CN104385845B - Gear and rack variable eccentricity obstacle crossing wheel - Google Patents
Gear and rack variable eccentricity obstacle crossing wheel Download PDFInfo
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- CN104385845B CN104385845B CN201410767381.6A CN201410767381A CN104385845B CN 104385845 B CN104385845 B CN 104385845B CN 201410767381 A CN201410767381 A CN 201410767381A CN 104385845 B CN104385845 B CN 104385845B
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- gear
- rack
- wheel
- circle wheel
- obstacle crossing
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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, and in particular to a kind of Stump-jump wheel.
Background technology
With the events such as natural disaster, forest fire, nuclear accident, earthquake rescue take place frequently and the mankind are to tera incognita
The growth of exploration, the mankind are highly desirable to perceive these environment, to reach gather information, alleviate the purposes such as disaster, the rescue wounded.Cause
This needs a kind of barrier getting over mechanism to help people to go to solve this problem.At present, the barrier getting over mechanism for being used mainly has wheeled, shoe
, all there is certain weak point in these obstacle detouring structures in the structure such as belt, lower limb formula, hybrid：Wherein crawler belt has over the ground
Pressure is little, and in soft ground abhesion capacity and good by performance, stair climbing, obstacle detouring stationarity are high, but cannot be avoided heaviness
Crawler belt, power consumption is high and the cost such as destruction to landform；Lower limb formula barrier getting over mechanism can be walked under non-regular landform well,
But it has paid, and sport efficiency is too low, control the cost such as more complicated；Hybrid barrier getting over mechanism has comprehensively used the excellent of various mechanisms
Point, adapts it to various landform as far as possible, but complicated in mechanical structure, and control difficulty is larger, and efficiency is poor.
It is wheeled the characteristics of have its own, with load-bearing it is big, mechanism is simple, drive and control relatively convenient, the speed of travel it is fast,
The features such as high working efficiency, but his obstacle detouring effect is described several not as above.Centering type getting under non-regular landform
Barrier effect preferably, but the sport efficiency under regular landform is relatively low, presently used barrier getting over mechanism major part be it is wheeled or
Person's centering type, the obstacle detouring of both modes can not take into account the effect of obstacle detouring and the efficiency of motion, so still having certain disadvantages.
The content of the invention
In view of this, it is an object of the invention to provide a kind of rack-and-pinion Variable Eccentricity Stump-jump wheel, to overcome existing skill
The drawbacks described above of art, makes robot possess very strong mobile efficiency and obstacle climbing ability.
The purpose of the present invention is achieved through the following technical solutions：
A kind of rack-and-pinion Variable Eccentricity Stump-jump wheel, including circle wheel, line shaft, gear and the tooth with gear engagement
Bar, the gear are connected with line shaft, and the tooth bar is fixed on circle wheel, and being provided with the circle wheel prevents gear along footpath
To the support limit frame of bounce, on the circle wheel, gear journey stop gear is additionally provided with.
Further, the gear journey stop gear includes that limit point is arranged on the position-limited rack I and position-limited rack of diverse location
Ⅱ。
Further, the limit point of the position-limited rack I is arranged on circle wheel edge, and the limit point of the position-limited rack II is arranged
In circle wheel centre.
The invention has the beneficial effects as follows：The present invention adjusts eccentric throw by rack-and-pinion, is wheeled advance on level land, meets
Centering type is switched to advance to barrier, wheeled and centering type passes through line shaft and the clockwise/counterclockwise of gear rotates switching,
Other power set need not be added, therefore, possess very strong mobile efficiency and obstacle climbing ability.
Other advantages of the present invention, target and feature will be illustrated to a certain extent in the following description, and
And to a certain extent, based on being will be apparent to investigating hereafter to those skilled in the art, Huo Zheke
To be instructed from the practice of the present invention.The present invention target and other advantages can be realized by description below and
Obtain.
Description of the drawings
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
The detailed description of one step, wherein：
Schematic diagrams of the Fig. 1 for present configuration；
Fig. 2 is the positive schematic diagram advanced of Stump-jump wheel of the present invention；
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—
Line shaft.
Specific embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.It should be appreciated that preferred embodiment
Only for the explanation present invention, rather than in order to limit the scope of the invention.
As shown in figure 1, a kind of rack-and-pinion Variable Eccentricity Stump-jump wheel, including circle wheel 1, line shaft 7, gear 2 and and
The tooth bar 3 of gear engagement, the gear 2 are connected with line shaft 7, and the tooth bar 3 is fixed on circle wheel 1, on the circle wheel
The support limit frame 6 for preventing gear from radially beating is provided with, on the circle wheel, gear journey stop gear is additionally provided with.
In the present embodiment, the gear journey stop gear includes that limit point is arranged on the position-limited rack I 4 of diverse location and limit
Position frame II 5.The limit point of the position-limited rack I 4 is arranged on circle wheel edge, and the limit point of the position-limited rack II 5 is arranged on circle
Wheel centre.
The present embodiment line shaft 7 receives the rotary power from power source, because which is fixed on gear 2, therefore rotates together
With it is static.Support limit frame 6 can be guide rail or groove, and which acts on and is so that gear 2 and moving on gear 2
Power axle 7 can and can only be along the radial direction rectilinear movement of circle wheel 1.The scope of rectilinear movement is respectively by position-limited rack I 4 and spacing
Frame II 5 is limited.Tooth bar 3 is parallel with support limit frame 6, installed in the side of support limit frame 6, and is intermeshed with gear 2.
Due to the engagement of gear, cannot occur to slide between the external tooth and tooth bar 3 of gear 2.When rotation of the line shaft 7 with moving gear 2,
Due to the restriction of the engagement and support limit frame 6 of 2 tooth bar 3 of gear so that gear 2 can be in the side of supporting and limiting device 6
Move linearly upwards, so as to change eccentric throw so that when gear 2 moves to position-limited rack II 5, line shaft 7 is minimum in eccentric throw
Position, preferably zero, i.e., positioned at circle centre position, when gear moves to position-limited rack I 4, line shaft 7 is in maximum eccentricity position.
In order to illustrate the course of work of the Stump-jump wheel, two kinds of direct of travels of definable, forward direction is advanced, and (line shaft turns counterclockwise
It is dynamic) and negative line feed (line shaft is rotated clockwise).
It is positive when be that line shaft 7 is rotated counterclockwise when advancing, due to line shaft 7 rotate counterclockwise can with moving gear 2 to
Lower rotation, due to the engagement and the restriction of support limit frame 6 of gear 2 and tooth bar 3 so that gear 2 can be along support limit frame 6
Bearing of trend move linearly downwards, when 5 position of stopping means is turned to, as the effect gear 2 of stopping means 5 cannot edge
The radial direction rectilinear movement of circle wheel 1, can now be driven circle wheel 1 to rotate counterclockwise, be now wheeled traveling, as shown in Figure 2.
When being that line shaft 7 is rotated clockwise during negative line feed, due to line shaft 7 rotate clockwise can band moving gear 2 to
Upper rotation, due to the engagement and the restriction of support limit frame 6 of gear 2 and tooth bar 3 so that gear 2 can be along support limit frame 6
Bearing of trend move linearly upwards, when I 4 position of position-limited rack is turned to, as the effect gear 2 of position-limited rack I 4 cannot be along
The radial direction rectilinear movement of circle wheel 1, can now drive circle wheel 1 to rotate clockwise, now advance for centering type, as shown in Figure 3.
The present embodiment adjusts eccentric throw by rack-and-pinion, is wheeled advance, runs into barrier and switch to partially on level land
Core type advance, wheeled and centering type passes through line shaft and the clockwise/counterclockwise of gear rotates switching, need not add other moving
Power apparatus, therefore, possess very strong mobile efficiency and obstacle climbing ability.
Finally illustrate, above example is only unrestricted to illustrate technical scheme, although with reference to compared with
Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent, and without deviating from the objective and scope of the technical program, which all should be covered in the present invention
Right in the middle of.
Claims (1)
1. a kind of rack-and-pinion Variable Eccentricity Stump-jump wheel, it is characterised in that：Including circle wheel, line shaft, gear and and gear
The tooth bar of engagement, the gear are connected with line shaft, and the tooth bar is fixed on circle wheel, and being provided with the circle wheel prevents
The support limit frame that gear is radially beated, is additionally provided with gear journey stop gear on the circle wheel；
The gear journey stop gear includes that limit point is arranged on the position-limited rack I and position-limited rack II of diverse location；
The limit point of the position-limited rack I is arranged on circle wheel edge, and the limit point of the position-limited rack II is arranged on Yuan Lun centers
Position, adjusts eccentric throw by rack-and-pinion, is wheeled advance, runs into barrier and switch to centering type to advance on level land, takes turns
By line shaft and gear, formula and centering type realize that clockwise/counterclockwise rotates switching.
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 CN104385845A (en) | 2015-03-04 |
| CN104385845B true CN104385845B (en) | 2017-05-03 |
Family
ID=52603840
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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104385845B (en) |
Families Citing this family (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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NZ211009A (en) * | 1984-06-12 | 1986-09-10 | I M Miller | Eccentric wheel mounting for wheelbarrow and similar applications |
| CN2061531U (en) * | 1990-03-09 | 1990-09-05 | 洪火城 | Eccentricity correction device for bicycle wheel |
| CN1278755C (en) * | 2004-12-03 | 2006-10-11 | 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 |
| CN102642444B (en) * | 2012-05-09 | 2014-06-25 | 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
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| Publication number | Publication date |
|---|---|
| CN104385845A (en) | 2015-03-04 |
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