CN104708994B - Modularity linear drives and turn to integrated wheel - Google Patents
Modularity linear drives and turn to integrated wheel Download PDFInfo
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- CN104708994B CN104708994B CN201510166010.7A CN201510166010A CN104708994B CN 104708994 B CN104708994 B CN 104708994B CN 201510166010 A CN201510166010 A CN 201510166010A CN 104708994 B CN104708994 B CN 104708994B
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- turn
- decelerator
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- driving
- line travelling
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Abstract
A kind of modularity linear drives and turn to integrated wheel, drives motor, straight-line travelling to drive decelerator, turn to driving motor, turn to driving decelerator and steering angle to measure assembly including horizontal bearing frame, straight-line travelling；Turn to driving motor, turn to driving decelerator and steering angle measurement assembly to be all fixedly mounted on horizontal bearing frame, the input driving motor and turn to driving decelerator is turned to be connected, turn to the output driving decelerator to connect and have gear connection dish, gear connection dish is fixedly connected with transition link；Straight-line travelling drives motor to drive decelerator to be connected with straight-line travelling and both are fixedly mounted on transition link in the lump；Steering angle is measured assembly and is included rotary encoder, connecting shaft and little gear.This integrated wheel is by linear drives and turns to compact design together, and integration is strong, can be according to different body specifications independent assortments, and steering angle scope is big, it is ensured that car body completes 360 ° of revolutions in original place.
Description
Technical field
The present invention relates to a kind of for robot and the driving of vehicle and the one wheel turned to, belong to wheel technical field.
Background technology
Nowadays electric vehicle engineering quickly grows, people's understanding to driving that novel wheel hub actuation techniques increasing is deep.So-called take turns
Hub drives, and power, transmission and brake unit are all incorporated in wheel hub by the advantage of its maximum exactly, therefore by the machine of electric vehicle
Tool part is greatly simplified.Wheel hub actuation techniques produced the most as far back as 1900, and Porsche company was manufactured that front-wheel equipment wheel at that time
The electric automobile of hub motor.
But either which kind of wheel hub type of drive, what it mainly solved is wheel-Integrated power during its straight line traveling, not
Have and driving will be turned to be integrated in the lump in wheel；In view of limited organization distribution, the steering range limitation of actual vehicle is the biggest.
Summary of the invention
For the deficiency overcoming existing wheel technology to exist, the present invention provides a kind of compact conformation, and dynamic is good, can separate straight lines
Drive, brake and the modularity linear drives that turns to and turn to integrated wheel.
The modularity linear drives of the present invention and turn to integrated wheel, uses following technical proposals:
This modularity linear drives and turn to integrated wheel, drives motor, straight-line travelling to drive including horizontal bearing frame, straight-line travelling
Decelerator, turn to driving motor, turn to driving decelerator and steering angle measure assembly；Turn to driving motor, turn to driving to subtract
Speed device and steering angle are measured assembly and are all fixedly mounted on horizontal bearing frame, turn to and drive motor and turn to the defeated of driving decelerator
Entering end to connect, turning to the outfan driving decelerator to connect has gear connection dish, gear connection dish is fixedly connected with transition and connects
Frame；Straight-line travelling drives motor to drive decelerator to be connected with straight-line travelling and both are fixedly mounted on transition link, directly in the lump
Line travels and drives the outfan connection of decelerator to have wheel body；Steering angle is measured assembly and is included rotary encoder, connecting shaft and little tooth
Wheel, rotary encoder is arranged on horizontal bearing frame, and connecting shaft is arranged on horizontal bearing frame by bearing block, the one of connecting shaft
End installs little gear, and little gear is connected dish engagement with gear, and the other end of connecting shaft is connected with rotary encoder.
Wheel body is made up of wheel rim and the tire being sleeved on wheel rim；Horizontal bearing frame, turn to driving motor, turn to driving decelerator,
Gear connection dish and transition link composition turn to driving-chain；Straight-line travelling drives motor and straight-line travelling to drive decelerator composition straight
Line travel transmission chain.Straight-line travelling driving-chain is connected with the outfan turning to driving-chain with gear connection dish by transition link,
Ensure that straight-line travelling when turning to is unaffected.
Whole integrated wheel is connected with vehicle body by middle link by horizontal bearing frame.During straight-line travelling, straight-line travelling drives motor
Output speed and moment of torsion, flow to straight-line travelling and drive decelerator, and this decelerator exports corresponding rotating speed and torque drive wheel rotates
Complete linear running；During braking straight-line travelling drive motor directly provided braking square by bottom SERVO CONTROL, make wheel slow down or
Stop.When turning to, turning to driving motor output speeds and moment of torsion, conveying to turn to driving decelerator, the output of this decelerator is corresponding
Rotating speed and torque drive gear connection dish and transition link, thus drive straight-line travelling to drive chain to complete rotating angle movement；Due to
Turn to the output axis center by tire driving motor, therefore can guarantee that to spin in wheel original place, so that vehicle completes original place
360 ° of revolutions；Steer motor output torque drive turn to driving decelerator driven gear connection dish rotate time, transmit motion to
The trundle being meshed on, thus drive connecting shaft and rotary coder shaft to rotate, export electric potential signal, identify the angle turned over
Degree.
The power of the present invention is provided by motor, and straight-line travelling drives and turn to driving driving-chain all to design inside wheel rim, positive and negative
Gyration scope adjusts according to vehicle body, according to the vehicle body of different size, the advance pose of regulation wheel, resets rotary encoder
Initial bit can realize.The invention have the characteristics that:
1., by linear drives and turn to compact design together, mechanism is compact, and integration is strong；
2. there is independent bottom servo control module, can be according to different body specifications independent assortments；
3. steering angle scope is big, and forward and backward angle sum is close to 360 °, after group forms car, it is ensured that car body completes former
360 ° of revolutions on ground.
Accompanying drawing explanation
Fig. 1 is modularity linear drives of the present invention and the appearance schematic diagram turning to integrated wheel.
Fig. 2 be modularity linear drives of the present invention and turn to integrated wheel wheel rim in the schematic diagram of drive mechanism.
Fig. 3 is modularity linear drives of the present invention and the internal structure schematic diagram turning to integrated wheel.
1. middle link, 2. horizontal bearing frame in figure, the least gear, 4. bearing block, 5. rotary encoder, 6. encoder props up
Frame, 7. containment vessel, 8. support, 9. turn to driving decelerator, 10. gear connection dish, 11. transition links, 12. linear rows
Sailing driving motor, 13. straight-line travellings drive decelerators, 14. supports, 15. tires, 16. wheel rims, 17. circle body supports, and 18.
Turn to driving motor, 19. connecting shafts, 20. bearings.
Detailed description of the invention
Fig. 1 gives modularity linear drives of the present invention and turns to the profile of integrated wheel, its concrete structure as shown in Figures 2 and 3,
It is broadly divided into wheel body, turns to driving-chain, straight-line travelling driving-chain and outer corner measurement assembly four part.
Wheel body is made up of tire 15, wheel rim 16 and circle body support 17.Tire 15 uses mountain bike highway air tyre, is sleeved on
On wheel rim 16.Wheel rim 16 uses mountain region wheel rim, wheel rim 16 to fixedly mount on circle body support 17, and (both can also be integrated knot
Structure), circle body support 17 drives decelerator 13 to be connected with straight-line travelling.
Turn to driving-chain by horizontal bearing frame 2, turn to driving motor 18, turn to driving decelerator 9, gear connection dish 10 and mistake
Cross link 11 to form.Turn to driving motor 18 to be fixed on horizontal bearing frame 2 by support 8, on horizontal bearing frame 2 also
It is provided with and turns to the containment vessel 7 driving motor.Turn to driving decelerator 9 to be also secured on horizontal bearing frame 2, and drive with turning to
Galvanic electricity machine 18 connects.Turn to the outfan driving decelerator 9 to connect and have gear connection dish 10, the company of fixing on gear connection dish 10
It is connected to transition link 11.
Straight-line travelling driving-chain is driven motor 12 and straight-line travelling to drive decelerator 13 to form by straight-line travelling.Straight-line travelling drives
Motor 12 is fixedly mounted on transition link 11 by support 14.Straight-line travelling drives decelerator 13 to be also fixedly mounted on
Motor 12 is driven to be connected on transition link 11 and with straight-line travelling.
Outer corner measurement assembly is made up of little gear 3, connecting shaft 19, encoder support 6 and rotary encoder 5.Rotary encoder
5 are arranged on horizontal bearing frame 2 by encoder support 6, are fixed by the shell of rotary encoder 5 simultaneously and (in Fig. 2 are
The shell of rotary encoder 5 is connected with turning to the containment vessel 7 driving motor).Connecting shaft 19 is arranged on bearing by bearing 20
In seat 4, bearing block 20 is fixedly mounted on horizontal bearing frame 2.Little gear 3, connecting shaft 19 are installed in one end of connecting shaft 19
The other end be connected with rotary encoder 5.
Straight-line travelling driving-chain is connected with the outfan turning to driving-chain with gear connection dish 10 by transition link 11, it is ensured that
Straight-line travelling when turning to is unaffected.
Whole integrated wheel is fixed with the vehicle body of robot or vehicle by the middle link 1 of connection on it by horizontal bearing frame 2.
During straight-line travelling, straight-line travelling drives motor 12 to drive decelerator 13 to export corresponding rotating speed and torque drive by straight-line travelling
The wheeling thereof being made up of tire 15, wheel rim 16 and circle body support 17, now turn to driving motor 18 by bottom SERVO CONTROL,
By turning to the gear connection dish 10 driving decelerator 9 output braking square to keep being attached thereto and transition link 11 orientation motionless,
When whole integrated wheel turns to, turn to driving motor 18 by turning to driving decelerator 9 to export corresponding rotating speed and torque drive therewith
The gear connection dish 10 being connected and transition bracing frame 11, so that the straight-line travelling driving-chain being fixed on transition bracing frame and wheel
Body rotates；The outer corner measurement being now connected dish 10 engagement with gear becomes total little gear 3 also to follow rotation closely, drives matched
Connecting shaft 19 and the rotating shaft of rotary encoder 5, thus export electric potential signal, measures corresponding corner.
Claims (1)
1. modularity linear drives and turn to an integrated wheel, drives motor, straight-line travelling to drive including horizontal bearing frame, straight-line travelling
Decelerator, turn to driving motor, turn to driving decelerator and steering angle measure assembly；It is characterized in that: turn to driving motor,
Turn to driving decelerator and steering angle to measure assembly to be all fixedly mounted on horizontal bearing frame, turn to driving motor and turn to driving
The input of decelerator connects, and turning to the outfan driving decelerator to connect has gear connection dish, fixing connection on gear connection dish
There is transition link；Straight-line travelling drives motor to drive decelerator to be connected with straight-line travelling and both are fixedly mounted on transition even in the lump
Connecing on frame, straight-line travelling drives the outfan of decelerator to connect wheel body；Steering angle is measured assembly and is included rotary encoder, company
Spindle and little gear, rotary encoder is arranged on horizontal bearing frame, and connecting shaft is arranged on horizontal bearing frame by bearing block,
Little gear is installed in one end of connecting shaft, and little gear is connected dish engagement with gear, and the other end of connecting shaft is connected with rotary encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510166010.7A CN104708994B (en) | 2015-04-09 | 2015-04-09 | Modularity linear drives and turn to integrated wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510166010.7A CN104708994B (en) | 2015-04-09 | 2015-04-09 | Modularity linear drives and turn to integrated wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104708994A CN104708994A (en) | 2015-06-17 |
| CN104708994B true CN104708994B (en) | 2016-11-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510166010.7A Active CN104708994B (en) | 2015-04-09 | 2015-04-09 | Modularity linear drives and turn to integrated wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104708994B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3960553B1 (en) * | 2006-03-31 | 2007-08-15 | 本田技研工業株式会社 | Wheel rotation device for in-wheel motor vehicle |
| CN101323328B (en) * | 2008-07-02 | 2012-09-12 | 南京农业大学 | Agricultural intelligent mobile robot platform |
| CN101638052B (en) * | 2009-08-21 | 2012-01-04 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| KR101707160B1 (en) * | 2011-03-03 | 2017-02-15 | 현대모비스 주식회사 | In-wheel working device |
| CN103042883A (en) * | 2013-01-23 | 2013-04-17 | 中国农业大学 | Driving wheel system capable of realizing universal rotation |
| CN204526653U (en) * | 2015-04-09 | 2015-08-05 | 山东大学 | Modularization linear drives and turn to integrated wheel |
-
2015
- 2015-04-09 CN CN201510166010.7A patent/CN104708994B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104708994A (en) | 2015-06-17 |
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