CN101817308A - Differential all-directional wheel device - Google Patents
Differential all-directional wheel device Download PDFInfo
- Publication number
- CN101817308A CN101817308A CN201010023126A CN201010023126A CN101817308A CN 101817308 A CN101817308 A CN 101817308A CN 201010023126 A CN201010023126 A CN 201010023126A CN 201010023126 A CN201010023126 A CN 201010023126A CN 101817308 A CN101817308 A CN 101817308A
- Authority
- CN
- China
- Prior art keywords
- wheel
- gear
- drive
- revolution
- worm gear
- 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.)
- Pending
Links
Images
Landscapes
- Gear Transmission (AREA)
- Retarders (AREA)
Abstract
本发明涉及一种差动式全方位车轮装置。它包括一个车轮、一个安装底板以及与安装底板固定连接的驱动电机和回转电机，车轮安装在一个回转体上，回转电机通过回转传动机构驱动回转体转动，驱动电机通过驱动传动机构驱动车轮转动，实现车轮转向和驱动组合，达到全方位驱动。本发明结构紧凑，提高了装置的承载能力，有利于机构的小型化，且回转和驱动的两个电机都是固定的。
The invention relates to a differential omnidirectional wheel device. It includes a wheel, a mounting base plate, and a drive motor and a rotary motor fixedly connected to the mounting base plate. The wheel is mounted on a rotary body. The rotary motor drives the rotary body to rotate through the rotary transmission mechanism. The drive motor drives the wheel to rotate through the drive transmission mechanism. Realize the combination of wheel steering and drive to achieve all-round drive. The invention has a compact structure, improves the bearing capacity of the device, and is beneficial to the miniaturization of the mechanism, and both the rotating and driving motors are fixed.
Description
Technical field:
Patent of the present invention relates to a kind of differential gear train that utilizes will turn to, drive the two-freedom wheel assembly that function is integrated in one, and the motion platform that the wheel assembly of a plurality of the type makes up has good full side's locomitivity.
Background technology
The author has proposed a kind of wheel mechanism of the two-freedom of being made up of differential gear train in document " application of modified roll mechanism on all directionally movable robot ", and each set of wheels is forgiven a driving wheel and a flower wheel.During this set of wheels divertical motion, the friction force that acts on driving wheel and the flower wheel can produce a friction moment, this moment can drive the motion platform that is made of a plurality of such set of wheels and rotate, and its structure part that still comes with some shortcomings realizes driving the decoupling zero with divertical motion.
Summary of the invention
The objective of the invention is to deficiency, a kind of improved differential all-directional wheel device is provided at prior art.
For achieving the above object, the present invention adopts following technical proposals:
A kind of differential all-directional wheel device, comprise a wheel, a drive motor and a turning motor of base plate being installed and being captiveed joint with the installation base plate, it is characterized in that described wheel is installed on the gyro-rotor, described turning motor drives described gyro-rotor by rotary drive mechanism and rotates, described drive motor drives described wheel by drive transmission device, realize wheel steering and drive combination, reach comprehensive driving.
The structure that the wheel of the above is installed on the gyro-rotor is: constitute fork-shaped by left side support of a lower connecting plate captive joint and a right support and turn to body, support the bottom of supporting with the right side on a left side axletree bearing respectively is installed, described wheel is installed in an axletree by key and is supported by described two axletree bearings.
Above-mentioned rotary drive mechanism is: the output shaft of described turning motor connects a revolution worm screw, this revolution worm screw and a revolution worm gear engagement, the revolution worm gear is fixedly mounted on the revolution worm gear erecting frame, captives joint with the lower connecting plate of described gyro-rotor in the lower end of this revolution worm gear erecting frame; The inner chamber of described revolution worm gear erecting frame turns to bearing by two to be supported on the anchor shaft, and realizes the axially mounting of vertical direction by a thrust baring, and described anchor shaft is captiveed joint with described installation base plate.
Above-mentioned drive transmission device is: the output shaft of described drive motor connects a worm driver gear, driving gear and a transmission gear engagement, transmission gear and the same axle mounting of driving worm screw, drive worm screw and a driving worm gear engagement, driving worm gear is installed on the transmission shaft by key, transmission shaft is inserted in the centre hole of described anchor shaft by two drivings with bearing, and anchor shaft is stretched out in the lower end and be in horizontal bevel gear of axle head fixed installation below the lower connecting plate of described gyro-rotor, horizontal bevel gear and a vertical bevel gear engagement that is installed in support inboard, a left side, transition gear and the same axle mounting of vertical bevel gear, transition gear and a driven wheel engagement, driven wheel is fixedly mounted on the described axletree.
Compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage:
1. by backup bearing is set, realize the combination of driving and divertical motion inside and outside anchor shaft, have the advantage of compact conformation;
2. in mechanism design, set up and to have born the thrust baring of larger axis, and be provided with the power transmission spacer ring, improved the load-carrying capacity of this device to power.
3. by the worm gear pair auto-lock function, realized the positive lock of wheel bracing frame, when promptly turning motor was not worked, the wheel bracing frame did not move, and made turning motor not need to carry braking mechanism simultaneously yet, helped the miniaturization of mechanism.
4. by the bevel gear differential train, realize the back rotation axis and driven the consistent of dynamic axis of flow, realized that two motors can all fix.
5. on structural arrangement, realized by wheel secondary transition having realized zero friction resistance moment in theory in the mid-plane of power transmission axis (axis of anchor shaft 6) position and wheel width.
Description of drawings:
The general construction scheme drawing of Fig. 1 one embodiment of the present of invention
Fig. 2 is the edge-on stereogram of axle of Fig. 1
Fig. 3 is the A-A cutaway view
Fig. 4 has removed the edge-on stereogram of axle that base plate is installed
The specific embodiment:
Details are as follows in conjunction with the accompanying drawings for the preferred embodiments of the present invention:
Embodiment one: referring to Fig. 1, Fig. 2 and Fig. 3, a kind of differential all-directional wheel device, comprise a wheel 17, one install base plate 1 and with a drive motor 33 and turning motor 32 that base plate is captiveed joint is installed, it is characterized in that described wheel 17 is installed on the gyro-rotor 38, described turning motor 32 drives described gyro-rotor 38 by rotary drive mechanism and rotates, described drive motor 33 drives described wheel 17 by drive transmission device and rotates, realize that wheel 17 turns to and drive combination, reach comprehensive driving.
Embodiment two: present embodiment is identical with embodiment one basically, special feature is: the structure that wheel 17 is installed on the gyro-rotor 38 is: constitute fork-shaped by 21 and right supports 14 of left side support of a lower connecting plate 12 captive joints and turn to body 38, an axletree bearing 20 is respectively installed in bottom in left side support 21 and right support 14, and described wheel 17 is installed in an axletree 18 by key and is supported by described two axletree bearings 20.
Rotary drive mechanism is: the output shaft of described turning motor 32 connects a revolution worm screw 37, this revolution worm screw 37 and revolution worm gear 9 engagements, revolution worm gear 9 is fixedly mounted on the revolution worm gear erecting frame 28, captives joint with the lower connecting plate 12 of described gyro-rotor 38 in the lower end of this revolution worm gear erecting frame; The inner chamber of described revolution worm gear erecting frame 28 turns to bearing 7 by two to be supported on the anchor shaft 6, and realizes the axially mounting of vertical direction by a thrust baring 8, and described anchor shaft 6 is captiveed joint with described installation base plate 1.
Drive transmission device is: the output shaft of described drive motor 32 connects a driving gear 34, driving gear 34 and transmission gear 35 engagements, transmission gear 35 and driving worm screw 36 same axle mountings, drive worm screw 36 and driving worm gear 5 engagements, driving worm gear 5 is installed on the transmission shaft 4 by key, transmission shaft 4 is inserted in the centre hole of described anchor shaft 6 by two drivings with bearing 2, and anchor shaft 6 is stretched out in the lower end and be in horizontal bevel gear 13 of axle heads fixed installation below the lower connecting plate 12 of described gyro-rotor 38, horizontal bevel gear 13 and vertical bevel gear 23 engagements that are installed in support 21 inboards, a left side, transition gear 27 and vertical bevel gear 23 same axle mountings, transition gear 27 and driven wheel 19 engagements, driven wheel 19 is fixedly mounted on the described axletree 18.
Embodiment three: present embodiment and embodiment two are basic identical, and more detailed structure is described as follows: as shown in Figure 1, Figure 2, Figure 3 and Figure 4, it is the connection base plate of whole wheel assembly that base plate 1 is installed, and is used for being connected of wheel assembly and other mechanisms; Drive and respectively be equipped with 1 up and down with bearing 2, its inner ring cooperates with transmission shaft 4, and its outer ring cooperates with anchor shaft 6; Axle head cover plate 3 is connected by bolt and transmission shaft 4; Transmission shaft 4 is realized its axial location in anchor shaft 6 by driving with bearing 2, and it only can do rotatablely moving with respect to anchor shaft 6; Drive worm gear 5 and be connected with transmission shaft 4, on transmission shaft 4, realize circumferentially location, adjust the length of axle sleeve, make to drive worm gear 5 and drive worm screw 36 good engagement by key; Anchor shaft 6 is connected with installation base plate 1 by bolt; Revolution cooperates with anchor shaft 6 with the inner ring of bearing 7, and the outer ring cooperates with revolution worm gear mount pad 28, respectively disposes 1 revolution with bearing 7 by the upper-lower position at revolution worm gear mount pad 28, realizes the axial location of revolution worm gear mount pad 28 with respect to anchor shaft 6; Thrust baring 8 is placed in the revolution worm gear mount pad 28, and the upper end of thrust baring 8 contacts with bearing 7 with revolution by spacer ring, and the lower end contacts with power transmission spacer ring 10; Revolution worm gear 9 is connected by bolt and bearing pin and revolution worm gear mount pad 28, and meshes with steering worm 37; Power transmission spacer ring 10 is placed in thrust baring 8 and turning down is middle with bearing 7, plays a supportive role; Jam nut 11 screws by spiral and anchor shaft 6, and adjusts the gap of revolution with bearing 7; Lower connecting plate 12 is connected by bolt and revolution worm gear mount pad 28; Horizontal bevel gear 13 is connected with transmission shaft 4 by key; Right support 14 and be connected, and have bearing hole by bolt and lower connecting plate 12; Right bearing cover plate 15 is by being bolted to right the support on 14; Wheel axle sleeve 16 skies are enclosed within on the axletree 18, and two ends cooperate with the inner ring of wheel and axletree bearing 20 respectively; Wheel 17 is connected with axletree 18 by key; Axletree 18 is installed in right support 14 by axletree bearing 20 and a left side is supported between 21, and support wheel 17 and driven wheel 19; Driven wheel 19 is connected with axletree 18 by key; Axletree bearing 20 is installed in the bearing hole of left and right support, and realizes axial location by left and right sides bearing cover; A left side is supported 21 and is connected by bolt and lower connecting plate 12, and has bearing hole; Left bearing cover plate 22 supports 21 by a bolt and a left side and is connected; Vertical bevel gear 23 is connected with midship mounting axle 24 by key; Midship mounting axle 24 is supported on a left side by midship mounting axle bearing 26 and supports on 21, can do relatively rotating; Midship mounting axle bearing 26 supports 21 by being bolted to a left side, and middle pivot shaft bearing 26 is carried out axial location; The inner ring of midship mounting axle bearing 26 cooperates with midship mounting axle 24, and the outer ring is supported 21 with a left side and cooperated; Transition gear 27 is connected with midship mounting axle 24 by key; Revolution worm gear mount pad 28 is connected by bolt and lower connecting plate 12, and is supported on the anchor shaft 6 with bearing 7 by revolution, can relatively rotate around anchor shaft 6; Left motor adapter plate 29 is connected with base plate 1 is installed by bolt, and has the bearing hole that is used to support worm screw; Worm bearing cover plate 30 is by being bolted on the left side worm screw adapter plate 29; Right motor adapter plate 31 by bolt in installing on the base plate 1; Turning motor 32 is fixed on right motor adapter plate 31 by bolt, and machine shaft is connected with revolution worm screw 37 by key; Drive motor 33 is fixed on right motor adapter plate 31 by bolt, and machine shaft is connected with driving gear 34 by key; Driving gear 34 is connected in the output shaft of drive motor by key, and with ring gear 35 engagements; Ring gear 35 connects by key and drives worm screw 36, and meshes with driving gear 34; Driving worm screw 36 at left side worm screw adapter plate 29 and right motor adapter plate 31, can be cooked relatively rotating by bearings; Steering worm 37 at left side worm screw adapter plate 29 and right motor adapter plate 31, can do relatively rotating by bearings.
Motion flow: when turning motor 32 is not worked, owing to the self-locking action of worm and gear, revolution worm gear mount pad 28 and lower connecting plate 12 will maintain static, and promptly the framework of support wheel is motionless.Drive motor 33 actions in the case, its output shaft drives and drives worm screw 36 rotations, by with the engagement that drives worm gear 5, transfer the motion to transmission shaft 4, drive horizontal bevel gear 13 motions, engagement by bevel-gear pair transfers the motion to midship mounting axle 24, transfer the motion to transition gear 27 by key,, transfer the motion to driven wheel 19 by the engagement of gear pair, and then drive wheels axle 18, final driven wheel 17.By changing turning to of drive motor, can realize the forward rotation and the backward rotation of wheel.
When drive motor 33 is not worked, because the self-locking action of worm and gear, horizontal bevel gear 13 is with transfixion.In the case, steer motor 33 actions, its output shaft drives steering worm 37 rotations, by the worm gear pair engagement, drives 9 rotations of revolution worm gear, and then drive is supported on revolution worm gear mount pad 28 revolutions on the anchor shaft 6, thereby drive the axis revolution of lower connecting plate 12 around anchor shaft 6, the realization wheel turns to around anchor shaft 6 axis, guarantees that in structure design the axis of anchor shaft 6 is positioned at the centre plane of wheel, rotating force arm is zero, so friction resistance moment is zero during the wheel revolution.Because the engagement of vertical bevel gear 23 and horizontal bevel gear 13, wheel be when revolution, vertical bevel gear 23 exists around the rotation of midship mounting axle 24 axis with around the revolution of anchor shaft 6 axis, and the existence of rotation can make that wheel seesaws.
For realizing the cast of wheel, must apply an oppositely directed motion, make the wheel movement that is produced by drive motor 33 work just with by the wheel drive of transferring certainly to form that gyroscopic movement produced offset.Certainly, by the various combination of drive motor and turning motor kinematic velocity, can realize that wheel is in the plane along the driving and the rotation of track arbitrarily, thereby the motion platform that realization is made up of one or more these mechanisms, realize the omnibearing movable on the plane, promptly x, y to translation, z to rotation.
Claims (4)
1. differential all-directional wheel device, comprise a wheel (17), a drive motor (33) and a turning motor (32) of base plate (1) being installed and being captiveed joint with the installation base plate, it is characterized in that described wheel (17) is installed on the gyro-rotor (38), described turning motor (32) drives described gyro-rotor (38) by rotary drive mechanism and rotates, described drive motor (33) drives described wheel (17) by drive transmission device and rotates, realize that wheel (17) turns to and drive combination, reaches comprehensive driving.
2. differential all-directional wheel device according to claim 1, it is characterized in that the structure that described wheel (17) is installed on the gyro-rotor (38) is: turn to body (38) by a left side support of a lower connecting plate (12) captive joint (21) and right (14) formation fork-shaped that supports, support the bottom of (21) and right support (14) on a left side axletree bearing (20) respectively is installed, described wheel (17) is installed in an axletree (18) by key and is supported by described two axletree bearings (20).
3. differential all-directional wheel device according to claim 2, it is characterized in that described rotary drive mechanism is: the output shaft of described turning motor (32) connects a revolution worm screw (37), this revolution worm screw (37) and a revolution worm gear (9) engagement, revolution worm gear (9) is fixedly mounted on the revolution worm gear erecting frame (28), captives joint with the lower connecting plate (12) of described gyro-rotor (38) in the lower end of this revolution worm gear erecting frame; The inner chamber of described revolution worm gear erecting frame (28), turn to bearing (7) by two and to be supported on the anchor shaft (6), and realize the axially mounting of vertical direction by a thrust baring (8), described anchor shaft (6) is captiveed joint with described installation base plate (1).
4. differential all-directional wheel device according to claim 3, it is characterized in that described drive transmission device is: the output shaft of described drive motor (33) connects a driving gear (34), driving gear (34) and a transmission gear (35) engagement, transmission gear (35) drives the same axle mounting of worm screw (36) with one, drive worm screw (36) and a driving worm gear (5) engagement, driving worm gear (5) is installed on the transmission shaft (4) by key, transmission shaft (4) is inserted in the centre hole of described anchor shaft (6) with bearing (2) by two drivings, and anchor shaft (6) is stretched out in the lower end and be in an axle head fixed installation horizontal bevel gear (13) below the lower connecting plate (12) of described gyro-rotor (38), horizontal bevel gear (13) is installed in vertical bevel gear (23) engagement that (21) inboard is supported on a left side with one, a transition gear (27) and the same axle mounting of vertical bevel gear (23), transition gear (27) and a driven wheel (19) engagement, driven wheel (19) is fixedly mounted on the described axletree (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010023126A CN101817308A (en) | 2010-01-21 | 2010-01-21 | Differential all-directional wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010023126A CN101817308A (en) | 2010-01-21 | 2010-01-21 | Differential all-directional wheel device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101817308A true CN101817308A (en) | 2010-09-01 |
Family
ID=42652637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010023126A Pending CN101817308A (en) | 2010-01-21 | 2010-01-21 | Differential all-directional wheel device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101817308A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107989946A (en) * | 2017-12-28 | 2018-05-04 | 欧孚迪汽车设计武汉有限公司 | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car |
| CN114801718A (en) * | 2022-05-28 | 2022-07-29 | 苏州阿福机器人有限公司 | Walking transmission structure of electric engineering machinery |
| CN115071416A (en) * | 2022-08-02 | 2022-09-20 | 北京建筑机械化研究院有限公司 | Steering wheel for AGV (automatic guided vehicle) |
| CN116279754A (en) * | 2023-04-14 | 2023-06-23 | 北京理工大学珠海学院 | mobile steering device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2055338A (en) * | 1979-07-27 | 1981-03-04 | Nissan Motor | Driving device for industrial vehicle |
| JPS56131462A (en) * | 1980-03-15 | 1981-10-15 | Agency Of Ind Science & Technol | Steering control device for all-direction movable car |
| JPS6078831A (en) * | 1983-10-05 | 1985-05-04 | Toshiba Corp | Wheel equipment of transportation vehicle |
| JPS62128832A (en) * | 1985-11-29 | 1987-06-11 | Agency Of Ind Science & Technol | Omnidirectional wheel |
-
2010
- 2010-01-21 CN CN201010023126A patent/CN101817308A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2055338A (en) * | 1979-07-27 | 1981-03-04 | Nissan Motor | Driving device for industrial vehicle |
| JPS56131462A (en) * | 1980-03-15 | 1981-10-15 | Agency Of Ind Science & Technol | Steering control device for all-direction movable car |
| JPS6078831A (en) * | 1983-10-05 | 1985-05-04 | Toshiba Corp | Wheel equipment of transportation vehicle |
| JPS62128832A (en) * | 1985-11-29 | 1987-06-11 | Agency Of Ind Science & Technol | Omnidirectional wheel |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107989946A (en) * | 2017-12-28 | 2018-05-04 | 欧孚迪汽车设计武汉有限公司 | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car |
| CN114801718A (en) * | 2022-05-28 | 2022-07-29 | 苏州阿福机器人有限公司 | Walking transmission structure of electric engineering machinery |
| CN115071416A (en) * | 2022-08-02 | 2022-09-20 | 北京建筑机械化研究院有限公司 | Steering wheel for AGV (automatic guided vehicle) |
| CN116279754A (en) * | 2023-04-14 | 2023-06-23 | 北京理工大学珠海学院 | mobile steering device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105882784B (en) | Omnidirectional mobile platform and its power universal wheel | |
| CN102351018B (en) | Leg joint for quadruped robot | |
| CN105298777A (en) | Motor energy-reclaiming and vibration-attenuation system | |
| CN101817308A (en) | Differential all-directional wheel device | |
| CN205891045U (en) | Omnidirectional movement platform and power universal wheel thereof | |
| CN211220700U (en) | Snake arm three degrees of freedom wrist joint | |
| CN112405551A (en) | A rescue robot with variable diameter wheels | |
| WO2025020632A1 (en) | Steering system, corner module, and vehicle | |
| CN211550406U (en) | A dual-drive reducer and automobile | |
| CN103010329B (en) | Biped walking travel mechanism | |
| CN108032900B (en) | A drive and steering integrated device for a steer-by-wire vehicle and vehicle | |
| CN113928441B (en) | An unmanned cell vehicle with folding legs and a deformable body | |
| CN212220365U (en) | Driving wheel mechanism of multidirectional driving transfer vehicle | |
| CN108146423A (en) | A kind of steering, anti-dumping and driving integrated form wheel side power drive system and control method | |
| CN211054919U (en) | Parallel shaft integrated electric drive axle assembly and vehicle with the same | |
| CN102691866B (en) | Hooke joint inverted two-dimensional turntable | |
| CN207875620U (en) | It is a kind of turn to, anti-dumping and driving integrated form wheel side power drive system | |
| CN207842525U (en) | A kind of novel omnidirectional's structure wheel apparatus of electromechanical | |
| CN110588839A (en) | A Mobile Chassis of Service Robot Based on Mecanum Wheel | |
| CN112894878B (en) | High-speed heavy-load mechanical arm | |
| CN112769383B (en) | A solar tracker | |
| CN111890412B (en) | Three-degree-of-freedom robot joint | |
| CN100348382C (en) | Retractable drum type robot device | |
| CN107719015B (en) | Novel all-round structure wheel device of electromechanical integral type | |
| CN208007134U (en) | Robot differential driving structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Free format text: FORMER OWNER: SHANGHAI SHU KELAI AUTOMATION ENGINEERING CO., LTD. SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING CO., LTD. Effective date: 20120104 Owner name: SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINE Free format text: FORMER OWNER: SHANGHAI UNIVERSITY Effective date: 20120104 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20120104 Address after: 200444, Shanghai, Baoshan District on the road 99, HC building, two floor Applicant after: Shanghai Kelai Electromechanical Automation Engineering Co., Ltd. Address before: 200444 Baoshan District Road, Shanghai, No. 99 Applicant before: Shanghai University Co-applicant before: Shanghai SHU Kelai Automation Engineering Co., Ltd. Co-applicant before: Shanghai Kelai Electromechanical Automation Engineering Co., Ltd. |
|
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20100901 |