CN105438279B - Can self-locking change core wheel carriage - Google Patents
Can self-locking change core wheel carriage Download PDFInfo
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- CN105438279B CN105438279B CN201510988464.2A CN201510988464A CN105438279B CN 105438279 B CN105438279 B CN 105438279B CN 201510988464 A CN201510988464 A CN 201510988464A CN 105438279 B CN105438279 B CN 105438279B
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- wheel
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- core wheel
- gear
- regulation
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Rehabilitation Tools (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses it is a kind of can self-locking change core wheel carriage, four wheels including being installed on car body by rotation shaft of wheel, wheel includes the core wheel adjusting means on wheel body and wheel body, core wheel adjusting means includes the screw mandrel being radially arranged by core wheel and its nut being engaged with and lead screw transmission mechanism, rotation shaft of wheel is installed on nut, nut is arranged in rotation shaft of wheel, lead screw transmission mechanism includes core wheel regulation motor, driving gear and the core wheel regulation driven gear gear driving pair for constituting and the Worm Wheel System pair being made up of worm gear and worm screw are adjusted by core wheel, core wheel regulation driving gear is installed on the output shaft of core wheel regulation motor, core wheel regulation driven gear is installed on worm screw, worm gear is installed on screw mandrel；The eccentric throw that control device automatically adjusts wheel disk is set.The present invention can realize the transmission of motion, complete the regulation to core wheel offset distance, it is ensured that the self-locking of itself transmission so that regulation is relatively reliable.
Description
Technical field
The present invention relates to intelligent transportation instrument, specially it is a kind of can self-locking change core wheel carriage.
Background technology
With the progress and growth in the living standard of development in science and technology, people for the vehicles performance requirement increasingly
Height, not only requires that it can keep good dynamic characteristics, and also wished on rugged road surface on common road surface
Prestige can keep stronger stationarity and preferable comfortableness.
To meet stationarity and the comfortableness requirement of the vehicles, topmost means are filled vehicle body by elasticity to take
The mode being installed in walking mechanism is put, the elastic device is usually taken spring or air cushion and carries out damping, by passive side
Formula adapts to jolting for road surface, and the high standards that people pursue stationarity and comfortableness is not reached much.
The content of the invention
Therefore, the present invention propose it is a kind of can self-locking change core wheel carriage, automatically adjusted partially using intelligent control technology
Heart wheel, can automatically adjust the distance of rotation shaft of wheel and core wheel so that car body has during traveling according to surface conditions
More preferable dynamic performance, and the self-locking device of eccentric wheel enables to the regulation of car body with stronger reliability.
The present invention can self-locking change core wheel carriage technical scheme, including the front that car body is installed on by rotation shaft of wheel
The left and right wheel of left and right wheel and rear, except that the wheel includes the core wheel adjusting means on wheel body and wheel body, institute
Stating core wheel adjusting means includes the screw mandrel being radially arranged by core wheel and its nut being engaged with and lead screw transmission mechanism, institute
Nut is stated to be installed in rotation shaft of wheel, the lead screw transmission mechanism includes core wheel regulation motor, with least primary transmission ratio and
Driving gear and the core wheel regulation driven gear gear driving pair for constituting and the snail being made up of worm gear and worm screw are adjusted by core wheel
Worm and gear transmission, core wheel regulation driving gear is installed on the output shaft of core wheel regulation motor, the core wheel regulation from
Moving gear is installed on worm screw, and the worm gear is installed on screw mandrel；The eccentric throw that control device automatically adjusts wheel disk is set,
The control device is included on the car body and by the gyroscope of interlock circuit connection, motion controller, driver and wirelessly
Module and core wheel regulation encoder, the core wheel regulation encoder are installed on wheel body and adjust gear by core wheel and engages wheel
The heart adjusts driven gear, and the speed feedback of the core wheel regulation encoder collection worm screw is to motion controller.
Further it is designed as, the transmission device of the wheel includes being passed with least one-level for wheel movable motor driving
The gear driving pair that dynamic ratio and walked by wheel driving gear and wheel walking driven gear are constituted, the wheel walking driven tooth
Wheel is installed in rotation shaft of wheel, and the wheel walking driving gear is installed on the output shaft of wheel movable motor, the wheel
Movable motor is installed on car body.
Further it is designed as, the speed feedback of wheel walking encoder collection rotation shaft of wheel is set to motion control
Device, the wheel walking encoder is on car body and by wheel walking encoder gear engaging wheels walking driven gear.
Beneficial effects of the present invention：
1st, the present invention can the change core wheel carriage of self-locking can be automatically adjusted rotation shaft of wheel according to the road conditions for detecting
With the distance of core wheel so that car body either still can steadily advance in prevailing roadway on complex road surface, significantly
The amplitude that car body jolts during traveling is reduced, the reliability of car body traveling performance is further increased.
2nd, in the present invention, the adjustable eccentric mechanism of wheel uses lead-screw driving device, and combines using worm gear and worm screw
Transmission, can not only realize the transmission of motion, complete regulation to core wheel offset distance, and can also ensure that itself transmission from
Lock so that regulation of the leading screw to nut is relatively reliable.
Brief description of the drawings
Fig. 1 is the isogonism axis side view of one embodiment of the present invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the car wheel structure figure in Fig. 1, Fig. 2.
Fig. 4 is the structure chart of core wheel adjusting means in Fig. 3.
Figure number is identified：1st, rotation shaft of wheel；2nd, car body；3rd, wheel；4th, core wheel adjusting means；5th, screw mandrel；6th, nut；7th, core wheel
Regulation motor；8th, core wheel regulation driving gear；9th, core wheel regulation driven gear；10th, worm gear；11st, worm screw；12nd, gyroscope；13、
Motion controller；14th, driver；15th, wireless module；16th, core wheel regulation encoder；17th, core wheel regulation encoder gear；18th, car
Wheel movable motor；19th, wheel walking driving gear；20th, wheel walking driven gear；21st, wheel walking encoder；22nd, wheel rim；
23rd, supporting plate；24th, guide post；25th, wheel walking encoder gear；26th, battery pack.
Specific embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
The present invention can self-locking change core wheel carriage, its technical scheme includes car body 2 and wheel 3, and the wheel 3 leads to respectively
Cross rotation shaft of wheel 1 to be installed in the anterior arranged on left and right sides of car body 2 and the rear portion arranged on left and right sides of car body 2, the wheel 3 (is adopted including wheel body
With the structure of wheel rim 22) and core wheel adjusting means 4 in wheel rim 22, the core wheel adjusting means 4 is respectively at the left and right car in front
It is symmetrical arranged on wheel 3 and the left and right wheel 3 in rear, the eccentric throw for acting as adjusting the core wheel of wheel 3 of core wheel adjusting means 4 is described
Car body 2 is provided with the control device of the automatic aligning of control core wheel adjusting means 4 and the control automatically walk of car body 2, as shown in Figure 1, Figure 2,
Shown in Fig. 3.
The core wheel adjusting means 4 includes the core wheel regulation motor 7, screw nut driving pair (screw mandrel 5 and nut being meshed
6), Worm Wheel System pair (worm gear 10 being meshed and worm screw 11) and gear driving pair (the core wheel regulation driving tooth being meshed
Wheel 8 and core wheel regulation driven gear 9).The screw mandrel 5 is by upper and lower supporting plate 23 in radially being set (by core wheel) in wheel rim 22
Put, the guide post 24 moved up and down for nut 6 is set between upper and lower supporting plate 23, the worm gear 10 is installed on and is higher by support
The top of screw mandrel 5 of plate 23, the worm screw 11 is tangentially-arranged in wheel rim 22 by left and right supporting plate 23, the core wheel adjust from
Moving gear 9 is installed on one end of worm screw 11, and the side that the core wheel regulation motor 7 corresponds to core wheel regulation driven gear 9 passes through
Supporting plate 23 is installed, and the core wheel regulation driving gear 8 is installed on the output shaft of core wheel regulation motor 7, and core wheel regulation is driven
The supporting plate 23 of the side of gear 9 is provided with core wheel regulation encoder 16, and wheel is installed in the rotating shaft of the core wheel regulation encoder 16
The heart adjusts encoder gear 17, and the core wheel regulation encoder gear 17 is engaged with core wheel regulation driven gear 9, as shown in Figure 4.
The core wheel adjusting means 4 is connected by the outer end installation of nut 6 and rotation shaft of wheel 1, the rotation shaft of wheel 1 it is interior
End 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 the car body 2 realizes that the transmission device of the rotation shaft of wheel 1 includes by the rotation of rotation shaft of wheel 1
Wheel movable motor 18 and gear driving pair (the wheel walking driving gear 19 and wheel walking driven gear 20 that are meshed), institute
State wheel walking driven gear 20 to be installed in rotation shaft of wheel 1, the wheel walking driving gear 19 is installed on wheel walking electricity
On the output shaft of machine 18, the wheel movable motor 18 is installed on car body 2；Wheel walking encoder 21 is additionally provided with car body 2,
Installing wheel walking encoder gear 25 in the rotating shaft of the wheel walking encoder 21, wheel walking encoder gear 25 and the car
Wheel walking driven gear 20 is meshed, as shown in Figure 1 and Figure 2.
The control device include by interlock circuit connect gyroscope 12, motion controller 13, driver 14, wirelessly
Module 15 and battery pack 26, the speed feedback of the collection of wheel walking encoder 21 rotation shaft of wheel 1 is to motion controller 13, institute
The speed feedback of the core wheel regulation collection worm screw 11 of encoder 16 is stated to motion controller 13, as shown in Figure 1.
Operation of the invention：
Carriage in motion process, the attitude of the real-time detection car body 2 of gyroscope 12, when carriage is on common smooth road
When face is advanced, gyroscope 12 detects the tiny signal on road surface and feeds back to motion controller 13, and motion controller 13 is by calculating
Method treatment calculates the eccentric distance of needs adjustment and exports to driver 14, and the control core wheel of driver 14 regulation motor 7 is made
Corresponding small adjustment.
When complex road surface is advanced, gyroscope 12 detects the jolting by a relatively large margin of road surface generation to carriage,
And the change on road surface is fed back into motion controller 13, motion controller 13 is calculated by algorithm process needs the bias of adjustment
Distance is simultaneously exported to driver 14, and the control core wheel of driver 14 regulation motor 7 makes corresponding adjustment by a relatively large margin (by nut
6 radial displacement and realize), it is ensured that the state of carriage held stationary during traveling.
Claims (3)
1. can self-locking change core wheel carriage, including the left and right wheel in the front (3) that car body (2) is installed on by rotation shaft of wheel (1)
With the left and right wheel in rear (3), it is characterised in that：The wheel (3) includes the core wheel adjusting means (4) on wheel body and wheel body, institute
Core wheel adjusting means (4) is stated to be passed including the screw mandrel (5) being radially arranged by core wheel and its nut (6) being engaged with and screw mandrel
Motivation structure, in rotation shaft of wheel (1), the lead screw transmission mechanism includes core wheel regulation motor (7), tool to the nut (6)
There is at least primary transmission ratio and the gear driving pair that driving gear (8) and core wheel regulation driven gear (9) are constituted is adjusted by core wheel
And the Worm Wheel System pair being made up of worm gear (10) and worm screw (11), the core wheel adjusts driving gear (8) and is installed on wheel
On the output shaft of heart regulation motor (7), the core wheel adjusts driven gear (9) and is installed on worm screw (11), the worm gear (10)
It is installed on screw mandrel (5)；The eccentric throw that control device automatically adjusts wheel (3) core wheel is set, and the control device includes being located at
Gyroscope (12), motion controller (13), driver (14) and the wireless module connected on car body (2) and by interlock circuit
(15) and core wheel adjusts encoder (16), the core wheel adjusts encoder (16) and is installed on wheel body and by core wheel regulation volume
Code gear (17) engagement core wheel adjusts driven gear (9), and the rotating speed that the core wheel adjusts encoder (16) collection worm screw (11) is anti-
Feed motion controller (13).
2. it is according to claim 1 can self-locking change core wheel carriage, it is characterised in that：The transmission dress of the wheel (3)
Put and walked driving gear (19) and wheel with least primary transmission ratio and by wheel including what wheel movable motor (18) drove
The gear driving pair that walking driven gear (20) is constituted, wheel walking driven gear (20) is installed in rotation shaft of wheel (1),
Wheel walking driving gear (19) is installed on the output shaft of wheel movable motor (18), the wheel movable motor (18)
It is installed on car body (2).
3. it is according to claim 2 can self-locking change core wheel carriage, it is characterised in that：Wheel walking encoder is set
(21) speed feedback of collection rotation shaft of wheel (1) gives motion controller (13), and the wheel walking encoder (21) is located at car body
(2) on and by wheel walking encoder gear (25) engaging wheels walking driven gear (20).
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 CN105438279A (en) | 2016-03-30 |
| CN105438279B true CN105438279B (en) | 2017-07-07 |
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Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
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| CN (1) | CN105438279B (en) |
Families Citing this family (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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63247101A (en) * | 1987-04-03 | 1988-10-13 | Yoshikata Rokusha | Rotary leg mechanism |
| CN102642445B (en) * | 2012-05-15 | 2014-07-30 | 侯九霄 | Eccentric wheel capable of intelligently adjusting eccentricity |
| CN104784937B (en) * | 2015-04-14 | 2016-11-30 | 桂林电子科技大学 | A kind of it is suitable for the different bar carbon-free trolley away from S-shaped path |
| CN104763790B (en) * | 2015-04-19 | 2017-06-09 | 吉林大学 | Metal dust electron-beam melting lamination shaping station z-axis kinematic 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 |
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2015
- 2015-12-25 CN CN201510988464.2A patent/CN105438279B/en active Active
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| Publication number | Publication date |
|---|---|
| CN105438279A (en) | 2016-03-30 |
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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 |
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