CN105438279A - Variable-wheel-center four-wheeler capable of being automatically locked - Google Patents
Variable-wheel-center four-wheeler capable of being automatically locked Download PDFInfo
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- CN105438279A CN105438279A CN201510988464.2A CN201510988464A CN105438279A CN 105438279 A CN105438279 A CN 105438279A CN 201510988464 A CN201510988464 A CN 201510988464A CN 105438279 A CN105438279 A CN 105438279A
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- wheel
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- core wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
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Abstract
The invention discloses a variable-wheel-center four-wheeler capable of being automatically locked. The variable-wheel-center four-wheeler comprises four wheels installed on a wheeler body through wheel rotating shafts, each wheel comprises a wheel body and a wheel center adjusting device on the wheel body, each wheel center adjusting device comprises a lead screw arranged in radial direction through a wheel center, a nut and a lead screw transmission mechanism, the nuts and the lead screw transmission mechanisms are meshed with the lead screws, the wheel rotating shafts are installed on the nuts which are installed on the wheel rotating shafts, each lead screw transmission mechanism comprises a wheel center adjusting motor, a gear transmission pair and a worm and gear transmission gear, each gear transmission pair is composed of a wheel center adjusting driving gear and a wheel center adjusting driven gear, each worm and gear transmission gear is composed of a worm gear and a worm, the wheel center adjusting driving gears are installed on output shafts of the wheel center adjusting motors, the wheel center adjusting driven gears are installed on the worms, and the worm gears are installed on the lead screws; a control device is arranged to automatically adjust the eccentric distance of the wheel centers. Movement transmission can be achieved, adjustment of the eccentric distance of the wheel centers can be completed, self-locking of own transmission can be guaranteed, and adjusting is more reliable.
Description
Technical field
The present invention relates to intelligent transportation instrument, be specially a kind of can the change core wheel four-wheeled of self-locking.
Background technology
Along with progress and the growth in the living standard of development in science and technology, people are more and more higher for the performance requriements of the vehicle, not only require that it can keep good dynamic characteristic on common road surface, and also wish to keep stronger stationarity and good traveling comfort on rugged road surface.
For meeting stationarity and the traveling comfort requirement of the vehicle, topmost means are the mode taking to be installed on by springing by vehicle body on traveling gear, described springing takes spring or air cushion to carry out damping usually, adapt to jolting of road surface by passive mode, out of reach people pursue the high standard requirement of stationarity and traveling comfort far away.
Summary of the invention
For this reason, the present invention proposes a kind of can the change core wheel four-wheeled of self-locking, adopt the automatic eccentric adjustment wheel of intelligent control technology, automatically the distance of rotation shaft of wheel and core wheel can be regulated according to surface conditions, make car body in traveling process, have better dynamic performance, and the self-locking device of eccentric wheel can make the adjustment of car body have stronger reliability.
The present invention can the technical scheme of change core wheel four-wheeled of self-locking, comprise the left side, front being installed on car body by rotation shaft of wheel, right wheel and a left side, rear, right wheel, difference is the core wheel control apparatus that described wheel comprises on wheel body and wheel body, described core wheel control apparatus comprises the screw mandrel and the nut be engaged with thereof and lead screw transmission mechanism that are arranged by core wheel radial direction, described nut is installed in rotation shaft of wheel, described lead screw transmission mechanism comprises core wheel and regulates motor, there is at least one stage gear ratio and the gear driving pair regulating driving gear and core wheel to regulate driven gear to form by core wheel and the Worm Wheel System pair be made up of worm gear and worm screw, described core wheel regulates driving gear to be installed on the output shaft of core wheel adjustment motor, described core wheel regulates driven gear to be installed on worm screw, described worm gear is installed on screw mandrel, the eccentric throw that control setup regulates wheel disk is automatically set, described control setup comprises to be located on car body and the gyroscope, motion controller, actuator and the wireless module that are connected by interlock circuit and core wheel regulate coder, described core wheel regulates coder to be installed on wheel body and regulates driven gear by core wheel adjusting gear engagement core wheel, and described core wheel regulates coder to gather the speed feedback of worm screw to motion controller.
Further be designed to, what the driving device of described wheel comprised that wheel movable motor drives have at least one stage gear ratio and to be walked the gear driving pair that driven gear forms by walk driving gear and wheel of wheel, described wheel walking driven gear is installed in rotation shaft of wheel, described wheel walking driving gear is installed on the output shaft of wheel movable motor, and described wheel movable motor is installed on car body.
Further be designed to, arrange wheel walking encoder and gather the speed feedback of rotation shaft of wheel to motion controller, described wheel walking encoder to be located on car body and by wheel walking encoder gear engaging wheels walking driven gear.
Beneficial effect of the present invention:
1, the present invention can the change core wheel four-wheeled of self-locking can to automatically adjust according to the road conditions detected the distance of rotation shaft of wheel and core wheel, car body is made no matter to be can steadily advance at prevailing roadway or on comparatively complicated road surface, greatly reduce the amplitude of car body at traveling process moderately gusty air, further increase car body and to advance the reliability of performance.
2, in the present invention, the adjustable eccentric mechanism of wheel adopts lead-screw driving device, and combines the transmission adopting worm gear and worm screw, the transmission of moving can not only be realized, complete the adjustment to core wheel offset distance, but also the self-locking of self transmission can be ensured, make the adjustment of leading screw to nut more reliable.
Accompanying drawing explanation
Fig. 1 is the isometric axis lateral plan of one embodiment of the present invention.
Fig. 2 is the birds-eye view of Fig. 1.
Fig. 3 is the car wheel structure figure in Fig. 1, Fig. 2.
Fig. 4 is the constructional drawing of core wheel control apparatus in Fig. 3.
Figure number identifies: 1, rotation shaft of wheel; 2, car body; 3, wheel; 4, core wheel control apparatus; 5, screw mandrel; 6, nut; 7, core wheel regulates motor; 8, core wheel regulates driving gear; 9, core wheel regulates driven gear; 10, worm gear; 11, worm screw; 12, gyroscope; 13, motion controller; 14, actuator; 15, wireless module; 16, core wheel regulates coder; 17, core wheel regulates encoder gear; 18, wheel movable motor; 19, wheel walking driving gear; 20, wheel walking driven gear; 21, wheel walking encoder; 22, wheel rim; 23, stay bearing plate; 24, pilot bar; 25, wheel walking encoder gear; 26, battery pack.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, technical scheme of the present invention is described further.
The present invention can the change core wheel four-wheeled of self-locking, its technical scheme comprises car body 2 and wheel 3, described wheel 3 is anterior left in car body 2 respectively by rotation shaft of wheel 1, right both sides and a left side, car body 2 rear portion, right both sides are installed, the core wheel control apparatus 4 that described wheel 3 comprises wheel body (adopting wheel rim 22 structure) and is located in wheel rim 22, described core wheel control apparatus 4 is left respectively at front, right wheel 3 and a left side, rear, right wheel 3 is symmetrical arranged, the eccentric throw acting as adjustment wheel 3 core wheel of core wheel control apparatus 4, described car body 2 is provided with the control setup controlling core wheel control apparatus 4 automatic aligning and control the automatic walking of car body 2, as Fig. 1, Fig. 2, shown in Fig. 3.
Described core wheel control apparatus 4 comprises core wheel and regulates motor 7, screw nut driving pair (screw mandrel 5 be meshed and nut 6), Worm Wheel System pair (worm gear 10 be meshed and worm screw 11) and gear driving pair (core wheel be meshed regulates driving gear 8 and core wheel to regulate driven gear 9).Described screw mandrel 5 is by upper, radial setting that lower supporting plate 23 (passes through core wheel) in wheel rim 22, on, arrange on nut 6 between lower supporting plate 23, the pilot bar 24 of lower movement, described worm gear 10 is installed on screw mandrel 5 top exceeding upper backup pad 23, described worm screw 11 is by left, right support plate 23 is tangentially arranged in wheel rim 22, described core wheel regulates driven gear 9 to be installed on one end of worm screw 11, the side that described core wheel regulates motor 7 to correspond to core wheel adjustment driven gear 9 is installed by stay bearing plate 23, described core wheel regulates driving gear 8 to be installed on the output shaft of core wheel adjustment motor 7, core wheel regulates the stay bearing plate 23 of driven gear 9 side to be provided with core wheel and regulates coder 16, described core wheel regulates in the rotating shaft of coder 16 and installs core wheel adjustment encoder gear 17, described core wheel regulates encoder gear 17 to regulate driven gear 9 to engage with core wheel, as shown in Figure 4.
Described core wheel control apparatus 4 is installed with the outer end of rotation shaft of wheel 1 by nut 6 and is connected, and the inner of described rotation shaft of wheel 1 is installed by bearing arrangement and is connected on car body 2, as shown in Figure 1, Figure 2, Figure 3 shows.
The walking of described car body 2 is realized by the rotation of rotation shaft of wheel 1, the transmission driving device of described rotation shaft of wheel 1 comprises wheel movable motor 18 and gear driving pair (the wheel walking driving gear 19 be meshed and wheel walking driven gear 20), described wheel walking driven gear 20 is installed in rotation shaft of wheel 1, described wheel walking driving gear 19 is installed on the output shaft of wheel movable motor 18, and described wheel movable motor 18 is installed on car body 2; Car body 2 is also provided with wheel walking encoder 21, installing wheel walking encoder gear 25 in the rotating shaft of described wheel walking encoder 21, described wheel walking encoder gear 25 and wheel driven gear 20 of walking is meshed, as shown in Figure 1 and Figure 2.
Described control setup comprises the gyroscope 12, motion controller 13, actuator 14, wireless module 15 and the battery pack 26 that are connected by interlock circuit, described wheel walking encoder 21 gathers the speed feedback of rotation shaft of wheel 1 to motion controller 13, described core wheel regulates coder 16 to gather the speed feedback of worm screw 11 to motion controller 13, as shown in Figure 1.
Operation of the present invention:
Four-wheeled is in motion process, gyroscope 12 detects the attitude of car body 2 in real time, when four-wheeled is advanced in common smooth-riding surface, gyroscope 12 detects the tiny signal on road surface and feeds back to motion controller 13, motion controller 13 calculates through algorithm process to be needed the eccentric distance of adjustment and exports to actuator 14, and actuator 14 controls core wheel and regulates motor 7 to make corresponding small adjustment.
Four-wheeled is when advancing in comparatively complicated road surface, the jolting by a relatively large margin that gyroscope 12 detects that road surface occurs, and the change on road surface is fed back to motion controller 13, motion controller 13 calculates through algorithm process to be needed the eccentric distance of adjustment and exports to actuator 14, actuator 14 is controlled core wheel and regulates motor 7 to make corresponding adjustment (being realized by the radial displacement of nut 6) by a relatively large margin, ensures the state of four-wheeled held stationary in traveling process.
Claims (3)
1. can the change core wheel four-wheeled of self-locking, comprise the left side, front being installed on car body (2) by rotation shaft of wheel (1), right wheel (3) and a left side, rear, right wheel (3), it is characterized in that: described wheel (3) comprises the core wheel control apparatus (4) on wheel body and wheel body, described core wheel control apparatus (4) comprises the screw mandrel (5) and the nut (6) be engaged with thereof and lead screw transmission mechanism that are arranged by core wheel radial direction, described rotation shaft of wheel (1) is installed on nut (6), described nut (6) is arranged in rotation shaft of wheel (1), described lead screw transmission mechanism comprises core wheel and regulates motor (7), there is at least one stage gear ratio and the gear driving pair regulating driving gear (8) and core wheel to regulate driven gear (9) to form by core wheel and the Worm Wheel System pair be made up of worm gear (10) and worm screw (11), described core wheel regulates driving gear (8) to be installed on the output shaft of core wheel adjustment motor (7), described core wheel regulates driven gear (9) to be installed on worm screw (11), described worm gear (10) is installed on screw mandrel (5), the eccentric throw that control setup regulates wheel (3) core wheel is automatically set, described control setup comprises to be located on car body (2) and the gyroscope (12) connected by interlock circuit, motion controller (13), actuator (14) and wireless module (15) and core wheel regulate coder (16), described core wheel regulates coder (16) to be installed on wheel body and regulates encoder gear (17) to engage core wheel by core wheel and regulates driven gear (9), described core wheel regulates coder (16) to gather the speed feedback of worm screw (11) to motion controller (13).
2. according to claim 1 can the change core wheel four-wheeled of self-locking, it is characterized in that: what the driving device of described wheel (3) comprised that wheel movable motor (18) drives have at least one stage gear ratio and to be walked the gear driving pair that driven gear (20) forms by walk driving gear (19) and wheel of wheel, described wheel walking driven gear (20) is installed in rotation shaft of wheel (1), described wheel walking driving gear (19) is installed on the output shaft of wheel movable motor (18), described wheel movable motor (18) is installed on car body (2).
3. according to claim 2 can the change core wheel four-wheeled of self-locking, it is characterized in that: arrange wheel walking encoder (21) and gather the speed feedback of rotation shaft of wheel (1) to motion controller (13), it is upper and to be walked encoder gear (25) engaging wheels walking driven gear (20) by wheel that described wheel walking encoder (21) is located at car body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510988464.2A CN105438279B (en) | 2015-12-25 | 2015-12-25 | Can self-locking change core wheel carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510988464.2A CN105438279B (en) | 2015-12-25 | 2015-12-25 | Can self-locking change core wheel carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105438279A true CN105438279A (en) | 2016-03-30 |
| CN105438279B CN105438279B (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510988464.2A Active CN105438279B (en) | 2015-12-25 | 2015-12-25 | Can self-locking change core wheel carriage |
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| CN (1) | CN105438279B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835618A (en) * | 2016-05-03 | 2016-08-10 | 桂林电子科技大学 | Four-wheeler mechanism with adjustable eccentric distance |
| CN110395072A (en) * | 2019-08-26 | 2019-11-01 | 哈尔滨理工大学 | A kind of adjusting center wheel |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63247101A (en) * | 1987-04-03 | 1988-10-13 | Yoshikata Rokusha | Rotary leg mechanism |
| CN102642445A (en) * | 2012-05-15 | 2012-08-22 | 侯九霄 | Eccentric wheel capable of intelligently adjusting eccentricity |
| CN104763790A (en) * | 2015-04-19 | 2015-07-08 | 吉林大学 | Metal powder electron beam melting lamination layer shaping workbench z-axis movement system |
| CN104784937A (en) * | 2015-04-14 | 2015-07-22 | 桂林电子科技大学 | Carbon-free trolley adaptable to S-shaped path with rods spaced from one another by different distances |
| CN205239682U (en) * | 2015-12-25 | 2016-05-18 | 桂林电子科技大学 | But change core wheel four -wheel car of auto -lock |
-
2015
- 2015-12-25 CN CN201510988464.2A patent/CN105438279B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63247101A (en) * | 1987-04-03 | 1988-10-13 | Yoshikata Rokusha | Rotary leg mechanism |
| CN102642445A (en) * | 2012-05-15 | 2012-08-22 | 侯九霄 | Eccentric wheel capable of intelligently adjusting eccentricity |
| CN104784937A (en) * | 2015-04-14 | 2015-07-22 | 桂林电子科技大学 | Carbon-free trolley adaptable to S-shaped path with rods spaced from one another by different distances |
| CN104763790A (en) * | 2015-04-19 | 2015-07-08 | 吉林大学 | Metal powder electron beam melting lamination layer shaping workbench z-axis movement system |
| CN205239682U (en) * | 2015-12-25 | 2016-05-18 | 桂林电子科技大学 | But change core wheel four -wheel car of auto -lock |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835618A (en) * | 2016-05-03 | 2016-08-10 | 桂林电子科技大学 | Four-wheeler mechanism with adjustable eccentric distance |
| CN110395072A (en) * | 2019-08-26 | 2019-11-01 | 哈尔滨理工大学 | A kind of adjusting center wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105438279B (en) | 2017-07-07 |
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Application publication date: 20160330 Assignee: Cenxi Hengchuang Network Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2022450000246 Denomination of invention: Self locking variable wheel center four-wheel vehicle Granted publication date: 20170707 License type: Common License Record date: 20221206 |