CN102642445B - Eccentric wheel capable of intelligently adjusting eccentricity - Google Patents
Eccentric wheel capable of intelligently adjusting eccentricity Download PDFInfo
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- CN102642445B CN102642445B CN201210149555.3A CN201210149555A CN102642445B CN 102642445 B CN102642445 B CN 102642445B CN 201210149555 A CN201210149555 A CN 201210149555A CN 102642445 B CN102642445 B CN 102642445B
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- wheel
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- eccentric wheel
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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 a kind of eccentric wheel that can intelligent eccentric adjustment distance.
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 rise and fall and change along with road surface, when road conditions are bad, can cause load to jolt by a relatively large margin, form strong fluctuating sense and clash into sense, passenger is not felt well, meanwhile, goods is caused to infringement in various degree; Common wheel is generally to utilize tire flexibility and shock mitigation system to reduce the degree of jolting, and these two kinds of common scheme only can have effect aspect the shock sense that reduce transportation means and road surface, cannot reduce effectively, pointedly the sense that rises and falls.
The axle of eccentric wheel departs from core wheel, and the outer peripheral distance of axle and wheel is unequal, and during rotation, axle and road surface distance constantly change.
Chinese patent 002553279 discloses a kind of adjusting eccentric wheel structure, and main purpose is bicycle to be produced when advancing teeter or effect that front and back rise and fall, for sport and body-building with tease and play; In addition, Chinese patent 00110950 discloses a kind of adjustable eccentric wheel, thereby its radical function is also to produce body-building and the amusement object that fluctuation effect reaches people; Above-mentioned two kinds of designs are all to utilize eccentric wheel to increase the fluctuating sense in its load traveling process, and all need manual regulation eccentric throw, can not carry out real-time accommodation according to road conditions, cannot realize the jolt object of degree of the middle reduction of advancing.
Summary of the invention
the technical problem to be solved in the present invention is to provide a kind of eccentric wheel that can intelligent eccentric adjustment distance, can detect road conditions and according to the distance between the automatic adjusting shaft of road conditions and 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.
To achieve these goals, the technical solution used in the present invention is: a kind of eccentric wheel that can intelligent eccentric adjustment distance, comprise the axle, wheel hub, wheel rim and the tire that are from inside to outside set with successively, the outer rim of described wheel hub is embedded with driving gear I, supporting motor I and the protective case of driving gear I, the outer rim both sides of wheel hub are provided with the support wheel for firm described wheel rim, and described wheel hub side is provided with obliquity sensor; The core wheel hollow out that runs through described wheel hub offers tuningout groove, in this tuningout groove, be provided with deviation correcting device, this deviation correcting device comprises and is arranged on two bearings at described tuningout groove two ends, the driving gear II that is arranged on leading screw between two described bearings, the guide rail parallel with leading screw, is sleeved on feed screw nut on leading screw and guide rail, meshes with the coaxial affixed driven gear of leading screw, with driven gear, and the motor II of driving gear II interlock and the fixed mount of motor II, and it is affixed that described axle passes through flange and the described feed screw nut of axle head; The transversal surface of described wheel rim is the U-lag towards core wheel, is provided with the inner gear being meshed with driving gear I at the bottom of U-lag, and the inner edge of described support wheel and described wheel rim offsets; In the structure of this eccentric wheel, also comprise the moving device of the axle being connected with described axle, road conditions detecting device and the treater being all connected with road conditions detecting device with described obliquity sensor, the mouth of this treater is all connected with the moving device of motor I, motor II and axle.
As a preferred technical solution of the present invention, described support wheel is at least two pairs.
As a preferred technical solution of the present invention, described support wheel is three pairs.
As a preferred technical solution of the present invention, described guide rail is at least one.
As a preferred technical solution of the present invention, described tuningout groove is rectangular slot, and the length of tuningout groove and the ratio range of described hub diameter are 0.25 0.95.
As a preferred technical solution of the present invention, the length of described tuningout groove and the ratio of described hub diameter are 0.9.
As a preferred technical solution of the present invention, described leading screw is ball-screw.
As a preferred technical solution of the present invention, described driven gear is arranged on the end of screw mandrel.
As a preferred technical solution of the present invention, described road conditions detecting device is ultrasonic transduter or the camera being arranged on the load of this eccentric wheel.
As a preferred technical solution of the present invention, described obliquity sensor is single shaft obliquity sensor.
As a preferred technical solution of the present invention, the moving device of described axle is driving engine or electrical motor.
Adopt the beneficial effect that technique scheme produces to be: the present invention can detect road conditions and according to the distance between the automatic adjusting shaft of road conditions and 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 in the situation that using a plurality of eccentric wheel, is independent of each other, and realizes the pivot stud of its load.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention inner side.
Fig. 2 is the structural representation in the present invention outside.
Fig. 3 is the core texture enlarged drawing of deviation correcting device in Fig. 1 and Fig. 2.
Fig. 4 is the engaging structure enlarged drawing of driving gear I and inner gear in Fig. 1 and Fig. 2.
The fundamental diagram that Fig. 5 automation of the present invention is controlled.
Fig. 6 is the distance base diagram of common wheel axle while advancing on fluctuating road surface.
Fig. 7 is the distance base diagram of this eccentric wheel axle while advancing on fluctuating road surface.
Fig. 8 is the beneficial effect schematic diagram that this eccentric wheel is climbed step.
In 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 drawings and specific embodiments, the present invention is further detailed explanation.
Referring to attached Figure 14, the structure of a specific embodiment of the present invention comprises from inside to outside axle 7, wheel hub 1, wheel rim 10 and the tire 11 of suit successively, 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 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 tuningout groove, in tuningout groove, be provided with deviation correcting device, this deviation correcting device comprise be arranged on tuningout groove two ends two bearings 4, be arranged on two leading screws between bearing 42, two guide rails parallel with leading screw 23, be sleeved on feed screw nut 15 on leading screw 2 and guide rail 3, with the coaxial affixed driven gear 5 of leading screw 2, with the driving gear II 14 of driven gear 5 engagements, 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 by 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 being meshed with driving gear I 17 at the bottom of 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;
In the structure of this eccentric wheel, also comprise the moving device of the axle being connected with described axle 7, road conditions detecting device and the treater being all connected with road conditions detecting device with obliquity sensor, the mouth of this treater is all connected with the moving device of motor I 18, motor II 12 and axle;
Tuningout groove is rectangular slot, and the ratio of the length of tuningout groove and wheel hub 1 diameter is 0.9, and leading screw 2 is ball-screw, driven gear 5 is arranged on the end of screw mandrel 2, the accuracy and the alerting ability that guarantee eccentric adjustment distance make the setting range of eccentric throw larger simultaneously, reduce the ability of jolting stronger.
Road conditions detecting device is the ultrasonic transduter being arranged on the load of this eccentric wheel, and the moving device of axle is electrical motor.
Referring to accompanying drawing 5, the principle of work that automation of the present invention is controlled is: road conditions detecting device obtains the place ahead traffic information, the fluctuating height that comprises barrier point, horizontal throw between the degree of depth and eccentric wheel and barrier point, simultaneously, obliquity sensor records the guide rail 3 of wheel or leading screw 2 with respect to the drift angle of vertical direction, above-mentioned traffic information and drift angle information are transferred into treater and process calculating, draw when eccentric wheel walks to barrier point need to be to eccentric throw and guide rail 3 or leading screw 2 drift angle regulated quantity, then calculated results is sent to motor I 18, motor II 12 and axle move device, motor II 12 is carried out the adjusting action command of eccentric throw, the moving device of motor I 18 and axle coordinates to carry out the adjusting action command of drift angle, thereby realize the object 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 axle 7 to move along guide rail 3 and leading screw 2, thereby realize the object of eccentric adjustment distance, guide rail 3 can keep the stability of control process;
The control process of guide rail 3 or leading screw 2 drift angles is: while regulating drift angle, according to 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 has shown the travel conditions of common wheel on bumpy road surface, and the path locus of axle is a curve that is similar to 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, first regulate the extremely vertical state of tuningout groove on wheel hub 1, in the process of moving, by being arranged on the ultrasonic transduter collection signal on load, detect traffic information, and control 12 runnings of motor II and stop by treater, with this, come adjusting shaft 7 to the height on ground, make its travel path be approximately straight line, like this, the center of gravity of whole load is also similar on the straight line of a level, the situation of jolting of load also can be greatly improved.
Referring to accompanying drawing 8, eccentric wheel of the present invention can make the level height of axle 7 remain unchanged even to reduce when climbing step, compared to common wheel, the present invention makes to climb step and is more prone to, specifically, before climbing step, the information that treater provides by receiving obliquity sensor, the running of the moving device of actuating spindle and motor I 18, tuningout groove is regulated and remains horizontality, then motor II 12 is rotated, thereby by feed screw nut 15, drive leading screw 2 front ends apart from wheel hub 1 compare Jin position, edge on axle 7, so just make the center of gravity reach of whole load, now, open again the moving device of axle, the moving device of axle is with moving axis 7 and feed screw nut 15 to rotate successively, final drive eccentric wheel of the present invention rotates and makes 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, then the axle 7 of eccentric adjustment wheel makes it get back to core wheel position, just can change into the rolling condition on level road.
In addition, the present invention is when parking state, the tuningout groove of eccentric wheel is adjusted to vertical state, and feed screw nut 15 is adjusted to nadir together with axle 7, thereby reduce the center of gravity of its load, strengthen the stability of parking state, in the time of need to starting, utilize the power of motor II 12 that axle 7 is risen to core wheel position, become normal motoring condition.
The present invention can detect road conditions and according to the distance between the automatic adjusting shaft 7 of road conditions and 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; The dual dynamic system of using the moving device of axle and 16 combinations of driving gear I 18-inner gear, the latter can make each eccentric wheel independent operation in the situation that using a plurality of eccentric wheel, is 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 restriction condition to its technical scheme itself.
Claims (10)
- One kind can intelligent eccentric adjustment distance eccentric wheel, comprise the axle (7), wheel hub (1), wheel rim (10) and the tire (11) that are from inside to outside set with successively, it is characterized in that: the outer rim of described 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) for firm described wheel rim (10), and described wheel hub (1) side is provided with obliquity sensor, the core wheel hollow out that runs through described wheel hub (1) offers tuningout groove, in this tuningout groove, be provided with deviation correcting device, this deviation correcting device comprises two bearings (4) that are arranged on described tuningout groove two ends, be arranged on the leading screw (2) between described two bearings (4), the guide rail (3) parallel with leading screw (2), be sleeved on the feed screw nut (15) on leading screw (2) and guide rail (3), with the coaxial affixed driven gear of leading screw (2) (5), driving gear II (14) with driven gear (5) engagement, fixed mount (13) with motor II (12) and the motor II (12) of driving gear II (14) interlock, described axle (7) is affixed with described feed screw nut (15) by the flange (8) of its end, the transversal surface of described wheel rim (10) is the U-lag towards core wheel, is provided with the inner gear (16) being meshed with driving gear I (17) at the bottom of U-lag, and described support wheel (6) offsets with the inner edge of described wheel rim (10), in the structure of this eccentric wheel, also comprise the moving device of the axle being connected with described axle (7), road conditions detecting device and the treater being all connected with road conditions detecting device with described obliquity sensor, the mouth of this treater is all connected with the moving device of motor I (18), motor II (12) and axle.
- 2. eccentric wheel that can intelligent eccentric adjustment distance according to claim 1, is characterized in that: described support wheel (6) is at least two pairs of deep groove ball bearings.
- 3. eccentric wheel that can intelligent eccentric adjustment distance according to claim 2, is characterized in that: described support wheel (6) is three pairs of deep groove ball bearings.
- 4. eccentric wheel that can intelligent eccentric adjustment distance according to claim 1, is characterized in that: described guide rail (3) is at least one.
- 5. eccentric wheel that can intelligent eccentric adjustment distance according to claim 1, it is characterized in that: described tuningout groove is rectangular slot, and the ratio range of the length of tuningout groove and described wheel hub (1) diameter is 0.25 0.95.
- 6. eccentric wheel that can intelligent eccentric adjustment distance according to claim 5, is characterized in that: the ratio of the length of described tuningout groove and described wheel hub (1) diameter is 0.9.
- 7. eccentric wheel that can intelligent eccentric adjustment distance according to claim 1, is characterized in that: described leading screw (2) is ball-screw.
- 8. eccentric wheel that can intelligent eccentric adjustment distance according to claim 1, is characterized in that: described driven gear (5) is arranged on the end of described screw mandrel (2).
- 9. eccentric wheel that can intelligent eccentric adjustment distance according to claim 1, is characterized in that: described road conditions detecting device is ultrasonic transduter or the camera being arranged on the load of this eccentric wheel.
- 10. eccentric wheel that can intelligent eccentric adjustment distance according to claim 1, is characterized in that: the moving device of described 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 |
|---|---|
| CN102642445A CN102642445A (en) | 2012-08-22 |
| CN102642445B true CN102642445B (en) | 2014-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210149555.3A Expired - Fee Related CN102642445B (en) | 2012-05-15 | 2012-05-15 | Eccentric wheel capable of intelligently adjusting eccentricity |
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| Country | Link |
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| CN (1) | CN102642445B (en) |
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|---|---|---|---|---|
| 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 |
| CN103332067B (en) * | 2013-07-23 | 2015-07-15 | 明玉平 | Vehicle |
| DE102014209310B4 (en) * | 2014-05-16 | 2017-02-09 | Saf-Holland Gmbh | Wheel and method for driving a wheel |
| CN105438279B (en) * | 2015-12-25 | 2017-07-07 | 桂林电子科技大学 | Can self-locking change core wheel carriage |
| 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 |
| 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 |
| 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 |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2260460B1 (en) * | 1974-02-08 | 1977-03-04 | Zachariasen Nicolai | |
| CN1072141A (en) * | 1991-11-03 | 1993-05-19 | 李殿钧 | Hand-regulated eccentric wheel |
| CN1259444A (en) * | 2000-02-17 | 2000-07-12 | 吴恩忠 | Inertia force assisted vehicle wheel mechanism |
| CN1314261A (en) * | 2000-03-20 | 2001-09-26 | 卢和平 | Adjustable eccentric wheel |
| CN1397408A (en) * | 2002-08-22 | 2003-02-19 | 北京邮电大学 | Dual-roller walking unit for robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63247101A (en) * | 1987-04-03 | 1988-10-13 | Yoshikata Rokusha | Rotary leg mechanism |
-
2012
- 2012-05-15 CN CN201210149555.3A patent/CN102642445B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2260460B1 (en) * | 1974-02-08 | 1977-03-04 | Zachariasen Nicolai | |
| CN1072141A (en) * | 1991-11-03 | 1993-05-19 | 李殿钧 | Hand-regulated eccentric wheel |
| CN1259444A (en) * | 2000-02-17 | 2000-07-12 | 吴恩忠 | Inertia force assisted vehicle wheel mechanism |
| CN1314261A (en) * | 2000-03-20 | 2001-09-26 | 卢和平 | Adjustable eccentric wheel |
| CN1397408A (en) * | 2002-08-22 | 2003-02-19 | 北京邮电大学 | Dual-roller walking unit for robot |
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| CN102642445A (en) | 2012-08-22 |
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