CN100560398C - Differential drive running gear - Google Patents
Differential drive running gear Download PDFInfo
- Publication number
- CN100560398C CN100560398C CNB2008100568457A CN200810056845A CN100560398C CN 100560398 C CN100560398 C CN 100560398C CN B2008100568457 A CNB2008100568457 A CN B2008100568457A CN 200810056845 A CN200810056845 A CN 200810056845A CN 100560398 C CN100560398 C CN 100560398C
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- CN
- China
- Prior art keywords
- gear
- finishing bevel
- bevel gear
- cuter
- gear cuter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The invention discloses a kind of differential drive running gear, belong to obstacle crossing walking system.Technical scheme comprises differential gear train 4-6-7, drive wheels 8 and planetary wheel 7 coaxial rotation that is connected, finishing bevel gear cuter 2 and tie-rod 4 coaxial rotation that is connected, finishing bevel gear cuter 9 and finishing bevel gear cuter 2 engaged transmission, form right half actuating device 9-2-4-6-7-8, with the identical left side of the right side half actuating device half actuating device 9
1-2
1-4
1-6
1-7
1-8
1Be symmetrically arranged on the vehicle frame 10 sun gear 6,6 with the working direction mid-plane
1And finishing bevel gear cuter 1 is connected with main shaft 5 and on vehicle frame 10 coaxial rotation, finishing bevel gear cuter 3 and finishing bevel gear cuter 1 engaged transmission, main driving force drive finishing bevel gear cuter 3, two auxilliary propulsive efforts and drive finishing bevel gear cuter 9 and 9 respectively
1The present invention adopts main driving force and auxilliary propulsive effort differential drive running gear, the walking of drive wheels continous way obstacle detouring, and obstacle climbing ability is strong, and reliable operation is easy to processing and manufacturing.
Description
Technical field
The present invention relates to a kind of differential drive running gear, belong to obstacle crossing walking system.This mechanism adopts continous way obstacle detouring walking manner, can be applied to unfavorable operating condition driving walkings down such as rough complex road surface.
Technical background
In order to advance various uneven grades on the complex road surface, require running gear to have higher flexibility and comformability at obstacle detouring with aspect turning to, people have designed various traveling geaies in the hope of satisfying this demand.
In the article of delivering in 2003 the 2nd phases of Harbin Institute of Technology's journal " design of planet obstacle detouring lunar wheeled vehicle ", each planet Stump-jump wheel of describing the lunar rover vehicle all is a differential gear train that has only a center gear, wheel and tie-rod outer end satellite gear are connected, and have independently to drive on center gear.In fact, this differential gear train just transforms between fixed shaft gear train and planet circular system, and the driving rotating speed on the center gear of control both sides can be realized straight-line travelling, turn to and the crossing obstacle automatically function.Because tie-rod is not directly to be driven but passive rotation, so its obstacle climbing ability is relatively low.
Application number is 94236978.5 utility model patent " Climbing wheel ", each Climbing wheel of describing also all is to transform between planet circular system and fixed shaft gear train, with the difference of " lunar rover vehicle " 3 points are arranged: the one, have only a power, adopt control mechanism to drive different members, the 2nd, drive the tie-rod of both sides train during obstacle detouring simultaneously, make both sides wheel carrier obstacle detouring simultaneously, the 3rd, only drive a side center gear when turning to, and opposite side is static, and it turns to obstacle detouring all dumb.Application number is 200580008392.5 patent of invention, each wheel mechanism of describing all is the differential gear train that two center gears are arranged, wheel and tie-rod are connected, active force drives a center gear of both sides wheel mechanism, left and right sides respectively has an auxiliary power to drive another center gear of corresponding wheel mechanism respectively, straight-line travelling that can control vehicle and turning to only is applicable to level walking, can't realize obstacle detouring.
Summary of the invention
The objective of the invention is to provide a kind of differential drive running gear, and this mechanism adopts continous way obstacle detouring walking manner, can be under unfavorable operating conditions such as rough complex road surface straight-line travelling, turn to and crossing over blockage neatly.
Comprise in order to reach the technical scheme that purpose of the present invention takes: differential gear train is made up of sun gear 6, planetary wheel 7, tie-rod 4, drive wheels 8 and planetary wheel 7 coaxial rotation that is connected, finishing bevel gear cuter 2 and tie-rod 4 coaxial rotation that is connected, finishing bevel gear cuter 9 is formed 90 ° of dead axle engaged transmission with finishing bevel gear cuter 2, form right half actuating device 9-2-4-6-7-8, with its structure, geometric parameter be connected the identical left side of array configuration half actuating device 9
1-2
1-4
1-6
1-7
1-8
1Be symmetrically arranged on the vehicle frame 10 sun gear 6,6 of left and right half actuating device with the working direction mid-plane
1And finishing bevel gear cuter 1 is connected with main shaft 5 and on vehicle frame 10 coaxial rotation, finishing bevel gear cuter 3 is formed 90 ° of dead axle engaged transmission with finishing bevel gear cuter 1, it is n that main driving force drives finishing bevel gear cuter 3 rotating speeds
1, two auxilliary propulsive efforts drive finishing bevel gear cuter 9 and 9 respectively
1Rotating speed is respectively n
2, n
3, constitute differential drive running gear of the present invention (as Fig. 1).Finishing bevel gear cuter 1,2,2
1, sun gear 6,6
1And tie-rod 4,4
1Has the same theory rotation axis, differential gear train 4-6-7,4
1-6
1-7
1In each gear and bevel-gear pair 3-1,9-2 and 9
1-2
1In each gear satisfy correct engagement transmission condition and continuous transmission condition; Drive wheels 8 and 8
1The rotation rotating speed is n
z=n
1* z
6* z
3/ z
7/ z
1, the revolution rotating speed is respectively n
8g=n
2* (1+z
6/ z
7) * z
9/ z
2, n
81g=n
3* (1+z
6/ z
7) * z
9/ z
2, drive wheels 8 and 8
1Absolute rotating speed be respectively n
8=n
1* z
6* z
3/ z
7/ z
1+ n
2* (1+z
6/ z
7) * z
9/ z
2, n
81=n
1* z
6* z
3/ z
7/ z
1+ n
3* (1+z
6/ z
7) * z
9/ z
2, the orientation of three propulsive efforts, turn to and the turning to as shown in Figure 1 of drive wheels; When two auxilliary propulsive effort rotation speed n
2=n
3The time differential drive running gear powered vehicle straight-line travelling, when two auxilliary propulsive effort rotation speed n
2≠ n
3The time differential drive running gear powered vehicle turn to and travel, when vehicle needs monolateral or bilateral obstacle detouring by the auxilliary propulsive effort rotation speed n of differential drive running gear
2, n
3Difference realizes.
In the above-mentioned differential drive running gear, can change the input mode of three propulsive efforts, increase the alerting ability of power input.Remove finishing bevel gear cuter 3,9 and 9
1, with finishing bevel gear cuter 1,2 and 2
1Change cylindrical wheel into, main driving force drives sun gear 6 and 6 by cylindrical wheel 1
1Rotating speed is n
1, two auxilliary propulsive efforts are respectively by cylindrical wheel 2 and 2
1Drive tie-rod 4 and 4
1Rotating speed is respectively n
2, n
3, three propulsive efforts turn to the orientation as shown in Figure 2, drive wheels 8 and 8
1The rotation rotating speed is n
z=n
1* z
6/ z
7, the revolution rotating speed is respectively n
8g=n
2* (1+z
6/ z
7), n
81g=n
3* (1+z
6/ z
7), drive wheels 8 and 8
1Absolute rotating speed be respectively n
8=n
1* z
6/ z
7+ n
2* (1+z
6/ z
7), n
81=n
1* z
6/ z
7+ n
3* (1+z
6/ z
7), differential drive running gear can powered vehicle be finished straight-line travelling, turning and obstacle detouring equally.
In the above-mentioned differential drive running gear, the along the circumferential direction uniform k of planetary wheel 7 (k=3,4,5,6 ...) individual on tie-rod 4, also being k with the planetary wheel 7 coaxial drive wheels that are connected 8, k is big more, and the vehicle's center of gravity fluctuation is more little, and it is steady more to travel.
In the above-mentioned differential drive running gear, between sun gear 6 and planetary wheel 7, can connect 1 planetary wheel 11 (as Fig. 3), 2 planetary wheels 11 and 12 (as Fig. 4 and Fig. 5) ... series connected planetary wheel is many more, drive wheels 8 and 8 under all planetary wheel radius unmodified conditions
1The radius of turn of axis is big more, and the obstacle climbing ability of running gear is strong more.Planetary wheel of every series connection, the turning to once of main driving force with change, two auxilliary propulsive efforts turn to constant all the time, the drive wheels rotation speed n
8, n
81With turn to constant.
In the above-mentioned differential drive running gear, support trailing wheel formation f-w-d running gear (as Fig. 7) two arranged side by side of vehicle frame 10 upper edge working direction; Can form the four wheel drive running gear at vehicle frame 10 upper edge working direction two groups of differential drive running gears arranged side by side.
The present invention adopts main driving force and auxilliary propulsive effort differential drive running gear, drive wheels continous way obstacle detouring walking manner, turn to, walk freely, obstacle climbing ability is strong, reliable operation, and be easy to processing and manufacturing, can be by selecting design parameters or changing collocation form so that satisfy the needs of different operating situation.
Description of drawings
Fig. 1 is the schematic diagram of mechanism of differential drive running gear;
The schematic diagram of mechanism of the differential drive running gear when Fig. 2 changes for power input orientation;
Fig. 3 is for increasing the schematic diagram of mechanism of 1 planetary differential drive running gear;
Fig. 4 is for increasing the schematic diagram of mechanism of 2 planetary differential drive running gears;
Fig. 5 is the differential drive running gear schematic diagram of mechanism when increasing by 2 planetary wheel k=5;
Fig. 6 is a differential drive running gear obstacle detouring process scheme drawing;
Fig. 7 forms the vehicle to run system schematic for differential drive running gear.
Specific embodiments
With reference to the accompanying drawings embodiments of the invention are described below.
Differential drive running gear shown in Figure 1, comprising differential gear train 4-6-7 is made up of tie-rod 4, sun gear 6, planetary wheel 7, drive wheels 8 and planetary wheel 7 coaxial rotation that is connected, the gear in the differential gear train is cylindrical wheel, and drive wheels 8 can be rubber-tyred or steel wheel etc.; Finishing bevel gear cuter 2 and tie-rod 4 coaxial rotation that is connected, finishing bevel gear cuter 9 is formed 90 ° of dead axle engaged transmission with finishing bevel gear cuter 2, forms right half actuating device 9-2-4-6-7-8, with the identical left side of the right side half actuating device half actuating device 9
1-2
1-4
1-6
1-7
1-8
1Be symmetrically arranged on the vehicle frame 10 sun gear 6,6 of left and right half actuating device with the working direction mid-plane
1And finishing bevel gear cuter 1 is connected with main shaft 5 and on vehicle frame 10 coaxial rotation, finishing bevel gear cuter 3 is formed 90 ° of dead axle engaged transmission with finishing bevel gear cuter 1, it is n that the driving engine main driving force drives finishing bevel gear cuter 3 rotating speeds
1, the auxilliary propulsive effort of two electrical motors drives finishing bevel gear cuter 9 and 9 respectively
1Rotating speed is respectively n
2, n
3Finishing bevel gear cuter 1,2,2
1, sun gear 6,6
1And tie-rod 4,4
1Has the same theory rotation axis, differential gear train 4-6-7 and 4
1-6
1-7
1In each module of gear m, angle of obliquity α equate, by tie-rod 4 and 4
1Ensure that each gear satisfies correct engagement transmission condition and continuous transmission condition, bevel-gear pair 3-1,9-2 and 9
1-2
1In each finishing bevel gear cuter modulus m, angle of obliquity α equate, satisfy 90 ° of dead axle engaged transmission conditions and transmission condition continuously; Drive wheels 8 and 8
1The rotation rotating speed is n
z=n
1* z
6* z
3/ z
7/ z
1, the revolution rotating speed is respectively n
8g=n
2* (1+z
6/ z
7) * z
9/ z
2, n
81g=n
3* (1+z
6/ z
7) * z
9/ z
2, drive wheels 8 and 8
1Absolute rotating speed be respectively n
8=n
1* z
6* z
3/ z
7/ z
1+ n
2* (1+z
6/ z
7) * z
9/ z
2, n
81=n
1* z
6* z
3/ z
7/ z
1+ n
3* (1+z
6/ z
7) * z
9/ z
2Three propulsive efforts are relatively independent can export different rotating speeds according to working condition, its orientation, turns to and the turning to as shown in Figure 1 of drive wheels, when two auxilliary propulsive effort rotation speed n
2=n
3The time differential drive running gear powered vehicle straight-line travelling, work as n
2＜n
3The time n
8＜n
81The vehicle right-hand corner travels, and works as n
2＞n
3The time n
8＞n
81The vehicle turnon left travels, and assists the propulsive effort rotation speed n by differential drive running gear when vehicle needs monolateral or bilateral obstacle detouring
2, n
3Difference realizes.
Differential drive running gear shown in Figure 2 can change the input mode of three propulsive efforts, increases the alerting ability of power input.Remove finishing bevel gear cuter 3,9 and 9
1, with finishing bevel gear cuter 1,2 and 2
1Change cylindrical wheel into, the driving engine main driving force drives sun gear 6 and 6 by cylindrical wheel 1
1Rotating speed is n
1, the auxilliary propulsive effort of two HM Hydraulic Motor is respectively by cylindrical wheel 2 and 2
1Drive tie-rod 4 and 4
1Rotating speed is respectively n
2, n
3, three relatively independent propulsive efforts turn to the orientation as shown in Figure 2, drive wheels 8 and 8
1The rotation rotating speed is n
z=n
1* z
6/ z
7, the revolution rotating speed is respectively n
8g=n
2* (1+z
6/ z
7), n
81g=n
3* (1+z
6/ z
7), drive wheels 8 and 8
1Absolute rotating speed be respectively n
8=n
1* z
6/ z
7+ n
2* (1+z
6/ z
7), n
81=n
1* z
6/ z
7+ n
3* (1+z
6/ z
7), differential drive running gear can powered vehicle be finished straight-line travelling, turning and obstacle detouring equally.Work as n
2=n
3The time, both sides tie-rod 4 and 4
1 Rotate drive wheels 8 and 8 in the same way with identical speed
1Rotate in the same way with speed, be positioned at the drive wheels 8 and 8 of front upper place originally
1Climb to obstacle top (as shown in Figure 6), powered vehicle obstacle detouring straight ahead through rotation; Work as n
2≠ n
3The time, both sides tie-rod 4 and 4
1Different speed rotations, drive wheels 8 and 8
1Rotation carry out simultaneously but revolution speed is different with revolution, thereby realize turning to or monolateral obstacle detouring of vehicle.
Differential drive running gear shown in Figure 3, the planetary wheel 11 of between sun gear 6 and planetary wheel 7, connecting, it is near a side and sun gear 6 engaged transmission of main shaft 5, away from main shaft opposite side and planetary wheel 7 engaged transmission, the turning cylinder of planetary wheel 11 is fixed on the tie-rod 4, form right half actuating device 9-2-4-6-11-7-8, with the identical left side of the right side half actuating device half actuating device be 9
1-2
1-4
1-6
1-11
1-7
1-8
1, left and right half actuating device symmetric arrangement, sun gear 6,6
1And finishing bevel gear cuter 1 is connected with main shaft 5 and on vehicle frame 10 coaxial rotation, the driving engine main driving force drives finishing bevel gear cuter 3 rotation speed n
1Direction as shown in Figure 3.Like this, under all planetary wheel radius unmodified conditions, can obtain the drive wheels 8 and 8 bigger than Fig. 1
1The radius of turn of axis, thus obstacle climbing ability strengthened.Two planetary wheels 11,12 of can between sun gear 6 and planetary wheel 7, connecting equally, as Fig. 4, shown in Figure 5, planetary wheel 11 and planetary wheel 12 engaged transmission, planetary wheel 11 is in a side and sun gear 6 engaged transmission near main shaft 5, planetary wheel 12 is away from main shaft opposite side and planetary wheel 7 engaged transmission, the turning cylinder of planetary wheel 11,12 is fixed on the tie-rod 4, form right half actuating device 9-2-4-6-11-12-7-8, with the identical left side of the right side half actuating device half actuating device be 9
1-2
1-4
1-6
1-11
1-12
1-7
1-8
1, left and right half actuating device symmetric arrangement, sun gear 6,6
1And finishing bevel gear cuter 1 is connected with main shaft 5 and on vehicle frame 10 coaxial rotation, the driving engine main driving force drives finishing bevel gear cuter 3 rotation speed n
1Direction as shown in Figure 4.Like this, under all planetary wheel radius unmodified conditions, obtain the drive wheels 8 and 8 bigger than Fig. 3
1The radius of turn of axis, thus obstacle climbing ability further strengthened.The more planetary wheel of connecting can strengthen the radius of turn of drive wheels axis, improve the obstacle climbing ability of vehicle, providing simultaneously increases compound planet gear and counts k, promptly increases drive wheels number or strengthen the condition of drive wheels diameter, so that improve load-carrying capacity and the obstacle climbing ability of vehicle.
Figure 6 shows that the vehicle to run system that forms by differential drive running gear, support trailing wheel formation f-w-d running gear two arranged side by side of vehicle frame 10 upper edge working direction; Also can form the four wheel drive running gear, have stronger driving walking and obstacle climbing ability at vehicle frame 10 upper edge working direction two groups of differential drive running gears arranged side by side.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (4)
1, differential drive running gear, comprise: differential gear train is by right sun gear (6), right lateral star gear (7), right tie-rod (4) is formed, right drive wheels (8) and right lateral star gear (7) coaxial rotation that is connected, first finishing bevel gear cuter (2) and right tie-rod (4) coaxial rotation that is connected, middle tap gear (9) is formed 90 ° of dead axle engaged transmission with first finishing bevel gear cuter (2), form right half actuating device middle tap gear (9)-first finishing bevel gear cuter (2)-right tie-rod (4)-right sun gear (6)-right lateral star gear (7)-right drive wheels (8), with its structure, geometric parameter be connected the identical left side of array configuration half actuating device the 5th finishing bevel gear cuter (9
1)-the 6th finishing bevel gear cuter (2
1)-left tie-rod (4
1)-LC gear (6
1)-left lateral star gear (7
1)-left drive wheels (8
1) be symmetrically arranged on the vehicle frame (10) the LC gear (6 of left and right half actuating device with the working direction mid-plane
1), right sun gear (6) and third hand tap gear (1) is connected by main shaft (5) and go up coaxial rotation at vehicle frame (10), the 4th finishing bevel gear cuter (3) is formed 90 ° of dead axle engaged transmission with third hand tap gear (1), main driving force drives the 4th finishing bevel gear cuter (3), and two auxilliary propulsive efforts drive middle tap gear (9) and the 5th finishing bevel gear cuter (9 respectively
1).
2, differential drive running gear according to claim 1 is characterized in that, changes the propulsive effort input mode and removes the 4th finishing bevel gear cuter (3), middle tap gear (9) and the 5th finishing bevel gear cuter (9
1), with third hand tap gear (1), first finishing bevel gear cuter (2) and the 6th finishing bevel gear cuter (2
1) changing cylindrical wheel into, main driving force drives right sun gear (6) and LC gear (6 by first cylindrical wheel
1), two auxilliary propulsive efforts are respectively by second cylindrical wheel and right tie-rod (4) of three cylindrical gear drive and left tie-rod (4
1).
3, differential drive running gear according to claim 1, it is characterized in that, the along the circumferential direction uniform k of right lateral star gear (7) on right tie-rod (4), wherein k=3,4,5,6 ..., also be k with the coaxial right drive wheels (8) that is connected of right lateral star gear (7).
4, differential drive running gear according to claim 1 is characterized in that, between right sun gear (6) and right lateral star gear (7), can connect 1,2,3,4 ... individual planetary wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100568457A CN100560398C (en) | 2008-01-25 | 2008-01-25 | Differential drive running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100568457A CN100560398C (en) | 2008-01-25 | 2008-01-25 | Differential drive running gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101224706A CN101224706A (en) | 2008-07-23 |
| CN100560398C true CN100560398C (en) | 2009-11-18 |
Family
ID=39856988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100568457A Expired - Fee Related CN100560398C (en) | 2008-01-25 | 2008-01-25 | Differential drive running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100560398C (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101654061B (en) * | 2009-09-08 | 2012-06-27 | 中国农业大学 | Dual power driven walking mechanism |
| CN101716884B (en) * | 2009-12-02 | 2012-07-11 | 哈尔滨工程大学 | Mobile robot suitable for complicated ground |
| CN101737477B (en) * | 2010-01-08 | 2012-07-18 | 南京航空航天大学 | Full outer cylindrical gear planetary wheel differential mechanism for motor vehicle |
-
2008
- 2008-01-25 CN CNB2008100568457A patent/CN100560398C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101224706A (en) | 2008-07-23 |
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| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20091118 Termination date: 20120125 |