CN103702852A - Torque driving device - Google Patents

Torque driving device Download PDF

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Publication number
CN103702852A
CN103702852A CN201180004317.7A CN201180004317A CN103702852A CN 103702852 A CN103702852 A CN 103702852A CN 201180004317 A CN201180004317 A CN 201180004317A CN 103702852 A CN103702852 A CN 103702852A
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CN
China
Prior art keywords
driver element
main body
fixed
drive
torque
Prior art date
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Pending
Application number
CN201180004317.7A
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Chinese (zh)
Inventor
王贤民
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Narymco ltd
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Narymco ltd
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Publication date
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Publication of CN103702852A publication Critical patent/CN103702852A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/14—Ball-type wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H29/00—Drive mechanisms for toys in general
    • A63H29/02—Clockwork mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Toys (AREA)

Abstract

The present invention relates to a torque driving device comprising: a driving portion, in which two drive motors are arranged on a horizontal direction rotary shaft that is horizontal to the horizon, so as to be in symmetry in different directions and so that a drive axle of each of the drive motors is in agreement with the horizontal direction rotary shaft, and in which drive wheels that are integrally formed on each of the drive axles are in symmetry; a body having a circular shape including the driving portion therein; a driving portion fixing rod for fixing the driving portion inside the body so that a vertical direction central shaft of the body and a vertical direction central shaft of the driving portion are in agreement with each other, and so that a horizontal direction central shaft of the body and the horizontal direction rotary shaft are in agreement with each other; and a plurality of wheel wings, which are protrudingly formed in a radial direction forming equal angels on an outer circumferential surface of each of the driving wheels so as to impede the rotation of each of the driving wheels.

Description

Torque drive device
Technical field
The present invention relates to torque drive device, relate in particular to the actuating device driving according to moment of torsion (torque).
Background technology
The block diagram that Fig. 1 is the torque drive device that prior art is shown provides, the block diagram of the forward/backward that Fig. 2 is the torque drive device that prior art is shown provides, the block diagram of the original place rotation that Fig. 3 is the torque drive device that prior art is shown provides.
With reference to Fig. 1, prior art comprises driver element 100, main body 400 and driver element fixed mount 320.
With reference to Fig. 1, in driver element 100, two drive motor 110 are arranged in to the horizontal direction S. A. R parallel with ground line above and are arranged to make two drive motor 110 to form symmetry along mutually different direction, and make the axle drive shaft 120 of each drive motor 110 consistent with horizontal direction S. A. R, and on each axle drive shaft 120, be formed with the drive wheel 130 for generation of moment of torsion.
With reference to Fig. 1, main body 400 can form cross section for circular.The inside of main body 400 is provided with driver element 100.In addition, cross section is that circular main body 400 forms hemispheric lid 410 at left and right sides, thereby can realize sealing with spheroid (sphere) shape.
With reference to Fig. 1, driver element fixed mount 320 can form shaft-like.Driver element fixed mount 320 is fixed on main body 400 inside by driver element 100, and be fixed into make the vertical direction center shaft of main body 400 and the vertical direction center shaft of driver element 100 consistent, and the horizontal direction center shaft of main body 400 is consistent with horizontal direction S. A. R.
The forward/backward of the torque drive device shown in Fig. 1 can realize in the following way.; as shown in Figure 2; when two drive motor 110 make each drive wheel 130 with identical direction rotation by axle drive shaft 120; can produce the reactive torque according to the law of newton's action and reaction; thereby the shell of drive motor 110 is with the opposite sense rotation of drive wheel 130 hand of rotation, and therefore, the main body 400 that is fixed on drive motor 110 also rotates and can realize and advancing; and when changing the hand of rotation of drive wheel 130 by drive motor 110, can realize and retreating.
And, as shown in Figure 3, when left and right drive motor 110 is during respectively along mutually different direction rotation drive wheel 130, owing to producing respectively contrary each other reactive torque on left and right drive motor 110, thereby main body 400 can forward/backward and take the vertical direction center shaft of main body 400 and in original place, rotate as benchmark.
But in existing torque drive device, the rotation baffle that hinders the rotation of the axle drive shaft 120 ordered about by drive motor 110 is limited at drive wheel 130, therefore there is limitation improving according to action and reaction aspect the rotational force that results from main body 400.
Summary of the invention
The present invention proposes in order to address the above problem, it is a kind of by being provided for hindering the rotation baffle of the rotation of the axle drive shaft being ordered about by drive motor that its object is to provide, thereby can improve according to action and reaction the torque drive device of the rotational force that results from main body.
The present invention relates to torque drive device, the rotational force of this torque drive device utilization based on moment of torsion drives, this torque drive device is characterised in that and comprises: driver element, two mutually different directions of drive motor are arranged on the horizontal direction S. A. parallel with ground line and are arranged to make described two drive motor to form symmetry, and the axle drive shaft of drive motor described in each is arranged to consistent with described horizontal direction S. A., and drive wheel is integrally formed in symmetrically axle drive shaft described in each; Cross section is circular main body, and described driver element is contained in to inside; Driver element fixed mount, described driver element is fixed on to described body interior, and be fixed into make the vertical direction center shaft of described main body and the vertical direction center shaft of described driver element consistent, and the horizontal direction center shaft of described main body is consistent with described horizontal direction S. A.; A plurality of wings of taking turns, described in each, the outer peripheral face of drive wheel forms identical angle and forms along radiation direction is outstanding, for hindering the rotation of drive wheel described in each.
The present invention can comprise: wheel cap cylindraceous, and in inside, rotatably comprise described a plurality of wing of taking turns, and be fixed on the inside of described main body, and it is consistent with described horizontal direction S. A. to be fixed into the center shaft making by two side ends; Hinder substance for Spin, filling is inner in described wheel cap movably, and for hindering described a plurality of rotation of taking turns the wing, wherein said obstruction substance for Spin can be fluid or spheroid.When described obstruction substance for Spin is spheroid, by the medial surface of described wheel cap, a plurality ofly take turns the wing gap becoming and the gap being formed by the side of described wheel cap and the side of described drive wheel can form the size that is less than described spheroid with described.
The present invention can comprise: balancing unit, comprises that upper end is fixed on the shell of described drive motor and is positioned at the centre weight fixed mount on the vertical direction center shaft of described driver element and is connected in described centre weight fixed mount and is positioned at the centre weight on the vertical direction center shaft of described driver element; Driver element bearing, the interior wheel of this driver element bearing is fixed on the shell of described drive motor and the foreign steamer of this driver element bearing is fixed on described fixed cell fixed mount, to avoid described driver element to rotate together with described main body.
As mentioned above, the present invention utilizes moment of torsion to drive, and therefore can realize soft starting, stop and moving, thereby applicable to for carrying out the driver element of camera of natural filming image or the mobile toy of the safety of children-oriented.
And, the present invention carries out forward/backward by producing in the same direction moment of torsion, or by the direction towards symmetrical, produced moment of torsion and can be carried out in original place left rotation and right rotation, therefore in narrower passage, travel direction conversion is also freer, and can be towards omni-directional drive.
And, all driver elements of the present invention are arranged at inside, and can closed interior, therefore regardless of ground and the water surface, can both drive, the present invention not only can use separately, but also can be connected in support each the present invention as individual drive module, according to purposes, manufacture optimum moving body, so the present invention has advantages of that the expenditure of answering is high.
And, in the present invention, the wheel wing is subject to hindering the effect of substance for Spin and the rotation that hinders drive wheel, and the reactive torque that makes thus to hinder the rotation of axle drive shaft becomes large, therefore the shell of drive motor is subject to larger moment of torsion, thereby main body can be rotated with larger rotational force.
Accompanying drawing explanation
The block diagram of the torque drive device that Fig. 1 provides for prior art.
The block diagram of the forward/backward that Fig. 2 is the torque drive device that prior art is shown provides.
The block diagram of the original place rotation that Fig. 3 is the torque drive device that prior art is shown provides.
The block diagram of the torque drive device that Fig. 4 provides for first embodiment of the invention.
The block diagram of the forward/backward that Fig. 5 is the torque drive device that the first embodiment of the present invention is shown provides.
The block diagram of the original place rotation that Fig. 6 is the torque drive device that first embodiment of the invention is shown provides.
The exploded perspective view of the torque drive device that Fig. 7 provides for first embodiment of the invention.
The cutaway view of the torque drive device that Fig. 8 provides for first embodiment of the invention.
Fig. 9 is for controlling the control circuit figure of the driver element of torque drive device provided by the invention.
Figure 10 is the block diagram illustrating for detection of the optical sensor of the speed of torque drive device provided by the invention.
Figure 11 is the block diagram that the retainer of torque drive device provided by the invention is shown.
Figure 12 is for illustrating the block diagram of the surperficial projection that is formed at the main body outside that the torque drive device providing is provided.
Figure 13 illustrates the surperficial air layer of the main body outside that is formed at torque drive device provided by the invention and the block diagram of rubber layer.
Figure 14 is the cutaway view that the driver element fixed mount of torque drive device provided by the invention is shown.
Figure 15 is the cutaway view that the driver element fixed mount of torque drive device provided by the invention is shown.
Figure 16 is the cutaway view that axle drive shaft that torque drive device provided by the invention is shown is fixed on lid.
Figure 17 and Figure 18 are block diagram and the cutaway view of the second embodiment of torque drive device provided by the invention.
Figure 19 is the block diagram of the 3rd embodiment of torque drive device provided by the invention.
The main nomenclature of accompanying drawing:
Figure BDA0000156301860000041
The specific embodiment
Below, with reference to accompanying drawing, further describe the present invention as above.
Utilize block diagram Fig. 4 and exploded perspective view Fig. 7 and cutaway view Fig. 8 to show the first embodiment of torque drive device provided by the invention.
With reference to Fig. 4, Fig. 7 and Fig. 8, the present invention includes driver element 100, balancing unit 200, fixed cell 300 and main body 400.
With reference to Fig. 4 and Fig. 8, in driver element 100, two drive motor 110 are arranged in horizontal direction S. A. R parallel to the ground above and are arranged to make two drive motor 110 to form symmetrical along mutually different direction, and make the axle drive shaft 120 of each drive motor 110 consistent with horizontal direction S. A. R, and on axle drive shaft 120, be formed with the drive wheel 130 for generation of moment of torsion.
With reference to Fig. 4 and Fig. 8, balancing unit 200 comprises centre weight 210 and centre weight fixed mount 220.The shell of two drive motor 110 is installed as one mutually, can one rotating.The shell of drive motor 110 is fixed in the upper end of centre weight fixed mount 220, and centre weight fixed mount 220 is positioned on the vertical direction center shaft of driver element 100 thus.Centre weight 210 is connected on centre weight fixed mount 220, and centre weight 210 is positioned on the vertical direction center shaft of driver element 100 thus.Centre weight fixed mount 220 can form shaft-like, and that centre weight 210 can form is spherical.Preferably, when centre weight fixed mount 220 connects centre weight 210, make centre weight 210 as far as possible away from driver element 100.But, should avoid centre weight 210 contacting with the inside face of main body 400 at ordinary times.
Balancing unit 200 be fixed on driver element 100 drive motor 110 shell and play the effect of the balanced body of tumbler and weight hammer, thereby making to tilt is restored, and regulates the movement of the shell of the drive motor 110 that the rotation because of axle drive shaft 120 causes.
With reference to Fig. 4 and Fig. 7, main body 400 can form cross section for circular.The inside of main body 400 is provided with driver element 100 and balancing unit 200.In main body 400, can be combined with hemispheric lid 410.For the shape of lid, as long as can be attached to main body 400, any shape can.Shape as other lids has disk etc.
With reference to Fig. 4 and Fig. 7, fixed cell 300 comprises driver element bearing 310 and driver element fixed mount 320.In driver element bearing 310, be rotatably provided with the shell of drive motor 110.That is, at the interior wheel of driver element bearing 310, be fixed with the shell of drive motor 110.The foreign steamer of driver element bearing 310 is fixed on driver element fixed mount 320.In driver element fixed mount 320, its upper and lower side is fixed on the inner surface of main body 400, thus driver element 100 is fixed on to main body 400 inside, and be fixed into the vertical direction center shaft of main body 400 and the vertical direction center shaft of driver element 100 is consistent, the horizontal direction center shaft of main body 400 is consistent with horizontal direction S. A. R.Therefore, the shell of drive motor 110 can not rotation together with main body 400.
Fig. 9 is for controlling the control circuit figure of the driver element of torque drive device provided by the invention.Control circuit can comprise current transformer (converter) 231, inverter (inverter) 232, microprocessor 233, communication module 234 and the battery 240 that electric power is provided.
Current transformer 231, is exported so that drive motor 110 can be realized height from the boost in voltage of battery 240 receptions to specific voltage according to the control signal of microprocessor 233.232 pairs of drive motor 110 of inverter provide and drive required electric current.Inverter 232 is converted to the source of AC with suitable frequency and amplitude according to the control signal of microprocessor 233 by the power supply receiving from current transformer 231, thereby controls speed and the hand of rotation of each drive motor 110.Communication module 234 is carried out reception and the transmission of signal by wired or wireless with outside.By communication module 234, can be externally with wireless mode, handle the driving etc. of main body.
The key element of the control circuit shown in pie graph 9 can realize the function of centre weight 210.Or can comprise the key element that forms described control circuit in the shell of centre weight 210.Now, the inside of centre weight fixed mount 220 can become the control line of control circuit 230 or the passage of the power supply line of power supply is provided to drive motor 110.
And, as shown in figure 10, inside face side in the main body 400 of the lower end of the centre weight 210 of balancing unit 200 arranges optical sensor 250, this optical sensor 250 consists of luminous element 251 and photo detector 252, for detection of reflected light, and be connected with microprocessor 233, on the surface, inside of main body 400 that is adjacent to the lower end of centre weight 210, black band 253 and the white vertical with hand of rotation are alternately set and are with 254, to make reflected light change when main body 400 is rotated, thereby the photo detector 252 by optical sensor 250 receives the reflected light of change along with main body 400 rotations, can detect the rotative speed of main body 400 thus, and can control and advance and astern speed, and can control as stopping on dip plane or climbing.
With reference to Figure 11, the lower end of centre weight 210 can be formed with according to the control of control circuit 230, towards bottom, move and with the retainer 260 of the inside Surface Contact of main body 400.Retainer 260 can make the rotation of main body 400 slow down or stop along with being contacted with the surface, inside of main body 400.In addition, the surface, inside of main body 400 can be formed with the boundary belt 261 that is contacted with retainer 260 down when retainer 260 moves.Boundary belt 262 is for the protection of the surface, inside of main body 400.
The block diagram of the forward/backward that Fig. 5 is the torque drive device that the embodiment of the present invention is shown provides.When the drive motor 110 of driver element 100 is driven, the drive wheel 130 that is connected in motor will be rotated.Now, in drive motor 110, produce the counteractive reactive torque for the rotation of drive wheel 130.Drive motor 110 is combined with fixed cell 300 bearings, therefore according to reactive torque and with the direction rotation contrary with drive wheel 130.The centre weight 210 that the rotation of drive motor 110 makes to be fixed on the shell of drive motor 110 departs from weight centers.According to gravity, produce and make weight center get back to the power in initial position.The power that makes weight center get back to initial position acts on main body 400 by fixed mount 320, so that main body 400 is with the direction rotation identical with drive wheel 130.
The block diagram of the original place rotation that Fig. 6 is the torque drive device that another embodiment of the present invention is shown provides.As shown in Figure 6, when the drive wheel 130 at two ends rotates with contrary hand of rotation, the direction of the reactive torque that the two ends of main body 400 are suffered can become contrary.Therefore, main body 400 is rotated as S. A. take the vertical direction center shaft of main body 400.
As shown in figure 12, at the outer surface of main body 400, also can be formed for improving the projection 440 of the friction force between that rotation by main body 400 causes and ground.When main body 400 is on the water surface, this projection 440 further improves the counteraction with water.
As shown in figure 13, at whole of main body 400 outsides rubber layer 441 that forms the air layer 442 that forms sealing, absorb thus outside impact and can protect inside.
Aforesaid fixed cell 300 is by the shell of drive motor 110 being fixed on to interior driver element bearing 310 of taking turns and forming for the foreign steamer of fixed drive unit bearing 310 and the driver element fixed mount 320 of main body 400, and driver element fixed mount 320 take the inner periphery of horizontal direction S. A. R (with reference to Figure 13) as benchmark along main body 400 with three directions or four direction fixed drive unit 100 as Figure 14 and Figure 15, so the axle drive shaft 120 of driver element 100 and the horizontal direction S. A. R (with reference to Figure 13) of main body 400 can be fixed as under any external impact and also can not misplace.And as shown in figure 16, the surface, inside of the left and right lid 410 of the main body 400 on the extension line that is positioned at axle drive shaft 120 arranges driving shaft bearing 420, and on driving shaft bearing 420 therefore fixed drive axle 120, more enough driver elements 100 that more firmly fixes.
Figure 17 and Figure 18 show the second embodiment of torque drive device provided by the invention.
With reference to Figure 17, the present invention includes driver element 100, main body 400 and driver element fixed mount 320.
With reference to Figure 17 and Figure 18, at the outer peripheral face of each drive wheel 130, a plurality of wings 140 of taking turns form identical angle, and form along radiation direction is outstanding.A plurality of wings 140 of taking turns are for hindering the rotation of each drive wheel 130.
With reference to Figure 17 and Figure 18, in the inside of main body 400, be fixed with wheel cap 150.Wheel cap 150 is contained in its inside by a plurality of wings 140 of taking turns, and takes turns the wing 140 can rotate together with drive wheel 130 so that a plurality of.Wheel cap 150 is fixed on the inside of main body 400, and it is consistent with horizontal direction S. A. R to be fixed into the center shaft of the two side ends that makes the sealing by wheel cap 150.
With reference to Figure 17 and Figure 18, at the inner filling of wheel cap 150, there is obstruction substance for Spin.Hinder substance for Spin for collisions occurring and hinder a plurality of rotations of taking turns the wing 140 with a plurality of wings 140 of taking turns while taking turns the wing 140 rotation when a plurality of.Therefore, when comparing with the first embodiment, if the moment of torsion that puts on axle drive shaft 120 by drive motor 110 equate, the reactive torque of rotation that hinders axle drive shaft 120 is larger, therefore the shell of drive motor 110 is subject to larger moment of torsion, thereby main body 400 is rotated the rotational force with larger.And, for the first embodiment, when increasing the diameter of drive wheel 130 and weight, although as the moment of torsion need producing for rotating main body 400 under halted state, starting torque will increase greatlyr, as required torque that need to generation in order to maintain certain slew mode, normal condition moment of torsion will increase to such an extent that be not very large.For the second embodiment, due to a plurality of, take turns the wing 140 and hinder substance for Spin, described starting torque and normal condition moment of torsion increase greatlyr simultaneously.Described obstruction substance for Spin can be fluid or spheroid 160.
With reference to Figure 17 and Figure 18, when described obstruction substance for Spin is spheroid 160, by the medial surface of wheel cap 150, takes turns the gap that the wing 1410 forms and the gap being formed by the side of wheel cap 150 and the side of drive wheel 130 and compare the size of spheroid 160 and form littlely with a plurality of.
Other situations are followed explanation of the prior art.
Figure 19 shows the 3rd embodiment of torque drive device provided by the invention.
With reference to Figure 19, the present invention includes driver element 100, main body 400, fixed cell 300.
With reference to Figure 19, at the outer peripheral face of each drive wheel 130, a plurality of wings 140 of taking turns form identical angle outstanding along radiation direction.A plurality of wings 140 of taking turns are for hindering the rotation of each drive wheel 130.
With reference to Figure 19, in the inside of main body 400, be fixed with wheel cap 150.About the explanation of wheel cap 150, follow the explanation in the second embodiment.
With reference to Figure 19, in the inside of wheel cap 150, fill and hinder substance for Spin.For hindering the explanation of substance for Spin, follow the explanation in the second embodiment.
Other situations are followed the explanation in the first embodiment and the second embodiment.

Claims (5)

1. a torque drive device, the rotational force of this torque drive device utilization based on moment of torsion drives, and it is characterized in that comprising:
Driver element, two drive motor are arranged on the horizontal direction S. A. parallel with ground line and are arranged to make described two drive motor to form symmetry along mutually different direction, and the axle drive shaft of drive motor described in each is arranged to consistent with described horizontal direction S. A., and drive wheel is integrally formed in symmetrically axle drive shaft described in each;
Cross section is circular main body, and described driver element is contained in to inside;
Driver element fixed mount, described driver element is fixed on to described body interior, and be fixed into make the vertical direction center shaft of described main body and the vertical direction center shaft of described driver element consistent, and the horizontal direction center shaft of described main body is consistent with described horizontal direction S. A.;
A plurality of wings of taking turns, described in each, the outer peripheral face of drive wheel forms identical angle and forms along radiation direction is outstanding, for hindering the rotation of drive wheel described in each.
2. torque drive device as claimed in claim 1, is characterized in that, comprising:
Wheel cap cylindraceous, rotatably comprises described a plurality of wing of taking turns in inside, and is fixed on the inside of described main body, and it is consistent with described horizontal direction S. A. to be fixed into the center shaft making by two side ends;
Hinder substance for Spin, filling is inner in described wheel cap movably, for hindering described a plurality of rotation of taking turns the wing.
3. torque drive device as claimed in claim 2, is characterized in that, described obstruction substance for Spin is fluid or spheroid.
4. torque drive device as claimed in claim 3, it is characterized in that, when described obstruction substance for Spin is spheroid, by the medial surface of described wheel cap and described a plurality of gaps of taking turns the wing gap becoming and being formed by the side of described wheel cap and the side of described drive wheel, be less than the size of described spheroid.
5. the torque drive device as described in any one in claim 1 to 4, is characterized in that, comprising:
Balancing unit, comprises that upper end is fixed on the shell of described drive motor and is positioned at the centre weight fixed mount on the vertical direction center shaft of described driver element and is connected in described centre weight fixed mount and is positioned at the centre weight on the vertical direction center shaft of described driver element;
Driver element bearing, the interior wheel of this driver element bearing is fixed on the shell of described drive motor and the foreign steamer of this driver element bearing is fixed on described fixed cell fixed mount, to avoid described driver element to rotate together with described main body.
CN201180004317.7A 2011-08-02 2011-08-02 Torque driving device Pending CN103702852A (en)

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CN106739783A (en) * 2017-01-12 2017-05-31 北京建筑大学 A kind of two-freedom wheel
CN106985609A (en) * 2017-05-11 2017-07-28 欧阳慧琳 A kind of spherical wheel of Two axle drive
CN107053946A (en) * 2017-05-11 2017-08-18 欧阳慧琳 A kind of spherical wheel of combination drive
CN106985609B (en) * 2017-05-11 2019-02-26 吴万敏 A kind of spherical wheel of Two axle drive

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KR20130018461A (en) 2013-02-25

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