CN106741402A - It is capable of achieving double ball wheel walking mechanisms of lateral translation - Google Patents
It is capable of achieving double ball wheel walking mechanisms of lateral translation Download PDFInfo
- Publication number
- CN106741402A CN106741402A CN201611199247.6A CN201611199247A CN106741402A CN 106741402 A CN106741402 A CN 106741402A CN 201611199247 A CN201611199247 A CN 201611199247A CN 106741402 A CN106741402 A CN 106741402A
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- Prior art keywords
- ball
- ball wheel
- wheel
- spherical shell
- collecting rack
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K3/00—Bicycles
- B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of double ball wheel walking mechanisms of achievable lateral translation, including left and right ball wheel, left and right ball wheel is installed on the left and right two ends of pedal by left and right ball wheel carrier, the ball wheel carrier includes the upper ball-collecting rack being placed on ball wheel upper half sphere and the lower ball-collecting rack being placed in ball wheel lower half sphere top half, upper and lower ball-collecting rack is provided with intensive ball base, rolled in the bore of the ball base and ball is installed, outside and the ball wheel sphere of the ball are in rolling contact；Also include the lower spherical shell for covering on upper spherical shell on ball-collecting rack and covering on lower ball-collecting rack, upper and lower spherical shell is interlocked the fixation and support to be formed to upper and lower ball-collecting rack.The ball wheel that omnidirectional drives is applied to engineering practice by the present invention, it is possible to resolve real wheel differential turning problem larger to space requirement and lateral translation ability shortcoming.
Description
Technical field
The present invention relates to road walking mechanism, double ball wheel walking mechanisms of specially a kind of achievable lateral translation.
Background technology
The features such as dicycly walking mechanism has simple structure, build is compact, is widely used in bicycle, segway two
In the engineering practices such as wheel car.
Due to the limitation of steering mechanism and steering principle, existing dicycly walking mechanism is entered conventionally by the differential of wheel
Row is turned, and the arching trajectory being consequently formed prevents it to be turned to from realizing comprehensive translation, is particularly closely running into barrier
When, easily causing mechanism can not timely be responded to urgent avoid-obstacle behavior.
Existing ball wheel generally all has omnidirectional moving ability, and its primary structure includes spherical shell and drive component.By driving
The installation site of component is classified, and ball wheel is divided into interior driving ball wheel and outer driving ball wheel.
The outer drive component for driving ball wheel is installed in the top half of spherical shell outer surface, and the radius of this spherical shell is smaller, right
The adaptability of landform is weaker；And the interior drive component for driving ball wheel is arranged on inside spherical shell, such as patent No.
Ball wheel disclosed in 201620109635.X, the radius of this spherical shell is larger, and the adaptability to landform is stronger.
Dicycly walking mechanism in theory can be using ball wheel as road wheel.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are to propose one kind using ball wheel as walking
Wheel applies to double ball wheel walking mechanisms of the achievable lateral translation of engineering practice.
Double ball wheel walking mechanisms of the achievable lateral translation of above-mentioned technical problem are can solve the problem that, its technical scheme includes
The left and right ball wheel interior driving ball wheel of omnidirectional moving (can), except that left and right ball wheel is installed on pedal by ball wheel carrier
Left and right two ends, the ball wheel carrier includes the upper ball-collecting rack being placed on ball wheel upper half sphere and is placed in ball wheel lower half sphere top half
On lower ball-collecting rack, upper and lower ball-collecting rack is provided with intensive ball base, is rolled in the bore of the ball base and be provided with ball, described
The outside of ball is in rolling contact with ball wheel sphere；Also include the upper spherical shell covered on ball-collecting rack and the lower ball covered on lower ball-collecting rack
Shell, upper and lower spherical shell is interlocked the fixation and support to be formed to upper and lower ball-collecting rack.
The structure design that upper and lower spherical shell is fastened and connected is：The bottom of the upper spherical shell is provided with lower flange circle, the lower spherical shell
Top be provided with upper flange circle, after upper and lower spherical shell is fastened, connected by bolt assembly between upper and lower flange circle.
The structure design that ball wheel carrier is installed on pedal is：Correspondence offers mounting hole on the pedal, the upper spherical shell in
Pedal lower section passes mounting hole upwards, and the lower flange circle is limited in pedal bottom and is fixed with pedal by bolt assembly and connected
Connect.
Be the load of balanced ball wheel carrier to reduce stress concentration, the dense degree of the ball base from ball wheel top down gradually
It is sparse.
Further design, the pedal center is provided with handrail or seat.
It is further to expand, only ball wheel, many balls can be designed that using the combination mounting structure of similar ball wheel carrier and ball wheel
The walking mechanisms such as wheel.
Beneficial effects of the present invention：
1st, double ball wheel walking mechanisms of the achievable lateral translation of the present invention are that the ball wheel that omnidirectional drives is applied into engineering reality
Trample, to solve the problems, such as that real wheel differential turning is larger to space requirement and lateral translation ability is short of.
2nd, in structure of the present invention, handrail is installed in pedal middle part or the auxiliary equipment such as rotatable seat is installed, in this way,
When mechanism translates to be turned to, multiplying passerby can be real on pedal by directly walking about or rotary seat changes the visual angle of people
When face direct of travel.
3rd, using the similar ball wheel carrier of the present invention and ball wheel matching design method, only ball wheel, many ball wheels etc. be can be designed that
Walking mechanism.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of one embodiment of the present invention.
Fig. 2 is the perspective view (perspective spherical shell) of Fig. 1 implementation methods.
Fig. 3 is the modular construction figure (pedal and handrail) in Fig. 1, Fig. 2 implementation method.
Fig. 4 is the modular construction figure (ball wheel and ball-collecting rack and spherical shell) in Fig. 1, Fig. 2 implementation method.
Fig. 5 (a) is the location diagram of upper and lower ball-collecting rack in Fig. 4.
Fig. 5 (b) is the annexation figure of upper and lower spherical shell in Fig. 4.
Figure number is identified：1 ball wheel；2nd, pedal；3rd, upper ball-collecting rack；4th, lower ball-collecting rack；5th, upper spherical shell；6th, lower spherical shell；7th, ball base；8、
Ball；9th, lower flange circle；10th, upper flange circle；11st, mounting hole；12nd, handrail.
Specific embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
Double ball wheel walking mechanisms of the achievable lateral translation of the present invention, its structure is included pedal 2 and is installed by ball wheel carrier
In the ball wheel 1 at the left and right two ends of pedal 2, the ball wheel 1 using can the interior driving ball wheel of omnidirectional moving (declared by the applicant
Patent, does not launch to describe its structure herein), as shown in Figure 1 and Figure 2.
The upper ball-collecting rack 3 of the ball wheel carrier including internal layer and the upper spherical shell 5 and lower spherical shell 6 of lower ball-collecting rack 4 and outer layer, it is described on
Ball-collecting rack 3 is placed on the upper half sphere of ball wheel 1, and the lower ball-collecting rack 4 is placed in the top half of the lower half sphere of ball wheel 1, the lower bottom of ball-collecting rack 4
Portion offers makes the latter half of the lower half sphere of ball wheel 1 expose the opening of lower ball-collecting rack 4, and upper ball-collecting rack 3 and lower ball-collecting rack 4 are provided with intensive
Ball base 7, the dense degree of the ball base 7 is gradually sparse from the top down of ball wheel 1, is rotated in the bore of each ball base 7
Ball 8 is installed, the ball 8 exposes ball-collecting rack and is in rolling contact with the sphere of ball wheel 1；The upper spherical shell 5 covers on ball-collecting rack 3
On, the bottom of upper spherical shell 5 is provided with the lower flange circle 9 of disjunctor, and lower spherical shell 6 is covered on lower ball-collecting rack 4 and contacted, the lower bottom of spherical shell 6
Portion offers makes the latter half of the lower half sphere of ball wheel 1 expose the opening of lower spherical shell 6, and the top of lower spherical shell 6 is provided with the upper of disjunctor
Flange circle 10, upper and lower spherical shell 5,6 is interlocked, upper and lower flange circle 10,9 align after be fixedly connected with bolt assembly, formed to it is upper,
Shown in the spacing fixation and support of lower ball-collecting rack 3,4, such as Fig. 2, Fig. 4, Fig. 5 (a), Fig. 5 (b).
The left and right two ends of the pedal 2 open up mounting hole 11, and the center of pedal 2 sets handrail 12, by assembling good shot wheel 1
Ball wheel carrier be installed in the left and right mounting hole of pedal 2, specifically：The upper spherical shell 5 of ball wheel carrier is placed in upwards from the lower section of pedal 2
In corresponding mounting hole 11, the lower flange circle 9 of the bottom of upper spherical shell 5 is limited in the bottom of pedal 2, with bolt assembly by lower flange circle 9
The installation for completing ball wheel carrier is fixedly connected with pedal 2, as shown in Figure 1, Figure 2, Figure 3, Figure 4.
The present invention ensure that the rotary freedom of ball wheel 1 and in being fixedly mounted on pedal 2 using ball wheel carrier structure, by ball
The omnidirectional rolling of wheel 1, you can realize the omnidirectional moving of double ball wheel walking mechanisms.
Can be designed that only ball wheel, many ball wheels etc. are walked with the combination mounting structure of ball wheel using the similar ball wheel carrier of the present invention
Mechanism.
Claims (6)
1. double ball wheel walking mechanisms of lateral translation, including left and right ball wheel (1) can be realized, it is characterised in that：Left and right ball wheel (1)
The left and right two ends of pedal (2) are installed on by left and right ball wheel carrier, the ball wheel carrier includes being placed on ball wheel (1) upper half sphere
Upper ball-collecting rack (3) and the lower ball-collecting rack (4) being placed in ball wheel (1) lower half sphere top half, upper and lower ball-collecting rack (3,4) are provided with intensive
Ball base (7), rolled in the bore of the ball base (7) and ball (8) be installed, outside and the ball wheel (1) of the ball (8)
Sphere is in rolling contact；Also include covering on the upper spherical shell (5) on ball-collecting rack (3) and cover on the lower spherical shell (6) on lower ball-collecting rack (4), upper,
Lower spherical shell (5,6) is interlocked the fixation and support to be formed to upper and lower ball-collecting rack (3,4).
2. double ball wheel walking mechanisms of achievable lateral translation according to claim 1, it is characterised in that upper and lower spherical shell
The structure that (5,6) are fastened and connected is：The bottom of the upper spherical shell (5) is provided with lower flange circle (9), the top of the lower spherical shell (6)
Upper flange circle (10) is provided with, after upper and lower spherical shell (5,6) fastens, is connected by bolt assembly between upper and lower flange circle (10,9).
3. double ball wheel walking mechanisms of achievable lateral translation according to claim 2, it is characterised in that ball wheel carrier is installed
It is in the structure of pedal (2)：Correspondence offers mounting hole (11) on the pedal (2), and the upper spherical shell (5) is under pedal (2)
Mounting hole (11) is passed on direction, the lower flange circle (9) is limited in pedal (2) bottom and by bolt assembly and pedal (2)
It is fixedly connected.
4. double ball wheel walking mechanisms of the achievable lateral translation according to any one in claims 1 to 3, its feature exists
In：The dense degree of the ball base (7) is gradually sparse from ball wheel (1) top down.
5. double ball wheel walking mechanisms of the achievable lateral translation according to any one in claims 1 to 3, its feature exists
In：Pedal (2) center is provided with handrail (12) or seat.
6. double ball wheel walking mechanisms of the achievable lateral translation according to any one in claims 1 to 3, its feature exists
In：Only ball wheel walking mechanism or many ball wheel walking mechanisms are designed using the combination mounting structure of ball wheel carrier and ball wheel (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611199247.6A CN106741402A (en) | 2016-12-22 | 2016-12-22 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611199247.6A CN106741402A (en) | 2016-12-22 | 2016-12-22 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106741402A true CN106741402A (en) | 2017-05-31 |
Family
ID=58897647
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611199247.6A Pending CN106741402A (en) | 2016-12-22 | 2016-12-22 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
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| Country | Link |
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| CN (1) | CN106741402A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628174A (en) * | 2017-09-30 | 2018-01-26 | 桂林电子科技大学 | Omnidirectional's ball wheel drive is without handlebar self-balancing bicycle |
| CN110920653A (en) * | 2019-12-20 | 2020-03-27 | 重庆艾博瑞威轨道交通设备有限公司 | Universal ball side bearing for sightseeing train |
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|---|---|---|---|---|
| CN87201792U (en) * | 1987-02-07 | 1988-03-02 | 言良健 | Universal sphere-type pedal-wheel |
| FR2695447A1 (en) * | 1992-09-09 | 1994-03-11 | Courty Claude | Hubless wheel in form of sphere contained in envelope - includes roller driven body, turning in interior of envelope which has opening in its lower part permitting this body to contact ground, with body maintained at distance from envelope walls by rollers or ball bearings |
| CN1367113A (en) * | 2002-01-10 | 2002-09-04 | 欧阳宝武 | Internal gear speed-changing chain-driving automatic double-speed changing bicycle |
| JP2004243845A (en) * | 2003-02-13 | 2004-09-02 | Toyota Motor Corp | Moving vehicle |
| CN101085626A (en) * | 2006-06-06 | 2007-12-12 | 李天夫 | Balance ball car |
| CN101920730A (en) * | 2010-08-18 | 2010-12-22 | 于雪松 | Spherical double-wheel bidirectional car |
| CN201934498U (en) * | 2010-12-27 | 2011-08-17 | 惠州市维尔实业有限公司 | Low load universal roller |
| US8459383B1 (en) * | 2010-07-09 | 2013-06-11 | Daniel Burget | Spherical drive system |
| FR3005932A1 (en) * | 2013-05-21 | 2014-11-28 | France Reducteurs | ELECTROMECHANICAL ASSEMBLY FOR A ROLLING MACHINE, AND A ROLLER EQUIPPED WITH SUCH AN ELECTROMECHANICAL ASSEMBLY |
| CN105083432A (en) * | 2015-08-25 | 2015-11-25 | 华中科技大学 | Sit-stand two-wheeled self-balancing vehicle and balance control method thereof |
| CN205327275U (en) * | 2015-12-25 | 2016-06-22 | 贵州大学 | Multifunctional perambulator |
| CN105730538A (en) * | 2016-02-03 | 2016-07-06 | 桂林电子科技大学 | Friction type internal drive universal spherical robot mechanism |
| CN105857360A (en) * | 2016-05-27 | 2016-08-17 | 国网江苏省电力公司镇江供电公司 | Steering device of manual hydraulic carrier |
| DE202016103236U1 (en) * | 2016-06-20 | 2016-09-05 | Romualdo Monteiro de Barros | Rolling device, especially for furniture, suitcases u. like. |
| TWM532420U (en) * | 2016-03-18 | 2016-11-21 | Yueh-Hao Wu | Spherical unicycle |
| CN206307198U (en) * | 2016-12-22 | 2017-07-07 | 桂林电子科技大学 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
-
2016
- 2016-12-22 CN CN201611199247.6A patent/CN106741402A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87201792U (en) * | 1987-02-07 | 1988-03-02 | 言良健 | Universal sphere-type pedal-wheel |
| FR2695447A1 (en) * | 1992-09-09 | 1994-03-11 | Courty Claude | Hubless wheel in form of sphere contained in envelope - includes roller driven body, turning in interior of envelope which has opening in its lower part permitting this body to contact ground, with body maintained at distance from envelope walls by rollers or ball bearings |
| CN1367113A (en) * | 2002-01-10 | 2002-09-04 | 欧阳宝武 | Internal gear speed-changing chain-driving automatic double-speed changing bicycle |
| JP2004243845A (en) * | 2003-02-13 | 2004-09-02 | Toyota Motor Corp | Moving vehicle |
| CN101085626A (en) * | 2006-06-06 | 2007-12-12 | 李天夫 | Balance ball car |
| US8459383B1 (en) * | 2010-07-09 | 2013-06-11 | Daniel Burget | Spherical drive system |
| CN101920730A (en) * | 2010-08-18 | 2010-12-22 | 于雪松 | Spherical double-wheel bidirectional car |
| CN201934498U (en) * | 2010-12-27 | 2011-08-17 | 惠州市维尔实业有限公司 | Low load universal roller |
| FR3005932A1 (en) * | 2013-05-21 | 2014-11-28 | France Reducteurs | ELECTROMECHANICAL ASSEMBLY FOR A ROLLING MACHINE, AND A ROLLER EQUIPPED WITH SUCH AN ELECTROMECHANICAL ASSEMBLY |
| CN105083432A (en) * | 2015-08-25 | 2015-11-25 | 华中科技大学 | Sit-stand two-wheeled self-balancing vehicle and balance control method thereof |
| CN205327275U (en) * | 2015-12-25 | 2016-06-22 | 贵州大学 | Multifunctional perambulator |
| CN105730538A (en) * | 2016-02-03 | 2016-07-06 | 桂林电子科技大学 | Friction type internal drive universal spherical robot mechanism |
| TWM532420U (en) * | 2016-03-18 | 2016-11-21 | Yueh-Hao Wu | Spherical unicycle |
| CN105857360A (en) * | 2016-05-27 | 2016-08-17 | 国网江苏省电力公司镇江供电公司 | Steering device of manual hydraulic carrier |
| DE202016103236U1 (en) * | 2016-06-20 | 2016-09-05 | Romualdo Monteiro de Barros | Rolling device, especially for furniture, suitcases u. like. |
| CN206307198U (en) * | 2016-12-22 | 2017-07-07 | 桂林电子科技大学 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628174A (en) * | 2017-09-30 | 2018-01-26 | 桂林电子科技大学 | Omnidirectional's ball wheel drive is without handlebar self-balancing bicycle |
| CN110920653A (en) * | 2019-12-20 | 2020-03-27 | 重庆艾博瑞威轨道交通设备有限公司 | Universal ball side bearing for sightseeing train |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |