CN102642445A - Eccentric wheel capable of intelligently adjusting eccentricity - Google Patents
Eccentric wheel capable of intelligently adjusting eccentricity Download PDFInfo
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- CN102642445A CN102642445A CN2012101495553A CN201210149555A CN102642445A CN 102642445 A CN102642445 A CN 102642445A CN 2012101495553 A CN2012101495553 A CN 2012101495553A CN 201210149555 A CN201210149555 A CN 201210149555A CN 102642445 A CN102642445 A CN 102642445A
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Abstract
The invention discloses an eccentric wheel capable of intelligently adjusting eccentricity. The eccentric wheel comprises a shaft, a wheel hub, a wheel rim and a tire, wherein the wheel hub is provided with a driving gear I, a motor I, a supporting wheel, an inclination angle sensor, a deviation adjusting tank and a deviation adjusting device; the deviation adjusting device comprises two supports, a screw rod which is arranged between the supports, a guide rail, a screw rod nut, a driven gear which is coaxially and fixedly connected with the screw rod, a driving gear II, a motor II and a fixed frame thereof; the screw rod nut is fixedly connected with the shaft through a flange, and the inner side of the wheel rim is provided with an internal gear. The structure of the eccentric wheel also comprises a shaft driving device, a road condition detection device and a processor, wherein the output terminal of the processor is connected with the motor I, the motor II and the shaft driving device. The eccentric wheel can detect road conditions and automatically adjust the distance between the shaft and the wheel center according to the road conditions so as to enable the traveling process to be smoother, not only can reduce the vibration degree on roads with greater fluctuation, but also solves the difficulty that common wheels are not easy to climb steps, and can be applied on various vehicles.
Description
Technical field
The present invention relates to a kind of transportation means, relate in particular to and a kind ofly can intelligence regulate the eccentric wheel of eccentric throw.
Background technology
The axle of common wheel is fixedly mounted on the core wheel place of wheel; The level height of wheel driving process axis can and change along with the road surface fluctuating; Can cause load to jolt by a relatively large margin when road conditions are bad, form strong fluctuating sense and bump sense, the passenger is not felt well; Simultaneously, goods is caused infringement in various degree; Common wheel generally is to utilize tire flexibility and shock mitigation system to reduce the degree of jolting, and these two kinds of common scheme only can play effect aspect reduction transportation means and the sense of ground-surface bump, can't reduce the sense that rises and falls effectively, pointedly.
The axle of eccentric wheel departs from core wheel, and axle is unequal with the outer peripheral distance of wheel, and axle and road surface distance constantly changes during rotation.
Chinese patent 002553279 discloses a kind of adjustable eccentric wheel structure, and main purpose is bicycle to be produced teeter when advancing or effect that front and back rise and fall, is used for sport and body-building and plays with teaseing; In addition, Chinese patent 00110950 discloses a kind of adjustable eccentric wheel, thereby its radical function also is to produce body-building and the entertainment purposes that the fluctuating effect reaches people; Above-mentioned two kinds of designs all are to utilize eccentric wheel to increase the fluctuating sense in its load traveling process, and all need the manual regulation eccentric throw, can not carry out real-time accommodation according to road conditions, reduce the purpose of the degree of jolting in can't realizing advancing.
Summary of the invention
The technical matters that the present invention will solve provides a kind ofly can intelligence regulate the eccentric wheel of eccentric throw; Can detect road conditions and according to the distance between road conditions automatically regulating axle and the core wheel; Make traveling process more steady; Not only can on the road of big rise and fall, reduce the degree of jolting, and solve the difficult problem that common wheel is difficult for topping bar, can be applied to all kinds of means of deliverys.
To achieve these goals; The technical scheme that the present invention taked is: a kind ofly can intelligence regulate the eccentric wheel of eccentric throw; Comprise from inside to outside the axle of suit, wheel hub, wheel rim and tire successively; The outer rim of said wheel hub is embedded with driving gear I, supporting motor I and the protective case of driving gear I, and the outer rim both sides of wheel hub are provided with the support wheel that is used for firm said wheel rim, and said wheel hub side is provided with obliquity sensor; The core wheel hollow out that runs through said wheel hub offers the tuningout groove; Be provided with deviation correcting device in this tuningout groove; This deviation correcting device comprises two bearings being arranged on said tuningout groove two ends, be arranged on leading screw between described two bearings, the guide rail parallel with leading screw, be sleeved on feed screw nut on leading screw and the guide rail, with the coaxial affixed driven gear of leading screw, with driven gear ingear driving gear II, with the motor II of driving gear II interlock and the fixed mount of motor II, said axle is affixed through the flange and the said feed screw nut of axle head; The transversal surface of said wheel rim is the U-lag towards core wheel, is provided with the inner gear that is meshed with the driving gear I at the bottom of the U-lag, and the inner edge of said support wheel and said wheel rim offsets; Also comprise the moving device of axle, road conditions detecting device that links to each other with said axle and the treater that all links to each other with said obliquity sensor and road conditions detecting device in the structure of this eccentric wheel, the mouth of this treater all links to each other with motor I, motor II and the moving device of axle.
As a kind of optimal technical scheme of the present invention, said support wheel is at least two pairs.
As a kind of optimal technical scheme of the present invention, said support wheel is three pairs.
As a kind of optimal technical scheme of the present invention, said guide rail is at least one.
As a kind of optimal technical scheme of the present invention, said tuningout groove is a rectangular slot, and the ratio range of the length of tuningout groove and said hub diameter is 0.25 0.95.
As a kind of optimal technical scheme of the present invention, the length of said tuningout groove and the ratio of said hub diameter are 0.9.
As a kind of optimal technical scheme of the present invention, said leading screw is a ball-screw.
As a kind of optimal technical scheme of the present invention, said driven gear is arranged on the end of screw mandrel.
As a kind of optimal technical scheme of the present invention, said road conditions detecting device is ultrasonic transduter or the camera that is arranged on the load of this eccentric wheel.
As a kind of optimal technical scheme of the present invention, said obliquity sensor is the single shaft obliquity sensor.
As a kind of optimal technical scheme of the present invention, the moving device of said axle is driving engine or electrical motor.
Adopt the beneficial effect that technique scheme produced to be: the present invention can detect road conditions and according to the distance between road conditions automatically regulating axle and the core wheel; Make traveling process more steady; Not only can on the road of big rise and fall, reduce the degree of jolting; And solved the difficult problem that common wheel is difficult for topping bar, can be applied to all kinds of means of deliverys; Use the moving device of axle and driving gear I-inner gear dual dynamic system, the latter can make each eccentric wheel independent operation under the situation of using a plurality of eccentric wheels, be independent of each other, and realizes the pivot stud of its load.
Description of drawings
Fig. 1 is the inboard structural representation of the present invention.
Fig. 2 is the structural representation in the present invention outside.
Fig. 3 is the core texture enlarged drawing of deviation correcting device among Fig. 1 and Fig. 2.
Fig. 4 is the engaging structure enlarged drawing of driving gear I and inner gear among Fig. 1 and Fig. 2.
The fundamental diagram of Fig. 5 automation control of the present invention.
Fig. 6 is the distance base diagram of common wheel axle when advancing on the fluctuating road surface.
Fig. 7 is the distance base diagram of this eccentric wheel axle when advancing on the fluctuating road surface.
Fig. 8 is the beneficial effect scheme drawing that this eccentric wheel is climbed step.
Among the figure: 1, wheel hub 2, leading screw 3, guide rail 4, bearing 5, driven gear 6, support wheel 7, axle 8, flange 9, protective case 10, wheel rim 11, tire 12, motor II 13, fixed mount 14, driving gear II 15, feed screw nut 16, inner gear 17, driving gear I 18, motor I.
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is done further detailed explanation.
Referring to accompanying drawing 14; Comprise from inside to outside axle 7, wheel hub 1, wheel rim 10 and the tire 11 of suit successively in the structure of a specific embodiment of the present invention; The outer rim of wheel hub 1 is embedded with driving gear I 17, supporting motor I 18 and the protective case 9 of driving gear I 17; The outer rim both sides of wheel hub 1 are provided with three pairs of support wheels 6 that are used for firm wheel rim 10, and wheel hub 1 side is provided with obliquity sensor; The core wheel hollow out that runs through wheel hub 1 offers the tuningout groove; Be provided with deviation correcting device in the tuningout groove; This deviation correcting device comprises two bearings 4 being arranged on tuningout groove two ends, be arranged on the parallel guide rail 3 of two leading screws 2, two between the bearing 4 and leading screw 2, be sleeved on feed screw nut 15 on leading screw 2 and the guide rail 3, with leading screw 2 coaxial affixed driven gears 5, with driven gear 5 ingear driving gear II 14, with the motor II 12 of driving gear II 14 interlocks and the fixed mount 13 of motor II 12, axle 7 is affixed with feed screw nut 15 through the flange 8 of axle 7 ends;
The transversal surface of wheel rim 10 is the U-lag towards core wheel, is provided with the inner gear 16 that is meshed with driving gear I 17 at the bottom of the U-lag, the steadiness of maintenance wheel rim 10 and the wheel hub 1 thereby inner edge of support wheel 6 and wheel rim 10 offsets;
Also comprise the moving device of axle, road conditions detecting device that links to each other with said axle 7 and the treater that all links to each other with obliquity sensor and road conditions detecting device in the structure of this eccentric wheel, the mouth of this treater all links to each other with motor I 18, motor II 12 and the moving device of axle;
The tuningout groove is a rectangular slot, and the ratio of the length of tuningout groove and wheel hub 1 diameter is 0.9, and leading screw 2 is a ball-screw; Driven gear 5 is arranged on the end of screw mandrel 2; Guarantee to regulate the accuracy and the alerting ability of eccentric throw, make that simultaneously the setting range of eccentric throw is bigger, it is stronger to reduce the ability of jolting.
The road conditions detecting device is the ultrasonic transduter that is arranged on the load of this eccentric wheel, and the moving device of axle is an electrical motor.
Referring to accompanying drawing 5; The principle of work of automation control of the present invention is: the road conditions detecting device obtains the place ahead traffic information; Comprise the horizontal throw between fluctuating height, the degree of depth and the eccentric wheel and the barrier point of barrier point, simultaneously, obliquity sensor records guide rail 3 or the leading screw 2 of the wheel drift angle with respect to vertical direction; Above-mentioned traffic information and drift angle information are transferred into treater and handle calculating; Need be when drawing eccentric wheel and walking to barrier point to the drift angle regulated quantity of eccentric throw and guide rail 3 or leading screw 2, gained result of calculation is sent to motor I 18, motor II 12 and the moving device of axle then, and motor II 12 is carried out the adjusting action command of eccentric throws; Motor I 18 cooperates the adjusting action command of carrying out the drift angle with the moving device of axle, thereby realizes the purpose of steady clear an obstacle point.
Specifically; The control process of eccentric throw is: motor II 12 drives driving gear II 14, driven gear 5 and leading screw 2 successively; Leading screw 2 is converted into its gyroscopic movement the straight-line motion of feed screw nut 15; Feed screw nut 15 drives flange 8 and moves along guide rail 3 and leading screw 2 with axle 7, thereby realizes regulating the purpose of eccentric throw, and guide rail 3 can keep the stability of control process;
The control process of guide rail 3 or leading screw 2 drift angles is: when regulating the drift angle, according to the result of calculation instruction, motor I 18 keeps locking, and the moving device of axle carries out the adjusting action of guide rail 3 or leading screw 2 drift angles.
Comparison diagram 6 and Fig. 7, Fig. 6 have shown the travel conditions of common wheel on bumpy road surface, and the path locus of axle is a curve that is similar to the road surface degree of crook, and car body also has fluctuation largely; By comparison, Fig. 7 has shown the travel conditions of eccentric wheel of the present invention on bumpy road surface, at first regulates the extremely vertical state of tuningout groove on the wheel hub 1; In the process of moving, through being installed in the ultrasonic transduter acquired signal on the load, detect traffic information; And by 12 runnings of treater control motor II with stop; Come adjusting shaft 7 to ground-surface height with this, make its travel path be approximately straight line, like this; The center of gravity of whole load also is similar on the straight line of a level, the situation of jolting of load also can greatly improved.
Referring to accompanying drawing 8, eccentric wheel of the present invention can make the level height of axle 7 remain unchanged when climbing step even reduce, compared to common wheel; The present invention makes and climbs step and be more prone to, specifically, and before climbing step; Treater is through receiving the information that obliquity sensor provides, and horizontality is regulated and remained to the running of moving device of actuating spindle and motor I 18 with the tuningout groove; Motor II 12 is rotated then, thereby axle 7 is driven leading screw 2 front ends apart from nearer position, wheel hub 1 edge through feed screw nut 15, so just makes the center of gravity reach of whole load; At this moment; Open the moving device of axle again, the moving device of axle drives axle 7 successively and rotates with feed screw nut 15, finally drives eccentric wheel of the present invention and rotates and make its climb steps.In this process, because the height that the center of gravity of whole load rises has reduced, the power that needs the moving device of axle to provide also can reduce.After climb steps, the axle 7 of regulating eccentric wheel again makes it get back to the core wheel position, just can change into the rolling condition on level road.
In addition, the present invention is adjusted to vertical state with the tuningout groove of eccentric wheel when parking state; And feed screw nut 15 transferred to nadir together with axle 7; Thereby reduce the center of gravity of its load, strengthen the stability of parking state, when needing to start; Utilize the power of motor II 12 that axle 7 is risen to the core wheel position, become the cruising state.
The present invention can detect road conditions and according to the distance between road conditions automatically regulating axle 7 and the core wheel; Make traveling process more steady; Not only can on the road of big rise and fall, reduce the degree of jolting, and solve the difficult problem that common wheel is difficult for topping bar, can be applied to all kinds of means of deliverys; Use the dual dynamic system of moving device of axle and 16 combinations of driving gear I 18-inner gear, the latter can make each eccentric wheel independent operation under the situation of using a plurality of eccentric wheels, be independent of each other, and realizes the pivot stud of its load.
Foregoing description only proposes as the enforceable technical scheme of the present invention, not as the single limiting condition to its technical scheme itself.
Claims (10)
1. can intelligence regulate the eccentric wheel of eccentric throw for one kind; Comprise from inside to outside the axle of suit (7), wheel hub (1), wheel rim (10) and tire (11) successively; It is characterized in that: the outer rim of said wheel hub (1) is embedded with driving gear I (17), supporting motor I (18) and the protective case (9) of driving gear I (17); The outer rim both sides of wheel hub (1) are provided with the support wheel (6) that is used for firm said wheel rim (10), and said wheel hub (1) side is provided with obliquity sensor; The core wheel hollow out that runs through said wheel hub (1) offers the tuningout groove; Be provided with deviation correcting device in this tuningout groove; This deviation correcting device comprises two bearings (4) of being arranged on said tuningout groove two ends, be arranged on leading screw (2) between described two bearings (4), the guide rail (3) parallel with leading screw (2), be sleeved on feed screw nut (15) on leading screw (2) and the guide rail (3), with the coaxial affixed driven gear (5) of leading screw (2), with driven gear (5) ingear driving gear II (14), with the motor II (12) of driving gear II (14) interlock and the fixed mount (13) of motor II (12), said axle (7) is affixed with said feed screw nut (15) through the flange (8) of its end; The transversal surface of said wheel rim (10) is the U-lag towards core wheel, is provided with the inner gear (16) that is meshed with driving gear I (17) at the bottom of the U-lag, and said support wheel (6) offsets with the inner edge of said wheel rim (10); Also comprise the moving device of axle, road conditions detecting device that links to each other with said axle (7) and the treater that all links to each other with said obliquity sensor and road conditions detecting device in the structure of this eccentric wheel, the mouth of this treater all links to each other with motor I (18), motor II (12) and the moving device of axle.
2. according to claim 1ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: said support wheel (6) is at least two pairs of deep groove ball bearings.
3. according to claim 2ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: said support wheel (6) is three pairs of deep groove ball bearings.
4. according to claim 1ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: said guide rail (3) is at least one.
5. according to claim 1ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: said tuningout groove is a rectangular slot, and the ratio range of the length of tuningout groove and said wheel hub (1) diameter is 0.25 0.95.
6. according to claim 5ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: the ratio of the length of said tuningout groove and said wheel hub (1) diameter is 0.9.
7. according to claim 1ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: said leading screw (2) is a ball-screw.
8. according to claim 1ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: said driven gear (5) is arranged on the end of said screw mandrel (2).
9. according to claim 1ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: said road conditions detecting device is ultrasonic transduter or the camera that is arranged on the load of this eccentric wheel.
10. according to claim 1ly can intelligence regulate the eccentric wheel of eccentric throw, it is characterized in that: the moving device of said axle is driving engine or electrical motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210149555.3A CN102642445B (en) | 2012-05-15 | 2012-05-15 | Eccentric wheel capable of intelligently adjusting eccentricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210149555.3A CN102642445B (en) | 2012-05-15 | 2012-05-15 | Eccentric wheel capable of intelligently adjusting eccentricity |
Publications (2)
| Publication Number | Publication Date |
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| CN102642445A true CN102642445A (en) | 2012-08-22 |
| CN102642445B CN102642445B (en) | 2014-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210149555.3A Expired - Fee Related CN102642445B (en) | 2012-05-15 | 2012-05-15 | Eccentric wheel capable of intelligently adjusting eccentricity |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057347A (en) * | 2012-12-11 | 2013-04-24 | 南京熊猫电子股份有限公司 | Method and device for adjusting height of traveling crane wheel axle by means of eccentricity indexing method |
| CN103332067A (en) * | 2013-07-23 | 2013-10-02 | 明玉平 | Vehicle |
| CN105438279A (en) * | 2015-12-25 | 2016-03-30 | 桂林电子科技大学 | Variable-wheel-center four-wheeler capable of being automatically locked |
| CN106414105A (en) * | 2014-05-16 | 2017-02-15 | 塞夫霍兰德有限公司 | Wheel and method for driving a wheel |
| CN106985607A (en) * | 2017-03-29 | 2017-07-28 | 南京邮电大学 | The controllable driving moment in center applied to robot and position control method |
| CN107009816A (en) * | 2017-03-29 | 2017-08-04 | 南京邮电大学 | Center applied to robot variable wheel and center adjusting method |
| CN109455041A (en) * | 2018-12-29 | 2019-03-12 | 江苏速升自动化装备股份有限公司 | A kind of wheel with radial motion device |
| CN109732556A (en) * | 2019-02-14 | 2019-05-10 | 安徽云之迹信息技术有限公司 | Rolling wheel, mobile chassis and robot |
| WO2019196047A1 (en) * | 2018-04-12 | 2019-10-17 | 陆任行 | Walking carrier mechanism and carrier device |
| CN110439916A (en) * | 2019-09-04 | 2019-11-12 | 西南交通大学 | A kind of adjustable eccentric wheel of eccentricity |
| CN113199374A (en) * | 2021-05-14 | 2021-08-03 | 河南水利与环境职业学院 | Mechatronic burnishing device |
| CN114888103A (en) * | 2022-05-11 | 2022-08-12 | 江苏申源集团有限公司 | Fine drawing and winding mechanism suitable for stainless steel welding wires |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057347A (en) * | 2012-12-11 | 2013-04-24 | 南京熊猫电子股份有限公司 | Method and device for adjusting height of traveling crane wheel axle by means of eccentricity indexing method |
| CN103057347B (en) * | 2012-12-11 | 2015-12-02 | 南京熊猫电子股份有限公司 | A kind of method for adjusting height of eccentric indexing traveling axletree and device |
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| CN103332067B (en) * | 2013-07-23 | 2015-07-15 | 明玉平 | Vehicle |
| CN106414105A (en) * | 2014-05-16 | 2017-02-15 | 塞夫霍兰德有限公司 | Wheel and method for driving a wheel |
| CN106414105B (en) * | 2014-05-16 | 2019-03-08 | 塞夫霍兰德有限公司 | Wheel and method for driving wheel |
| CN105438279A (en) * | 2015-12-25 | 2016-03-30 | 桂林电子科技大学 | Variable-wheel-center four-wheeler capable of being automatically locked |
| CN106985607B (en) * | 2017-03-29 | 2019-02-26 | 南京邮电大学 | Center applied to robot controllable driving wheel and position control method |
| CN107009816A (en) * | 2017-03-29 | 2017-08-04 | 南京邮电大学 | Center applied to robot variable wheel and center adjusting method |
| CN106985607A (en) * | 2017-03-29 | 2017-07-28 | 南京邮电大学 | The controllable driving moment in center applied to robot and position control method |
| CN107009816B (en) * | 2017-03-29 | 2019-08-27 | 南京邮电大学 | The wheel and center adjusting method variable applied to the center of robot |
| WO2019196047A1 (en) * | 2018-04-12 | 2019-10-17 | 陆任行 | Walking carrier mechanism and carrier device |
| CN109455041A (en) * | 2018-12-29 | 2019-03-12 | 江苏速升自动化装备股份有限公司 | A kind of wheel with radial motion device |
| CN109732556A (en) * | 2019-02-14 | 2019-05-10 | 安徽云之迹信息技术有限公司 | Rolling wheel, mobile chassis and robot |
| CN110439916A (en) * | 2019-09-04 | 2019-11-12 | 西南交通大学 | A kind of adjustable eccentric wheel of eccentricity |
| CN113199374A (en) * | 2021-05-14 | 2021-08-03 | 河南水利与环境职业学院 | Mechatronic burnishing device |
| CN114888103A (en) * | 2022-05-11 | 2022-08-12 | 江苏申源集团有限公司 | Fine drawing and winding mechanism suitable for stainless steel welding wires |
| CN114888103B (en) * | 2022-05-11 | 2023-01-13 | 江苏申源集团有限公司 | Fine drawing and winding mechanism suitable for stainless steel welding wires |
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|---|---|
| CN102642445B (en) | 2014-07-30 |
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