CN206485129U - Wheel and transport vehicle - Google Patents
Wheel and transport vehicle Download PDFInfo
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- CN206485129U CN206485129U CN201621416820.XU CN201621416820U CN206485129U CN 206485129 U CN206485129 U CN 206485129U CN 201621416820 U CN201621416820 U CN 201621416820U CN 206485129 U CN206485129 U CN 206485129U
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 16
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- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009975 flexible effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
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Abstract
The utility model is related to transport vehicle technical field, more particularly to a kind of wheel and transport vehicle.Wheel provided by the utility model, including wheel hub and the several sub- wheels being arranged on wheel hub, several sub- wheels can be as wheel hub be around the centre of gyration line rotation of wheel hub, realize the walking of wheel, and each height wheel can be around the center axis thereof of itself, moreover, the wheel also includes pose adjustment mechanism, pose adjustment mechanism is capable of the angle between the central axis of each height wheel of synchronous adjustment and wheel hub centre of gyration line.The utility model on wheel by setting pose adjustment mechanism, wheel is allowd to adjust the angle of inclination of each height wheel using pose adjustment mechanism, the angle of inclination and road conditions for making sub- wheel are adapted, advantageously ensure that sub- wheel keeps good contact with the ground moment, therefore, the application flexibility of wheel can be effectively improved, the smooth running of wheel is improved.
Description
Technical field
The utility model is related to transport vehicle technical field, more particularly to a kind of wheel and transport vehicle.
Background technology
In order to realize walking and steering that transport vehicle is more flexible, a kind of wheel is set on transport vehicle in the prior art, should
Several son wheels that can freely rotate that wheel includes wheel hub and is arranged on wheel hub, revolution of this little wheel relative to wheel hub
Centerline dip is set, and so in wheel rolling, sub- wheel can produce lateral movement, and then be made by the combination of multiple wheels
With and control, can make car body produce plane of movement in any direction movement and rotation.
However, this existing wheel, its sub- wheel is certain relative to the angle of inclination of the centre of gyration, its application is flexible
Property it is poor, especially when road conditions change, such as when being walked on rough road surface, it is more difficult to ensure son wheel with ground protect
Good contact is held, often jolting more serious phenomenon occur, smooth running is poor.
Utility model content
A technical problem to be solved in the utility model is：There is the wheel for tilting son wheel, application flexibility at present
It is poor, it is more difficult to adapt to the road conditions of change.
In order to solve the above-mentioned technical problem, the utility model provides a kind of wheel.The wheel includes wheel hub and is arranged at
Several sub- wheels on wheel hub, the centre of gyration line that several sub- wheels can be with wheel hub around wheel hub is rotated, and realizes the walking of wheel, and
Each height wheel can be around the center axis thereof of itself, moreover, the wheel also includes pose adjustment mechanism, pose adjustment mechanism
It is capable of the angle between the central axis of each height wheel of synchronous adjustment and wheel hub centre of gyration line.
Alternatively, pose adjustment mechanism is configured to turn round with wheel hub by the central axis of each height wheel of synchronous adjustment
Angle between center line changes to adjust the cambered surface registration of adjacent sub- wheel in the range of 1-1.2.
Alternatively, pose adjustment mechanism is capable of between the central axis of each height wheel of synchronous adjustment and wheel hub centre of gyration line
Angle change in the range of 0 ° -50 °.
Alternatively, pose adjustment mechanism is capable of between the central axis of each height wheel of synchronous adjustment and wheel hub centre of gyration line
Angle change in the range of 40 ° -50 °.
Alternatively, wheel hub includes the first support ring and the second support ring that central axis is overlapped with centre of gyration line, each
The first end of son wheel is hinged with the first support ring, and the second end of each height wheel is hinged with the second support ring, pose adjustment machine
Structure and at least one the first support ring and the second support ring drive connection simultaneously can make the second support ring and the first support ring wraparound
Turn center line relative rotation, to adjust the angle between the central axis of each height wheel and wheel hub centre of gyration line.
Alternatively, pose adjustment mechanism includes gear mechanism, and the second support ring is gear ring, and pose adjustment mechanism passes through gear
Mechanism and the second support ring engage to drive the second support ring to rotate relative to the first support ring.
Alternatively, gear mechanism includes the centre wheel and planetary gear that differential gear train is cooperatively formed with the second support ring, center
Wheel is arranged concentrically with the second support ring, and planetary gear is engaged between centre wheel and the second support ring, so that centre wheel can pass through
Planetary gear drives the second support ring to be rotated relative to the first support ring around centre of gyration line.
Alternatively, pose adjustment mechanism also includes motivation of adjustment source, motivation of adjustment source and gear mechanism drive connection, is used for
Drive gear mechanism is rotated.
Alternatively, wheel also includes walking power source, walking power source and the first support ring drive connection, for driving the
One support ring is rotated around centre of gyration line, to realize the walking of wheel.
Alternatively, wheel also includes several self-aligning bearings, and several self-aligning bearings are corresponded with several sub- wheels, and each tune
Heart bearing is arranged between the first end of corresponding sub- wheel and the first support ring；And/or, wheel also includes several ball pivots, several
Ball pivot is corresponded with several sub- wheels and set, and each ball pivot be arranged at corresponding sub- wheel the second end and the second support ring it
Between.
On the other hand the utility model additionally provides a kind of transport vehicle, and it includes wheel of the present utility model.
The utility model on wheel by setting pose adjustment mechanism so that wheel can be adjusted using pose adjustment mechanism
The angle of inclination of whole each height wheel, the angle of inclination and road conditions for making sub- wheel is adapted, and advantageously ensures that sub- wheel is protected with the ground moment
Good contact is held, therefore, it is possible to effectively improve the application flexibility of wheel, the smooth running of wheel is improved.
By the way that exemplary embodiment of the present utility model is described in detail referring to the drawings, it is of the present utility model its
Its feature and its advantage will be made apparent from.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows the three-dimensional structure diagram of the wheel of the embodiment of the utility model one.
Fig. 2 shows the motion principle schematic diagram of the transport vehicle of the embodiment of the utility model one.
In figure：
1st, wheel；11st, the first support ring；12nd, the second support ring；13rd, sub- wheel；141st, centre wheel；142nd, planetary gear；15、
Self-aligning bearing；16th, ball pivot；
2nd, motor.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.The description only actually at least one exemplary embodiment is illustrative below, never as to this practicality
New and its application or any limitation used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having
There is the every other embodiment carried out and obtained under the premise of creative work, belong to the scope of the utility model protection.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.
In description of the present utility model, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " horizontal,
Vertically, vertically, level " and " top, bottom " etc. indicated by orientation or position relationship be normally based on orientation shown in the drawings or position
Relation is put, description the utility model is for only for ease of and simplifies description, in the case where not making opposite explanation, these nouns of locality
Do not indicate that and imply that the device or element of meaning there must be specific orientation or with specific azimuth configuration and operation, because
This is it is not intended that limitation to the utility model protection domain；The noun of locality " inside and outside " refers to the wheel relative to each part in itself
Wide is inside and outside.
In description of the present utility model, it is to be understood that limit zero using the word such as " first ", " second "
Part, it is only for be easy to distinguish corresponding parts, such as without Stated otherwise, above-mentioned word does not have particular meaning,
Therefore it is not intended that limitation to the utility model protection domain.
Fig. 1 shows one embodiment of the utility model wheel.Reference picture 1, wheel 1 provided by the utility model,
Including wheel hub and the several sub- wheels 13 being arranged on wheel hub, the centre of gyration line that several sub- wheels 13 can be with wheel hub around wheel hub turns
It is dynamic, the walking of wheel 1 is realized, and each height wheel 13 can be around the center axis thereof of itself, moreover, the wheel 1 also includes
Pose adjustment mechanism, the pose adjustment mechanism be capable of the central axis of each height wheel 13 of synchronous adjustment and wheel hub centre of gyration line it
Between angle.
(hereinafter referred to as son takes turns 13 inclination angle to angle between the central axis and wheel hub centre of gyration line of son wheel 13
Degree) the cambered surface registration of adjacent sub- wheel 13 can be influenceed, and cambered surface registration influences the rotation process neutron wheel 13 of wheel 1 and ground
Contact situation.In the prior art, the angle of inclination of sub- wheel 13 can not change, and cause the cambered surface registration of adjacent sub- wheel 13 can not
Made adjustment according to actual road conditions, so, it is impossible to ensure that the son wheel 13 of the wheel 1 when road conditions change still is able to protect with ground
Hold good contact.
And the utility model is by setting pose adjustment mechanism so that wheel 1 can be adjusted flexibly respectively according to actual road conditions
The angle of inclination of height wheel 13, so as to ensure that the angle of inclination of sub- wheel 13 is adapted with road conditions, be advantageously implemented wheel 1 with
Good contact at the time of ground, jolts therefore, it is possible to effectively reduction, improves the smooth running of wheel 1, and cause this practicality new
The wheel 1 of type is adapted to more road conditions, effectively improves the application flexibility of wheel 1.
In the utility model, wheel hub can include the first support ring 11 that be overlapped with centre of gyration line of central axis and the
Two support rings 12, the first end of each height wheel 13 is hinged with the first support ring 11, and the second end of each height wheel 13 is with second
Support ring 12 is hinged, and pose adjustment mechanism and at least one the first support ring 11 and the second support ring 12 drive connection and can
The second support ring 12 and the first support ring 11 is relatively rotated around revolution center line, realize to the central axis of each height wheel 13 with
The synchronous adjustment of angle between wheel hub centre of gyration line.Based on this, pose adjustment mechanism passes through driving and each two ends of height wheel 13
The first support ring 11 and the second support ring 12 being respectively articulated with produce the relative rotation around revolution center line, can cause each height
The two ends of wheel 13 produce relative skew, so that the central axis of each height wheel 13 shifts relative to centre of gyration line,
And then it is capable of the angle of inclination of each height wheel 13 of synchronous change, it is allowed to be adapted with actual road conditions, is conducive to raising wheel 1 to apply
Flexibility and smooth running.
In order that the first support ring 11 and the second support ring 12 produce the relative rotation around revolution center line, the utility model
Pose adjustment mechanism can with the drive connection of the first support ring 11, or with the drive connection of the second support ring 12, can also be same
When with the first support ring 11 and the second support ring 12 drive connection simultaneously.Wherein, in order to simplify structure, pose adjustment mechanism is preferred
Be set to a drive connection in the first support ring 11 and the second support ring 12, so only need to be by driving the first support ring
11 and second relative rotation to realize the first support ring 11 and the second support ring 12 in support ring 12, structure is simpler
It is single, also it is more convenient for by driving another in the first support ring 11 and the second support ring 12 to realize the walking of whole wheel 1.
The utility model is described further with reference to the embodiment shown in Fig. 1.
As shown in figure 1, in this embodiment, wheel 1 includes wheel hub, several sub- wheels 13 and pose adjustment mechanism, wherein, wheel
Hub includes the first support ring 11 and the second support ring 12, and pose adjustment mechanism includes gear mechanism.
As shown in Figure 1, in this embodiment, the first support ring 11 and the relative spacing of the second support ring 12 are set, the two
Central axis is conllinear, moreover, the first support ring 11 is overlapped with the central axis of the second support ring 12 with the centre of gyration line of wheel hub,
When wheel hub is rotated around centre of gyration line, wheel 1 realizes walking function.
In order to realize the rotation of whole wheel 1, wheel 1 can also include being used for the walking power source that driving moment 1 is walked.
In this embodiment, walking power source is the motor 2 shown in Fig. 2, the drive connection of 2 and first support ring of motor 11, by driving
Dynamic first support ring 11 carrys out driving moment 1 around the rotation of centre of gyration line and walked.Certainly, walking power source can also use other
Power-equipment, as long as walking power can be provided for wheel 1.
As shown in figure 1, in this embodiment, all sub- wheels 13 be all connected to the first support ring 11 and the second support ring 12 it
Between, so when wheel hub is rotated around revolution center line, each height wheel 13 also can be rotated around centre of gyration line therewith, be made every
Height wheel 13 can realize the circulating contact with ground.Moreover, each height wheel 13 simultaneously with the first support ring 11 and second
Circle is held 12 to be hinged, so, in the walking process of wheel 1, each height wheel 13 can also around the center axis thereof of itself so that
When angle between the central axis and centre of gyration line of group wheel 13 is not 0, namely group wheel 13 it is tilting when, wheel 1 can be by
The side-friction force applied to ground, and then produce the motion such as steering.
Specifically, as shown in figure 1, in this embodiment, between the first end and the first support ring 11 per height wheel 13
Provided with self-aligning bearing 15, the first end per height wheel 13 is realized and the first support ring 11 by corresponding self-aligning bearing 15
Be hinged；Ball pivot 16 is equipped with per between the second end of height wheel 13 and the second support ring 12, the second end per height wheel 13 is equal
Realized and be hinged with the second support ring 12 by corresponding ball pivot 16.
By setting self-aligning bearing 15 and ball pivot 16, not only enable each height wheel 13 for greater flexibility around its center
Axis is rotated, and the angle of inclination for pose adjustment mechanism antithetical phrase wheel 13 of being also more convenient for is adjusted, and this point will be further below
Explanation.
In this embodiment, pose adjustment mechanism and the drive connection of the second support ring 12 and drive the second support ring 12 relative
Rotated in the first support ring 11, namely in this embodiment, the second support ring 12 not only will together exist with the first support ring 11
Walk and rotate (be considered as revolution) around revolution center line under the driving of power source, will also pose adjustment mechanism driving effect
Under around the center axis thereof (being considered as rotation) of itself, produce the rotation relative to the first support ring 11.
Specifically, as shown in Figure 1, the second support ring 12 of the embodiment is gear ring, and second support ring 13 is adjusted with pose
The gear mechanism engagement of complete machine structure so that pose adjustment mechanism can be driven by engaging for gear mechanism and the second support ring 12
Dynamic second support ring 12 is rotated relative to the first support ring 11, simple and compact for structure, and can realize that antithetical phrase wheel 13 is tilted
Angle is more accurately adjusted.
Because the first end of each height wheel 13 is hinged with the first support ring 11, and each height wheel 13 the second end with
Two support rings 12 are hinged, therefore, when the second support ring 12 is rotated relative to the first support ring 11, in the band of the second support ring 12
Under dynamic, it can be shifted per the second end of height wheel 13 relative to the first end of itself so that the center of each height wheel 13
Axis shifts both with respect to centre of gyration line, and the central axis of each height wheel 13 of synchronous change is relative to centre of gyration line
Angle, that is, adjust the angle of inclination of each height wheel 13, namely adjusts the pose of each height wheel 13, effectively improves the application of wheel 1
Flexibility, expands its application.Moreover, based on this, when wheel 1 is walked on rough road surface, wheel 1 can root
Factually border road conditions utilize the angle of inclination of its each height wheel 13 of pose adjustment mechanism synchronous adjustment, make the inclination angle of each height wheel 13
Degree is adapted with actual surface conditions, so that advantageously ensuring that in whole driving process always has sub- wheel 13 to keep well connecing with ground
Touch, so, advantageously reduce traveling and jolt, improve the smooth running of wheel 1.
Moreover, as previously shown, in this embodiment, ball pivot is provided between the second end of sub- wheel 13 and the second support ring 12
16, because ball pivot 16 can cause the second end of sub- wheel 13 to have more rotary freedoms, therefore, change in pose adjustment mechanism
During the angle of inclination of varitron wheel 13, the second end of sub- wheel 13 can be for greater flexibility as the second support ring 12 be relative to the first supporting
Circle 11 is rotated, and further improves flexibility and the reliability of pose adjustment；In addition, the first end and the first support ring 11 of son wheel 13
Between be provided with self-aligning bearing 15, self-aligning bearing 15 can better adapt to first end of second end relative to sub- wheel 13 of sub- wheel 13
The skew occurred, so as to more easily realize the adjustment at the angle of inclination of pose adjustment mechanism antithetical phrase wheel 13.
More specifically, as shown in figure 1, the gear mechanism of the embodiment includes cooperatively forming differential gear with the second support ring 12
The centre wheel 141 and planetary gear 142 of system, wherein, centre wheel 141 is arranged concentrically with the second support ring 12, and planetary gear 142 is engaged in
Between the support ring 12 of centre wheel 141 and second.So when centre wheel 141 is rotated, centre wheel 141 can pass through planetary gear 142
Drive the second support ring 12 to be rotated relative to the first support ring 11 around centre of gyration line, realize the tune to each sub- pose of wheel 13
It is whole.By setting centre wheel 141 and the support ring 12 of planetary gear 142 and second formation differential gear train, to realize to each sub- 13, wheel
The adjustment of appearance, can make it that the structure of wheel 1 is simpler compact.In addition, based on this, driving first is previously used in arrangement
When holding the motor 2 that circle is rotated, can make the output shaft of aforementioned motor 2 through the centre bore of centre wheel 141 with the first support ring
11 connections.
In order to drive the gear mechanism of the embodiment to rotate, pose adjustment mechanism can also include motivation of adjustment source (in figure
It is not shown), the motivation of adjustment source and gear mechanism drive connection, for providing power for the rotation of gear mechanism.For example, adjustment
Power source can be the motor with the drive connection of centre wheel 141 of the embodiment, be rotated using motor driving centre wheel 141,
Realize the adjustment to each sub- angle of inclination of wheel 13 (i.e. each pose of sub- wheel 13).
In this embodiment, in order to preferably keep contact of the sub- wheel 13 with ground, smooth running, position are further improved
Appearance adjustment mechanism is preferably arranged to that the arc of adjacent sub- wheel 13 can be adjusted by the angle of inclination of each height wheel 13 of synchronous adjustment
Face registration changes in the range of 1-1.2.
The cambered surface registration of adjacent sub- wheel 13 is maintained in the range of 1-1.2, ensure that and begin in the rotation process of wheel 1
There is sub- wheel 13 and ground to keep contacting eventually, prevent wheel 1 make somebody a mere figurehead, grab loosely and the problems such as throw switch, further improve car
The running stability of wheel 1.
Moreover, making the cambered surface registration of adjacent sub- wheel 13 be maintained in the range of 1-1.2, the rotation process of wheel 1 can also be made
The middle situation that there is two-wheel contact (i.e. two son wheels 13 with ground while contact).For example, when wheel 1 include 9 son wheel 13 and
When adjustment is 45 ° per the angle of inclination of height wheel 13, the cambered surface registration of adjacent sub- wheel 13 is 1, in this case, in 1 turn of wheel
During dynamic, it is possible to achieve single two-wheel is alternately contacted with road surface, it is specially：In 0 ° of -15 ° of interval, two son wheel 13 simultaneously with
Ground is contacted；In 15 ° of -55 ° of intervals, single sub- wheel 13 is contacted with ground；In 55 ° of -70 ° of intervals, two son wheels 13 and ground
Face is contacted, namely realizes the rotation process of " contact of two-wheel contact --- single-wheel contact --- two-wheel ".
Due to situation about being contacted relative to sub- wheel 13 single all the time with ground, two son wheels 13 are contacted with ground simultaneously when
Contact area is larger, and this not only can further reduce vertical fluctuation, improves running stability；Ground antithetical phrase wheel can also be reduced
13 abrasion, the service life of extension wheel 13, improves the functional reliability of wheel 1, and effectively improve the load energy of sub- wheel 13
Power, strengthens the heavy burden ability of wheel 1, so that the transport vehicle with the wheel 1 can be used in the case of heavier loads,
Be conducive to realizing that the goods compared with big load is carried based on less transport vehicle.
In this embodiment, pose adjustment mechanism be preferably arranged to be capable of the central axis of each height wheel 13 of synchronous adjustment with
Angle between wheel hub centre of gyration line changes in the range of 0 ° -50 °, for example, angle can be 0 °, 42 °, 45 ° and 47 °.Its
In, when the angle that pose adjustment mechanism adjusts between the central axis and wheel hub centre of gyration line of each height wheel 13 is 0 °, son
Wheel 13 is in non-tilt state, and wheel 1 in the process of walking and is not affected by cross component force, and wheel 1 is in straight-going state；And work as position
When the angle that appearance adjustment mechanism adjusts between the central axis and wheel hub centre of gyration line of each height wheel 13 is not 0 °, for example, excellent
Selection of land, angle between the central axis and wheel hub centre of gyration line of each height wheel 13 of pose adjustment mechanism synchronous adjustment 40 °-
When changing in the range of 50 °, sub- wheel 13 is in tilting state, and wheel 1 can realize steering in the process of walking by cross component force
Motion, then by being applied in combination and controlling to each wheel 1, the function such as lateral movement or original turning can be completed, make fortune
Defeated car can work for greater flexibility, increase the scope of application of transport vehicle.
Fig. 2 shows the motion principle schematic diagram of the transport vehicle including four the utility model wheels 1.As shown in Fig. 2 should
Transport vehicle includes four wheels 1 for being arranged in car body both sides, and each wheel 1 includes a motor 2, and each motor 2 is used to drive
Move corresponding wheel 1 to move, four respective motion states of wheel 1 are controlled by four motors 2, it is possible to achieve keep straight on, laterally
Mobile and pivot turn plurality of operating modes.
For example, when transport vehicle needs the x directions straight-line travelling shown in Fig. 2, namely when needing straight-line travelling, can control
Four wheels 1 of system meet following condition：W1=W2=W3=W4, and Vx=RW1, Vy=0；
When transport vehicle needs the y directions straight-line travelling shown in Fig. 2, namely when needing lateral translation, four can be controlled
Individual wheel 1 meets following condition：W1=-W2=-W3=W4, and Vx=0, Vy=-RW1；
When straight line needs pivot turn, four wheels 1 can be controlled to meet following condition：W1=-W2=W3=-W4,
And Vx=0, Vy=0, W5=-W1R/ (L1+L2)；
Wherein, W1, W2, W3 and W4 are respectively the angular speed of each wheel 1, and W5 is the pivot turn speed of transport vehicle, and R is car
The hub radius of wheel 1, Vx、VyRespectively transport vehicle is along x-axis and the travel speed of y-axis, and L1 and L2 are respectively then each wheel 1 in x-axis
The distance of direction and y-axis direction away from turning center.
It can be seen that, wheel 1 of the present utility model is applied on transport vehicle, the function of transport vehicle can be enriched, is realized cleverer
Transportation Model living, with a greater variety, effectively expands the scope of application of transport vehicle.So, on the other hand the utility model additionally provides
A kind of transport vehicle, such as AGV transport vehicles, it includes wheel 1 of the present utility model.
Exemplary embodiment of the present utility model is the foregoing is only, it is all in this reality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in of the present utility model
Within protection domain.
Claims (11)
1. a kind of wheel (1), including wheel hub and the several sub- wheels (13) being arranged on the wheel hub, several sub- wheel (13) energy
Enough centre of gyration lines with the wheel hub around the wheel hub are rotated, and realize the walking of the wheel (1), and each described sub- wheel
(13) can be around the center axis thereof of itself, it is characterised in that the wheel (1) also includes pose adjustment mechanism, described
Pose adjustment mechanism is capable of between the central axis of synchronous adjustment each sub- wheel (13) and the wheel hub centre of gyration line
Angle.
2. wheel (1) according to claim 1, it is characterised in that the pose adjustment mechanism is configured to by same
Angle between the central axis and the wheel hub centre of gyration line of each sub- wheel (13) of successive step is adjacent described to adjust
The cambered surface registration of son wheel (13) changes in the range of 1-1.2.
3. wheel (1) according to claim 1, it is characterised in that the pose adjustment mechanism can synchronous adjustment each
Angle between the central axis and the wheel hub centre of gyration line of the sub- wheel (13) changes in the range of 0 ° -50 °.
4. wheel (1) according to claim 3, it is characterised in that the pose adjustment mechanism can synchronous adjustment each
Angle between the central axis and the wheel hub centre of gyration line of the sub- wheel (13) changes in the range of 40 ° -50 °.
5. according to any described wheels (1) of claim 1-4, it is characterised in that the wheel hub include central axis with it is described
The first support ring (11) and the second support ring (12) that centre of gyration line is overlapped, the first end of each sub- wheel (13) is and institute
State the first support ring (11) to be hinged, the second end of each sub- wheel (13) is hinged with second support ring (12), described
At least one pose adjustment mechanism and first support ring (11) and second support ring (12) drive connection can simultaneously make
Second support ring (12) relatively rotates with first support ring (11) around the centre of gyration line, to adjust described in each
Angle between the central axis and the wheel hub centre of gyration line of son wheel (13).
6. wheel (1) according to claim 5, it is characterised in that the pose adjustment mechanism includes gear mechanism, described
Second support ring (12) is gear ring, and the pose adjustment mechanism is nibbled by the gear mechanism and the second support ring (12)
Close to drive second support ring (12) to rotate relative to first support ring (11).
7. wheel (1) according to claim 6, it is characterised in that the gear mechanism includes and second support ring
(12) centre wheel (141) and planetary gear (142) of differential gear train, the centre wheel (141) and the described second supporting are cooperatively formed
Circle (12) is arranged concentrically, and the planetary gear (142) is engaged between the centre wheel (141) and second support ring (12),
So that the centre wheel (141) can drive second support ring (12) relative to described the by the planetary gear (142)
One support ring (11) is rotated around the centre of gyration line.
8. wheel (1) according to claim 6, it is characterised in that the pose adjustment mechanism also includes motivation of adjustment source,
The motivation of adjustment source and the gear mechanism drive connection, for driving the gear mechanism to rotate.
9. wheel (1) according to claim 6, it is characterised in that the wheel (1) also includes walking power source, described
Walking power source and the first support ring (11) drive connection, for driving first support ring (11) around the revolution
Center line is rotated, to realize the walking of the wheel (1).
10. wheel (1) according to claim 5, it is characterised in that the wheel (1) also includes several self-aligning bearings
(15), several self-aligning bearings (15) correspond with several sub- wheels (13), and each self-aligning bearing (15) sets
It is placed between the first end of the corresponding sub- wheel (13) and first support ring (11)；And/or, the wheel (1) is also wrapped
Several ball pivots (16) are included, several ball pivots (16) correspond with several sub- wheels (13) and set, and each ball pivot (16)
It is arranged between the second end of the corresponding sub- wheel (13) and second support ring (12).
11. a kind of transport vehicle, it is characterised in that including the wheel (1) as described in claim 1-10 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621416820.XU CN206485129U (en) | 2016-12-22 | 2016-12-22 | Wheel and transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621416820.XU CN206485129U (en) | 2016-12-22 | 2016-12-22 | Wheel and transport vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206485129U true CN206485129U (en) | 2017-09-12 |
Family
ID=59771360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621416820.XU Withdrawn - After Issue CN206485129U (en) | 2016-12-22 | 2016-12-22 | Wheel and transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206485129U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018113395A1 (en) * | 2016-12-22 | 2018-06-28 | 北京京东尚科信息技术有限公司 | Vehicle wheel and transport vehicle |
| CN113443063A (en) * | 2021-07-27 | 2021-09-28 | 哈尔滨轮速科技有限公司 | Electric power-assisted bicycle |
-
2016
- 2016-12-22 CN CN201621416820.XU patent/CN206485129U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018113395A1 (en) * | 2016-12-22 | 2018-06-28 | 北京京东尚科信息技术有限公司 | Vehicle wheel and transport vehicle |
| CN108215654A (en) * | 2016-12-22 | 2018-06-29 | 北京京东尚科信息技术有限公司 | Wheel and transport vehicle |
| CN108215654B (en) * | 2016-12-22 | 2023-11-03 | 北京京东乾石科技有限公司 | Wheel and transport vehicle |
| CN113443063A (en) * | 2021-07-27 | 2021-09-28 | 哈尔滨轮速科技有限公司 | Electric power-assisted bicycle |
| CN113443063B (en) * | 2021-07-27 | 2022-05-03 | 哈尔滨轮速科技有限公司 | Electric power-assisted bicycle |
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Effective date of registration: 20200529 Address after: Room A1905, 19th floor, No. 2 Building, 18 Kechuang 11th Street, Beijing Daxing District, Beijing Patentee after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: East Building 11, 100195 Beijing city Haidian District xingshikou Road No. 65 west Shan creative garden district 1-4 four layer of 1-4 layer Co-patentee before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. Patentee before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. |
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Granted publication date: 20170912 Effective date of abandoning: 20231103 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20170912 Effective date of abandoning: 20231103 |