CN100364856C - Driving and steering integrated wheel of moon craft - Google Patents
Driving and steering integrated wheel of moon craft Download PDFInfo
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- CN100364856C CN100364856C CNB2005100277142A CN200510027714A CN100364856C CN 100364856 C CN100364856 C CN 100364856C CN B2005100277142 A CNB2005100277142 A CN B2005100277142A CN 200510027714 A CN200510027714 A CN 200510027714A CN 100364856 C CN100364856 C CN 100364856C
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Abstract
The present invention relates to a driving and steering integrated wheel of a moon detecting vehicle which belongs to the technical field of machines. The present invention comprises a wheel rim, an outer sealing plate, a wheel hub, a transmission sleeve, a connecting bracket, a deep groove ball bearing, a motor bracket sleeve, a driving direct current speed reducing motor, an inner seal of a shaft cover, a shaft cover, a connecting sleeve, an inner seal of a sealing plate, an inner sealing plate, a movable rigid wheel of a harmonic gear speed reducer, a fixing rigid wheel of a harmonic gear speed reducer, an input shaft sleeve of a harmonic gear speed reducer, a sliding supporting sleeve, a speed reducing wave generator of a harmonic gear, a baffle plate, a cover plate, a rotating shaft, an inner seal of an end cover, an end cover, a sleeve cup, two angular contact ball bearings, a motor supporting seat, a steering direct current speed reducing motor, a supporting cylinder, a screw cover and a connecting rack, wherein the whole wheel of the present invention has a sealing structure, and the wheel rim and the wheel hub have composite structures, and the running driving direct current speed reducing motor and a harmonic gear speed reducer are connected in series and in a coaxial method. The present invention has the advantages of compact structure and high output torque, and the wheel can simultaneously realize driving running and steering demands on a complex landform.
Description
Technical field
What the present invention relates to is a kind of wheel of field of mechanical technique, specifically, is a kind of driving and steering integrated wheel of moon craft.
Background technology
Have now and relate to the extraterrestrial detection (moon, Mars etc.) moving vehicle mostly adopts self-contained drive wheels, serial mars exploration car Robby as U.S. JPL development, Go,-For, the wheel train structure of the mobile system of Rocky, climb up " sojourner " of Mars, " Suo Jiena ", " Opportunity Rover ", mars exploration cars such as " courage number " all adopts self-contained driving integrated wheel, be about to drive motor, gear reduction is provided with, speed and position-detection sensor etc. all concentrate on inside wheel, simplified the driving system of general moving vehicle, make extraterrestrial probe vehicles adapt to the moon more, landforms and environment requirement such as Mars, the concrete structure of its integrated wheel externally are covert.
Find by prior art documents, the Chinese patent publication number is CN1600587A, denomination of invention is: eight take turns torsion rod spring suspension type vehicle-carrying mechanism, this technology discloses a kind of eight and has taken turns torsion rod spring suspension type vehicle-carrying mechanism, a kind of self-contained drive wheels that provides, because the output of deceleration DC machine directly links to each other with wheel, driving torque is little, big retarding than the time driving efficiency low, the wheel rim of wheel and wheel hub adopt the integrated material structure, improved the wheel cost, the wheel that this invention simultaneously provides does not have the function of turning to.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art part, a kind of driving and steering integrated wheel of moon craft is provided, make its driving efficiency height, reduction ratio is big, the drive torque height, and compact conformation can drive and can turn to.
The present invention is achieved by the following technical solutions, the present invention includes: wheel rim, outer shrouding, wheel hub, drive sleeve, connect support, deep groove ball bearing, the electric machine support cover, drive DC speed-reducing, sealing in the shaft-cup, shaft-cup, adapter sleeve, sealing in the shrouding, inner sealed board, the moving wheel just of harmonic gear reducer, the quiet firm wheel of harmonic gear reducer, harmonic gear reducer input axle sleeve, sliding supporting sleeve, harmonic gear deceleration wave producer, baffle plate, cover plate, rotating shaft, sealing in the end cap, end cap, a set of cups, two angular contact ball bearings, the motor bearing, the turning DC reducing motor, support tube, screw top, link span, be connected by screw between wheel rim and the wheel hub, driving DC speed-reducing is located in the electric machine support cover, the electric machine support cover is located in the wheel hub by two deep groove ball bearings, harmonic gear reducer input axle sleeve one end is set on the output shaft that drives DC speed-reducing, the harmonic gear reducer input axle sleeve other end and sliding supporting sleeve free-running fit, sliding supporting sleeve press fit in the hole of drive sleeve, harmonic gear deceleration wave producer is connected with harmonic gear reducer input shaft cover, the quiet firm wheel of harmonic gear reducer by screw be connected support and fix, it is affixed to connect support and electric machine support cover, the moving wheel just of harmonic gear reducer is affixed with drive sleeve, drive sleeve by screw retention on the end face of the outside of wheel hub, shaft-cup is fixed on the inner side end of wheel hub, between shaft-cup and electric machine support cover, be press-fitted in the shaft-cup and sealed, adapter sleeve is cemented on the flange of electric machine support cover by screw, inner sealed board is fixed on the inner side end of wheel rim, between inner sealed board and adapter sleeve, be press-fitted in the shrouding and sealed, outer shrouding by screw retention on the end face of the outside of wheel rim, the turning DC reducing motor is connected with motor bearing screw, the motor bearing is connected with the support tube screw, one end of rotating shaft is enclosed within on the output shaft of turning DC reducing motor and by pin and connects, two angular contact ball bearings and rotating shaft interference fit, a set of cups, end cap is connected with the support tube screw, be provided with sealing in the end cap in the end cap, the support tube top is threaded with screw top, link span is connected with screw top by screw, the other end of rotating shaft is connected with adapter sleeve, baffle plate and rotating shaft and adapter sleeve are affixed, are connected by screw between cover plate and the adapter sleeve.
Described deep groove ball bearing and wheel hub are interference fit.
Described deep groove ball bearing and electric machine support cover are transition fit.
Described two angular contact ball bearing dos-s are located in a set of cups.
Described two angular contact ball bearings and a set of cups transition fit.
Described driving DC speed-reducing is connected with the harmonic gear reducer coaxial line.
Drive DC speed-reducing power is passed to harmonic gear deceleration wave producer by harmonic gear reducer input axle sleeve, power slows down to increase through harmonic gear and turns round the back and move firm wheel, drive sleeve, wheel hub by harmonic gear reducer, pass to wheel rim, realize the driving of travelling of wheel; The turning DC reducing motor with power by the axis rotation around the shaft of drive wheels such as rotating shaft, adapter sleeve, thereby realize the divertical motion of wheel, the steering driving shaft line with travel the driving axis perpendicular quadrature.Whole wheel adopts sealed construction, wheel rim and wheel hub adopt sectional construction, DC speed-reducing and harmonic gear deceleration coaxial line install in series, compact conformation, the output torque height, can be implemented in driving on the complex-terrain requirement of travelling, the drive part that turns to of wheel is enclosed in the wheel support tube.
The present invention will drive DC speed-reducing and volume is little, the driving efficiency height, the harmonic gear that reduction ratio is big slows down to be provided with and organically is combined in the drive wheels, improved the driving torque of integrated wheel, simultaneously, the turning DC reducing motor is passed through support tube, parts such as rotating shaft link to each other with the adapter sleeve of wheel, can realize the independent steering of wheel, the steering driving shaft line and the driving axis perpendicular quadrature that travels, wheel rim and wheel hub have adopted sectional construction, be convenient to wheel rim and adopt the high-wearing feature material, wheel rim surface does to improve the decorative pattern processing of cohesive resistance, wheel hub then can adopt light metal material to alleviate wheel single-piece weight, and the drive part that turns to of wheel is enclosed in the wheel support tube.
Description of drawings
Fig. 1 is a structural representation of the present invention
The specific embodiment
As shown in Figure 1, the present invention includes: wheel rim 1, outer shrouding 2, wheel hub 3, drive sleeve 4, connect support 10, deep groove ball bearing 11, electric machine support cover 12, drive DC speed-reducing 13, sealing 14 in the shaft-cup, shaft-cup 15, adapter sleeve 16, sealing 17 in the shrouding, inner sealed board 18, the moving wheel 5 just of harmonic gear reducer, the quiet firm wheel 6 of harmonic gear reducer, harmonic gear reducer input axle sleeve 7, sliding supporting sleeve 8, harmonic gear deceleration wave producer 9, baffle plate 19, cover plate 20, rotating shaft 21, sealing 22 in the end cap, end cap 23, a set of cups 24, two angular contact ball bearings 25, motor bearing 26, turning DC reducing motor 27, support tube 28, screw top 29 and link span 30, be connected by screw between wheel rim 1 and the wheel hub 3, driving DC speed-reducing 13 is located in the electric machine support cover 12, electric machine support cover 12 is located in the wheel hub 3 by two deep groove ball bearings 11, harmonic gear reducer input axle sleeve 7 one ends are set on the output shaft that drives DC speed-reducing 13, harmonic gear reducer input axle sleeve 7 other ends and sliding supporting sleeve 8 free-running fits, sliding supporting sleeve 8 press fit in the hole of drive sleeve 4, harmonic gear deceleration wave producer 9 is connected with harmonic gear reducer input axle sleeve 7, the quiet firm wheel 6 of harmonic gear reducer by screw with to be connected support 10 fixing, connecting support 10 and electric machine support overlaps 12 affixed, the moving wheel 5 just of harmonic gear reducer is affixed with drive sleeve 4, drive sleeve 4 by screw retention on the end face of the outside of wheel hub 3, shaft-cup 15 is fixed on the inner side end of wheel hub 3, between shaft-cup 15 and electric machine support cover 12, be press-fitted and sealed 14 in the shaft-cup, adapter sleeve 16 is cemented on the flange of electric machine support cover 12 by screw, inner sealed board 18 is fixed on the inner side end of wheel rim 1, between inner sealed board 18 and adapter sleeve 16, be press-fitted and sealed 17 in the shrouding, outer shrouding 2 by screw retention on the end face of the outside of wheel rim 1, turning DC reducing motor 27 is connected with motor bearing 26 screws, motor bearing 26 is connected with support tube 28 screws, one end of rotating shaft 21 is enclosed within on the output shaft of turning DC reducing motor 27 and by pin and connects, two angular contact ball bearings 25 and rotating shaft 21 interference fit, a set of cups 24, end cap 23 is connected with support tube 28 screws, be provided with sealing 22 in the end cap in the end cap 23, support tube 28 tops are threaded with screw top 29, link span 30 is connected with screw top 29 by screw, the other end of rotating shaft 21 is connected with adapter sleeve 16, baffle plate 19 is affixed with rotating shaft 21 and adapter sleeve 16, is connected by screw between cover plate 20 and the adapter sleeve 16.
Described deep groove ball bearing 11 is an interference fit with wheel hub 3.
Described deep groove ball bearing 11 is a transition fit with electric machine support cover 12.
Described two angular contact ball bearing 25 dos-s are located in a set of cups 24.
Described two angular contact ball bearings 25 and a set of cups 24 transition fit.
Described driving DC speed-reducing 13 is connected with the harmonic gear reducer coaxial line.
Claims (6)
1. driving and steering integrated wheel of moon craft, comprise: wheel rim (1), outer shrouding (2), wheel hub (3), drive sleeve (4), connect support (10), deep groove ball bearing (11), electric machine support cover (12), drive DC speed-reducing (13), sealing (14) in the shaft-cup, shaft-cup (15), adapter sleeve (16), sealing (17) in the shrouding, inner sealed board (18), it is characterized in that, also comprise: the moving wheel (5) just of harmonic gear reducer, the quiet firm wheel of harmonic gear reducer (6), harmonic gear reducer input axle sleeve (7), sliding supporting sleeve (8), harmonic gear deceleration wave producer (9), baffle plate (19), cover plate (20), rotating shaft (21), sealing (22) in the end cap, end cap (23), a set of cups (24), two angular contact ball bearings (25), motor bearing (26), turning DC reducing motor (27), support tube (28), screw top (29) and link span (30), be connected by screw between wheel rim (1) and the wheel hub (3), driving DC speed-reducing (13) is located in the electric machine support cover (12), electric machine support cover (12) is located in the wheel hub (3) by two deep groove ball bearings (11), harmonic gear reducer input axle sleeve (7) one ends are set on the output shaft that drives DC speed-reducing (13), harmonic gear reducer input axle sleeve (7) other end and sliding supporting sleeve (8) free-running fit, sliding supporting sleeve (8) press fit in the hole of drive sleeve (4), harmonic gear deceleration wave producer (9) is connected with harmonic gear reducer input axle sleeve (7), the quiet firm wheel of harmonic gear reducer (6) by screw with to be connected support (10) fixing, it is affixed with electric machine support cover (12) to connect support (10), the moving wheel (5) just of harmonic gear reducer is affixed with drive sleeve (4), drive sleeve (4) by screw retention on the outside end face of wheel hub (3), shaft-cup (15) is fixed on the inner side end of wheel hub (3), between shaft-cup (15) and electric machine support cover (12), be press-fitted sealing (14) in the shaft-cup, adapter sleeve (16) is cemented on the flange of electric machine support cover (12) by screw, inner sealed board (18) is fixed on the inner side end of wheel rim (1), between inner sealed board (18) and adapter sleeve (16), be press-fitted sealing (17) in the shrouding, outer shrouding (2) by screw retention on the outside end face of wheel rim (1), turning DC reducing motor (27) is connected with motor bearing (26) screw, motor bearing (26) is connected with support tube (28) screw, one end of rotating shaft (21) is enclosed within on the output shaft of turning DC reducing motor (27) and by pin and connects, two angular contact ball bearings (25) and rotating shaft (21) interference fit, a set of cups (24), end cap (23) is connected with support tube (28) screw, be provided with sealing (22) in the end cap in the end cap (23), support tube (28) top is threaded with screw top (29), link span (30) is connected with screw top (29) by screw, the other end of rotating shaft (21) is connected with adapter sleeve (16), baffle plate (19) and rotating shaft (21) and adapter sleeve (16) are affixed, are connected by screw between cover plate (20) and the adapter sleeve (16).
2. driving and steering integrated wheel of moon craft according to claim 1 is characterized in that, described deep groove ball bearing (11) is an interference fit with wheel hub (3).
3. driving and steering integrated wheel of moon craft according to claim 1 and 2 is characterized in that, described deep groove ball bearing (11) is a transition fit with electric machine support cover (12).
4. driving and steering integrated wheel of moon craft according to claim 1 is characterized in that, described two angular contact ball bearings (25) dos-is located in a set of cups (24).
5. according to claim 1 or 4 described driving and steering integrated wheel of moon craft, it is characterized in that described two angular contact ball bearings (25) and a set of cups (24) transition fit.
6. driving and steering integrated wheel of moon craft according to claim 1 is characterized in that, described driving DC speed-reducing (13) is connected with the harmonic gear reducer coaxial line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100277142A CN100364856C (en) | 2005-07-14 | 2005-07-14 | Driving and steering integrated wheel of moon craft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100277142A CN100364856C (en) | 2005-07-14 | 2005-07-14 | Driving and steering integrated wheel of moon craft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1718510A CN1718510A (en) | 2006-01-11 |
| CN100364856C true CN100364856C (en) | 2008-01-30 |
Family
ID=35930480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100277142A Expired - Fee Related CN100364856C (en) | 2005-07-14 | 2005-07-14 | Driving and steering integrated wheel of moon craft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100364856C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100395161C (en) * | 2006-03-01 | 2008-06-18 | 北京航空航天大学 | Grip-hook planetary detecting robot wheel |
| CN100393582C (en) * | 2006-09-11 | 2008-06-11 | 北京航空航天大学 | Independent steering gear of scroll torsion |
| CN107124899B (en) | 2016-07-15 | 2019-07-05 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN110758772B (en) * | 2019-08-20 | 2021-04-16 | 哈尔滨工业大学 | Multipurpose planet detection vehicle |
-
2005
- 2005-07-14 CN CNB2005100277142A patent/CN100364856C/en not_active Expired - Fee Related
Non-Patent Citations (3)
| Title |
|---|
| 六轮月球探测车运动学建模与分析. 王佐伟，梁斌，吴宏鑫.宇航学报，第24卷第05期. 2003 * |
| 管道形轮腿式月球探测机器人的运动学建模. 刘方湖，李满华，马培荪.东南大学学报(自然科学版)，第33卷第06期. 2003 * |
| 行星越障轮式月球车的设计. 邓宗全，高海波，胡明，王少纯.哈尔滨工业大学学报，第35卷第02期. 2003 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1718510A (en) | 2006-01-11 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080130 Termination date: 20100714 |