CN108591379A - A kind of travelling platform with driving wheel - Google Patents
A kind of travelling platform with driving wheel Download PDFInfo
- Publication number
- CN108591379A CN108591379A CN201810455977.0A CN201810455977A CN108591379A CN 108591379 A CN108591379 A CN 108591379A CN 201810455977 A CN201810455977 A CN 201810455977A CN 108591379 A CN108591379 A CN 108591379A
- Authority
- CN
- China
- Prior art keywords
- driving
- gear
- wheel
- support
- transmission gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
- F16H3/20—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially using gears that can be moved out of gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/008—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor having more than two axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/14—Construction providing resilience or vibration-damping
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
Abstract
The invention belongs to driving wheel technical field more particularly to a kind of travelling platforms with driving wheel, it includes loading plate, first rotating shaft, support plate, traveling wheel, driving motor, wherein the first driving wheel mounted thereto can be driven to rotate when the first drive shaft turns；The rotation of first driving wheel drives the rotation of the first sliding tooth wheel；First driving gear, third driving gear, 4 wheel driven moving gear are engaged with teeth at three on walking wheel shell respectively；Third drives gear and 4 wheel driven moving gear to be engaged respectively with the second driving wheel and third driving wheel, and the second transmission gear, the 4th transmission gear are engaged with third transmission gear, the first transmission gear respectively；First driving wheel, the second driving wheel, third driving wheel and the first driving gear, third driving gear, 4 wheel driven moving gear can mutually drive；Second transmission gear, the 4th transmission gear can mutually drive with the 5th transmission gear, the first transmission gear, and the automatic speed changing function of traveling wheel is realized by the engagement of gear.
Description
Technical field
The invention belongs to driving wheel technical field more particularly to a kind of travelling platforms with driving wheel.
Background technology
Driving wheel used at present travelling platform using when be frequently encountered bear a heavy burden larger or road surface fluctuations, and
So that driving wheel can not drive travelling platform to travel because external resistance is larger；If designing a kind of driving that driving force is larger
Wheel just needs the driving wheel using bigger, increases the weight of platform, and in the process of moving due to the mistake of internal structure design
Actual use is influenced in turn in complicated, because complicated spoilage greatly improves, design one kind is simple in structure can but to be overcome
The driving wheel of larger resistance is necessary.
The present invention design a kind of travelling platform with driving wheel solve the problems, such as it is as above.
Invention content
To solve drawbacks described above in the prior art, the present invention discloses a kind of travelling platform with driving wheel, it is to use
Following technical scheme is realized.
A kind of travelling platform with driving wheel, it is characterised in that：It includes loading plate, first rotating shaft, support plate, walking
Wheel, motor support, driving motor, two of which first rotating shaft are mounted on the both ends on the downside of loading plate by two support plates；Four
A traveling wheel is separately mounted to the both ends of two first rotating shafts in pairs；Four driving motors are installed respectively by motor support
In the downside of loading plate；And four driving motors coordinate with four traveling wheels respectively.
Above-mentioned traveling wheel include driving annulus, the first drive shaft, variable block support, become block, gear shifting rod, the first sliding tooth,
Support shaft, the first transmission shaft, first support bar, first driving gear, the second drive shaft, the first transmission gear, the first driving wheel,
Second support bar, third supporting rod, the second transmission gear, the 4th supporting rod, walking wheel shell, driving hole, third transmission gear, the
Two driving gears, the 5th supporting rod, the 6th supporting rod, third transmission gear, the 4th transmission gear, the second driving wheel, third are driven
Driving wheel, third driving gear, 4 wheel driven moving gear, the 7th supporting rod, wherein become block is mounted on loading plate by variable block support
Downside；Gear shifting rod is mounted on the side for becoming block；The one end for becoming block is connect in machine shaft；Become the other end peace of block
Equipped with the first drive shaft, and the first drive shaft is mounted on the downside of loading plate by the 5th supporting rod；First transmission shaft passes through
Six supports are mounted on the downside of loading plate, and one end of the first transmission shaft is mounted on the side for becoming block；Support shaft is by boring tooth
It is fitted to the other end of the first transmission shaft, and the other end of support shaft is mounted on by the 7th supporting rod under loading plate
Side；Third transmission gear is mounted in support shaft；First drive shaft one end is equipped with the first driving wheel；Second support plate is mounted on
The lower end of loading plate；The lower end of second support plate is equipped with third supporting rod and the 4th supporting rod, and the 4th supporting rod is located at the
The upper end of three supporting rods；Uniformly there are four first support bars for installation for the downside of 4th supporting rod；It is adjacent in four first support bars
Two first support bars between be respectively mounted there are one the second drive shaft；And mounted on the second driving of the downside of the 4th supporting rod
A circle driving hole is provided on axis；Uniformly there are three first support bars for installation for the downside of third supporting rod；Three first support bars
In be respectively mounted that there are one the second drive shafts between adjacent two first support bars；Three on the downside of third supporting rod
First support bar side in one supporting rod close to driving motor is connected with the first drive shaft；First driving gear, third driving
Gear and 4 wheel driven moving gear are separately mounted to be located in three the second drive shafts on the downside of the 4th supporting rod；And first sliding tooth
Wheel is engaged with the first driving wheel；Be separately installed in two the second drive shafts on the downside of third support plate the second driving wheel and
Third driving wheel, and the second driving wheel is engaged with third driving gear；Third driving wheel is engaged with 4 wheel driven moving gear；Third is driven
1.2 times of a diameter of second driving wheel diameter of moving gear；The 1.2 of a diameter of third driving wheel diameter of 4 wheel driven moving gear
Times；1.2 times of a diameter of first driving wheel diameter of first driving gear；Third drives a diameter of second driving wheel of gear straight
1.2 times of diameter；4th transmission gear and the second transmission gear are separately mounted to close to driving motor and under the 4th support plate
In two the second drive shafts of side；4th transmission gear is located in the first driving gear and four first support bars and the first driving
Between the adjacent first support bar of gear；Second transmission gear is located in third driving gear and four first support bars and the 4th
Between the first support bar for driving gear adjacent；First transmission gear and the 5th transmission gear are mounted under third support plate
In two the second drive shafts of side, and the first transmission gear is engaged with the 4th transmission gear；5th transmission gear and the second transmission
Gear engages；1.2 times of a diameter of 4th transmission gear diameter of first transmission gear；A diameter of the second of 5th transmission gear
1.2 times of transmission gear diameter；It is equably provided with three circle teeth on the inner headed face of walking wheel shell；Annulus one end is driven to be mounted on walking
Close to one end of driving motor on wheel shell；The other end of driving annulus is equipped with the second driving gear, and the second driving gear with
Third transmission gear engages；The upper end of second support bar is mounted on the downside of loading plate；The three circle teeth difference walked on wheel shell
It is engaged with the first driving gear, third driving gear and 4 wheel driven moving gear；The a diameter of second driving gear of third transmission gear
Half.
The mounting structure of above-mentioned first driving gear, third driving gear and 4 wheel driven moving gear is identical；For
One driving gear comprising spring, raised teeth, square hole, pull rod, circular through hole, driving shell, guide block, guide groove, wherein driving
It is circumferential on the periphery of shell to be uniformly provided with many square holes；It is located in driving shell on the downside of square hole and is provided with circular through hole and circle
Through-hole coordinates with driving hole；Third guide groove there are two symmetrically being opened on the inner headed face of circular through hole；It is symmetrical on the periphery of pull rod
There are two guide blocks for installation；Pull rod is fitted to by two guide blocks and guide groove on the inside of circular through hole；And pull rod and driving hole
Cooperation；The lower end of raised teeth is mounted on the upper end of pull rod；And raised teeth are pierced by the outside that square hole is located at driving shell；Protrusion
Spring is installed, and one end of spring is mounted on square hole between teeth and square hole, the other end of spring is mounted on protrusion
The lower end of teeth；The elastic force of spring on the first driving gear, third driving gear and 4 wheel driven moving gear becomes successively
Greatly.
Output power uniquely determines when above-mentioned driving motor goes up a slope, if output power is P0；The output of first driving gear
Torque M1 is（9550*P0/N*1.2）；Third driving gear output torque M2 be（9550*P0/N*1.2^3）；4th driving
The output torque M3 of gear is（9550*P0/N*1.2^5）；What the raised teeth on the first driving gear can bear
Critical torque M11 is（9550*P0/N*1.2 *0.90）；What the raised teeth on third driving gear can bear faces
Boundary torque M12 is（9550*P0/N*1.2^3*0.90）；What the raised teeth on 4 wheel driven moving gear can bear faces
Boundary torque M13 is（9550*P0/N*1.2^5*0.90）；N is the rotating speed of the first driving wheel.
As being further improved for this technology, above-mentioned spring is compressed spring.
As being further improved for this technology, installed by bearing between above-mentioned first support bar and the second drive shaft.
As being further improved for this technology, the lower end of above-mentioned protrusion teeth cannot be pierced by the outside of driving shell.
Relative to traditional driving wheel technology；Become in the present invention on the inside of block and clutch is installed, by adjusting variable block
Gear shifting rod in the block can adjust variable block clutch in the block, and the shaft of driving motor and the can be controlled by adjusting clutch
The connection relation of one transmission shaft, the first drive shaft；One end of first transmission shaft, which is mounted on, to be become on block；The other end is matched by boring tooth
It closes and support axis connection；Third transmission gear is installed in support shaft；Annulus is driven to be mounted on walking wheel shell；Second sliding tooth
Wheel is mounted on driving annulus；When the first transmission shaft rotates, the first transmission shaft can drive support shaft to rotate, and support shaft rotates band
Dynamic third transmission gear rotation, third transmission gear drive the second sliding tooth wheel rotation engaged；Second driving gear band
Dynamic driving annulus rotation；Annulus is driven to drive the rotation of traveling wheel shell；One end of first drive shaft, which is mounted on, to be become on block；First drives
The other end of moving axis is equipped with the first driving wheel；First driving wheel is engaged with the first driving gear；When the first drive shaft turns
The first driving wheel mounted thereto can be driven to rotate；The rotation of first driving wheel drives the rotation of the first sliding tooth wheel；First driving
Gear, third driving gear and 4 wheel driven moving gear are engaged with teeth at three on walking wheel shell respectively；First driving gear, the
Three driving gears and 4 wheel driven moving gear are engaged with the first driving wheel, the second driving wheel and third driving wheel respectively, the first transmission
Gear and the 5th transmission gear are engaged with the 4th transmission gear and the second transmission gear respectively；First driving wheel, the second driving wheel,
Third driving wheel can mutually drive with the first driving gear, third driving gear, 4 wheel driven moving gear；Second transmission gear,
4th transmission gear can mutually drive with the 5th transmission gear, the first transmission gear, and seven first support bars are respectively to five
Second driving wheel plays the role of support；Second support bar plays the role of support to third supporting rod and the 4th supporting rod；
Third supporting rod and the 4th supporting rod play the role of support to first support bar；5th the first drive shaft of supporting rod pair plays
The effect of support；6th the first transmission shaft of supporting rod pair plays the role of support；7th supporting rod plays support shaft
The effect of support；Motor support plays the role of support to driving motor；Two guide blocks on pull rod and two
The cooperation of three guide grooves can play the role of guiding and limit to pull rod；Spring between raised teeth and square hole
A restoring force can be provided when in compressive state to pull rod；It is drawn when in the driving hole that pull rod is located in the second drive shaft
The rotation of bar can give the second drive shaft to provide a driving force.
The present invention design when travelling platform on level road when driving, drive can be adjusted in operator according to actual demand
The output power of dynamic motor changes the speed of travelling platform；When needing to go up a slope, the output power of driving motor is adjusted to P0,
Power constant is constant during entire upward slope, and P0 is determined and factory setting according to the urban pavement slope road situation of user.
When the output power of driving motor is P0；First driving gear output torque M1 be（9550*P0/N*1.2）；Third drives
The output torque M2 of gear is（9550*P0/N*1.2^3）；The output torque M3 of 4 wheel driven moving gear is（9550*P0/N*1.2^
5）；The critical torque M11 that can bear of raised teeth on the first driving gear is（9550*P0/N*1.2 *
0.90）；The critical torque M12 that can bear of raised teeth on third driving gear is（9550*P0/N*1.2^3*
0.90）；The critical torque M1 that raised teeth on 4 wheel driven moving gear can bear（9550*P0/N*1.2^5*
0.90）；N is the rotating speed of the first driving wheel.The transmission ratio of the first driving wheel and third driving gear is 1.2, first in the present invention
The transmission ratio of driving wheel and third driving gear is 1.2^3；The transmission ratio of first driving wheel and 4 wheel driven moving gear is 1.2^5；
When travelling platform encounters upward slope in the process of walking to be fallen section；Before upward slope, by adjusting gear shifting rod driving motor is driven
Dynamic first drive shaft turns；The output power that travelling platform can automatically adjust driving motor simultaneously is P0, ensures raised teeth energy
Enough normal works so that the first driving gear, third driving gear and 4 wheel driven moving gear can dally under large torque and prevent
Driving motor is burned；It can be carried when the driving torque needed for travelling platform walking is less than the raised teeth on the first driving gear
When the critical torque of confession；First drive shaft drives the first coupled driving wheel to rotate；The rotation of first driving wheel drives first
Sliding tooth wheel rotates；First driving gear band moves traveling wheel rotation；Locality is continuously increased in face of the resistance of travelling platform, and is walked
Driving torque needed for platform walking is more than the critical torque that can be provided of raised teeth of the first driving gear and is less than third
When the critical torque that the raised teeth of driving gear can be provided；Traveling wheel can oppress first by the teeth on its inner headed face and drive
Raised tooth dental strip on moving gear is moved pull rod and is moved to close to the direction of the second drive shaft；When pull rod is moved in the second drive shaft
Driving hole in when, since pull rod has been stuck in driving hole, thus first driving gear can drive the second drive shaft turns；Second
Drive shaft turns drive the 4th transmission gear rotation being mounted on its periphery, and the rotation of the 4th transmission gear, which drives, to be engaged
The first transmission gear rotation；The rotation of first transmission gear drives the second coupled drive shaft turns, the second drive shaft band
Dynamic second driving wheel rotation；Second driving wheel drives the rotation of third sliding tooth wheel；Third drives gear band to move traveling wheel rotation；This
When the first driving gear and traveling wheel be in disengaged condition；Locality is continued growing in face of the resistance of travelling platform, and travelling platform
Driving torque needed for walking is more than the critical torque that can be provided of raised teeth of third driving gear and less than the 4th driving
When the critical torque that the raised teeth of gear can be provided；Traveling wheel can oppress third sliding tooth by the teeth on its inner headed face
Raised tooth dental strip on wheel is moved pull rod and is moved to close to the direction of the second drive shaft；When pull rod is moved to the biography in the second drive shaft
When in dynamic hole, since pull rod has been stuck in driving hole, so third driving gear can drive the second drive shaft turns；Second driving
Shaft rotation is dynamic to drive the third transmission gear rotation being mounted on its periphery, and the rotation of third transmission gear drives the engaged
Two transmission gears rotate；The rotation of second transmission gear drives coupled the second drive shaft turns, and the second drive shaft drives the
Three driving wheels rotate；Third driving wheel drives the rotation of third sliding tooth wheel；Third drives gear band to move traveling wheel rotation；At this time
One driving gear and the second driving gear are respectively at disengaged condition with traveling wheel；The first driving gear that the present invention designs, the
The critical torque that raised teeth on three driving gears and 4 wheel driven moving gear can bear is continuously increased, and effect is can to make
The driving force obtained when traveling wheel meets obstructions in the process of walking inside traveling wheel is increasing；The raised teeth that the present invention designs
Lower end cannot be pierced by the outside of driving shell, effect is to reinforce the intensity of guide rod.Mounted on the first driving gear, third sliding tooth
The elastic force of spring on wheel and 4 wheel driven moving gear becomes larger successively；It is so that traveling wheel can be by the tooth on its inner headed face that it, which is acted on,
The required pressure of raised teeth on the first driving of tooth compressing gear, third driving gear and 4 wheel driven moving gear constantly increases
By force, i.e., the torque provided when the first driving gear, third driving gear and 4 wheel driven moving teeth wheel drive traveling wheel is increasing.
When travelling platform works, spring is in free retracted position, and pull rod is not contacted with driving hole；When travelling platform is flat
Road is when driving；Driving motor is powered, and becoming block by control makes driving motor control machine shaft and drive the first transmission shaft
Rotation；First transmission shaft drives support shaft rotation；Support shaft drives the rotation of third transmission gear；Third transmission gear drives second
Sliding tooth wheel rotates；The dynamic transmission annulus rotation of second driving gear band；It is driven annulus rotation and drives walking wheel shell rotation；Traveling wheel
Shell drives the first driving gear, third driving gear and the rotation of 4 wheel driven moving gear；First driving gear, third driving gear and
4 wheel driven moving gear drives the first driving wheel, the second driving wheel and the rotation of third driving wheel respectively；First driving wheel, the second driving
Wheel and third driving wheel drive the first transmission gear and the 5th transmission gear to rotate respectively；First transmission gear and the 5th driving cog
Wheel rotation drives the 4th transmission gear and the rotation of the second transmission gear respectively；Since pull rod is not contacted with driving hole so at this time
Four transmission gears and the rotation of the second transmission gear will not cause the first sliding tooth, third driving gear and 4 wheel driven moving gear wheel
It influences；Travelling platform is in uphill way driving process；Ground is more than the first driving wheel in face of the resistance of travelling platform puts down to walking
When the power that platform provides；Need the torque of bigger that traveling wheel is driven to travel at this time；Make so people become block by control
Machine shaft drives the first drive shaft turns；First drive shaft drives the first coupled driving wheel to rotate；First driving wheel
Rotation drives the rotation of the first sliding tooth wheel；The rotation of first sliding tooth wheel drives traveling wheel rotation；Locality faces the resistance of travelling platform
When power is continuously increased；Need the torque of bigger that traveling wheel is driven to travel at this time；At this time when the first driving gear can not provide this
When the torque of size, the raised tooth dental strip that traveling wheel can be oppressed by the teeth on its inner headed face on the first driving gear moves pull rod
It is moved to close to the direction of the second drive shaft；When pull rod is moved in the driving hole in the second drive shaft, since pull rod is stuck in
In driving hole, so the first driving gear can drive the second drive shaft turns；Second drive shaft turns, which drive, to be mounted on outside it
The 4th transmission gear rotation on disc, the rotation of the 4th transmission gear drive the first transmission gear rotation engaged；First
Transmission gear rotation drives the second coupled drive shaft turns, the second drive shaft to drive the rotation of the second driving wheel；Second drives
Wheel rotation drives the rotation of third sliding tooth wheel；And then traveling wheel rotation is driven, pass through a series of gear drive third at this time
Driving gear plays the role of deceleration torque；When the gradient continues growing, the torque needed for traveling wheel also continues to increase, when
When three driving gears can not provide the torque of the size, so traveling wheel can oppress third driving by the teeth on its inner headed face
Raised tooth dental strip on gear is moved pull rod and is moved to close to the direction of the second drive shaft；When pull rod is moved in the second drive shaft
When in driving hole, since pull rod has been stuck in driving hole, so third driving gear can drive the second drive shaft turns；Second drives
Moving axis rotates the second transmission gear rotation for driving and being mounted on its periphery, and the rotation drive of the second transmission gear engages
Third transmission gear rotates；The rotation of third transmission gear drives the second coupled drive shaft turns, the second drive shaft to drive
Third driving wheel rotates；The rotation of third driving wheel drives the rotation of 4 wheel driven moving gear；And then drive traveling wheel rotation.When walking is flat
The active force protrusion teeth that platform is restored in plane when driving by spring can be restored to original position by spring, and people pass through
Control becomes block and driving motor control machine shaft is made to drive the rotation of the first transmission shaft.
Description of the drawings
Fig. 1 is global facility appearance diagram.
Fig. 2 is liquid driving annulus scheme of installation.
Fig. 3 is the second driving gear schematic diagram.
Fig. 4 is the first driving gear scheme of installation.
Fig. 5 is traveling wheel shell structure schematic diagram.
Fig. 6 is first support bar scheme of installation.
Fig. 7 is sliding tooth structural schematic diagram.
Fig. 8 is to become block scheme of installation.
Fig. 9 is driving wheel structure schematic diagram.
Figure 10 is raised teeth scheme of installation.
Figure 11 is driving hole structural schematic diagram.
Figure 12 is raised tooth dental structure schematic diagram.
Figure 13 is spring scheme of installation.
Figure label title：1, loading plate；2, first rotating shaft；3, support plate；4, traveling wheel；5, motor support；6, it drives
Motor；7, annulus is driven；8, the first drive shaft；9, become block；10, gear shifting rod；11, sliding tooth；12, support shaft；13, it first passes
Moving axis；14, first support bar；15, square hole；16, the first driving gear；17, the second drive shaft；18, the first transmission gear；
19, the first driving wheel；20, second support bar；21, third supporting rod；22, the second transmission gear；23, the 4th supporting rod；24, it drives
Dynamic shell；25, walking wheel shell；26, spring；27, raised teeth；28, driving hole；29, guide block；31, third guide groove；32, pull rod；
33, third transmission gear；34, the second driving gear；35, the 5th supporting rod；36, the 6th supporting rod；37, the 7th supporting rod；38、
5th transmission gear；39, the 4th transmission gear；40, the second driving wheel；41, third driving wheel；42, third drives gear；43、
4 wheel driven moving gear；44, variable block supports；45, circular through hole.
Specific implementation mode
As shown in Figure 1, it includes loading plate 1, first rotating shaft 2, support plate 3, traveling wheel 4, motor support 5, driving motor
6, two of which first rotating shaft 2 is mounted on the both ends of 1 downside of loading plate by two support plates 3；Four traveling wheels 4 are in pairs
It is separately mounted to the both ends of two first rotating shafts 2；Four driving motors 6 are separately mounted to by motor support 5 under loading plate 1
Side；And four driving motors 6 coordinate with four traveling wheels 4 respectively.
As shown in Fig. 2,3,8,9, above-mentioned traveling wheel 4 includes driving annulus 7, the 44, first drive shaft 8 of variable block support, variable block
Block 9, gear shifting rod 10, sliding tooth 11, support shaft 12, the first transmission shaft 13, first support bar 14, first drive gear 16, second
Drive shaft 17, the first transmission gear 18, the first driving wheel 19, second support bar 20, third supporting rod 21, the second transmission gear
22, the 4th supporting rod 23, walking wheel shell 25, driving hole 28, third transmission gear 33, second drive gear 34, the 5th supporting rod
35, the 6th supporting rod 36, the 5th transmission gear 38, the 4th transmission gear 39, the second driving wheel 40, third driving wheel 41, third
Gear 42,4 wheel driven moving gear 43, the 7th supporting rod 37 are driven, wherein as shown in Fig. 2,8, becomes block 9 and supports 44 by variable block
Mounted on the downside of loading plate 1；Gear shifting rod 10 is mounted on the side for becoming block 9；The one end for becoming block 9 is connect with machine shaft；
The other end for becoming block 9 is equipped with the first drive shaft 8, and as shown in figure 8, the first drive shaft 8 is installed by the 5th supporting rod 35
In the downside of loading plate 1；First transmission shaft 13 is mounted on the downside of loading plate, and the one of the first transmission shaft 13 by the 6th support
End is mounted on the side for becoming block 9；Support shaft 12 is fitted to the other end of the first transmission shaft 13, and support shaft by boring tooth
12 other end is mounted on the downside of loading plate 1 by the 7th supporting rod 37；Third transmission gear 33 is mounted in support shaft 12,
The other end of first drive shaft 8 is equipped with the first driving wheel 19；Second support plate 3 is mounted on the lower end of loading plate 1；Second support
The lower end of plate 3 is equipped with third supporting rod 21 and the 4th supporting rod 23, and the 4th supporting rod 23 is located at the upper of third supporting rod 21
End；As shown in fig. 6, uniformly there are four first support bars 14 for installation for the downside of the 4th supporting rod 23；In four first support bars 14
Second drive shaft 17 there are one being respectively mounted between two adjacent first support bars 14；It uniformly installs the downside of third supporting rod 21
There are three first support bars 14；Second driving there are one being respectively mounted between two adjacent supporting rods in three first support bars 14
Axis 17；And as shown in figure 11, a circle driving hole 28 is provided on the second drive hole of the downside of the 4th supporting rod 23；The
Uniformly there are three first support bars 14 for installation for the downside of three supporting rods 21；Adjacent two first in three first support bars 14
Second drive shaft 17 there are one being respectively mounted between strut 14；In three first support bars 14 of 21 downside of third supporting rod
It is connected with the first drive shaft 8 close to the side of a first support bar 14 of driving motor 6；As shown in figure 4, the first driving gear
16, third driving gear 42 and 4 wheel driven moving gear 43 are separately mounted to be located at three second drivings of 23 downside of the 4th supporting rod
On axis 17；And as shown in fig. 6, and first driving gear 16 engaged with the first driving wheel 19；Two positioned at 3 downside of third support plate
The second driving wheel 40 and third driving wheel 41 are separately installed in a second drive shaft 17, and the second driving wheel 40 drives with third
Gear 42 engages；Third driving wheel 41 is engaged with 4 wheel driven moving gear 43；Third drives a diameter of second driving wheel of gear 42
1.2 times of 40 diameters；1.2 times of a diameter of 41 diameter of third driving wheel of 4 wheel driven moving gear 43；First driving gear 16
1.2 times of a diameter of first driving wheel, 41 diameter；As shown in figure 4, the 4th transmission gear and the second transmission gear are separately mounted to
Close to driving motor 6 and in two the second drive shafts 17 of 3 downside of the 4th support plate；4th transmission gear 39 is located at first
In driving gear 16 and four supporting rods between the first support bar 14 adjacent with the first driving gear 16；Second transmission gear 22
In third driving gear 42 and four supporting rods between the first support bar 14 adjacent with 4 wheel driven moving gear 43；First passes
Moving gear 18 and the 5th transmission gear 38 are positioned at respectively in two the second drive shafts 17 of 3 downside of third support plate, and the
One transmission gear 18 is engaged with the 4th transmission gear 39；5th transmission gear 38 is engaged with the second transmission gear 22；First transmission
1.2 times of a diameter of 4th transmission gear 39 of gear 18；A diameter of second transmission gear, 22 diameter of 5th transmission gear 38
1.2 times；As shown in figure 5, being equably provided with tooth at three on the inner headed face of walking wheel shell 25；The installation of 7 one end of driving annulus is expert at
It walks on wheel shell 25 close to one end of driving motor 6；As shown in figure 3, the other end of driving annulus 7 is equipped with the second driving gear
34, and the second driving gear 34 is engaged with third transmission gear 33；The upper end of second support bar 20 is mounted under loading plate 1
Side；As shown in fig. 7, walking wheel shell 25 on three at teeth respectively with first driving gear 16, third drive gear 42 and the 4th
Gear 43 is driven to engage；The half of a diameter of second driving, 34 diameter of gear of third transmission gear 33.
Above-mentioned first driving gear 16, third driving gear 42 are identical with the mounting structure of 4 wheel driven moving gear 43.
As shown in Figure 10, for the first driving gear 16 comprising spring 26, raised teeth 27, square hole 15, pull rod 32, circle are logical
Hole 45, driving shell 24, guide block 29, guide groove, it is circumferential wherein on the periphery of driving shell 24 to be uniformly provided with many square holes 45；Driving
Downside on shell 24 positioned at square hole 15 is provided with circular through hole 45；And circular through hole 45 coordinates with driving hole 28；As shown in figure 13,
And circular through hole 45 is communicated with square hole 15；Third guide groove 31 there are two symmetrically being opened on the inner headed face of circular through hole 45；Such as figure
Shown in 12, it is symmetrically installed on the periphery of pull rod 32 there are two guide block 29；The cooperation that pull rod 32 passes through two guide blocks 29 and guide groove
Mounted on 45 inside of circular through hole；And pull rod 32 coordinates with driving hole；The lower end of raised teeth 27 is mounted on the upper end of pull rod 32；
And protrusion teeth 27 are pierced by the outside that square hole 15 is located at driving shell 24；Spring is installed between raised teeth 27 and square hole 15
26, and one end of spring 26 is mounted on square hole 15, the other end of spring 26 is mounted on the lower end of raised teeth 27；It is mounted on
The elastic force of first driving gear 16, third driving gear 42 and the spring 26 on 4 wheel driven moving gear 43 becomes larger successively.
Output power uniquely determines when above-mentioned driving motor 6 goes up a slope, if output power is P0；First drives the defeated of gear 16
Going out torque M1 is（9550*P0/N*1.2）；Third driving gear 42 output torque M2 be（9550*P0/N*1.2^3）；4th
Driving gear 43 output torque M3 be（9550*P0/N*1.2^5）；Raised teeth 27 on the first driving gear 16
The critical torque M11 that can bear is（9550*P0/N*1.2 *0.90）；Raised teeth on third driving gear 42
The 27 critical torque M12 that can bear are（9550*P0/N*1.2^3*0.90）；Protrusion on 4 wheel driven moving gear 43
The critical torque M13 that teeth 27 can bear is（9550*P0/N*1.2^5*0.90）；N is the rotating speed of the first driving wheel 19.
Above-mentioned spring 26 is compressed spring 26.
It is installed by bearing between above-mentioned first support bar 14 and the second drive shaft 17.
The lower end of above-mentioned protrusion teeth 27 cannot be pierced by the outside of driving shell.
In summary：The inside for becoming block 9 in the present invention in the present invention is equipped with clutch, is become in block 9 by adjusting
Gear shifting rod 10 can adjust the clutch become in block 9, can control the shaft of driving motor 6 and the by adjusting clutch
The connection relation of one transmission shaft 13, the first drive shaft 8；One end of first transmission shaft 13, which is mounted on, to be become on block 9；The other end passes through
Cone tooth cooperation is connect with support shaft 12；Third transmission gear 33 is installed in support shaft 12；Annulus 7 is driven to be mounted on walking wheel shell
On 25；Second driving gear 34 is mounted on driving annulus 7；When the first transmission shaft 13 rotates, the first transmission shaft 13 can drive
Support shaft 12 rotates, and the rotation of support shaft 12 drives third transmission gear 33 to rotate, and the drive of third transmission gear 33 engages
Second driving gear 34 rotates；Second driving gear 34 drives driving annulus 7 to rotate；Annulus 7 is driven to drive 25 turns of wheel shell of walking
It is dynamic；One end of first drive shaft 8, which is mounted on, to be become on block 9；The other end of first drive shaft 8 is equipped with the first driving wheel 19；The
One driving wheel 19 is engaged with the first driving gear 16；Mounted thereto first can be driven to drive when the first drive shaft 8 rotates
Gear 19 rotates；The rotation of first driving wheel drives the first driving gear 16 to rotate；First driving gear 16, third drive gear 42
It is engaged respectively with teeth at three on walking wheel shell 25 with 4 wheel driven moving gear 43；First driving gear 16, third drive gear
42 and 4 wheel driven moving gear 43 engaged respectively with the first driving wheel 19, the second driving wheel 40 and third driving wheel 41, first transmission
Gear 18 and the 5th transmission gear 38 are engaged with the 4th transmission gear 39 and the second transmission gear 22 respectively；First driving wheel 19,
Second driving wheel 40, third driving wheel 41 and the first driving gear 16, third drive gear 42,4 wheel driven moving gear 43 can phase
Mutually driving；Second transmission gear 22, the 4th transmission gear 39 and the 5th transmission gear 38, the first transmission gear 18 can mutually drive
Dynamic, seven first support bars 14 play the role of support to five the second driving wheels 19 respectively；Second support bar 20 is to third branch
Strut 21 and the 4th supporting rod 23 play the role of support；Third supporting rod 21 and the 4th supporting rod 23 are to first support bar 14
Play the role of support；5th supporting rod 35 plays the role of support to the first drive shaft 8；6th supporting rod 36 is to first
Transmission shaft 13 plays the role of support；7th supporting rod 37 plays the role of support to support shaft 12；Motor support 5 is to driving
Dynamic motor 6 plays the role of support；The cooperation of two guide blocks 29 and two third guide grooves 31 on pull rod 32 can be with
Play the role of guiding shell limit to pull rod 32；Spring 26 between raised teeth 27 and square hole 15 is in pressure
Pull rod 32 can be given to provide a restoring force when contracting state；It is drawn when in the driving hole 28 that pull rod 32 is located in the second drive shaft 17
The rotation of bar 32 can give the second drive shaft 17 to provide a driving force；
The present invention design when travelling platform on level road when driving, operator can be adjusted according to actual demand driving electricity
The output power of machine 6 changes the speed of travelling platform；When needing to go up a slope, the output power of driving motor 6 is adjusted to P0, whole
Power constant is constant during a upward slope, and P0 is determined and factory setting according to the urban pavement slope road situation of user.When
When the output power of driving motor 6 is P0；First driving gear 16 output torque M1 be（9550*P0/N*1.2）；Third is driven
The output torque M2 of moving gear 42 is（9550*P0/N*1.2^3）；The output torque M3 of 4 wheel driven moving gear 43 is（9550*P0/
N*1.2^5）；The critical torque M11 that can bear of raised teeth 27 on the first driving gear 16 is（9550*P0/N*
1.2 *0.90）；The critical torque M12 that can bear of raised teeth on third driving gear 42 is（9550*P0/N*
1.2^3*0.90）；The critical torque M1 that raised teeth on 4 wheel driven moving gear 43 can bear（9550*P0/N*
1.2^5*0.90）；N is the rotating speed of the first driving wheel.The transmission ratio of first driving wheel 19 and first driving gear 16 in the present invention
It is 1.2, the transmission ratio of the first driving wheel 19 and third driving gear 42 is 1.2^3；First driving wheel 19 and 4 wheel driven moving gear
43 transmission ratio is 1.2^5；When travelling platform encounters upward slope in the process of walking to be fallen section；Before upward slope, become by adjusting
Bar 10 is so that driving motor 6 drives the rotation of the first drive shaft 19；Travelling platform can automatically adjust the output of driving motor 6 simultaneously
Power is P0, ensures that raised teeth 27 can work normally so that the first driving gear 16, third driving gear 42 and 4 wheel driven
Moving gear 43 can dally under large torque prevents driving motor 6 to be burned；Driving torque needed for travelling platform walking is small
When the critical torque that the raised teeth on the first driving gear 16 can be provided；By adjusting gear shifting rod 10 so that driving motor
6 driving the first drive shaft 8 rotations；First drive shaft 8 drives the first coupled driving wheel 19 to rotate；First 19 turns of driving wheel
It is dynamic that the first driving gear 16 is driven to rotate；The first driving rotation of gear 16 drives traveling wheel 4 to rotate；Locality is in face of travelling platform
Resistance is continuously increased, and the driving torque needed for travelling platform walking is more than first and drives the raised teeth 27 of gear 16 that can carry
When the critical torque that the critical torque of confession and the raised teeth 27 for being less than third driving gear 42 can be provided；Traveling wheel 4 at this time
Drive pull rod 32 to close to the second driving by the raised teeth 27 on teeth compressing the first driving gear 16 on its inner headed face
It moves in the direction of axis 17；When pull rod 32 is moved in the driving hole 28 in the second drive shaft 17, since pull rod 32 has been stuck in biography
In dynamic hole 28, so the first driving gear 16 can drive the second drive shaft 17 to rotate；The rotation of second drive shaft 17, which drives, to be mounted on
The 4th transmission gear 43 rotation on its periphery, the rotation of the 4th transmission gear 43 drive the first transmission gear 18 engaged
Rotation；The rotation of first transmission gear 18 drives coupled the second drive shaft 17 rotation, the second drive shaft 17 to drive second to drive
Driving wheel 40 rotates；The rotation of second driving wheel 40 drives third driving gear 42 to rotate；And then driving traveling wheel 4 is driven to rotate；This
When the first driving gear 16 and traveling wheel 4 be in disengaged condition；Locality is continued growing in face of the resistance of travelling platform, and it is flat to walk
Driving torque needed for platform walking is more than the critical torque that can be provided of raised teeth 27 of third driving gear 42 and less than the
When the critical torque that the raised teeth 27 of 4 wheel driven moving gear 43 can be provided；Traveling wheel 4 can pass through the teeth pressure on its inner headed face
Compel the raised tooth dental strip on third driving gear 42 and moves pull rod 32 to close to the movement of the direction of the second drive shaft 40；When pull rod 32 moves
When moving into the driving hole 28 in the second drive shaft 40, since pull rod 32 has been stuck in driving hole 28, so third drives gear
42 can drive the second drive shaft 40 to rotate；The rotation of second drive shaft 40 drives the second transmission gear 22 being mounted on its periphery
Rotation, the rotation of the second transmission gear 22 drive the third transmission gear 34 engaged to rotate；Third transmission gear 34 rotates band
Dynamic coupled the second drive shaft 40 rotation, the second drive shaft 40 drive third driving wheel 42 to rotate；42 turns of third driving wheel
It is dynamic that 4 wheel driven moving gear 43 is driven to rotate；And then traveling wheel 4 is driven to rotate.The first driving gear 16 and second drives gear at this time
42 are respectively at disengaged condition with traveling wheel 4；The first driving gear 16, third driving gear 42 and the 4 wheel driven that the present invention designs
The critical torque that raised teeth 27 on moving gear 43 can bear is continuously increased, and effect is that traveling wheel can be made to walk
Driving force when meeting obstructions in the process inside traveling wheel 4 is increasing；The lower end for the raised teeth 27 that the present invention designs cannot
It is pierced by 24 outside of driving shell, reinforces the intensity of guide rod when acting on；Mounted on the first driving gear 16,42 and of third driving gear
The elastic force of spring 26 on 4 wheel driven moving gear 43 becomes larger successively；It is so that traveling wheel 4 can be by its inner headed face that it, which is acted on,
The required pressure of raised teeth on the first driving of teeth compressing gear 16, third driving gear 42 and 4 wheel driven moving gear 43
Constantly enhancing.
Specific implementation mode：When travelling platform works, spring 26 is in free retracted position, pull rod 32 not with driving hole 28
Contact；When travelling platform on level road when driving；Driving motor 6 is powered, and becomes block 9 by control so that driving motor 6 controls
Machine shaft drives the rotation of the first transmission shaft 13；First transmission shaft 13 drives support shaft 12 to rotate；Support shaft 12 drives third to pass
Moving gear 33 rotates；Third transmission gear 33 drives the second driving gear 34 to rotate；Second driving gear 34 drives transmission annulus
Rotation；Being driven annulus rotation drives walking wheel shell 25 to rotate；Wheel shell 25 of walking drives the first driving gear 16, third to drive gear
42 and 4 wheel driven moving gear 43 rotate；First driving gear 16, third driving gear 42 and 4 wheel driven moving gear 43 drive respectively
First driving wheel 19, the second driving wheel 40 and third driving wheel 41 rotate；First driving wheel 19, the second driving wheel 40 and third are driven
Driving wheel 41 drives the first transmission gear 18 and the 5th transmission gear 38 to rotate respectively；First transmission gear 18 and the 5th transmission gear
38 rotations drive the 4th transmission gear 39 and the rotation of the second transmission gear 22 respectively；Since pull rod 32 does not connect with driving hole 28 at this time
It touches so the 4th transmission gear 39 and the rotation of the second transmission gear 22 will not be to the first sliding tooth 16, third driving gears 42 and the
The wheel of 4 wheel driven moving gear 43 impacts；Travelling platform is in uphill way driving process；Ground is more than in face of the resistance of travelling platform
When the power that the first driving wheel 13 is provided to travelling platform；The torque of bigger is needed at this time to drive traveling wheel 4 to travel；So people
By control become block 9 so that machine shaft drive the first drive shaft 8 rotation；First drive shaft 8 drives coupled
One driving wheel 19 rotates；The rotation of first driving wheel 19 drives the first driving gear 16 to rotate；The first driving rotation of gear 16 drives
Traveling wheel 4 rotates；When locality is continuously increased in face of the resistance of travelling platform；The torque of bigger is needed at this time to drive traveling wheel row
It sails；Traveling wheel 4 drives pull rod 32 by the raised teeth 27 on teeth compressing the first driving gear 16 on its inner headed face at this time
It is moved to close to the direction of the second drive shaft 17；When pull rod 32 is moved in the driving hole 28 in the second drive shaft 17, due to
Pull rod 32 has been stuck in driving hole 28, so the first driving gear 16 can drive the second drive shaft 17 to rotate；Second drive shaft 17
The 4th transmission gear 43 rotation for driving and being mounted on its periphery is rotated, the rotation drive of the 4th transmission gear 43 engages
First transmission gear 18 rotates；The rotation of first transmission gear 18 drives coupled the second drive shaft 17 rotation, the second driving
Axis 17 drives the rotation of the second driving wheel 40；The rotation of second driving wheel 40 drives third driving gear 42 to rotate；And then drive driving
Traveling wheel 4 rotates；When the gradient continues growing, the torque needed for traveling wheel 4 also continues to increase, so traveling wheel 4 can pass through it
The raised tooth dental strip on teeth compressing third driving gear 42 on inner headed face moves pull rod 32 to close to the side of the second drive shaft 40
To movement；When pull rod 32 is moved in the driving hole 28 in the second drive shaft 40, since pull rod 32 has been stuck in driving hole 28,
So third driving gear 42 can drive the second drive shaft 40 to rotate；The rotation of second drive shaft 40, which drives, to be mounted on its periphery
The rotation of the second transmission gear 22, the rotation of the second transmission gear 22 drives the third transmission gear 34 that engages to rotate；Third
The rotation of transmission gear 34 drives coupled the second drive shaft 40 rotation, the second drive shaft 40 to drive 42 turns of third driving wheel
It is dynamic；The rotation of third driving wheel 42 drives 4 wheel driven moving gear 43 to rotate；And then traveling wheel 4 is driven to rotate.When travelling platform restores
Original position can be restored to by spring 26 by the active force protrusion teeth 27 of spring 26 when driving on to plane, people pass through
Control becomes block 9 so that driving motor 6 controls machine shaft and drives the rotation of the first transmission shaft 13.
Claims (3)
1. a kind of travelling platform with driving wheel, it is characterised in that：It include loading plate, first rotating shaft, support plate, traveling wheel,
Motor support, driving motor, two of which first rotating shaft are mounted on the both ends on the downside of loading plate by two support plates；Four rows
Walk the both ends that wheel is separately mounted to two first rotating shafts in pairs；Four driving motors are separately mounted to hold by motor support
The downside of support plate；And four driving motors coordinate with four traveling wheels respectively；
Above-mentioned traveling wheel includes driving annulus, the first drive shaft, variable block support, becomes block, gear shifting rod, the first sliding tooth, support
Axis, the first transmission shaft, first support bar, the first driving gear, the second drive shaft, the first transmission gear, the first driving wheel, second
Supporting rod, third supporting rod, the second transmission gear, the 4th supporting rod, walking wheel shell, driving hole, third transmission gear, second drive
Moving gear, the 5th supporting rod, the 6th supporting rod, third transmission gear, the 4th transmission gear, the second driving wheel, third driving wheel,
Third drives gear, 4 wheel driven moving gear, the 7th supporting rod, is mounted under loading plate by variable block support wherein becoming block
Side；Gear shifting rod is mounted on the side for becoming block；The one end for becoming block is connect in machine shaft；The other end for becoming block is equipped with
First drive shaft, and the first drive shaft is mounted on the downside of loading plate by the 5th supporting rod；First transmission shaft passes through the 6th
Support is mounted on the downside of loading plate, and one end of the first transmission shaft is mounted on the side for becoming block；Support shaft is by boring tooth cooperation
Mounted on the other end of the first transmission shaft, and the other end of support shaft is mounted on the downside of loading plate by the 7th supporting rod；The
Three transmission gears are mounted in support shaft；First drive shaft one end is equipped with the first driving wheel；Second support plate is mounted on carrying
The lower end of plate；The lower end of second support plate is equipped with third supporting rod and the 4th supporting rod, and the 4th supporting rod is located at third branch
The upper end of strut；Uniformly there are four first support bars for installation for the downside of 4th supporting rod；Adjacent two in four first support bars
Second drive shaft there are one being respectively mounted between a first support bar；And in the second drive shaft of the downside of the 4th supporting rod
It is provided with a circle driving hole；Uniformly there are three first support bars for installation for the downside of third supporting rod；Phase in three first support bars
Second drive shaft there are one being respectively mounted between two adjacent first support bars；Three first on the downside of third supporting rod
First support bar side in strut close to driving motor is connected with the first drive shaft；First driving gear, third drive gear
It is separately mounted in three the second drive shafts being located on the downside of the 4th supporting rod with 4 wheel driven moving gear；And first driving gear with
First driving wheel engages；It is separately installed with the second driving wheel and third in two the second drive shafts on the downside of third support plate
Driving wheel, and the second driving wheel is engaged with third driving gear；Third driving wheel is engaged with 4 wheel driven moving gear；Third sliding tooth
1.2 times of a diameter of second driving wheel diameter of wheel；1.2 times of a diameter of third driving wheel diameter of 4 wheel driven moving gear；The
1.2 times of a diameter of first driving wheel diameter of one driving gear；Third drives a diameter of second driving wheel diameter of gear
1.2 again；4th transmission gear and the second transmission gear are separately mounted to close to driving motor and on the downside of the 4th support plate
In two the second drive shafts；4th transmission gear is located in the first driving gear and four first support bars and the first driving gear
Between adjacent first support bar；Second transmission gear is located in third driving gear and four first support bars and the 4th driving
Between the adjacent first support bar of gear；First transmission gear and the 5th transmission gear are mounted on the downside of third support plate
In two the second drive shafts, and the first transmission gear is engaged with the 4th transmission gear；5th transmission gear and the second transmission gear
Engagement；1.2 times of a diameter of 4th transmission gear diameter of first transmission gear；A diameter of second transmission of 5th transmission gear
1.2 times of gear diameter；It is equably provided with three circle teeth on the inner headed face of walking wheel shell；Annulus one end is driven to be mounted on walking wheel shell
One end of upper close driving motor；The other end of driving annulus is equipped with the second driving gear, and the second driving gear and third
Transmission gear engages；The upper end of second support bar is mounted on the downside of loading plate；The three circle teeth walked on wheel shell are respectively with the
One driving gear, third driving gear and the engagement of 4 wheel driven moving gear；The one of a diameter of second driving gear of third transmission gear
Half；
The mounting structure of above-mentioned first driving gear, third driving gear and 4 wheel driven moving gear is identical；It is driven for first
Moving gear comprising spring, raised teeth, square hole, pull rod, circular through hole, driving shell, guide block, guide groove, wherein driving shell
It is circumferential on periphery to be uniformly provided with many square holes；It is located in driving shell on the downside of square hole and is provided with circular through hole and circular through hole
Coordinate with driving hole；Third guide groove there are two symmetrically being opened on the inner headed face of circular through hole；It is symmetrically installed on the periphery of pull rod
There are two guide blocks；Pull rod is fitted to by two guide blocks and guide groove on the inside of circular through hole；And pull rod coordinates with driving hole；
The lower end of raised teeth is mounted on the upper end of pull rod；And raised teeth are pierced by the outside that square hole is located at driving shell；Raised teeth
Spring is installed between square hole, and one end of spring is mounted on square hole, the other end of spring is mounted on raised teeth
Lower end；The elastic force of spring on the first driving gear, third driving gear and 4 wheel driven moving gear becomes larger successively；
Output power uniquely determines when above-mentioned driving motor goes up a slope, if output power is P0；The output torque of first driving gear
M1 is（9550*P0/N*1.2）；Third driving gear output torque M2 be（9550*P0/N*1.2^3）；4 wheel driven moving gear
Output torque M3 be（9550*P0/N*1.2^5）；Raised teeth on the first driving gear can bear critical
Torque M11 is（9550*P0/N*1.2 *0.90）；The critical torsion that raised teeth on third driving gear can bear
Square M12 is（9550*P0/N*1.2^3*0.90）；The critical torsion that raised teeth on 4 wheel driven moving gear can bear
Square M13 is（9550*P0/N*1.2^5*0.90）；N is the rotating speed of the first driving wheel；
It is installed by bearing between above-mentioned first support bar and the second drive shaft；
When needing to go up a slope, the output power of driving motor is adjusted to P0, and power remains unchanged during entire go up a slope.
2. a kind of travelling platform with driving wheel according to claim 1, it is characterised in that：Above-mentioned spring is compression bullet
Spring.
3. a kind of travelling platform with driving wheel according to claim 1, it is characterised in that：The lower end of above-mentioned protrusion teeth
It cannot be pierced by the outside of driving shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455977.0A CN108591379A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform with driving wheel |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455977.0A CN108591379A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform with driving wheel |
| CN201710662891.0A CN107218358B (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform of belt variable gear driving wheel |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710662891.0A Division CN107218358B (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform of belt variable gear driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108591379A true CN108591379A (en) | 2018-09-28 |
Family
ID=59954571
Family Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810456601.1A Withdrawn CN108438073A (en) | 2017-08-04 | 2017-08-04 | A kind of walking mechanism of belt variable gear driving wheel |
| CN201710662891.0A Active CN107218358B (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform of belt variable gear driving wheel |
| CN201810455965.8A Withdrawn CN108591378A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform with distribution network driving wheel |
| CN201810455976.6A Withdrawn CN108468762A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform |
| CN201810455977.0A Withdrawn CN108591379A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform with driving wheel |
| CN201810455492.1A Withdrawn CN108443430A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform of variable gear driving wheel |
Family Applications Before (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810456601.1A Withdrawn CN108438073A (en) | 2017-08-04 | 2017-08-04 | A kind of walking mechanism of belt variable gear driving wheel |
| CN201710662891.0A Active CN107218358B (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform of belt variable gear driving wheel |
| CN201810455965.8A Withdrawn CN108591378A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform with distribution network driving wheel |
| CN201810455976.6A Withdrawn CN108468762A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810455492.1A Withdrawn CN108443430A (en) | 2017-08-04 | 2017-08-04 | A kind of travelling platform of variable gear driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (6) | CN108438073A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110435785A (en) * | 2019-07-31 | 2019-11-12 | 山东科技大学 | A kind of gear type running gear |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR9502790A (en) * | 1994-06-14 | 1996-02-06 | Mbi Co Ltd | Front drive device for a bicycle |
| US6711967B1 (en) * | 2002-09-17 | 2004-03-30 | Chin-Chou Lai | Treading type vehicle driving device |
| US20040055415A1 (en) * | 2002-09-23 | 2004-03-25 | Shih-Tzou Wen | Eccentrically operated speed-variating device |
| CN104279321B (en) * | 2014-09-18 | 2016-05-04 | 范兆军 | Motor rear axle power-shift gear box |
| CN104747663B (en) * | 2015-04-10 | 2018-11-06 | 浙江柳林农业机械股份有限公司 | A kind of agro-farming tractor |
| CN105501044A (en) * | 2016-01-27 | 2016-04-20 | 冯林 | Three-gear speed changing wheel based on electromagnetic gear shift |
-
2017
- 2017-08-04 CN CN201810456601.1A patent/CN108438073A/en not_active Withdrawn
- 2017-08-04 CN CN201710662891.0A patent/CN107218358B/en active Active
- 2017-08-04 CN CN201810455965.8A patent/CN108591378A/en not_active Withdrawn
- 2017-08-04 CN CN201810455976.6A patent/CN108468762A/en not_active Withdrawn
- 2017-08-04 CN CN201810455977.0A patent/CN108591379A/en not_active Withdrawn
- 2017-08-04 CN CN201810455492.1A patent/CN108443430A/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| CN107218358B (en) | 2018-09-28 |
| CN108591378A (en) | 2018-09-28 |
| CN107218358A (en) | 2017-09-29 |
| CN108438073A (en) | 2018-08-24 |
| CN108443430A (en) | 2018-08-24 |
| CN108468762A (en) | 2018-08-31 |
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Application publication date: 20180928 |