CN109689397A - Wheels group arrangement and mobile device - Google Patents
Wheels group arrangement and mobile device Download PDFInfo
- Publication number
- CN109689397A CN109689397A CN201780055017.9A CN201780055017A CN109689397A CN 109689397 A CN109689397 A CN 109689397A CN 201780055017 A CN201780055017 A CN 201780055017A CN 109689397 A CN109689397 A CN 109689397A
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- wheel body
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- wheels group
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000001727 in vivo Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 15
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B37/00—Wheel-axle combinations, e.g. wheel sets
- B60B37/10—Wheel-axle combinations, e.g. wheel sets the wheels being individually rotatable around the axles
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Handcart (AREA)
Abstract
A kind of Wheels group arrangement (1) and mobile device.Wheels group arrangement (1) includes wheel body (10), frame structure (30), first driving device (210) and the second driving device (220) with wheel body (10) holding transmission connection；First driving device (210) connect with wheel body (10) and wheel body (10) is driven to rotate around first rotating shaft (910), to realize that Wheels group arrangement (1) is moved along first level direction；Second driving device (220) is connect with frame structure (30) and driver framework structure (30) is rotated around the second shaft (920), and then wheel body (10) is driven to rotate around the second shaft (920), the whole of Wheels group arrangement (1) is completed to turn to, it move Wheels group arrangement (1) can along the second horizontal direction, enhance the flexibility of Wheels group arrangement (1) movement and the adaptability to environment；Wherein, first rotating shaft (910) is the axial direction of wheel body (10), and the second shaft (920) is vertical with first rotating shaft (910).
Description
The present invention relates to remote-controlled movement equipment technical field, in particular to a kind of the Wheels group arrangement and mobile device of remote-controlled movement equipment.
Common mobile device (such as robot car), according to different chassis structures which can be roughly divided into two types type, one is the mobile device on setting omnidirectional chassis, another kind is the mobile device on setting high speed chassis.However, the mobile device on setting omnidirectional chassis is not suitable for completing high-speed motion due to structure problem.And the mobile device on high speed chassis is set since structure problem cannot complete left and right translation.
Therefore, it is necessary to be improved to the wheel group structure of current mobile device.
Summary of the invention
The present invention provides a kind of Wheels group arrangement and mobile device.
A kind of Wheels group arrangement, comprising: wheel body, frame structure, first driving device and the second driving device that transmission connection is kept with the wheel body；Wherein, the first driving device is connect with the wheel body, and the wheel body is driven to rotate around first rotating shaft direction；Second driving device is connect with the frame structure, and the frame structure is driven to rotate around the second rotor shaft direction, and then makes the frame structure that the wheel body be driven to rotate around second rotor shaft direction；Wherein, the first rotating shaft direction is the axial direction of the wheel body, and second rotor shaft direction and the first rotating shaft direction are perpendicular.
Further, the first driving device is driving motor, the driving motor includes that the intracorporal rotation axis of wheel is arranged in along the first rotating shaft direction, and the middle part of the wheel body is equipped with the axis hole being arranged along the first rotating shaft direction, and the rotation axis penetrates through the shaft hole.
Further, the frame structure includes fixed frame, and the fixed frame and the wheel body keep being sequentially connected.
Further, the wheel is equipped with the rotation axis being arranged along the first rotating shaft direction in vivo, the fixed frame includes first support portion and second support portion, the first end in the first support portion is socketed on the rotation axis from the outside portion of the wheel body, and the second support portion is connected to the second end in the first support portion along the first rotating shaft direction.
Further, second driving device is driving motor, and the driving motor is set in the second support portion along second rotor shaft direction.
Further, the second support portion is equipped with motor fixing seat, and the driving motor is installed in the motor fixing seat, and the motor fixing seat is equipped with radiator fan.
Further, the frame structure further includes tray type structure, and the tray type structure is connected on the fixed frame from the outside portion of the wheel body, and the tray type structure and the wheel body are around second shaft composition circular outer edge.
Further, the tray type structure is cylindrical-shaped structure, the outer peripheral surface of the cylindrical-shaped structure includes end to end arcwall face and flat face, the pillar height direction of the cylindrical-shaped structure is parallel with second rotor shaft direction, the side of the flat face and the wheel body is mutually sticked, and the periphery of the arcwall face and the wheel body constitutes the circular outer edge.
Further, the tray type structure is bowl structure, the outer peripheral surface of the bowl structure includes end to end arc surface and flat face, the center of circle of the bowl structure is overlapped with the center of the wheel body, the side of the flat face and the wheel body is mutually sticked, and the periphery of the arc surface and the wheel body constitutes a part of sphere and has the circular outer edge.
A kind of mobile device including ontology, is installed in the chassis of the body bottom portion and Wheels group arrangement as described above, the Wheels group arrangement are installed on the chassis.
Further, second rotor shaft direction is horizontal by being obliquely installed.
Further, the tilt angle between second rotor shaft direction and horizontal plane is less than or equal to 90 degree.
Wheels group arrangement of the invention drives wheel body to rotate around first rotating shaft direction by first driving device, to realize that Wheels group arrangement is whole along first level direction high-speed mobile.Pass through the second driving device driver framework structure
Around the second rotor shaft direction rotation perpendicular to first rotating shaft direction, and then wheel body is driven to rotate around the second rotor shaft direction, to realize that the whole of Wheels group arrangement turns to, Wheels group arrangement is enable integrally along the second horizontal direction high-speed mobile, to enhance the flexibility of Wheels group arrangement movement and the adaptability to environment.
Mobile device of the invention drives wheel body to rotate around first rotating shaft direction by the first driving device of Wheels group arrangement, whole along first level direction high-speed mobile to realize Wheels group arrangement, and then chassis is made to be able to drive mobile device along first level direction high-speed mobile.By the second driving device driver framework structure around the second rotor shaft direction rotation perpendicular to first rotating shaft direction, and then wheel body is driven to rotate around the second rotor shaft direction, to realize that the whole of Wheels group arrangement turns to, enable Wheels group arrangement integrally along the second horizontal direction high-speed mobile, and then chassis is made to be able to drive mobile device along the second horizontal direction high-speed mobile, enhance the flexibility of mobile device movement and the adaptability to environment.
Fig. 1 is a kind of stereoscopic schematic diagram of Wheels group arrangement shown in the embodiment of the present invention.
Fig. 2 is the front view of Wheels group arrangement shown in FIG. 1.
Fig. 3 is the cross-sectional view of Wheels group arrangement shown in Fig. 2.
Fig. 4 is the side view of Wheels group arrangement shown in FIG. 1.
Fig. 5 is the top view of Wheels group arrangement shown in FIG. 1.
Fig. 6 is that a kind of structure of the transmission component of the Wheels group arrangement shown in the embodiment of the present invention forms schematic diagram.
Fig. 7 is that another structure of the transmission component of the Wheels group arrangement shown in the embodiment of the present invention forms schematic diagram.
Fig. 8 is the stereoscopic schematic diagram of another Wheels group arrangement shown in the embodiment of the present invention.
Fig. 9 is the front view of Wheels group arrangement shown in Fig. 8.
Figure 10 is the side view of Wheels group arrangement shown in Fig. 8.
Figure 11 is the top view of Wheels group arrangement shown in Fig. 8.
Figure 12 is a kind of structural schematic diagram of the Wheels group arrangement of mobile device shown in the embodiment of the present invention.
Figure 13 is the structural schematic diagram of the Wheels group arrangement of another mobile device shown in the embodiment of the present invention.
Figure 14 is the side view of the Wheels group arrangement of mobile device shown in Figure 13.
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.In the following description when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Embodiment described in following exemplary embodiment does not represent all embodiments consistented with the present invention.On the contrary, they are only the examples of consistent with some aspects of the invention as detailed in the appended claims device and method.
It is only to be not intended to limit the invention merely for for the purpose of describing particular embodiments in terminology used in the present invention.It is also intended to including most forms, unless the context clearly indicates other meaning in the present invention and the "an" of singular used in the attached claims, " described " and "the".It is also understood that term "and/or" used herein refers to and includes that one or more associated any or all of project listed may combine.
It should be appreciated that " first " " second " and similar word used in present specification and claims are not offered as any sequence, quantity or importance, and it is used only to distinguish different component parts.Equally, the similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates that there are at least one.Unless otherwise noted, the similar word such as " front ", " rear portion ", " lower part " and/or " top " is only to facilitate illustrate, and be not limited to a position or a kind of spatial orientation.The similar word such as " comprising " or "comprising" means to appear in element or object before " comprising " or "comprising" and covers the element for appearing in " comprising " or "comprising" presented hereinafter or object and its be equal, it is not excluded that other elements or object." connection " either the similar word such as " connected " is not limited to physics or mechanical connection, and may include electrical connection, either direct or indirect.
With reference to the accompanying drawing, Wheels group arrangement and mobile device of the invention are described in detail.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.
Referring to figs. 1 to 5, the embodiment of the present invention provides a kind of Wheels group arrangement 1, can be used for the holder vehicle or robot car of field industrial application, and holder vehicle can be made to carry out the operation of omni-directional mode.The Wheels group arrangement 1 includes: wheel body 10, frame structure 30, first driving device 210 and the second driving device 220 with the wheel body 10 holding transmission connection.Wherein, the first driving device 210 and the wheel body 10
Connection, and the wheel body 10 is driven to rotate around 910 direction of first rotating shaft.Second driving device 220 is connect with the frame structure 30, and drives the frame structure 30 to rotate around 920 direction of the second shaft, and then make the frame structure 30 that the wheel body 10 be driven to rotate around 920 direction of the second shaft.Wherein, 910 direction of first rotating shaft is the axial direction of the wheel body 10, and 920 direction of the second shaft and 910 direction of first rotating shaft are perpendicular.Optionally, the wheel body 10 can use high-speed rubber wheel.
As can be seen from the above embodiments, Wheels group arrangement 1 of the invention drives wheel body 10 to rotate around 910 direction of first rotating shaft by first driving device 210, to realize that Wheels group arrangement 1 is whole along first level direction high-speed mobile (such as back-and-forth motion).By 220 driver framework structure 30 of the second driving device around 920 direction of the second shaft rotation perpendicular to 910 direction of first rotating shaft, and then wheel body 10 is driven to rotate around 920 direction of the second shaft, to realize that the whole of Wheels group arrangement 1 turns to, Wheels group arrangement 1 is set integrally along the second horizontal direction (such as moving left and right) high-speed mobile, to enhance the flexibility of the movement of Wheels group arrangement 1 and the adaptability to environment.
In the following, the first driving device 210 of Wheels group arrangement 1 of the invention is introduced first.
In one embodiment, the first driving device 210 is driving motor, the first driving device 210 includes the rotation axis being arranged in the wheel body 10 along 910 direction of first rotating shaft, the middle part of the wheel body 10 is equipped with the axis hole being arranged along 910 direction of first rotating shaft, the rotation axis of the first driving device 210 is arranged in the axis hole of the wheel body 10, and then enable the first driving device 210 that the wheel body 10 to be driven to rotate around the rotation axis, and then realize that wheel body 10 is rotated around 910 direction of first rotating shaft.
In another embodiment, the first driving device 210 includes driving motor and the transmission component being installed in the wheel body 10, and the driving motor drives the transmission component that the wheel body 10 is driven to be rotated around 910 direction of first rotating shaft.Wherein, the structure type of the transmission component may include following two:
(1) shown in Figure 6, the first structure type of the transmission component: the middle part of the wheel body 10 is equipped with the axis hole being arranged along 910 direction of first rotating shaft, the transmission component includes the driving member 240 for penetrating through the shaft hole and being kept fixed with the axis hole connection, the worm gear 250 being connected to along 910 direction of first rotating shaft on the driving member 240, and the worm screw 260 with the worm gear 250 cooperation, the driving motor drives the worm screw 260 to rotate, make the worm screw 260 that the worm gear 250 be driven to rotate, the worm gear 250 drives the driving member 240 to rotate again, and then make the driving member 240 drive the wheel body 10 around
910 direction of first rotating shaft is rotated and (910 direction of the wheel body 10 and first rotating shaft is not shown in Fig. 6).
(2) shown in Figure 7, second of form of the transmission component: the middle part of the wheel body 10 is equipped with the axis hole being arranged along 910 direction of first rotating shaft, the transmission component includes the driving member 270 for penetrating through the shaft hole and being kept fixed with the axis hole connection, the first gear body 280 being connected to along 910 direction of first rotating shaft on the driving member 270, and the second gear body 290 with the first gear body 280 cooperation, the driving motor drives the second gear body 290 to rotate, make the second gear body 290 that the first gear body 280 be driven to rotate, the first gear body 280 drives the driving member 270 to rotate again, and then make the driving member 270 that the wheel body 10 be driven to be rotated (in Fig. 7 not around 910 direction of first rotating shaft 910 direction of the wheel body 10 and first rotating shaft is shown).
It should be noted that; the structure type of the transmission component is not limited in above two; the structure type that the transmission component for driving the wheel body 10 to be rotated under the driving of the driving motor around 910 direction of first rotating shaft arbitrarily may be implemented, all should belong in protection scope of the present invention.
Hereinafter, further the frame structure 30 of Wheels group arrangement 1 of the invention is introduced.
Referring to figs. 1 to 5, in one embodiment, the frame structure 30 includes fixed frame 300, and the fixed frame 300 keeps being sequentially connected with the wheel body 10.Wherein, the rotation axis (rotation axis of the i.e. described first driving device 210) being arranged along 910 direction of first rotating shaft is equipped in the wheel body 10, the fixed frame 300 includes first support portion 310 and second support portion 320, the first end in the first support portion 310 is socketed on the rotation axis from the outside portion of the wheel body 10, the second support portion 320 is connected to the second end in the first support portion 310 along 910 direction of first rotating shaft, and second driving device 220 is set in the second support portion 320 along 920 direction of the second shaft.Further, the quantity in the first support portion 310 is two, and two first support portions 310 are located at the two sides of the wheel body 10, and two first support portions 310 and the second support portion 320 collectively constitute the fixed frame 300.Optionally, two first support portions 310 and the second support portion 320 are integrally formed.
Thus, the second support portion 320 of the fixed frame 300 is driven to rotate around 920 direction of the second shaft by second driving device 220, the second support portion 320 of the fixed frame 300 drives first support portion 310 to rotate around 920 direction of the second shaft again, first support portion 310 drives the rotation axis (be equivalent to drive the first driving device 210) to rotate around 920 direction of the second shaft again, so drive wheel body 10 around
The rotation of second shaft, 920 direction enables Wheels group arrangement 1 under the driving of first driving device 210 integrally along the second horizontal direction (such as moving left and right) high-speed mobile to realize that the whole of Wheels group arrangement 1 turns to.
In one embodiment, second driving device 220 uses driving motor, and the second support portion 320 of the fixed frame 300 is equipped with motor fixing seat 40, and second driving device 220 is installed in the motor fixing seat 40.Further, the motor fixing seat 40 is equipped with radiator fan 410, for radiating to the second driving device 220.
In one embodiment; the frame structure 30 further includes tray type structure 330; the tray type structure 330 is from the first support portion 310 that the outside portion of the wheel body 10 is connected to the fixed frame 300; the tray type structure 330 constitutes circular outer edge around second shaft 920 with the wheel body 10, can play the role of protecting wheel body 10.Wherein, the structure type of the tray type structure 330 may include following two:
(1) referring to shown in Fig. 1, Fig. 2 and Fig. 5, the first structure type of the tray type structure 330: the tray type structure 330 is cylindrical-shaped structure, and the pillar height direction of the cylindrical-shaped structure is parallel with 920 direction of the second shaft.The cylindrical-shaped structure includes two separate structures 331, and two separate structures 331 are symmetrically disposed on the two sides of the wheel body 10, and the outer peripheral surface of the separate structure 331 includes end to end arcwall face 332 and flat face 333.Side of the flat face 333 of two separate structures 331 with the wheel body 10 is mutually sticked, and the periphery of the arcwall face 332 of two separate structures 331 and the wheel body 10 constitutes the circular outer edge.
Further, it is shown in Figure 5, the separate structure 331 of the cylindrical-shaped structure is equipped with the clamping part 334 being located on the flat face 333, and the clamping part 334 is used to be buckled in the first support portion 310 of the fixed frame 30, and then connect the tray type structure 330 with the fixed frame 30.The first support portion 310 of the separate structure 331 of the cylindrical-shaped structure and the fixed frame 30 can also further pass through fastener (such as bolt) and be fixed to each other.
(2) referring to shown in Fig. 8 to Figure 11, second of structure type of the tray type structure 330: the tray type structure 330 is bowl structure, and the center of circle of the bowl structure is overlapped with the center of the wheel body 10.The bowl structure includes two separate structures 331 ', and two separate structures 331 ' are symmetrically disposed on the two sides of the wheel body 10, and the outer peripheral surface of the separate structure 331 ' includes end to end arc surface 335 and flat face 333 '.Side of the flat face 333 ' of two separate structures 331 ' with the wheel body 10 is mutually sticked, described in two
The periphery of the arc surface 335 of separate structure 331 ' and the wheel body 10 constitutes a part of sphere and has the circular outer edge.
Further, it is shown in Figure 11, the separate structure 331 ' of the bowl structure is equipped with the clamping part 334 ' being located on the flat face 333 ', the clamping part 334 ' is used to be buckled in the first support portion 310 of the fixed frame 30, and then connect the tray type structure 330 with the fixed frame 30.The first support portion 310 of the separate structure 331 ' of the bowl structure and the fixed frame 30 can also further pass through fastener (such as bolt) and be fixed to each other.
The embodiment of the present invention also provides a kind of mobile device, and the mobile device can be the holder vehicle or robot car of field industrial application, and holder vehicle can be made to carry out the operation of omni-directional mode.The mobile device includes ontology, the chassis for being installed in the body bottom portion and Wheels group arrangement 1 as described above, and the Wheels group arrangement 1 is installed on the chassis.The mobile device can be the holder vehicle of field industrial application, and the Wheels group arrangement 1 is installed in the bottom on the chassis, and holder vehicle can be made to carry out the operation of omni-directional mode.It should be noted that the description as described in the Wheels group arrangement 1 in above embodiment and embodiment, is equally applicable to mobile device of the invention.
As can be seen from the above embodiments, mobile device of the present invention, wheel body 10 is driven to rotate around 910 direction of first rotating shaft by the first driving device 210 of Wheels group arrangement 1, it is whole along first level direction high-speed mobile (such as back-and-forth motion) to realize Wheels group arrangement 1, and then chassis is made to be able to drive mobile device along first level direction high-speed mobile.By 220 driver framework structure 30 of the second driving device around 920 direction of the second shaft rotation perpendicular to 910 direction of first rotating shaft, and then wheel body 10 is driven to rotate around 920 direction of the second shaft, to realize that the whole of Wheels group arrangement 1 turns to, enable Wheels group arrangement 1 integrally along the second horizontal direction (such as moving left and right) high-speed mobile, and then chassis is made to be able to drive mobile device along the second horizontal direction high-speed mobile, enhance the flexibility of mobile device movement and the adaptability to environment.
It is shown in Figure 12, in one embodiment, second shaft, 920 direction described in the Wheels group arrangement 1 of mobile device of the invention is horizontal by being obliquely installed (i.e. the central axes from ground of the wheel body 10 of Wheels group arrangement 1 be in different tilt angles), it can change the setting height on chassis in this way, by as far as possible low of chassis setting, Wheels group arrangement 1 can be made to can be realized high-speed mobile, and then so that mobile device is entered high-speed motion mode, and also help leaping over obstacles.Optionally, the inclination between 920 direction of the second shaft and horizontal plane
Angle is less than or equal to 90 degree, it is therefore preferable to 45 degree.
In one embodiment, second shaft, 920 direction described in the Wheels group arrangement 1 of mobile device of the invention is vertical setting with ground basal plane locating for the mobile device, ground basal plane locating for mobile device described here can be finger horizontal plane, be also possible to compare the ground basal plane that horizontal plane is at certain angle of inclination.
In Fig. 2 and example shown in Fig. 4, for the ground basal plane locating for the mobile device refers to horizontal plane, the wheel body 10 of Wheels group arrangement 1 can be under the driving of first driving device 210 (showing in figure) around the rotation (as shown in fig. 1) of first rotating shaft 910, and then mobile device is made to be able to carry out forward/backward movement.The wheel body 10 of Wheels group arrangement 1 can be under the driving of the second driving device 220 around the rotation (as shown in fig. 1) of the second shaft 920, to realize that the whole of Wheels group arrangement 1 turns to, after the completion of Wheels group arrangement 1 turns to, wheel body 10 continues around the rotation of first rotating shaft 910 under the driving of first driving device 210, and then mobile device is made to be able to carry out left and right translational motion.
In one embodiment, second shaft, 920 direction described in the Wheels group arrangement 1 of mobile device of the invention is set in parallel with ground basal plane locating for the mobile device, ground basal plane locating for mobile device described here can be finger horizontal plane, be also possible to compare the ground basal plane that horizontal plane is at certain angle of inclination.
In the example shown in Figure 13 and Figure 14, for the ground basal plane locating for the mobile device refers to horizontal plane, the wheel body 10 of Wheels group arrangement 1 can be under the driving of first driving device 210 (showing in figure) around the rotation (as shown in fig. 1) of first rotating shaft 910, and then mobile device is enable to carry out forward/backward move along the direction as shown in arrow in Figure 13.The wheel body 10 of Wheels group arrangement 1 can be together under the driving of the second driving device 220 around the rotation (as shown in fig. 1) of the second shaft 920 together with tray type structure 330, and then so that mobile device is carried out left and right translational motion along the direction as shown in arrow in Figure 14 by the circular outer edge that the periphery of tray type structure 330 and wheel body 10 is constituted.In this case, first driving device 210 and the second driving device 220 can respectively drive mobile device and be moved along different directions, and it can be switched at any time between first driving device 210 and the second driving device 220, so that mobile device can carry out deflecting campaign within the shortest time, so that reaching mobile device under high-speed motion state can be realized omnidirectional moving.
The above is only presently preferred embodiments of the present invention, limitation in any form not is done to the present invention, although the present invention has been disclosed as a preferred embodiment, however, it is not intended to limit the invention, any person skilled in the art, in the range of not departing from technical solution of the present invention, when using the disclosure above
Technology contents be modified or be modified to the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention, all of which are still within the scope of the technical scheme of the invention.
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright holder does not oppose that the patent document or the patent in the presence of anyone replicates the proce's-verbal of Patent&Trademark Office and archives disclose.
Claims (12)
- A kind of Wheels group arrangement characterized by comprising wheel body, frame structure, first driving device and the second driving device that transmission connection is kept with the wheel body；Wherein, the first driving device is connect with the wheel body, and the wheel body is driven to rotate around first rotating shaft direction；Second driving device is connect with the frame structure, and the frame structure is driven to rotate around the second rotor shaft direction, and then makes the frame structure that the wheel body be driven to rotate around second rotor shaft direction；Wherein, the first rotating shaft direction is the axial direction of the wheel body, and second rotor shaft direction and the first rotating shaft direction are perpendicular.
- Wheels group arrangement as described in claim 1, it is characterized in that, the first driving device is driving motor, the driving motor includes that the intracorporal rotation axis of wheel is arranged in along the first rotating shaft direction, the middle part of the wheel body is equipped with the axis hole being arranged along the first rotating shaft direction, and the rotation axis penetrates through the shaft hole.
- Wheels group arrangement as described in claim 1, which is characterized in that the frame structure includes fixed frame, and the fixed frame and the wheel body keep being sequentially connected.
- Wheels group arrangement as claimed in claim 3, it is characterized in that, the wheel is equipped with the rotation axis being arranged along the first rotating shaft direction in vivo, the fixed frame includes first support portion and second support portion, the first end in the first support portion is socketed on the rotation axis from the outside portion of the wheel body, and the second support portion is connected to the second end in the first support portion along the first rotating shaft direction.
- Wheels group arrangement as claimed in claim 4, which is characterized in that second driving device is driving motor, and the driving motor is set in the second support portion along second rotor shaft direction.
- Wheels group arrangement as claimed in claim 5, which is characterized in that the second support portion is equipped with motor fixing seat, and the driving motor is installed in the motor fixing seat, and the motor fixing seat is equipped with radiator fan.
- Wheels group arrangement as claimed in claim 3, which is characterized in that the frame structure further includes tray type structure, and the tray type structure is connected on the fixed frame from the outside portion of the wheel body, the disc type Structure and the wheel body are around second shaft composition circular outer edge.
- Wheels group arrangement as claimed in claim 7, it is characterized in that, the tray type structure is cylindrical-shaped structure, the outer peripheral surface of the cylindrical-shaped structure includes end to end arcwall face and flat face, the pillar height direction of the cylindrical-shaped structure is parallel with second rotor shaft direction, the side of the flat face and the wheel body is mutually sticked, and the periphery of the arcwall face and the wheel body constitutes the circular outer edge.
- Wheels group arrangement as claimed in claim 7, it is characterized in that, the tray type structure is bowl structure, the outer peripheral surface of the bowl structure includes end to end arc surface and flat face, the center of circle of the bowl structure is overlapped with the center of the wheel body, the side of the flat face and the wheel body is mutually sticked, and the periphery of the arc surface and the wheel body constitutes a part of sphere and has the circular outer edge.
- A kind of mobile device, which is characterized in that including ontology, the chassis that is installed in the body bottom portion and the Wheels group arrangement as described in any one of claim 1 to 9, the Wheels group arrangement be installed on the chassis.
- Mobile device as claimed in claim 10, which is characterized in that second rotor shaft direction is horizontal by being obliquely installed.
- Mobile device as claimed in claim 11, which is characterized in that the tilt angle between second rotor shaft direction and horizontal plane is less than or equal to 90 degree.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017203659359 | 2017-04-07 | ||
| CN201720365935.9U CN206623628U (en) | 2017-04-07 | 2017-04-07 | Wheels group arrangement and mobile device |
| PCT/CN2017/089240 WO2018184299A1 (en) | 2017-04-07 | 2017-06-20 | Wheel set device and mobile device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109689397A true CN109689397A (en) | 2019-04-26 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720365935.9U Expired - Fee Related CN206623628U (en) | 2017-04-07 | 2017-04-07 | Wheels group arrangement and mobile device |
| CN201780055017.9A Pending CN109689397A (en) | 2017-04-07 | 2017-06-20 | Wheels group arrangement and mobile device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720365935.9U Expired - Fee Related CN206623628U (en) | 2017-04-07 | 2017-04-07 | Wheels group arrangement and mobile device |
Country Status (2)
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|---|---|
| CN (2) | CN206623628U (en) |
| WO (1) | WO2018184299A1 (en) |
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| DE102015206909A1 (en) * | 2015-04-16 | 2016-10-20 | Siemens Healthcare Gmbh | Mobile medical device with at least one motor-driven wheel |
| CN205137003U (en) * | 2015-10-19 | 2016-04-06 | 中山大学 | Connect in parallel and increase steady omnidirectional movement platform |
-
2017
- 2017-04-07 CN CN201720365935.9U patent/CN206623628U/en not_active Expired - Fee Related
- 2017-06-20 WO PCT/CN2017/089240 patent/WO2018184299A1/en active Application Filing
- 2017-06-20 CN CN201780055017.9A patent/CN109689397A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4343778A1 (en) * | 1993-12-17 | 1995-06-22 | Eberhardt Prof Dr Scharnowski | Suspension for ultra=light vehicle |
| DE102004020932A1 (en) * | 2004-04-28 | 2005-12-01 | Zoltan Soltesz | Chassis for land vehicle, has inclined axle arranged in wheels whose axes of rotation includes hitch angle of preset degree, where each wheel has shaft that is twistable around vertical steering axle relative to frame of vehicle |
| CN101628528A (en) * | 2009-05-15 | 2010-01-20 | 邵延 | Wheel link structure |
| CN205168167U (en) * | 2015-10-30 | 2016-04-20 | 亿嘉和科技股份有限公司 | Turn to wheel system of robot entirely |
| CN205979069U (en) * | 2016-07-15 | 2017-02-22 | 深圳市大疆创新科技有限公司 | Packaged plant , removal shooting equipment, packaged plant control system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018184299A1 (en) | 2018-10-11 |
| CN206623628U (en) | 2017-11-10 |
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