CN103802657A - Spherical wheel driving system - Google Patents
Spherical wheel driving system Download PDFInfo
- Publication number
- CN103802657A CN103802657A CN201410086994.3A CN201410086994A CN103802657A CN 103802657 A CN103802657 A CN 103802657A CN 201410086994 A CN201410086994 A CN 201410086994A CN 103802657 A CN103802657 A CN 103802657A
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- drive shaft
- axle
- axle drive
- shaft
- wheel
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Abstract
The invention discloses a spherical wheel driving system which comprises a driving shaft support, a driving motor, a driving shaft, a shaft sleeve, a sphere, a coupler, a wheel support, a maintaining shaft and a protecting casing, wherein the driving shaft is arranged on the driving shaft support, the driving motor is connected with the driving shaft through the coupler, the shaft sleeve is arranged on the driving shaft, the sphere is arranged in the middle of the driving shaft, the wheel support is arranged on the driving shaft support on one side of the sphere, and a spherical wheel main body is protected by the protecting casing. Through the way, the spherical wheel driving system provided by the invention has the advantages of high reliability, compact structure, omnibearing driving, high adaptability and mobility, and low cost, can accomplish actions which can not be accomplished through a common automobile, and meanwhile has a wide market prospect in a future automobile market.
Description
Technical field
The present invention relates to automotive field, particularly relate to a kind of spherical vehicle wheel drive system.
Background technology
Circular wheel has been continued to use thousands of years, basic structure does not change, all that wheel is set on axle, modern automobile relies on axle to drive wheel to advance, and this type of drive desired structure is simple and reliable, needs complex mechanical structure but will realize turning to, wheel only can scroll forward and backward, cannot transverse moving left and right, the spherical wheel of automobile requires drive system energy drive ball to make omnidirectional moving, and existing design cannot adapt to the driving demand of spherical wheel.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of spherical vehicle wheel drive system, resultant movement by design XY axle drive shaft drives spheroid to do omnidirectional moving, directly output to axle by controller control power system, accurately drive the rotation of every axle, by designing car wheel support, assurance ball contacts with axle drive shaft, by retainer shaft and screened housing, prevent that spherical wheel from coming off, and play a protective role, there is reliability high, compact conformation, omnidirectional drives, comformability is good, maneuverability is strong, can complete the action that general-utility car cannot complete, the advantage such as cheap, there are market outlook widely in future automobile market simultaneously.
For solving the problems of the technologies described above; the technical scheme that the present invention adopts is: a kind of spherical vehicle wheel drive system is provided; comprise: support, drive motor, axle drive shaft; axle sleeve, spheroid, coupler, wheel stand, retainer shaft, controller and screened housing; axle drive shaft is arranged on support and is parallel with horizontal surface; drive motor relies on coupler to be connected with axle drive shaft; on axle drive shaft, be provided with axle sleeve; spheroid is arranged in the middle of axle drive shaft; on the support of spheroid one side, be provided with wheel stand, spherical wheel body protects drive motor by controller control by screened housing.
In a preferred embodiment of the present invention, described axle drive shaft has two of X-axis and Y-axis, and axle two ends are provided with bearing, offer keyway on axle.
In a preferred embodiment of the present invention, described X-axis and Y-axis are arranged vertically mutually, and parallel with horizontal surface by the definite plane of X, Y-axis.
In a preferred embodiment of the present invention, described axle drive shaft is arranged on spheroid oblique upper, be 45 ° of left and right, and this straight line is vertical with corresponding drive axis by straight line and the horizontal plane angle of the centre of sphere and axle drive shaft and spheroid focus.
In a preferred embodiment of the present invention, described axle sleeve is enclosed within on axle drive shaft, is provided with the keyway corresponding with axle drive shaft in axle sleeve.
In a preferred embodiment of the present invention, described wheel stand has 2, is arranged on the both sides up and down of support, and wheel stand leading portion is ball castor.
In a preferred embodiment of the present invention, the axis of described wheel stand tiltedly points to the centre of sphere, and is 45 °, and the projection of wheel stand on horizontal surface is positioned on the angular bisector of axle drive shaft angle.
In a preferred embodiment of the present invention, described retainer shaft is 2, is arranged on the oblique below of spheroid, and keeps corresponding with axle drive shaft.
In a preferred embodiment of the present invention, described retainer shaft and axle drive shaft formed plane are perpendicular to horizontal surface, and 2 retainer shaft self formed planes are parallel with horizontal surface.
The invention has the beneficial effects as follows: spherical vehicle wheel drive system of the present invention drives spheroid to do omnidirectional moving by the resultant movement of design XY axle drive shaft, directly output to axle by controller control power system, accurately drive the rotation of every axle, by designing car wheel support, assurance ball contacts with axle drive shaft, by retainer shaft and screened housing, prevent that spherical wheel from coming off, and play a protective role, there is reliability high, compact conformation, omnidirectional drives, comformability is good, maneuverability is strong, can complete the action that general-utility car cannot complete, the advantage such as cheap, there are market outlook widely in future automobile market simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing, wherein:
Fig. 1 is the structural representation of spherical vehicle wheel drive system one preferred embodiment of the present invention;
Fig. 2 is supporting structure schematic diagram;
In accompanying drawing, the mark of each parts is as follows: 1, axle drive shaft support, 2, X-axis motor, 3, y-axis motor, 4, X axle drive shaft, 5, Y axle drive shaft, 6, X-axis cover, 7, Y-axis cover, 8, wheel retainer shaft, 9, spheroid, 10, wheel stand, 11, cardan wheel, 12, axle sleeve installation position, 13, X axle drive shaft installation position, 14, Y axle drive shaft installation position, 15, X retainer shaft installation position, 16, Y retainer shaft installation position, 17 brake system installation positions.
The specific embodiment
To the technical scheme in the embodiment of the present invention be clearly and completely described below, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1 to Fig. 2, the embodiment of the present invention comprises:
A kind of spherical vehicle wheel drive system; comprise: axle drive shaft support 1, drive motor 2, axle drive shaft 4; axle sleeve 6, spheroid 9, coupler, wheel stand 10, retainer shaft 8, controller and screened housing; axle drive shaft 4 is arranged on support 1 and is parallel with horizontal surface; drive motor 2 relies on coupler to be connected with axle drive shaft 4; on axle drive shaft 4, be provided with axle sleeve 6; spheroid 9 is arranged in the middle of axle drive shaft 4; on the support of spheroid one side, be provided with wheel stand 10, spherical wheel body protects drive motor by controller control by screened housing.
Described axle drive shaft has 5 two of X-axis 4 and Y-axis, and axle two ends are provided with bearing, offer keyway on axle, for the synthesis of moving and keeping transmission of power.
Described X-axis 4 is arranged vertically mutually with Y-axis 5, and parallel with horizontal surface by the definite plane of X, Y-axis, can drive wheel resultant movement.
Described axle drive shaft is arranged on spheroid oblique upper, be 45 ° of left and right, and this straight line is vertical with corresponding drive axis, effectively drives wheel by straight line and the horizontal plane angle of the centre of sphere and axle drive shaft and spheroid focus.
Described axle sleeve 6 is enclosed within on axle drive shaft, is provided with the keyway corresponding with axle drive shaft in axle sleeve, and protection axle also keeps transmission of power.
Described wheel stand 10 has 2, is arranged on the both sides up and down of axle drive shaft support, and wheel stand leading portion is ball castor, and fixing and supporting sephere, does not hinder wheel movement simultaneously.
The axis of described wheel stand 10 tiltedly points to the centre of sphere, and is 45 °, and the projection of wheel stand on horizontal surface is positioned on the angular bisector of axle drive shaft angle.
Described retainer shaft is 2, is arranged on the oblique below of spheroid, and keeps corresponding with axle drive shaft, prevents that wheel from coming off and protecting energy wheel.
Described retainer shaft 8 is with axle drive shaft 4 formed planes perpendicular to horizontal surface, and 2 retainer shaft self formed planes are parallel with horizontal surface, effectively fixing vehicle wheel.
Wheel working process is:
Controller obtains incoming signal and is translated into drive motor motor message, by driving and control the motor speed in X-axis and Y-axis, accurately effectively controls the resultant movement direction of ball, makes it to have omnidirectional's power-handling capability, improves automobile alerting ability.
The beneficial effect of spherical vehicle wheel drive system of the present invention is:
One, drive spheroid to do omnidirectional moving by the resultant movement of design XY axle drive shaft, alerting ability is high;
Two, directly output to axle by controller control power system, accurately drive the rotation of every axle;
Three,, by designing car wheel support, assurance ball contacts with axle drive shaft, by retainer shaft and screened housing, prevents that spherical wheel from coming off, and plays a protective role;
Four, than existing wheel and drive system thereof, subversiveness design of the present invention, have that reliability is high, compact conformation, omnidirectional drive, comformability is good, maneuverability is strong, can complete the action that general-utility car cannot complete, the advantage such as cheap, has market outlook widely in future automobile market simultaneously.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (9)
1. a spherical vehicle wheel drive system; it is characterized in that; comprise: axle drive shaft support, drive motor, axle drive shaft; axle sleeve, spheroid, coupler, wheel stand, retainer shaft, controller and screened housing; axle drive shaft is arranged on axle drive shaft support and is parallel with horizontal surface; drive motor relies on coupler to be connected with axle drive shaft; on axle drive shaft, be provided with axle sleeve; spheroid is arranged in the middle of axle drive shaft; on the support of spheroid one side, be provided with wheel stand, spherical wheel body protects drive motor by controller control by screened housing.
2. spherical vehicle wheel drive system according to claim 1, is characterized in that, described axle drive shaft has two of X-axis and Y-axis, and axle two ends are provided with bearing, offer keyway on axle.
3. spherical vehicle wheel drive system according to claim 2, is characterized in that, described X-axis and Y-axis are arranged vertically mutually, and parallel with horizontal surface by the definite plane of X, Y-axis.
4. spherical vehicle wheel drive system according to claim 1, it is characterized in that, described axle drive shaft is arranged on spheroid oblique upper, be 45 ° of left and right, and this straight line is vertical with corresponding drive axis by straight line and the horizontal plane angle of the centre of sphere and axle drive shaft and spheroid focus.
5. spherical vehicle wheel drive system according to claim 1, is characterized in that, described axle sleeve is enclosed within on axle drive shaft, is provided with the keyway corresponding with axle drive shaft in axle sleeve.
6. spherical vehicle wheel drive system according to claim 1, is characterized in that, described wheel stand has 2, is arranged on the both sides up and down of axle drive shaft support, and wheel stand leading portion is ball castor.
7. spherical vehicle wheel drive system according to claim 1, is characterized in that, the axis of described wheel stand tiltedly points to the centre of sphere, and is 45 °, and the projection of wheel stand on horizontal surface is positioned on the angular bisector of axle drive shaft angle.
8. spherical vehicle wheel drive system according to claim 1, is characterized in that, described retainer shaft is 2, is arranged on the oblique below of spheroid, and keeps corresponding with axle drive shaft.
9. spherical vehicle wheel drive system according to claim 8, is characterized in that, described retainer shaft and axle drive shaft formed plane are perpendicular to horizontal surface, and 2 retainer shaft self formed planes are parallel with horizontal surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410086994.3A CN103802657A (en) | 2014-03-11 | 2014-03-11 | Spherical wheel driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410086994.3A CN103802657A (en) | 2014-03-11 | 2014-03-11 | Spherical wheel driving system |
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| Publication Number | Publication Date |
|---|---|
| CN103802657A true CN103802657A (en) | 2014-05-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410086994.3A Pending CN103802657A (en) | 2014-03-11 | 2014-03-11 | Spherical wheel driving system |
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| Country | Link |
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| CN (1) | CN103802657A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092896A (en) * | 2020-08-11 | 2020-12-18 | 盐城工学院 | Locomotive full-steering control system and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005344777A (en) * | 2004-06-01 | 2005-12-15 | Furukawa Electric Co Ltd:The | Spherical wheel driving mechanism and its traveling method |
| CN2846267Y (en) * | 2005-06-17 | 2006-12-13 | 北京航空航天大学 | Ominibearing moving ball shape robot |
| CN200977830Y (en) * | 2006-11-07 | 2007-11-21 | 郑政益 | Universal wheel |
| CN101657347A (en) * | 2007-04-20 | 2010-02-24 | 本田技研工业株式会社 | Omnidirectional driver and omnidirectional vehicle employing it |
| TW201024114A (en) * | 2008-12-26 | 2010-07-01 | Univ Chung Hua | Omnidirectional wheel transmission device |
-
2014
- 2014-03-11 CN CN201410086994.3A patent/CN103802657A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005344777A (en) * | 2004-06-01 | 2005-12-15 | Furukawa Electric Co Ltd:The | Spherical wheel driving mechanism and its traveling method |
| CN2846267Y (en) * | 2005-06-17 | 2006-12-13 | 北京航空航天大学 | Ominibearing moving ball shape robot |
| CN200977830Y (en) * | 2006-11-07 | 2007-11-21 | 郑政益 | Universal wheel |
| CN101657347A (en) * | 2007-04-20 | 2010-02-24 | 本田技研工业株式会社 | Omnidirectional driver and omnidirectional vehicle employing it |
| TW201024114A (en) * | 2008-12-26 | 2010-07-01 | Univ Chung Hua | Omnidirectional wheel transmission device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092896A (en) * | 2020-08-11 | 2020-12-18 | 盐城工学院 | Locomotive full-steering control system and control method thereof |
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Application publication date: 20140521 |