CN107054058A - A kind of spherical drive wheel based on a motor control - Google Patents
A kind of spherical drive wheel based on a motor control Download PDFInfo
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- CN107054058A CN107054058A CN201710304335.6A CN201710304335A CN107054058A CN 107054058 A CN107054058 A CN 107054058A CN 201710304335 A CN201710304335 A CN 201710304335A CN 107054058 A CN107054058 A CN 107054058A
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- drive gear
- power transmission
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- 230000005540 biological transmission Effects 0.000 claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000005192 partition Methods 0.000 claims description 8
- 230000013011 mating Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to driving wheel technical field, more particularly to a kind of spherical drive wheel based on a motor control, it includes bogey, drive mechanism, wherein four drive mechanisms two-by-two one group be symmetrically mounted on bogey lower surface both sides, and wherein any side two drive mechanisms respectively be located at bogey two ends；Spherical drive wheel in the present invention has walking and the function of turning to.Two supporting arc plates of present invention design are arranged on the upper end of case inside by two connecting rods respectively；Two supporting arc plates are symmetrically located on the periphery of driving wheel；And the central axis of two supporting arc plates and driving wheel coordinates；Two supporting arc plates serve the effect of support by four balls to driving wheel respectively；Support block plays a part of power support to power transmission shaft；The effect of support is served to the first drive gear and the second drive gear and the 3rd drive gear by the cooperation of supporting plate and support shaft.
Description
Art
The invention belongs to driving wheel technical field, more particularly to a kind of spherical drive wheel based on a motor control.
Background technology
Use the motion of multiple motor control machine people more current robot, so can undoubtedly increase robot and be produced into
This, while the use of multiple motors can increase the fault rate of robot, if one of motor damage in robot, meeting
Make robot can not normal work, so unnecessary economic loss can be brought to country, enterprise, so being accomplished by a kind of leaning on one
Individual motor drives the invention of robot motion.
A kind of spherical drive wheel based on a motor control of present invention design solves as above problem.
The content of the invention
To solve drawbacks described above of the prior art, the present invention discloses a kind of spherical drive based on a motor control
Wheel, it is realized using following technical scheme.
A kind of spherical drive wheel based on a motor control, it is characterised in that：It includes bogey, drive mechanism,
Wherein four drive mechanisms two-by-two one group be symmetrically mounted on bogey lower surface both sides, and two of wherein any side drives
Motivation structure is located at the two ends of bogey respectively.
Above-mentioned drive mechanism includes housing, driving wheel, motor, the first drive gear, support block, connecting rod, transmission
Axle, supporting arc block, the second drive gear, connection annulus, the 3rd drive gear, supporting plate, ball chamber, the first dividing plate, second every
Plate, ball, support shaft, the first travelling gear, the second travelling gear, the 3rd travelling gear, ringlike round plate, spring, annular stop
Plate, guide pad, turning set, axle sleeve, scroll spring, limited ring groove, circular trough, guide groove, wherein housing are arranged on bogey
Lower surface on；Motor is arranged on case inside lower surface；Circular port is provided with the end face of support block side；Support block
On the lower surface of case inside；One end of power transmission shaft is arranged in support block in circular port, the other end peace of power transmission shaft
On machine shaft；External screw thread at three is equably provided with the periphery of power transmission shaft；Opened on the inner headed face of first travelling gear
Have to be provided with internal thread, the inner headed face of the second travelling gear on internal thread, the inner headed face of the 3rd travelling gear and be provided with internal thread, the
One travelling gear, the second travelling gear and the 3rd travelling gear pass through three on the internal thread and power transmission shaft on its inner headed face respectively
Locate external screw thread to coordinate on power transmission shaft；Two guide pads, three axle sleeves are symmetrically installed with the periphery of three axle sleeves
It is uniformly mounted on the periphery of power transmission shaft；And three axle sleeves respectively with the first travelling gear, the second travelling gear and the 3rd
Travelling gear coordinates；It is symmetrically installed with an annular stop plate on the periphery of three turning set one end, three turning sets
Be provided with two symmetrical guide grooves on Inner edge face, three turning sets respectively by two guide grooves on its inner headed face with it is relative
Two guide pads on the axle sleeve answered, which coordinate, to be arranged on the periphery of three axle sleeves；One end of three connection annulus is provided with circle
Shape groove, the other end of three connection annulus opens equal limited location annular groove, and three connection annulus pass through annular spacing groove thereon and three
Individual annular stop plate, which coordinates, to be arranged on the periphery of three turning sets；One end difference of circular trough is provided with three connection annulus
On the end face of the first travelling gear, the second travelling gear and the 3rd travelling gear；Three connections annulus and power transmission shafts it
Between be separately installed with a scroll spring；And the Inner ends of three scroll springs are installed on the periphery of power transmission shaft, three whirlpools
The outer end of coil spring is installed on the Inner discs of circular trough；Three ringlike round plate are uniformly mounted to the periphery of power transmission shaft
On, and three ringlike round plate are located at the side of close motor on three connection annulus respectively；Three ringlike round plate and three
A spring is mounted between connection plectane；Three springs are respectively nested on the periphery of power transmission shaft；One end peace of spring
On the end face of ringlike round plate, the other end is arranged on the end face of connection plectane；Six supporting plates are arranged on shell for one group two-by-two
On the upper surface of internal side；A support shaft is mounted between every group of supporting plate；Second drive gear is installed by support shaft
Between one of which support block in three groups of supporting plates, and second the second travelling gear of drive gear is intermeshed；First drives
Moving gear is arranged between another group of support block in three groups of support blocks by support shaft, and the first drive gear and the first transmission
Gear coordinates；3rd drive gear is arranged on being left between one group of support block in three groups of support blocks, and the 3rd by support shaft
Drive gear and the 3rd travelling gear coordinate；Ball chamber is provided with the medial surface of supporting arc plate, the two ends of the first dividing plate are pacified respectively
On the upper and lower ends face of ball chamber, the two ends of second partition are separately mounted in the left and right sides of ball chamber；Two branch
The upper end of support arc plate is mounted on a connecting rod, and two supporting arc plates are arranged on the upper end of case inside by two connecting rods
On face, driving wheel is arranged between two supporting arc plates, and the central axis of driving wheel passes through two supporting arc plates；Eight balls
Tetrad is separately mounted in the ball chamber of two supporting arc plates；And four balls in every group pass through the first dividing plate and second
Dividing plate is mutually isolated；Ball coordinates with driving wheel.
The radius of above-mentioned second travelling gear is 2/3rds of the first travelling gear radius, the radius of the 3rd travelling gear
For 1/3rd of the first travelling gear radius.
Above-mentioned first travelling gear, the second travelling gear and the 3rd travelling gear include the conical surface, half tooth of circle, wherein first
Mating spherical surfaces of the conical surface with driving wheel on travelling gear, the second travelling gear and the 3rd travelling gear, the first travelling gear,
The tooth of circle half on second travelling gear and the 3rd travelling gear drives with the first drive gear, the second drive gear and the 3rd respectively
Gear is engaged.
As the further improvement of this technology, above-mentioned first drive gear is arranged in support shaft by bearing.
As the further improvement of this technology, above-mentioned second drive gear is arranged in support shaft by bearing.
As the further improvement of this technology, above-mentioned 3rd drive gear is arranged in support shaft by bearing.It is used as this
The further improvement of technology, above-mentioned spring is extension spring.
Relative to traditional driving wheel technology, the spherical drive wheel in the present invention has walking and the function of turning to.
Motor drives drive axis in the present invention；Drive axis can drive the axle sleeve on its periphery
Rotate, because turning set is arranged on the periphery of axle sleeve by the cooperation of two guide pads and two guide grooves, turn of pivoted housing
It is dynamic to drive turning set to rotate；And rotary axle box can be moved on the periphery of axle sleeve along guide groove；Connection annulus passes through ring
The cooperation of shape limiting plate and limited ring groove can enter on the periphery of turning set between annular stop plate and limited ring groove
Row is mutually rotated；First travelling gear, the second travelling gear, one end of the 3rd travelling gear are separately mounted to corresponding company
Connect one end of annulus；First travelling gear, the second travelling gear, the 3rd travelling gear are coordinated by screw thread and power transmission shaft and connected
Connect；When the first travelling gear, the second travelling gear and the 3rd travelling gear are in non-rotating state, drive axis can cause
First travelling gear, the second travelling gear, the 3rd travelling gear are moved；Whirlpool between connection annulus and turning set
Coil spring can provide a recovery when being in extended state to the first travelling gear, the second travelling gear, the 3rd travelling gear
Power；So that the first travelling gear, the second travelling gear, the 3rd travelling gear are rotated；Installed in ringlike round plate with being connected circle
Spring between ring can provide a restoring force when being in extended state to connection annulus.
Above-mentioned travelling gear and the first drive gear, the second driving wheel and the 3rd driving wheel fit through controlled motor
Rotating speed is controlled, when travelling gear needs to coordinate with the first drive gear, by controlling the rotating speed of motor so that first
Travelling gear is moved to the position being in contact with the first drive gear；And the second drive gear is located at the second transmission under such a state
On rear side of gear inclined, the 3rd drive gear is located at the 3rd oblique rear side of travelling gear；When travelling gear needs to match somebody with somebody with the second drive gear
During conjunction, by controlling the rotating speed of motor so that the second travelling gear is moved to the position being in contact with the second drive gear；
And the first travelling gear is moved between the first drive gear and the second drive gear under such a state；And first travelling gear with
First drive gear is completely disengaged from, and the first travelling gear is located at the oblique rear side of the second drive gear；3rd drive gear is located at the 3rd
The oblique rear side of travelling gear；When travelling gear needs to coordinate with the 3rd drive gear, by controlling the rotating speed of motor to cause
The position that 3rd driving cog is in contact with the 3rd drive gear；And the first travelling gear moves to the first sliding tooth under such a state
Between wheel and the second drive gear；And first travelling gear completely disengaged from the first drive gear, the first travelling gear is located at the
The oblique rear side of two drive gears；Second travelling gear is moved between the second drive gear and the 3rd drive gear；And second transmission
Gear is completely disengaged from the second drive gear, and the second travelling gear is located at the 3rd oblique rear side of drive gear；Due to the first sliding tooth
When wheel is contacted with the first travelling gear, the second drive gear with the second travelling gear, the 3rd drive gear with the 3rd travelling gear
The speed of motor driving drive axis increases successively, and in order to ensure that spherical drive wheel can keep constant in rotation
Speed, so the radius for the second travelling gear that the present invention is designed is 2/3rds of the first travelling gear radius, the 3rd transmission
The radius of gear is 1/3rd of the first travelling gear radius.
Two supporting arc plates of present invention design are arranged on the upper end of case inside by two connecting rods respectively；Two supports
Arc plate is symmetrically located on the periphery of driving wheel；And the central axis of two supporting arc plates and driving wheel coordinates；Two supports
Arc plate serves the effect of support by four balls to driving wheel respectively；Support block plays a part of power support to power transmission shaft；
Support is served to the first drive gear and the second drive gear and the 3rd drive gear by the cooperation of supporting plate and support shaft
Effect.
When spherical drive wheel is operated, three scroll springs are in free retracted position；Motor is powered, and drives
Dynamic motor driving drive axis；Power transmission shaft drives axle sleeve to rotate, and axle sleeve drives turning set to rotate；Power transmission shaft and the first driving cog
Wheel, it is connected through a screw thread between the second travelling gear, the 3rd travelling gear, power transmission shaft can promote the first transmission while rotating
Gear, the second travelling gear, the motion of the 3rd travelling gear, the first travelling gear, the second travelling gear, the motion of the 3rd travelling gear
Corresponding connection circular motion can be driven；Annulus is connected to drive installed in the spring connected between annulus and ringlike round plate
One end is to the end motion close to connection annulus, while the inwardly compression of the inner of scroll spring；When spherical drive wheel is turned to the right
Control motor that the first travelling gear is contacted with the first drive gear during motion, promoted and driven by the first drive gear
Wheel rotated, and the first drive gear be located at driving wheel right side, so driving wheel in the presence of the first driving wheel to the right
Divertical motion；When spherical drive wheel moves along a straight line by controlling motor so that the second travelling gear and the second drive gear
Contact, promotes driving wheel to be rotated by the first drive gear, and the second drive gear is located at the middle of driving wheel, so
Driving wheel can move along a straight line in the presence of the second driving wheel；Pass through motor control when spherical drive wheel divertical motion to the left
Make the 3rd travelling gear to contact with the 3rd drive gear, promote driving wheel to be rotated by the 3rd drive gear, and the 3rd drives
Moving gear is located at the left side of driving wheel, so driving wheel can divertical motion to the left in the presence of the 3rd driving wheel.
Brief description of the drawings
Fig. 1 is global facility schematic appearance.
Fig. 2 is road wheel scheme of installation.
Fig. 3 is distribution schematic diagram inside global facility.
Fig. 4 is driving mechanism structure schematic diagram.
Fig. 5 is supporting arc plate structure schematic diagram.
Fig. 6 is ball scheme of installation.
Fig. 7 is motor scheme of installation.
Fig. 8 is the first drive gear structural representation.
Fig. 9 is the first travelling gear scheme of installation.
Figure 10 is connection circular ring structure schematic diagram.
Figure 11 is axle sleeve structure schematic diagram.
Figure 12 is turning set structural representation.
Figure 13 is scroll spring scheme of installation.
Figure 14 is ball operation principle schematic diagram.
Figure 15 is road wheel operation principle schematic diagram.
Label title in figure：1st, bogey；2nd, drive mechanism；3rd, housing；4th, driving wheel；5th, motor；6th, first
Drive gear；7th, support block；8th, connecting rod；9th, power transmission shaft；10th, supporting arc block；11st, the second drive gear；12nd, annulus is connected；
13rd, the 3rd drive gear；14th, supporting plate；15th, ball chamber；16th, the first dividing plate；17th, second partition；18th, ball；19th, support
Axle；20th, the first travelling gear；21st, ringlike round plate；22nd, spring；23rd, annular stop plate；24th, guide pad；25th, turning set；26、
Axle sleeve；27th, scroll spring；28th, limited ring groove；29th, circular trough；30th, guide groove；31st, the second travelling gear；32nd, the 3rd transmission
Gear.
Embodiment
As shown in figure 1, it includes bogey 1, drive mechanism 2, wherein four drive mechanisms 2 are symmetrically installed for one group two-by-two
Both sides in the lower surface of bogey 1, and wherein any side two drive mechanisms 2 respectively be located at bogey 1 two ends.
As shown in Fig. 4,7,8, cone is only depicted to the first travelling gear, the second travelling gear and the 3rd travelling gear in figure
Face, does not show half tooth of circle, has half tooth of the conical surface and circle as shown in figure 15, in figure.
As shown in Figure 2,3, above-mentioned drive mechanism 2 includes housing 3, driving wheel 4, motor 5, the first drive gear 6, branch
Bracer 7, connecting rod 8, power transmission shaft 9, supporting arc block 10, the second drive gear 11, connection annulus 12, the 3rd drive gear 13, branch
Fagging 14, ball chamber 15, the first dividing plate 16, second partition 17, ball 18, support shaft 19, the transmission of the first travelling gear 20, second
Gear 31, the 3rd travelling gear 32, ringlike round plate 21, spring 22, annular stop plate 23, guide pad 24, turning set 25, axle sleeve
26th, scroll spring 27, limited ring groove 28, circular trough 29, guide groove 30, wherein as shown in figure 1, housing 3 is arranged on bogey 1
Lower surface on；As shown in figure 3, motor 5 is arranged on the inside lower end face of housing 3；It is provided with the end face of the side of support block 7
Circular port；Support block 7 is arranged on the lower surface of the inner side of housing 3；One end of power transmission shaft 9 is arranged in support block 7 in circular port,
The other end of power transmission shaft 9 is arranged on machine shaft；External screw thread at three is equably provided with the periphery of power transmission shaft 9；Such as Fig. 9 institutes
Show, be provided with the inner headed face of the first travelling gear 20 on internal thread, the inner headed face of the second travelling gear 31 and be provided with internal thread, the 3rd
Internal thread is provided with the inner headed face of travelling gear 32, as shown in Fig. 7,9, the first travelling gear 20, the second travelling gear 31 and
Three travelling gears 32 are coordinated by external screw thread at three on the internal thread on its inner headed face and power transmission shaft 9 respectively is arranged on power transmission shaft
On 9；As shown in figure 11, two guide pads 24 are symmetrically installed with the periphery of three axle sleeves 26, three axle sleeves 26 are equably
On the periphery of power transmission shaft 9；And three axle sleeves 26 are distinguished；And three axle sleeves 26 respectively with the first travelling gear 20,
Two travelling gears 31 and the 3rd travelling gear 32 coordinate；；As shown in figure 12, it is symmetrical on the periphery of three one end of turning set 25
It is provided with an annular stop plate 23, the Inner edge face of three turning sets 25 and is provided with two symmetrical guide grooves 30, such as Fig. 9 institute
Show, three turning sets 25 pass through two guide pads on two guide grooves 30 on its inner headed face and corresponding axle sleeve 26 respectively
24 coordinate on the periphery of three axle sleeves 26；As shown in Figure 10, one end of three connection annulus 12 is provided with circular trough
29, the other ends of three connection annulus 12 open equal limited location annular groove 28, as shown in figure 9, three connection annulus 12 are by thereon
Annular spacing groove and three annular stop plates 23, which coordinate, to be arranged on the periphery of three turning sets 25；As shown in fig. 7, three companies
Connect and one end of circular trough 29 is provided with annulus 12 is separately mounted to the first travelling gear 20, the second travelling gear 31 and the 3rd transmission
On the end face of gear 32；As shown in Fig. 9,13, a scroll spring is separately installed between three connection annulus 12 and power transmission shaft 9
27；And the Inner ends of three scroll springs 27 are installed on the periphery of transmission, the outer end of three scroll springs 27 is installed in
On the Inner discs of circular trough 29；As shown in fig. 7, three ringlike round plate 21 are uniformly mounted on the periphery of power transmission shaft 9, and three
Individual ringlike round plate 21 is located on three connection annulus 12 close to the side of motor 5 respectively；Three ringlike round plate 21 and three
A spring 22 is mounted between connection plectane；Three springs 22 are respectively nested on the periphery of power transmission shaft 9；Spring 22
One end is arranged on the end face of ringlike round plate 21, and the other end is arranged on the end face of connection plectane；As shown in figure 4, six supports
Plate 14 is arranged on the upper surface of the inner side of housing 3 for one group two-by-two；A support shaft 19 is mounted between every group of supporting plate 14；The
Two drive gears 11 are arranged between the one of which support block 7 in three groups of supporting plates 14 by support shaft 19, and the second driving
The travelling gear 31 of gear 11 second is intermeshed；First drive gear 6 is arranged on another in three groups of support blocks 7 by support shaft 19
Between one group of support block 7；And first drive gear 6 coordinate with the first travelling gear 20；3rd drive gear 13 passes through support shaft
19 are arranged on being left between one group of support block 7 in three groups of support blocks 7；And the 3rd drive gear 13 match somebody with somebody with the 3rd travelling gear 32
Close；As shown in figure 5, being provided with ball chamber 15 on the medial surface of supporting arc plate, the two ends of the first dividing plate 16 are separately mounted to ball chamber
On 15 upper and lower ends face, the two ends of second partition 17 are separately mounted in the left and right sides of ball chamber 15；Two supporting arcs
The upper end of plate is mounted on a connecting rod 8, as shown in figure 14, and two supporting arc plates are arranged on housing 3 by two connecting rods 8
On the upper surface of inner side, driving wheel 4 is arranged between two supporting arc plates, and the central axis of driving wheel 4 is supported through two
Arc plate；As shown in fig. 6, eight tetrads of ball 18 are separately mounted in the ball chamber 15 of two supporting arc plates；And in every group
Four balls 18 it is mutually isolated by the first dividing plate 16 and second partition 17.Ball 18 coordinates with driving wheel 4；
The radius of above-mentioned second travelling gear 31 is the half of the radius of the first travelling gear 20, the half of the 3rd travelling gear 32
Footpath is 1/3rd of the radius of the first travelling gear 20.
Above-mentioned first travelling gear 20, the second travelling gear 31 and the 3rd travelling gear 32 include the conical surface, half tooth of circle, its
In mating spherical surfaces of the conical surface with driving wheel 4 on the first travelling gear 20, the second travelling gear 31 and the 3rd travelling gear 32,
The tooth of circle half on first travelling gear 20, the second travelling gear 31 and the 3rd travelling gear 32 respectively with the first drive gear 6,
Two drive gears 11 and the 3rd drive gear 13 are engaged.
Above-mentioned first drive gear 6 is arranged in support shaft 19 by bearing.
Above-mentioned second drive gear 11 is arranged in support shaft 19 by bearing.
Above-mentioned 3rd drive gear 13 is arranged in support shaft 19 by bearing.
Above-mentioned spring 22 is extension spring 22.
In summary：
Spherical drive wheel 4 in the present invention has walking and the function of turning to.
The driving of motor 5 power transmission shaft 9 is rotated in the present invention；Power transmission shaft 9 is rotated and can driven on its periphery
Axle sleeve 26 is rotated, because turning set 25 is arranged on the cylindrical of axle sleeve 26 by the cooperation of two guide pads 24 and two guide grooves 30
On face, the rotation of pivoted housing drives turning set 25 to rotate；And rotary axle box 26 can be along guide groove on the periphery of axle sleeve 26
30 movements；Annulus 12 is connected by the cooperation of annular stop plate 23 and limited ring groove 28 on the periphery of turning set 25,
Can mutually it be rotated between annular stop plate 23 and limited ring groove 28；First travelling gear 20, the second travelling gear 31,
One end of three travelling gears 32 is separately mounted to one end of corresponding connection annulus 12；First travelling gear 20, second is passed
Moving gear 31, the 3rd travelling gear 32 are connected by screw thread and power transmission shaft 9；When the transmission of the first travelling gear 20, second
When the travelling gear 32 of gear 31 and the 3rd is in non-rotating state, power transmission shaft 9, which is rotated, can cause the first travelling gear 20, second to pass
Moving gear 31, the 3rd travelling gear 32 are moved；At scroll spring 27 between connection annulus 12 and turning set 25
A restoring force can be provided when extended state to the first travelling gear 20, the second travelling gear 31, the 3rd travelling gear 32；
So that the first travelling gear 20, the second travelling gear 31, the 3rd travelling gear 32 are rotated；Installed in ringlike round plate 21 with connecting
A restoring force can be provided when the spring 22 between annulus 12 is in extended state to connection annulus 12 by connecing.
Above-mentioned travelling gear and the first drive gear 6, the second driving wheel 4 and fitting through for the 3rd driving wheel 4 control electricity
The rotating speed of machine is controlled, when travelling gear needs to coordinate with first drive gear 6, by controlling the rotating speed of motor 5 to make
Obtain the first travelling gear 20 and be moved to the position being in contact with the first drive gear 6；And the second drive gear 11 under such a state
Positioned at the oblique rear side of the second travelling gear 31, the 3rd drive gear 13 is located at the 3rd travelling gear 32 tiltedly rear side；When travelling gear is needed
When coordinating with the second drive gear 11, by controlling the rotating speed of motor 5 so that the second travelling gear 31 is moved to and the
The position that two drive gears 11 are in contact；And the first travelling gear 20 moves to the first drive gear 6 and second under such a state
Between drive gear 11；And first travelling gear 20 completely disengaged from the first drive gear 6, the first travelling gear 20 be located at second
The oblique rear side of drive gear 11；3rd drive gear 13 is located at the 3rd travelling gear 32 tiltedly rear side；When travelling gear needs and the 3rd
When drive gear 13 coordinates, by controlling the rotating speed of motor 5 so that the 3rd driving cog is in contact with the 3rd drive gear 13
Position；And the first travelling gear 20 is moved between the first drive gear 6 and the second drive gear 11 under such a state；And the
One travelling gear 20 is completely disengaged from the first drive gear 6, and the first travelling gear 20 is located at the second drive gear 11 tiltedly rear side；The
Two travelling gears 31 are moved between the second drive gear 11 and the 3rd drive gear 13；And second travelling gear 31 and second drive
Moving gear 11 is completely disengaged from, and the second travelling gear 31 is located at the 3rd drive gear 13 tiltedly rear side；Due to the first drive gear 6 and
One travelling gear 20, the second drive gear 11 connect with the second travelling gear 31, the 3rd drive gear 13 with the 3rd travelling gear 32
The speed that the driving of motor 5 power transmission shaft 9 is rotated when touching increases successively, and in order to ensure that spherical drive wheel 4 is being rotated and can protected
Constant speed is held, so the radius for the second travelling gear 31 that the present invention is designed is the half of the radius of the first travelling gear 20,
The radius of 3rd travelling gear 32 is 1/3rd of the radius of the first travelling gear 20.
Two supporting arc plates of present invention design are arranged on the upper end of the inner side of housing 3 by two connecting rods 8 respectively；Two branch
Support arc plate is symmetrically located on the periphery of driving wheel 4；And the central axis of two supporting arc plates and driving wheel 4 coordinates；Two
Supporting arc plate serves the effect of support by four balls 18 to driving wheel 4 respectively；Support block 7 plays power branch to power transmission shaft 9
The effect of support；First drive gear 6 and the second drive gear 11 and the 3rd are driven by the cooperation of supporting plate 14 and support shaft 19
Moving gear 13 serves the effect of support.
Specific embodiment：When spherical drive wheel 4 is operated, three scroll springs 27 are in free scale shape
State；Motor 5 is powered, and the driving power transmission shaft 9 of motor 5 is rotated；Power transmission shaft 9 drives axle sleeve 26 to rotate, and axle sleeve 26, which drives, to be turned
Dynamic set 25 is rotated；Pass through screw thread between the travelling gear 20 of power transmission shaft 9 and first, the second travelling gear 31, the 3rd travelling gear 32
Connection, power transmission shaft 9 can promote the first travelling gear 20, the second travelling gear 31, the 3rd travelling gear 32 to transport while rotating
Dynamic, the first travelling gear 20, the second travelling gear 31, the athletic meeting of the 3rd travelling gear 32 drive corresponding connection annulus 12
Circular motion；Connect annulus 12 and drive the one end for the spring 22 being arranged between connection annulus 12 and ringlike round plate 21 to close to even
An end motion of annulus 12 is connect, while the inwardly stretching of the inner of scroll spring 27；As shown in fig. 15 a, when spherical drive wheel 4 to the right
Control motor 5 that first travelling gear 20 is contacted with the first drive gear 6 during divertical motion, pass through the first drive gear
6 promotion driving wheels 4 are rotated, and the first drive gear 6 is located at the right side of driving wheel 4, so driving wheel 4 is in the first driving wheel
Divertical motion to the right in the presence of 4；As illustrated in fig. 15b, when spherical drive wheel 4 moves along a straight line by controlling motor 5 to make
Obtain the second travelling gear 31 to contact with the second drive gear 11, promote driving wheel 4 to be rotated by the first drive gear 6, and
Second drive gear 11 is located at the middle of driving wheel 4, so driving wheel 4 can move along a straight line in the presence of the second driving wheel 4；
As shown in fig. 15 c, the 3rd travelling gear 32 and the 3rd is controlled by motor 5 when spherical drive 4 divertical motion to the left of wheel
Drive gear 13 is contacted, and promotes driving wheel 4 to be rotated by the 3rd drive gear 13, and the 3rd drive gear 13 is located at driving
The left side of wheel 4, so driving wheel 4 can divertical motion to the left in the presence of the 3rd driving wheel 4.
Claims (5)
1. a kind of spherical drive wheel based on a motor control, it is characterised in that：It includes bogey, drive mechanism, its
In four drive mechanisms two-by-two one group be symmetrically mounted on bogey lower surface both sides, and two of wherein any side drivings
Mechanism is located at the two ends of bogey respectively；
Above-mentioned drive mechanism includes housing, driving wheel, motor, the first drive gear, support block, connecting rod, power transmission shaft, branch
Support arc block, the second drive gear, connection annulus, the 3rd drive gear, supporting plate, ball chamber, the first dividing plate, second partition, rolling
Pearl, support shaft, the first travelling gear, the second travelling gear, the 3rd travelling gear, ringlike round plate, spring, annular stop plate, lead
To block, turning set, axle sleeve, scroll spring, limited ring groove, circular trough, guide groove, wherein housing is arranged on the lower end of bogey
On face；Motor is arranged on case inside lower surface；Circular port is provided with the end face of support block side；Support block is arranged on
On the lower surface of case inside；One end of power transmission shaft is arranged in support block in circular port, and the other end of power transmission shaft is arranged on electricity
In machine rotating shaft；External screw thread at three is equably provided with the periphery of power transmission shaft；Interior spiral shell is provided with the inner headed face of first travelling gear
It is provided with line, the inner headed face of the second travelling gear on internal thread, the inner headed face of the 3rd travelling gear and is provided with internal thread, the first transmission
Gear, the second travelling gear and the 3rd travelling gear pass through outer spiral shell at three on the internal thread and power transmission shaft on its inner headed face respectively
Line, which coordinates, to be arranged on power transmission shaft；Two guide pads are symmetrically installed with the periphery of three axle sleeves, three axle sleeves are equably
On the periphery of power transmission shaft；And three axle sleeves respectively with the first travelling gear, the second travelling gear and the 3rd driving cog
Wheel coordinates；An annular stop plate, the Inner edge face of three turning sets are symmetrically installed with the periphery of three turning set one end
On be provided with two symmetrical guide grooves, three turning sets pass through two guide grooves on its inner headed face and corresponding axle respectively
Two guide pads put, which coordinate, to be arranged on the periphery of three axle sleeves；One end of three connection annulus is provided with circular trough,
The other end of three connection annulus opens equal limited location annular groove, and three connection annulus pass through annular spacing groove thereon and three annulars
Limiting plate, which coordinates, to be arranged on the periphery of three turning sets；One end that circular trough is provided with three connection annulus is separately mounted to
On the end face of first travelling gear, the second travelling gear and the 3rd travelling gear；Between three connection annulus and power transmission shaft respectively
One scroll spring is installed；And the Inner ends of three scroll springs are installed on the periphery of power transmission shaft, three scroll springs
Outer end be installed on the Inner discs of circular trough；Three ringlike round plate are uniformly mounted on the periphery of power transmission shaft, and three
Individual ringlike round plate is located on three connection annulus close to the side of motor respectively；Three ringlike round plate are connected plectane with three
Between be mounted on a spring；Three springs are respectively nested on the periphery of power transmission shaft；One end of spring is arranged on annular
On the end face of plectane, the other end is arranged on the end face of connection plectane；Six supporting plates are arranged on case inside for one group two-by-two
On upper surface；A support shaft is mounted between every group of supporting plate；Second drive gear is arranged on three groups of branch by support shaft
Between one of which support block in fagging, and second the second travelling gear of drive gear is intermeshed；First drive gear leads to
Cross between another group of support block of the support shaft in three groups of support blocks, and the first drive gear is matched somebody with somebody with the first travelling gear
Close；3rd drive gear is arranged on being left between one group of support block in three groups of support blocks, and the 3rd sliding tooth by support shaft
Wheel coordinates with the 3rd travelling gear；Ball chamber is provided with the medial surface of supporting arc plate, the two ends of the first dividing plate are separately mounted to rolling
On the upper and lower ends face of pearl chamber, the two ends of second partition are separately mounted in the left and right sides of ball chamber；Two supporting arc plates
Upper end be mounted on a connecting rod, two supporting arc plates are arranged on by two connecting rods on the upper surface of case inside；
Driving wheel is arranged between two supporting arc plates, and the central axis of driving wheel passes through two supporting arc plates；Eight four, balls
One group is separately mounted in the ball chamber of two supporting arc plates；And four balls in every group pass through the first dividing plate and second partition
It is mutually isolated；Ball coordinates with driving wheel；
The radius of above-mentioned second travelling gear is 2/3rds of the first travelling gear radius, and the radius of the 3rd travelling gear is the
/ 3rd of one travelling gear radius；
Above-mentioned first travelling gear, the second travelling gear and the 3rd travelling gear include the conical surface, half tooth of circle, wherein the first transmission
Mating spherical surfaces of the conical surface with driving wheel on gear, the second travelling gear and the 3rd travelling gear, the first travelling gear, second
The tooth of circle half on travelling gear and the 3rd travelling gear respectively with the first drive gear, the second drive gear and the 3rd drive gear
Engagement.
2. a kind of spherical drive wheel based on a motor control according to claim 1, it is characterised in that：Above-mentioned first
Drive gear is arranged in support shaft by bearing.
3. a kind of spherical drive wheel based on a motor control according to claim 1, it is characterised in that：Above-mentioned second
Drive gear is arranged in support shaft by bearing.
4. a kind of spherical drive wheel based on a motor control according to claim 1, it is characterised in that：Above-mentioned 3rd
Drive gear is arranged in support shaft by bearing.
5. a kind of spherical drive wheel based on a motor control according to claim 1, it is characterised in that：Above-mentioned spring
For extension spring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710304335.6A CN107054058B (en) | 2017-05-03 | 2017-05-03 | A kind of spherical drive wheel based on a motor control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710304335.6A CN107054058B (en) | 2017-05-03 | 2017-05-03 | A kind of spherical drive wheel based on a motor control |
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| Publication Number | Publication Date |
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| CN107054058A true CN107054058A (en) | 2017-08-18 |
| CN107054058B CN107054058B (en) | 2019-02-26 |
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| CN201710304335.6A Active CN107054058B (en) | 2017-05-03 | 2017-05-03 | A kind of spherical drive wheel based on a motor control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435684A (en) * | 2018-12-03 | 2019-03-08 | 北方民族大学 | A kind of four-wheel drive device |
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|---|---|---|---|---|
| CN101559794A (en) * | 2009-06-02 | 2009-10-21 | 北京邮电大学 | Crawler type spherical robot |
| US20110024219A1 (en) * | 2007-05-10 | 2011-02-03 | Aarhus Universitet | Omni rotational driving and steering wheel |
| CN101982304A (en) * | 2010-09-18 | 2011-03-02 | 中北大学 | Inner driving spherical robot |
| CN102161356A (en) * | 2011-05-09 | 2011-08-24 | 北京邮电大学 | Tridrive spherical robot |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
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2017
- 2017-05-03 CN CN201710304335.6A patent/CN107054058B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110024219A1 (en) * | 2007-05-10 | 2011-02-03 | Aarhus Universitet | Omni rotational driving and steering wheel |
| CN101559794A (en) * | 2009-06-02 | 2009-10-21 | 北京邮电大学 | Crawler type spherical robot |
| CN101982304A (en) * | 2010-09-18 | 2011-03-02 | 中北大学 | Inner driving spherical robot |
| CN102161356A (en) * | 2011-05-09 | 2011-08-24 | 北京邮电大学 | Tridrive spherical robot |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109435684A (en) * | 2018-12-03 | 2019-03-08 | 北方民族大学 | A kind of four-wheel drive device |
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| Publication number | Publication date |
|---|---|
| CN107054058B (en) | 2019-02-26 |
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Effective date of registration: 20191223 Address after: No.57, Jiqiao Road, Luyang District, Hefei City, Anhui Province 230000 Patentee after: Hefei Qian Li plastic mould Co., Ltd. Address before: 325608 No. 30 Nanyang yuan street, Hongqiao Town, Yueqing City, Wenzhou, Zhejiang. Patentee before: Wu Wanmin |
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