terminals on the track, and external power is directly provided to the power supply terminals of motor 2, directly powering motor 2. In addition, indirect connection is also included, such as connecting the positive and negative poles of the power connector to an energy storage battery to charge the energy storage battery, and the energy storage battery is connected to the positive and negative poles of the power supply terminals of motor 2 to power motor 2. In this method, in order to protect the performance of the energy storage battery, achieve reliable and long-term operation of the device described in this embodiment, and reduce the maintenance cycle, it is conceivable that the energy storage battery has conventional battery management capabilities to prevent overcharging and other situations that damage battery performance.

[0044] The wheel 1 is connected to the positive and negative poles of the external power supply terminal through the positive and negative poles of the power connection part, forming a path for drawing electric energy. According to different application scenarios of the rotary motion device of this embodiment, the power connection part of the wheel 1 can be connected to different external power supply terminals. For example, if the device is traveling on a track, guide rail, etc., it is connected to the power line, power supply terminal, etc. on the corresponding track or guide rail; if the load of the device allows, an additional battery can be configured on the device, and the positive and negative poles of the power connection part are connected to the positive and negative poles of the battery respectively. The power supply specifications of the above power supply method can be DC36V, 24V, 12V, 3.3V, etc. to adapt to the power requirements of the corresponding selected motor 2. For example, the battery is installed in the connecting rod space between the two wheels 1, or a space is provided below the connecting rod of the two wheels 1 for installing the battery. It is conceivable that the battery life is sufficient to support the device for carrying the corresponding items to reach a position where a fully charged battery can be replaced or the battery can be charged. This location can be at a workstation or other location, such as a garment warehouse or a cutting piece warehouse in the garment processing field. When charging is provided at the above location, a wireless charging solution can be selected, that is, a primary coil is provided on the wheel 1 of the device, and the positive and negative poles of the power connector are connected to the primary coil to complete the battery charging process.

[0045] In an optional technical solution of this embodiment, the positive and negative electrodes of the power connector are made of a conductive material, such as copper or aluminum. They can have a certain degree of hardness or elasticity. As shown in Figures 2-6, the shape can be straight, curved, strip-shaped, sheet-shaped, cylindrical, circular, or plug-shaped, or any combination thereof, as long as they can achieve reliable contact with external power supply terminals. By connecting the positive and negative electrodes of the power connector to the positive and negative terminals of the power supply terminals of motor 2, respectively, continuous and reliable direct power is provided to motor 2 when wheel 1 moves on a corresponding surface, such as a track or guide rail, thereby maintaining rotation of wheel 1. In one specific implementation, the positive and negative electrodes of the power connector can be copper bars, copper rings, plug sockets, etc. If the positive and negative electrodes of the power connector are connected to the positive and negative terminals of a battery, an additional load of the device, then the positive and negative electrodes of the power connector can be conventional wires. Suitable wires can be selected based on the voltage, current, and reliability of the wires.

[0046] In the optional technical solution of the first embodiment of this invention, the number of wheels 1 can be one, two, or four, determined based on a comprehensive consideration of factors such as load, space, and cost in the device application. The material of the wheels 1 can be one or a combination of materials such as rubber, plastic, and stainless steel, and reference can be made to the material selection of wheels 1 in the prior art.

[0047] The positive and negative electrodes of the electrical connector are both arranged on the wheel 1 through insulating members, including an insulating member arranged between the positive and negative electrodes of the electrical connector, and also an insulating member arranged between the positive and negative electrodes of the electrical connector and the wheel 1, to ensure the safety and reliability of the electrical connector in supplying power to the motor 2. The insulating member can be made of insulating materials such as plastic and rubber, and the shape of the insulating member can be layered or ring-shaped without restriction. It can be determined based on factors such as the position and shape of the positive and negative electrodes of the electrical connector on the wheel 1, as well as the material of the wheel 1, and for the reliable implementation of this embodiment. The electrical connector can be arranged on the rotating part of the wheel 1, such as the tire 12, that is, the part of the wheel 1 that contacts the guide rail and track in applications such as the tire 12. If the positive and negative electrodes of the electrical connector are both a copper ring, it is arranged around the tire 12 of the wheel 1, and the copper ring is in rolling contact with the power supply copper belt on the track to provide direct power supply. If the positive and negative terminals of the electrical connection are both located on the tire 12 of the same wheel 1, an insulating member, such as a plastic insulating layer, is provided between the positive and negative terminals of the electrical connection. An insulating member, such as a plastic insulating layer, is also provided between the positive and negative terminals of the electrical connection and the tire 12. If the tire 12 of the wheel 1 is made of an insulating material such as rubber or plastic, the tire 12 functions as an insulating member, achieving the technical effect of combining the insulating member and the tire 12 into one. The tire 12 can serve as an insulating member, or, depending on the situation, an insulating member may not be required. If there are two or four wheels 1, the positive and negative terminals of the electrical connection can be provided on the tires 12 of the same or different wheels 1. In one specific embodiment, the positive and negative terminals of the electrical connector are both copper rings. When both are mounted on the tire 12 of the same wheel 1, an insulator is provided between them. If the wheel 1 is made of an insulating material such as plastic or rubber, the insulator between the positive and negative terminals of the electrical connector and the wheel 1 can be integrated with the tire 12, and the positive and negative terminals of the electrical connector only need to maintain a safe electrical distance, that is, the two copper rings are separated by a safe electrical distance. If the wheel 1 is made of a non-insulating material such as stainless steel, on the one hand, an insulating layer is provided on the circular ring where the positive and negative terminals of the electrical connector contact the wheel 1, and on the other hand, an insulating layer is provided between the positive and negative terminals to ensure safe power connection. Based on this, it is conceivable that grooves for mounting the insulating layer and the positive and negative terminals of the electrical connector are provided on the surface of the wheel 1 to facilitate embedded and reliable installation. In one specific application, the copper rings serving as the positive and negative terminals of the electrical connector can be provided so as to be slightly protruding from the surface of the wheel 1, enabling direct and reliable contact with power supply terminals such as conductive copper strips on the track. If the positive and negative terminals of the electrical connection are located on different wheels 1 and tires 12, and the wheel 1 is made of an insulating material such as plastic or rubber, the insulating member between the positive and negative terminals of the electrical connection and the wheel 1 can be integrated with the tire 12. Depending on the situation, the insulating member may not be required. The insulating member can provide a mounting location for the positive and negative terminals of the electrical connection. If the insulating member is open, the positive and negative terminals of the electrical connection, such as a copper ring or copper bar, can be smoothly pressed into the insulating member.When the wheel 1 is made of a non-insulating material such as stainless steel, the insulating parts between the positive and negative poles of the electrical connection part and the wheel 1 need to be set separately. Different types of insulating materials and forms can be selected, such as a plastic / rubber insulating layer that half-wraps the positive or negative pole of the electrical connection part, leaving only the part that contacts the power supply copper bar of the external guide rail or track exposed. The positive and negative poles of the power terminal are connected to the positive and negative poles of the electrical connection part through wires, that is, the wires pass through the tire 12 and are connected to the positive and negative poles of the electrical connection part such as the copper ring or aluminum ring to achieve a rolling power connection effect. The motor control circuit can be located inside the tire 12 together with the motor 2, or on an intermediate rod connected to both sides of the wheel 1, or on a load connection structure connected to the wheel 1 through the intermediate rod. This implementation is not limited by conditions such as the number of wheels 1 and can be freely combined with the implementation methods of other technical features without conflict.

[0048] In addition, the power connection member can also be set on a fixed part of the wheel 1, such as the inner wheel 11, or on the middle rod connecting the two sides of the wheel 1. The positive and negative poles of the power connection member are configured as curved copper bars / recurved copper bars that slide in contact with the power supply copper belt on the track, as shown in Figures 4 or 6; or it can be a rigid socket, as shown in Figure 5, by connecting or welding copper bars to the power supply copper belt on the track. When wear occurs during long-term operation, it can be plugged in and out or welded and replaced for repair; or alternatively, a pantograph 32 is provided on the positive and negative poles of the power connection member to connect the power, or a flexible material extends to the copper belt on the track for soft connection, as shown in Figure 3. When the positive and negative poles of the power connection member are both located on the same inner wheel 11, an insulating member is provided between the positive and negative poles of the power connection member, and an insulating member is provided between the positive and negative poles of the insulating member and the inner wheel 11 respectively. In this case, the distance between the positive and negative terminals of the power connector is closer than when located on different inner wheels 11. Correspondingly, the distance between the positive and negative terminals on the outer track is also closer. Therefore, insulating elements are required between the positive and negative terminals on the outer track, as well as between the positive and negative terminals and the track, to ensure safe power supply. The material and shape of the insulating elements are similar to those described above and can be determined based on the application scenario. If the guide rail or track is made of insulating material, they can be integrated and shared with the pantograph. If both the positive and negative terminals of the power connector are pantographs 32, an insulating element is placed between them to create an offset, maintaining a safe power contact distance. This, in turn, ensures that the contact points of the positive and negative terminals on the track maintain a safe electrical distance. When the positive and negative terminals of the power connector are located on different inner wheels 11, curved or recurved copper strips can be installed on each inner wheel 11 through sockets, welding, or integrated molding to provide sliding contact power supply. The pantograph 32 can also be used to connect the power, or flexible material can be extended to the conductive strip on the track for flexible connection. This selection can be determined based on a combination of factors such as production conditions and cost-effectiveness.

[0049] The positive and negative poles of the power connection component are connected to the power terminal inside the tire 12 through a wire from the inner wheel 11 through the tire 12, or the positive and negative poles of the power connection component are led out from the inside of the middle rod through a wire, passed through the tire 12 and connected to the power terminal inside the tire 12.

[0050] It should be noted that the structure of the wheel 1, referring to the prior art, at least includes the tire 12 of the wheel 1 body, that is, the part that is in rolling contact with the external track, guide rail, etc., and the fixed part such as the inner wheel 11, that is, the part located on both sides of the tire 12.

[0051] The connection methods for the output shaft 21 of the motor 2 and the tire 12 include: 1) a keyed connection, where a key is installed between the output shaft 21 and the axle of the tire 12 to prevent relative rotation, allowing the output shaft 21 to transmit torque while facilitating removal and replacement. 2) a coupling connection, which can be rigid or flexible. A flexible coupling allows for a certain degree of misalignment and angular deviation between the output shaft 21 and the axle of the tire 12, thus simplifying installation requirements. 4) the output shaft 21 and the axle of the tire 12 are connected via a pair of gears or a gear set. This method also allows for variable speed and torque. 5) a direct threaded connection between the output shaft 21 and the axle of the tire 12 is typically used in low-load applications. Each connection method has its own characteristics and applicable scenarios, and the selection should consider factors such as load size, speed, alignment accuracy, cost, and ease of maintenance. In most industrial and automotive applications, a removable connection between the output shaft 21 and the axle of the tire 12 is typically chosen to ensure reliability and ease of maintenance.

[0052] If there is only one wheel 1, the inner wheel 11 on the side of the axle is located inside the wheel 1, encased by the tire 12, to save space. The motor 2 is driven by the acceleration / deceleration, as well as the forward / reverse rotation of the motor 2, to achieve speed change and reverse rotation. If the motor 2 has two output shafts 21, the axles are located on either side of the wheel 1 and connected to one output shaft 21 of the motor 2. The acceleration / deceleration, as well as the forward / reverse rotation of the motor 2, drive the wheel 1 in a straight line, achieving speed change and reverse rotation. If the motor 2 has a single output shaft 21, if one motor 2 is located inside the wheel 1, the output shaft 21 is connected to the axle located on one side of the wheel 1 to achieve the above functions. If two motors 2 are located inside the wheel 1, the two output shafts 21 are connected to either side of the wheel 1, respectively, to achieve speed change and reverse rotation of the wheel 1 in a straight line. In specific applications, the selection of the device is determined based on comprehensive factors such as the load in the industrial application scenario and the cost-effectiveness.

[0053] If the positive and negative poles of the power connection are located on the rolling part of the wheel 1, such as the tire 12, the tire 12, or the part that is in rolling contact with the track, the positive and negative poles of the power connection terminal are respectively connected to the positive and negative poles of the power connection part through a wire, that is, the wire passes through the tire 12 and is connected to the positive and negative poles of the power connection part such as the copper ring, aluminum ring, etc., to achieve a rolling power connection effect. If the positive and negative poles of the power connection are located on the fixed part of the wheel 1, such as the inner wheel 11, the middle rod on both sides of the wheel 1, or the middle rod between the two wheels 1, the positive and negative poles of the power connection part are connected through a wire from the inner wheel 11 through the tire 12 and the power connection terminal located inside the tire 12, or the positive and negative poles of the power connection part are led out from the inside of the middle rod through the tire 12 and connected to the power connection terminal located inside the tire 12. This embodiment is applicable to embodiments with different numbers of wheels 1 and can be freely combined with other technical feature implementation methods without conflict.

[0054] When there are two wheels 1, if one motor 2 is selected, for a motor 2 with a single output shaft 21, the motor 2 is located in the middle of the two wheels 1. The motor 2 is set in the middle rod connecting the inner wheels 11 of the two wheels 1. The output shaft 21 and the wheel axle direction of the tire 12 are perpendicular. Through the gear combination, the power is transmitted to the tire 12, driving the two wheels 1 to rotate. If the XY axis is used as a reference, the gear combination adopts two helical gears 61 meshing, that is, a helical gear 61 is set on the output shaft 21 of the motor 2, and another helical gear 61 is set on the rack 62 connected to the wheel axle; the rotation of the output shaft 21 of the motor 2 around the Y axis is converted into the rotation of the tire around the X axis. The acceleration and deceleration as well as the forward and reverse rotation of the motor 2 are driven by the gear combination to achieve speed change and reverse rotation. The above embodiment can be freely combined with the embodiment of any technical feature of the present application without conflict.

[0055] If a motor 2 with dual output shafts 21 is used, the motor 2 is located between the two wheels 1, in the middle rod connecting the two inner wheels 11. The output shafts 21 on both sides of the motor 2 are respectively connected to the tires 12, driving the wheels 1 to rotate. If two motors 2 with single output shafts 21 are selected, the two motors 2 are arranged in parallel between the two wheels 1, in the middle rod connecting the two inner wheels 11, or respectively in the body of a wheel 1. The output shaft 21 of each motor 2 is respectively connected to one side of the wheel 1, driving the wheel 1 to rotate. Through the synchronous acceleration and deceleration and synchronous forward and reverse rotation of the two motors 2, the wheel 1 is driven to change speed and reverse rotation along the straight line. By controlling the speed difference between the two motors 2, the wheel 1 can turn and change direction. From a top-down perspective, when the speed of the left wheel 1 is greater than that of the right wheel 1, the wheel turns right; when the speed of the left wheel 1 is less than that of the right wheel 1, the wheel turns left. The specific speed value and speed difference setting can be determined through repeated experiments based on this embodiment. In this embodiment, considering the stability of the wheel 1 moving in the track, when the gap between the wheel 1 and the external track is relatively large, an auxiliary positioning wheel 5 can be set under the middle rod connecting the wheel 1 and the carrier, as shown in Figure 7. The auxiliary positioning wheel 5 is adapted to the guide groove on the track to ensure that the steering and operation of the wheel 1 are smoother, which is applicable to the case where the number of wheels 1 is 1, 2 or four.

[0056] As shown in FIG8 , when there are four wheels 1 , they can be combined and connected in the same manner as one wheel 1 or two wheels 1 . The connecting parts of the four wheels 1 are hollow to facilitate wiring of the motor 2 .

[0057] In an optional embodiment, the positive electrode or negative electrode of the power connection component is located on the tire 12 of the wheel 1, and the positive electrode or negative electrode of the power connection component located on the tire 12 is a conductive coil 33, as shown in Figure 2, and the conductive coil 33 is arranged around the surface of the tire 12.

[0058] This technical solution includes three situations: 1) the positive pole of the electrical connection component is located on the tire 12, and the negative pole of the electrical connection component is not on the tire 12; 2) the positive pole of the electrical connection component is not on the tire 12, and the negative pole of the electrical connection component is located on the tire 12; 3) both the positive pole and the negative pole of the electrical connection component are located on the tire 12.

[0059] The conductive coil 33 is attached to the surface of the tire 12. When the tire 12 rolls, the positive and negative conductive strips corresponding to the positions on the track come into contact, achieving direct power supply. The conductive coil 33 and the conductive strip are made of conductive materials such as aluminum, copper, etc. The conductive coil is in the shape of a ring. In a specific embodiment, it can be a copper ring, an aluminum ring, etc. The conductive strip has a certain width to ensure that the conductive coil 33 can fully contact the conductive strip as the tire 12 rolls, ensuring stable and reliable power supply. Whether it is the tire 12 or the track, electrical safety must be considered when processing and installing the positive or negative pole of the power connection component. Electrical safety distances should be set between the tire 12 and the positive or negative pole of the power connection component, between the positive and negative poles of the power connection component, between the track and the conductive strip, and between the positive and negative conductive strips, or insulating parts should be set to prevent short circuits and other situations.

[0060] As an optional embodiment, when there is only one wheel 1, the two sides of the wheel 1 are connected by an intermediate rod; when there are more than two wheels 1, multiple wheels 1 are connected by an intermediate rod, and the positive pole or negative pole of the power connection component is located on the inner wheel 11 or the intermediate rod of the wheel 1. As shown in Figure 2-6, the positive pole or negative pole of the power connection component located on the inner wheel 11 is a conductive coil 33, a conductive strip 34 or a pantograph 32, and the conductive coil 33 is arranged around the surface of the inner wheel 11, and the conductive strip 34 or the pantograph 32 is connected to the inner wheel 11; the positive pole or negative pole of the power connection component located on the intermediate rod is a conductive strip 34 or a pantograph 32, and the conductive strip 34 or the pantograph 32 is connected to the intermediate rod; or the conductive strip 34 is a straight bar or a curved bar.

[0061] In this embodiment, the position and structure of the positive pole or the negative pole of the power connection component can be arbitrarily combined without conflict, and can also be arbitrarily combined with the implementation methods of other technical features, that is, the positive pole or the negative pole of the power connection component can be optionally set on the inner wheel 11, the middle rod, or one of them is not at these positions; the positive pole or the negative pole of the power connection component can be optionally set as the conductive coil 33, the conductive bar 34, the pantograph 32, or one of them is not these structures.

[0062] Similarly, a conductive strip is provided in the track to ensure reliable electrical contact with the conductive coil 33 or conductive strip 34. When the wheel 1 rolls, the conductive coil 33 on the inner wheel 11 and the conductive strip 34 on the inner wheel 11 or the intermediate rod slide into contact with the conductive strip, directly powering the motor 2. Accordingly, an overhead cable is provided in the track. When the wheel 1 rolls, the pantograph on the inner wheel 11 or the intermediate rod comes into contact with the overhead cable, directly powering the motor 2. The material selection for the conductive strip 34 or pantograph 32 is similar to that for the conductive coil 33 and the conductive strip. Furthermore, electrical safety considerations should also be taken into account, with insulation being provided in the corresponding structures. The connection between the conductive strip 34 or pantograph 32 and the inner wheel 11 or the intermediate rod can be fixed or removable. Fixed connections can be welding, or, for the conductive strip 34, can be integrally molded. Removable connections can include bolts and nuts, quick-release or fastening pins, threads, latches, or quick-plug connections. The conductive strip 34 can be made of a material that is flexible or rigid and can be processed into a strip shape.

[0063] The conductive strip 34 can be made of a hard or flexible conductive material. For a hard conductive material, it can be set into a straight strip or a curved strip. For a flexible conductive material, its length can be extended to ensure reliable contact with the conductive strip on the track, such as a curved aluminum strip, copper strip, tin strip, etc.

[0064] In an optional embodiment, the conductive bar 34 and the inner wheel 11 are detachably connected, or the conductive bar 34 and the middle rod are detachably connected.

[0065] Removable connection methods include: 1) bolt-and-nut connections, such as where the conductive bar 34 is bolt-shaped and a nut hole is provided on the inner wheel 11 or the middle rod. 2) quick-release or fastening pin connections, such as where the conductive bar 34 is pin-shaped and a screw hole is provided on the inner wheel 11 or the middle rod for fastening the pin. 3) threaded connections, latches, or quick-release connections. Sliding contact can easily wear out over time, leading to unreliable contact and unstable power supply. Removable connections allow for quick replacement of worn parts, reducing disruption to the manufacturing process and improving efficiency.

[0066] In an optional embodiment, when there is only one wheel 1, the two sides of the wheel 1 are connected by an intermediate rod. When there are two or more wheels 1, multiple wheels 1 are connected by an intermediate rod. The motor 2 is located inside the tire 12 of the wheel 1, as shown in Figures 10 and 11, or inside the intermediate rod, as shown in Figure 9. In this way, space can be saved and the device's footprint can be reduced, allowing the track where the device moves, the station where it stops, or the warehouse where it stops to accommodate more, thereby increasing the capacity of the conveyor line.

[0067] In an optional embodiment, it further includes a battery or a charging coil 7. When there is only one wheel 1, the two sides of the wheel 1 are connected by an intermediate rod. When there are more than two wheels 1, multiple wheels 1 are connected by an intermediate rod. The battery is located inside the tire 12 of the wheel 1, or inside the intermediate rod. The charging coil 7 is located on the side of the wheel 1. As shown in Figure 12, the positive pole of the battery output is connected to the positive terminal of the power terminal, the negative pole of the battery output is connected to the negative terminal of the power terminal, the positive pole of the power connector is connected to the positive pole of the battery input and the positive pole of the charging coil 7, and the negative pole of the power connector is connected to the negative pole of the battery input and the negative pole of the charging coil 7.

[0068] The technical solution of this embodiment includes at least: 1) a case where the battery is included but not the charging coil 7; and 2) a case where both the battery and the charging coil 7 are included. Regarding 1) the battery charges and stores energy through contact between the positive and negative terminals of the electrical connector and the conductive strip on the track, powering the motor 2. To prevent overcharging and other safety hazards, the battery includes a built-in battery safety management system. The connections between the battery and the positive and negative terminals of the power supply terminals, as well as the positive and negative terminals of the electrical connector, are removable. This allows for quick and easy replacement of batteries when the battery ages, preventing production line disruptions. Regarding 2) the cost of directly charging the wheel 1 while it moves, by installing the same coil on the track, is high. Alternatively, wireless charging points can be installed at locations such as stations and warehouses to facilitate battery charging. If charging time at these points is short, making it difficult to maintain operation to the next station or warehouse, making both the battery input and output connections removable allows for easy replacement of new batteries. However, this will further increase station or warehouse space.

[0069] In an optional embodiment, as shown in Figures 10 and 11, if the motor 2 is located in the tire 12 of the wheel 1, the wheel 1 includes a bearing 13, an inner wheel 11, a tire 12 and an outer wheel frame 14; along the axial direction of the motor 2, the output shaft 21 is connected to the planetary gearbox 15, the motor 2 is located in the bearing 13, and the bearing 13 and the planetary gearbox 15 are both installed in the outer wheel frame 14 of the bearing 13, an inner wheel 11 is respectively provided on both sides of the outer wheel frame 14, and the tire 12 is arranged on the outside of the outer wheel frame 14; if there is one wheel 1, the two ends of the intermediate rod are respectively connected to the inner wheels 11 located on both sides of the outer wheel frame 14; if there are multiple wheels 1, the two ends of the intermediate rod are respectively connected to the inner wheels 11 on one side of the adjacent wheel 1.

[0070] Motor 2 drives tire 12 through a planetary gearbox 15. The device achieves speed and direction changes by controlling the motor's speed increase / decrease and forward / reverse direction. As shown in the figure, to ensure stable installation of motor 2, a groove is provided within outer wheel frame 14 on the inner wheel 11 on one side of tire 12 for mounting motor 2. This ensures reliable motor installation and saves space. The above embodiments can be freely combined with other implementations of the technical features, provided they do not conflict.

[0071] In an optional embodiment, as shown in FIG13 , the intermediate rod includes a transverse rod 41 or a vertical rod 42 , the motor 2 is located in the transverse rod 41 or the vertical rod 42 of the intermediate rod, and the output shaft 21 of the motor 2 located in the vertical rod 42 is connected to the tire 12 through an intermediate piece.

[0072] The output shaft 21 of the motor 2 in the crossbar 41 is connected to the tire 12, including: 1) being connected by a key, that is, installing a key between the output shaft 21 and the axle of the tire 12 to prevent relative rotation, allowing the output shaft 21 to transmit torque, and facilitating disassembly and replacement. 2) being connected by a coupling, which can be rigid or flexible. The flexible coupling allows a certain amount of centering error and angular deviation between the output shaft 21 and the axle of the tire 12, reducing installation requirements. 4) The output shaft 21 and the axle of the tire 12 are connected by a pair of gears or a gear set. This method can also change the speed and torque. 5) The output shaft 21 and the axle of the tire 12 are directly connected by threads, which is usually used in low-load applications. 6) The output shaft 21 and the tire 12 are connected by the planetary gearbox 15 in the above embodiment. The output shaft 21 of the motor 2 in the vertical rod 42 is connected to the tire 12 via an intermediate component. The output shaft 21 of the motor 2 and the wheel axle of the tire 12 are perpendicular to each other. A gear tooth combination transmits power to the tire 12, driving the two wheels 1 to rotate. The intermediate component is a combination of gears and racks 62. For example, based on the X and Y axes, a helical gear 61 is provided on the output shaft 21 of the motor 2, and another helical gear 61 is provided on the rack 62 connected to the wheels. This converts the rotation of the output shaft 21 of the motor 2 about the Y axis into rotation of the wheel axle about the X axis. The acceleration and deceleration, as well as the forward and reverse rotation of the motor 2, are driven by the gear combination to achieve speed change and reverse rotation of the wheels 1. Each connection method has its own characteristics and applicable scenarios. When choosing, factors such as load size, speed, alignment accuracy, cost, and maintenance ease should be considered. In most industrial and automotive applications, a removable connection between the output shaft 21 and the wheel axle of the tire 12 is usually selected to ensure reliability and maintenance ease. The above-mentioned embodiments can be freely combined with the embodiments of any technical features of this application without conflict.

[0073] In an optional embodiment, at least one of a distance sensor, an electronic tag and a display screen is further included, and the distance sensor, electronic tag and display screen are all connected to the control circuit, and the control circuit is connected to the motor control circuit, as shown in FIG14 .

[0074] Each rotating motion device is assigned a unique electronic tag. These tags can be RFID, NFC, or barcode tags. A card reader installed on the track reads the tags' codes, enabling accurate location and tracking of the device. These tags can be installed on the inner wheel 11, tire 12, or intermediate rod of wheel 1, facilitating intelligent control and management of the entire suspension system. Distance sensors, such as ultrasonic sensors, X-band radar sensors, laser sensors, and infrared sensors, can be installed on the inner wheel 11, tire 12, or intermediate rod of wheel 1 to detect obstacles in front of and behind the device, thereby facilitating the determination of the trajectory of the device's load. The display screen displays the device's code, operating status, and loaded item information. The control circuit receives the electronic tag's code, obstacle distance information from the distance sensor, motor 2 operating status information from the motor control circuit, and device load information, processing status information, and remote control information transmitted from the cloud. These information is then transmitted to the display screen for display, enabling site and warehouse staff to intuitively monitor the device's current status.

[0075] Example 2

[0076] This embodiment proposes a suspension system, including a track and a rotary motion device described in any one of the technical solutions in the above embodiments, wherein the wheel 1 cooperates with the track, a power supply component is provided in the track, and the power supply component includes a conductive positive electrode and a conductive negative electrode, and a conductive positive electrode and a conductive negative electrode are provided on the track to cooperate with the positive electrode and the negative electrode of the power connection component.

[0077] When the positive and negative poles of the power connection part are a conductive coil 33 or a conductive strip 34, the conductive component is a conductive belt; when the positive and negative poles of the power connection part are a pantograph 32, the conductive component is an overhead cable; thereby, the two cooperate with each other to power the motor 2 during the operation of the device.

[0078] The above is a schematic description of the present invention and its embodiments, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs a structure and embodiment similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. A rotary motion device, characterized in that, It includes wheels, motors, motor control circuits, power connectors and insulating parts. An output shaft is provided on the motor, and the output shaft is connected to the wheels. The control terminal of the motor is connected to the motor control circuit. The power connector includes a positive power connector and a negative power connector. The positive terminal of the power connection terminal is connected to the positive power connector, and the negative terminal of the power connection terminal is connected to the negative power connector. The positive power connector and the negative power connector are located on the wheels through the insulating parts.

2. The rotary motion device according to claim 1, wherein, The positive power connector or the negative power connector is located on the tire of the wheel. The positive power connector or the negative power connector located on the tire is a conductive coil, and the conductive coil is arranged around the surface of the tire.

3. A rotary motion device according to claim 1, wherein, When the number of wheels is one, both sides of the wheel are connected by an intermediate rod. When the number of wheels is more than 2, multiple wheels are connected by an intermediate rod. The positive power connector or the negative power connector is located on the inner wheel or the intermediate rod of the wheel. The positive power connector or the negative power connector located on the inner wheel is a conductive coil, a conductive bar or a pantograph. The conductive coil is arranged around the surface of the inner wheel. The conductive bar or the pantograph is connected to the inner wheel. The positive power connector or the negative power connector located on the intermediate rod is a conductive bar or a pantograph, and the conductive bar or the pantograph is connected to the intermediate rod. Or the conductive bar is in a straight strip shape or a curved strip shape.

4. A rotary motion device according to claim 3, characterized in that, The connection between the conductive bar and the inner wheel is detachable, or the connection between the conductive bar and the intermediate rod is detachable.

5. A rotary motion device according to claim 1, characterized in that, When the number of wheels is one, both sides of the wheel are connected by an intermediate rod. When the number of wheels is more than 2, multiple wheels are connected by an intermediate rod. The motor is located inside the tire of the wheel or inside the intermediate rod.

6. A rotary motion device according to claim 1, characterized in that, It further includes a battery or a charging coil. When the number of wheels is one, both sides of the wheel are connected by an intermediate rod. When the number of wheels is more than 2, multiple wheels are connected by an intermediate rod. The battery is located inside the tire of the wheel or inside the intermediate rod. The charging coil is located on the side of the wheel. The positive pole output by the battery is connected to the positive terminal of the power connection terminal, and the negative pole output by the battery is connected to the negative terminal of the power connection terminal. The positive power connector is connected to the positive pole input by the battery and the positive pole of the charging coil, and the negative power connector is connected to the negative pole input by the battery and the negative pole of the charging coil.

7. A rotary motion device according to claim 3 or 5, characterized in that If the motor is located inside the tire of the wheel, the wheel includes a bearing, an inner wheel, a tire and an outer wheel frame. Along the axial direction of the motor, the output shaft is connected to a planetary gearbox. The motor is located inside the bearing, and both the bearing and the planetary gearbox are installed in the outer wheel frame of the bearing. An inner wheel is provided on both sides of the outer wheel frame, and the tire is arranged around the outside of the outer wheel frame. If there is one wheel, both ends of the intermediate rod are respectively connected to the inner wheels on both sides of the outer wheel frame. If there are multiple wheels, both ends of the intermediate rod are respectively connected to the inner wheels on one side of adjacent wheels.

8. A rotary motion device according to claim 3 or 5, characterized in that The intermediate rod includes a cross bar or a vertical bar. The motor is located in the cross bar or the vertical bar of the intermediate rod. The output shaft of the motor located in the vertical bar is connected to the tire through an intermediate part.

9. A rotary motion device according to any one of claims 1-6, characterized in that, At least one of a distance sensor, an electronic tag, and a display screen is further included, the distance sensor, the electronic tag, and the display screen are all connected to a control circuit, and the control circuit is connected to a motor control circuit.

10. A suspension system, characterized in that, A track is included, and a rotary motion device according to any one of claims 1-9 is further included. The wheel cooperates with the track. A power supply component is provided in the track. The power supply component includes a conductive positive electrode and a conductive negative electrode. Conductive positive and negative electrodes that cooperate with the positive and negative electrodes of the power connection member are provided on the track.

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