CN104385845A - Gear and rack variable eccentricity obstacle crossing wheel - Google Patents
Gear and rack variable eccentricity obstacle crossing wheel Download PDFInfo
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- CN104385845A CN104385845A CN201410767381.6A CN201410767381A CN104385845A CN 104385845 A CN104385845 A CN 104385845A CN 201410767381 A CN201410767381 A CN 201410767381A CN 104385845 A CN104385845 A CN 104385845A
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- variable eccentricity
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Abstract
The invention discloses a gear and rack variable eccentricity obstacle crossing wheel which comprises a round wheel, a power shaft, a gear and a rack meshed with the gear. The gear is in transmission connection with the power shaft; the rack is fixed on the round wheel; a supporting limiting frame for preventing the gear from jumping in the radial direction is arranged on the round wheel; a gear travel limiting mechanism is also arranged on the round wheel. According to the gear and rack variable eccentricity obstacle crossing wheel, the eccentricity is regulated by the gear and the rack; a wheel type moving manner is adopted on the flat ground and is switched into an eccentric moving manner when the gear and rack variable eccentricity obstacle crossing wheel runs into a barrier; the wheel type moving manner and the eccentric moving manner are switched by clockwise/anticlockwise rotation of the power shaft and the gear and an additional power device does not need to be added. Therefore, the gear and rack variable eccentricity obstacle crossing wheel has high moving efficiency and obstacle crossing capacity.
Description
Technical field
The invention belongs to barrier-surpassing robot field, be specifically related to a kind of Stump-jump wheel.
Background technology
Along with the events such as disaster, forest fire, nuclear incident, earthquake rescue take place frequently and the mankind to the growth of the exploration of tera incognita, the mankind urgently wish these environment of perception, to reach collection information, alleviate disaster, to rescue the object such as the wounded.Therefore need a kind of barrier getting over mechanism to help people to go to address this problem.At present, the barrier getting over mechanism used mainly contains wheeled, crawler type, leg formula, the structure such as hybrid, certain weak point is all there is: wherein to have ground pressure little for crawler belt in these obstacle detouring structures, at soft ground abhesion capacity and good by performance, stair climbing, obstacle detouring stationarity are high, but heavy crawler belt, power consumption can not be avoided high and to costs such as the destructions of landform; Leg formula barrier getting over mechanism well can be walked under non-regular landform, but it has paid the costs such as sport efficiency is too low, control is more complicated; Hybrid barrier getting over mechanism comprehensively employs the advantage of various mechanism, makes it adapt to various landform as far as possible, but complicated in mechanical structure, and control difficulty comparatively large, efficiency is poor.
The wheeled feature having himself, have that load-bearing is large, mechanism be simple, drive relative with control convenient, the speed of travel is fast, work efficiency high, but described several not as above of his obstacle detouring effect.The obstacle detouring effect of centering type under non-regular landform is better, but the sport efficiency under regular landform is lower, presently used barrier getting over mechanism major part is wheeled or centering type, and the obstacle detouring of these two kinds of modes can not take into account the effect of obstacle detouring and the efficiency of motion, so still have certain disadvantages.
Summary of the invention
In view of this, the object of this invention is to provide a kind of rack-and-gear Variable Eccentricity Stump-jump wheel, to overcome the above-mentioned defect of prior art, make robot have very strong mobile efficiency and obstacle climbing ability.
The object of the invention is to be achieved through the following technical solutions:
A kind of rack-and-gear Variable Eccentricity Stump-jump wheel, comprise circle wheel, dynamical axis, gear and and the tooth bar of gears meshing, described gear and dynamical axis are in transmission connection, described tooth bar is fixed on circle wheel, described circle wheel is provided with the support limit frame preventing gear from radially beating, described circle wheel is also provided with gear journey stop gear.
Further, described gear journey stop gear comprises position-limited rack I and the position-limited rack II that limit point is arranged on diverse location.
Further, the limit point of described position-limited rack I is arranged on circle wheel edge, and the limit point of described position-limited rack II is arranged on circle wheel centre.
The invention has the beneficial effects as follows: the present invention adjusts eccentric throw by rack-and-gear, it level land is wheeled advance, running into obstacle switches to centering type to advance, wheeled and centering type is by the cw of dynamical axis and gear/rotate counterclockwise switching, without the need to adding other engine installation, therefore, very strong mobile efficiency and obstacle climbing ability is had.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can be realized by specification sheets below and obtain.
Accompanying drawing explanation
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, wherein:
Fig. 1 is the schematic diagram of structure of the present invention;
Fig. 2 is the schematic diagram that Stump-jump wheel forward of the present invention is advanced;
Fig. 3 is the schematic diagram of Stump-jump wheel negative line feed of the present invention;
In figure, 1-circle wheel; 2-gear; 3-tooth bar; 4-position-limited rack I; 5-position-limited rack II; 6-support limit frame; 7-dynamical axis.
Detailed description of the invention
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment only in order to the present invention is described, instead of in order to limit the scope of the invention.
As shown in Figure 1, a kind of rack-and-gear Variable Eccentricity Stump-jump wheel, comprise round wheel 1, dynamical axis 7, gear 2 and and the tooth bar 3 of gears meshing, described gear 2 is in transmission connection with dynamical axis 7, described tooth bar 3 is fixed on round wheel 1, described circle wheel is provided with the support limit frame 6 preventing gear from radially beating, described circle wheel is also provided with gear journey stop gear.
In the present embodiment, described gear journey stop gear comprises position-limited rack I 4 and the position-limited rack II 5 that limit point is arranged on diverse location.The limit point of described position-limited rack I 4 is arranged on circle wheel edge, and the limit point of described position-limited rack II 5 is arranged on circle wheel centre.
The present embodiment dynamical axis 7 accepts the rotary power from propulsion source, because it is fixed on gear 2, therefore together rotate and static.Support limit frame 6 can be guide rail or groove, its effect be make gear 2 and be arranged on dynamical axis 7 on gear 2 can and can only along the radial direction rectilinear movement of circle wheel 1.The scope of rectilinear movement is limited by position-limited rack I 4 and position-limited rack II 5 respectively.Tooth bar 3 is parallel with support limit frame 6, is arranged on the side of support limit frame 6, and engages each other with gear 2.Due to the engagement of gear, cannot slide between the external tooth of gear 2 and tooth bar 3.When the rotation of dynamical axis 7 driven gear 2, due to the engagement of gear 2 tooth bar 3 and the restriction of support limit frame 6, gear 2 can be moved linearly on the direction of supporting and limiting device 6, thus change eccentric throw, make the dynamical axis 7 when gear 2 moves to position-limited rack II 5 be in eccentric throw minimum position, be preferably zero, be namely positioned at circle centre position, when gear moves to position-limited rack I 4, dynamical axis 7 is in maximum eccentricity position.
In order to the working process of this Stump-jump wheel is described, definable two kinds of direct of travels, forward is advanced (dynamical axis rotates counterclockwise) and negative line feed (dynamical axis rotates clockwise).
When forward is advanced and when dynamical axis 7 rotates counterclockwise, as shown in Fig. 2 (a), because rotating counterclockwise of dynamical axis 7 can rotate by driven gear 2, due to gear 2 and the engagement of tooth bar 3 and the restriction of support limit frame 6, gear 2 can be moved linearly downwards along the bearing of trend of support limit frame 6, when turning to inhibiting device 5 position, because the effect gear 2 of inhibiting device 5 cannot along the radial direction rectilinear movement of circle wheel 1, round wheel 1 now can be driven to rotate counterclockwise, now advance for wheeled, as shown in Figure 2.
During negative line feed and when dynamical axis 7 rotates clockwise, as shown in Fig. 3 (a), because rotating clockwise of dynamical axis 7 can upwards be rotated by driven gear 2, due to gear 2 and the engagement of tooth bar 3 and the restriction of support limit frame 6, gear 2 upwards can be moved linearly along the bearing of trend of support limit frame 6, when turning to position-limited rack I 4 position, because the effect gear 2 of position-limited rack I 4 cannot along the radial direction rectilinear movement of circle wheel 1, round wheel 1 now can be driven to rotate clockwise, now for centering type is advanced, as shown in Figure 3.
The present embodiment adjusts eccentric throw by rack-and-gear, it level land is wheeled advance, running into obstacle switches to centering type to advance, wheeled and centering type is by the cw of dynamical axis and gear/rotate counterclockwise switching, without the need to adding other engine installation, therefore, very strong mobile efficiency and obstacle climbing ability is had.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of right of the present invention.
Claims (3)
1. a rack-and-gear Variable Eccentricity Stump-jump wheel, it is characterized in that: comprise circle wheel, dynamical axis, gear and and the tooth bar of gears meshing, described gear and dynamical axis are in transmission connection, described tooth bar is fixed on circle wheel, described circle wheel is provided with the support limit frame preventing gear from radially beating, described circle wheel is also provided with gear journey stop gear.
2. rack-and-gear Variable Eccentricity Stump-jump wheel according to claim 1, is characterized in that: described gear journey stop gear comprises position-limited rack I and the position-limited rack II that limit point is arranged on diverse location.
3. rack-and-gear Variable Eccentricity Stump-jump wheel according to claim 2, is characterized in that: the limit point of described position-limited rack I is arranged on circle wheel edge, and the limit point of described position-limited rack II is arranged on circle wheel centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410767381.6A CN104385845B (en) | 2014-12-12 | 2014-12-12 | Gear and rack variable eccentricity obstacle crossing wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410767381.6A CN104385845B (en) | 2014-12-12 | 2014-12-12 | Gear and rack variable eccentricity obstacle crossing wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104385845A true CN104385845A (en) | 2015-03-04 |
| CN104385845B CN104385845B (en) | 2017-05-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410767381.6A Active CN104385845B (en) | 2014-12-12 | 2014-12-12 | Gear and rack variable eccentricity obstacle crossing wheel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262307A (en) * | 2018-11-14 | 2019-01-25 | 常州机电职业技术学院 | Eccentric wheel assembly with adjustable eccentricity |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2160160A (en) * | 1984-06-12 | 1985-12-18 | Ivan Murray Miller | Improvements in and relating to wheel mountings and assemblies |
| CN2061531U (en) * | 1990-03-09 | 1990-09-05 | 洪火城 | Eccentricity correction device for bicycle wheel |
| CN1613531A (en) * | 2004-12-03 | 2005-05-11 | 顾洪钧 | Axis excentric adjuster for wheel |
| CN201362133Y (en) * | 2009-03-16 | 2009-12-16 | 刘建伟 | Vehicle wheel with continuously-variable diameter |
| CN102328680A (en) * | 2011-08-04 | 2012-01-25 | 谢哲 | Inner planetary gear type stair climbing device |
| CN102642444A (en) * | 2012-05-09 | 2012-08-22 | 畅建坤 | Wheel structure for uneven ground |
| CN204264309U (en) * | 2014-12-12 | 2015-04-15 | 西南大学 | Rack-and-gear Variable Eccentricity Stump-jump wheel |
-
2014
- 2014-12-12 CN CN201410767381.6A patent/CN104385845B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2160160A (en) * | 1984-06-12 | 1985-12-18 | Ivan Murray Miller | Improvements in and relating to wheel mountings and assemblies |
| CN2061531U (en) * | 1990-03-09 | 1990-09-05 | 洪火城 | Eccentricity correction device for bicycle wheel |
| CN1613531A (en) * | 2004-12-03 | 2005-05-11 | 顾洪钧 | Axis excentric adjuster for wheel |
| CN201362133Y (en) * | 2009-03-16 | 2009-12-16 | 刘建伟 | Vehicle wheel with continuously-variable diameter |
| CN102328680A (en) * | 2011-08-04 | 2012-01-25 | 谢哲 | Inner planetary gear type stair climbing device |
| CN102642444A (en) * | 2012-05-09 | 2012-08-22 | 畅建坤 | Wheel structure for uneven ground |
| CN204264309U (en) * | 2014-12-12 | 2015-04-15 | 西南大学 | Rack-and-gear Variable Eccentricity Stump-jump wheel |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262307A (en) * | 2018-11-14 | 2019-01-25 | 常州机电职业技术学院 | Eccentric wheel assembly with adjustable eccentricity |
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| CN104385845B (en) | 2017-05-03 |
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