CN109895557B - Running gear with wheel tread flexible adjustment mechanism - Google Patents
Running gear with wheel tread flexible adjustment mechanism Download PDFInfo
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- CN109895557B CN109895557B CN201910197053.XA CN201910197053A CN109895557B CN 109895557 B CN109895557 B CN 109895557B CN 201910197053 A CN201910197053 A CN 201910197053A CN 109895557 B CN109895557 B CN 109895557B
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- 230000005540 biological transmission Effects 0.000 claims description 5
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Abstract
The invention relates to a walking device with a track expansion and adjustment mechanism. The device comprises a driving shaft, a driving gear, a pair of wheels and a wheel track telescopic adjusting mechanism, wherein the wheel track telescopic adjusting mechanism comprises an adjusting motor, a pair of driving gears, a screw shaft and a pair of Z-shaped crank shaft mechanisms; the pair of Z-shaped crank mechanisms comprises a left Z-shaped crank mechanism and a right Z-shaped crank mechanism which are of the same structure and opposite in direction. The adjusting motor drives the screw shaft to rotate through the pair of driving gears, and the rotation of the screw shaft drives the pair of cross shafts of the pair of Z-shaped crank mechanisms to stretch and move so as to realize the widening or shrinking adjustment of the wheel track of the pair of wheels. The invention is used for completing the walking movement in the channel, and realizes the stable driving of the walking device through the connection of the driving gear and an external driving device; when the width of the channel is changed, the tread of the travelling device is changed to adapt to the groove with the changed width; the minimum tread of the running gear is 66mm, and the maximum tread is 94mm.
Description
Technical Field
The invention belongs to the technical field of mechanism design, and particularly relates to a device with a telescopic function and a driving function.
Background
The telescopic driving mechanism is used for adjusting the structural size of the mechanism, and the size of the mechanism can be changed in a certain range by adjusting the telescopic mechanism so as to adapt to the change of the size of the working space, and meanwhile, the driving function can be met.
Known telescopic devices generally comprise a direct current motor, a worm gear, a gear rack mechanism, a connecting rod mechanism, a limiting block and the like. The direct current motor is connected with the worm, and drives the gear rack mechanism or the connecting rod mechanism to realize the telescopic function. The novel telescopic mechanism has the innovation that the self-locking property of worm and gear transmission is combined with the mobility of a gear and a rack or a connecting rod mechanism with a moving pair, so that the telescopic function is realized. However, the telescopic mechanism can only realize a telescopic function, cannot realize a driving function, has defects in application, cannot meet the requirements when driving and telescopic are needed at the same time, and has a complex structure.
Disclosure of Invention
In order to simultaneously meet the requirements of having telescopic and driving functions, the invention provides a telescopic walking device with telescopic and driving functions.
The walking device with the wheel track telescopic adjusting mechanism comprises a driving shaft 5, a driving gear 4 and a pair of wheels, wherein the driving gear 4 is arranged on the driving shaft 5, and the wheels are positioned at two ends of the driving shaft;
the device also comprises a wheel track telescopic adjusting mechanism, wherein the wheel track telescopic adjusting mechanism comprises an adjusting motor 10, a pair of driving gears, a screw shaft 14 and a pair of Z-shaped crank mechanisms; the middle part of the screw shaft 14 is provided with a screw, one side of the screw is provided with a forward thread, and the other side is provided with a reverse thread; the driving shaft 5, the screw shaft 14 and the output shaft of the adjusting motor 10 are parallel, and a pair of driving gears are respectively and fixedly arranged on the output shaft of the adjusting motor 10 and one end of the screw shaft 14; a pair of Z-shaped crank mechanisms are symmetrically arranged between the screw shaft 14 and two sides of the driving shaft 5 respectively; the pair of Z-shaped crank mechanisms comprises a left Z-shaped crank mechanism and a right Z-shaped crank mechanism which are of the same structure and opposite in direction.
The Z-shaped crankshaft mechanism comprises a Z-shaped crankshaft and a cross shaft, one end of the Z-shaped crankshaft is connected with one side of a screw shaft 14 through threads, the other end of the Z-shaped crankshaft is fixedly connected with the inner side of one end of the cross shaft, one end of the cross shaft is simultaneously and fixedly connected with a wheel axle, and the other end of the cross shaft is movably connected with one end of a driving shaft and can realize telescopic movement;
the adjusting motor 10 drives the screw shaft 14 to rotate through a pair of driving gears, and the rotation of the screw shaft 14 drives a pair of cross shafts of a pair of Z-shaped crank mechanisms to move in a telescopic manner, so that the widening or shrinking adjustment of the wheel track of a pair of wheels is realized.
The further defined technical scheme is as follows:
the pair of driving gears are a driving gear 12 and a driven gear 13, the driving gear 12 is fixedly arranged on the output shaft of the adjusting motor 10, and the driven gear 13 is fixedly provided with one end of a screw shaft 14.
The left Z-shaped crankshaft mechanism comprises a left Z-shaped crankshaft 15 and a left cross shaft 6, and the right Z-shaped crankshaft mechanism comprises a right Z-shaped crankshaft 16 and a right cross shaft 7; one side of the left cross shaft 6 is connected with one end of the driving shaft 5 in a sliding fit manner, the other side of the left cross shaft 6 is an optical axis, one end of the left Z-shaped crankshaft 15 is fixedly sleeved on the optical axis of the left cross shaft 6, and the optical axis end of the left cross shaft 6 is fixedly connected with the wheel shaft of a left wheel; one side of the right cross shaft 7 is connected with one end of the driving shaft 5 in a sliding fit manner, the other side of the right cross shaft 7 is an optical axis, one end of the right Z-shaped crankshaft 16 is fixedly sleeved on the optical axis of the right cross shaft 7, and the optical axis end of the right cross shaft 7 is fixedly connected with the wheel shaft of a right wheel.
The wheel shafts of the left wheel and the right wheel have the same structure, are solid shafts on one side, and are positioning sleeves on the other side; the optical axis end of the left cross shaft 6 is fixedly inserted into a left positioning sleeve 8 of the left wheel shaft, and the optical axis end of the right cross shaft 7 is fixedly inserted into a right positioning sleeve 9 of the left wheel shaft.
The regulating motor 10 is a GA12-N20 gear motor, the rated voltage is 3V, the rated load is 200g cm, and the rated load rotating speed is 112r/min.
The screw shaft 14 of the adjusting motor 10 of the wheel tread telescopic adjusting mechanism is positioned in the base 1, the base 1 is box-shaped, a pair of transmission gears and a pair of Z-shaped crank mechanisms of the wheel tread telescopic adjusting mechanism are positioned outside the base 1, and the driving shaft 5 is fixed outside the front side surface of the base 1 through a pair of brackets.
The bracket is an L-shaped bracket.
The wheel distance adjustment range of the pair of wheels is 66 mm-94 mm.
The beneficial technical effects of the invention are as follows:
1. the invention is used for completing walking movement in the channel and can adapt to the channel with variable width. When the channel width is smaller, the adjusting motor 10 controls the screw shaft 14 to rotate, so that the axial distance between the wheels at the two sides is reduced, and the device is in a contracted state, and has a general driving function; when the channel is widened, the wheel track needs to be correspondingly adjusted, and at the moment, the device can control the screw shaft 14 to reversely rotate through the adjusting motor 10, so that the wheels on the two sides are in an elongation state, the wheel track between the two wheels is enlarged, and the device can continue to advance. The mechanism has the telescopic function and improves the obstacle crossing performance of the channel inspection equipment.
2. The minimum wheel distance of the wheel distance telescopic adjusting mechanism provided by the invention is 66mm, and the maximum wheel distance is 94mm. The wheel track adjusting range can be adjusted according to the size of the device, and the specific wheel track range depends on the use condition.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a bottom view of fig. 1.
Fig. 3 is a schematic structural view of a track expansion adjusting mechanism.
Fig. 4 is an enlarged view at B in fig. 3.
Fig. 5 is a cross-sectional view A-A of fig. 3.
Number in the upper diagram: base 1, left socle 2, right socle 3, drive gear 4, drive shaft 5, left cross 6, right cross 7, left positioning sleeve 8, right positioning sleeve 9, adjustment motor 10, motor card 11, driving gear 12, driven gear 13, screw shaft 14, left Z bent axle 15, right Z bent axle 16, left wheel 17, right wheel 18, end cover 19.
Detailed Description
The invention is further described by way of examples with reference to the accompanying drawings.
Examples
Referring to fig. 1 and 2, a running gear having a track expansion adjustment mechanism includes a drive shaft 5, a drive gear 4, a pair of wheels, and a track expansion adjustment mechanism; the drive gear 4 is mounted on a drive shaft 5, and a pair of wheels are located at both ends of the drive shaft.
Referring to fig. 3, the track expansion adjustment mechanism includes an adjustment motor 10, a pair of drive gears, a screw shaft 14, and a pair of Z-shaped crank mechanisms. The motor 10 is a GA12-N20 gear motor, the rated voltage is 3V, the rated load is 200g cm, and the rated load rotating speed is 112r/min. The middle part of the screw shaft 14 is a screw, one side of the screw is provided with a forward thread, and the other side is provided with a reverse thread; the drive shaft 5, the screw shaft 14 and the output shaft of the adjustment motor 10 are parallel. The pair of driving gears are a driving gear 12 and a driven gear 13, the driving gear 12 is fixedly mounted on the output shaft of the adjusting motor 10, and the driven gear 13 is fixedly mounted on one end of the screw shaft 14. A pair of Z-shaped crank mechanisms are symmetrically arranged between the screw shaft 14 and two sides of the driving shaft 5 respectively; the pair of Z-shaped crank mechanisms comprises a left Z-shaped crank mechanism and a right Z-shaped crank mechanism which are of the same structure and opposite in direction.
Referring to fig. 3, the left Z-crank mechanism includes a left Z-crank 15 and a left cross 6, and the right Z-crank mechanism includes a right Z-crank 16 and a right cross 7; one side of the left cross shaft 6 is connected with one end of the driving shaft 5 in a sliding fit manner, the other side of the left cross shaft 6 is an optical axis, one end of the left Z-shaped crankshaft 15 is fixedly sleeved on the optical axis of the left cross shaft 6, and the optical axis end of the left cross shaft 6 is fixedly connected with the wheel shaft of the left wheel 17. Referring to fig. 5, one side of the right cross shaft 7 is slidably connected with one end of the driving shaft 5, the other side of the right cross shaft 7 is an optical axis, one end of the right Z-shaped crankshaft 16 is fixedly sleeved on the optical axis of the right cross shaft 7, and the optical axis end of the right cross shaft 7 is fixedly connected with the axle of the right wheel 18. Referring to fig. 4, the axle of the left wheel 17 and the axle of the right wheel 18 have the same structure, and are solid shafts on one side and positioning sleeves on the other side; the optical axis end of the left cross shaft 6 is fixedly inserted into a left positioning sleeve 8 of the left wheel shaft, and the optical axis end of the right cross shaft 7 is fixedly inserted into a right positioning sleeve 9 of the left wheel shaft. The telescopic adjustment of the wheel track is realized through the sliding fit connection among the left cross shaft 6, the right cross shaft 7 and the driving shaft 5.
Referring to fig. 1 and 2, a screw shaft 14 of an adjusting motor 10 of the track expansion adjusting mechanism is positioned in a base 1, the base 1 is box-shaped, a pair of transmission gears of the track expansion adjusting mechanism and a pair of Z-shaped crank mechanisms are positioned outside the base 1, and a driving shaft 5 is fixed outside the front side surface of the base 1 through a pair of L-shaped brackets.
The adjusting motor 10 drives the screw shaft 14 to rotate through a pair of driving gears, the left cross shaft 6 and the right cross shaft 7 are respectively driven by the rotation of the screw shaft 14 through the left Z-shaped crankshaft 15 and the right Z-shaped crankshaft 16 to slide linearly relative to the driving shaft 5, and the adjustment of the wheel tread of a pair of wheels is realized, wherein the minimum wheel tread is 66mm, and the maximum wheel tread is 94mm.
Referring to fig. 1, the invention is a walking device applied to a narrow channel environment, and realizes stable driving of the walking device by connecting a driving gear 4 with an external driving device; when the width of the channel is changed, the tread of the running gear is changed to adapt to the grooves with the changed width.
Claims (6)
1. The utility model provides a running gear with wheel track flexible adjustment mechanism, includes drive shaft (5), drive gear (4) and a pair of wheel, and drive gear (4) are located on drive shaft (5), and a pair of wheel is located the both ends of drive shaft, its characterized in that:
the device also comprises a wheel track telescopic adjusting mechanism, wherein the wheel track telescopic adjusting mechanism comprises an adjusting motor (10), a pair of driving gears, a screw shaft (14) and a pair of Z-shaped crank mechanisms; the middle part of the screw shaft (14) is provided with a screw, one side of the screw is provided with a forward thread, and the other side is provided with a reverse thread; the driving shaft (5), the screw shaft (14) and the output shaft of the adjusting motor (10) are parallel, and a pair of transmission gears are respectively and fixedly arranged on the output shaft of the adjusting motor (10) and one end of the screw shaft (14); the pair of Z-shaped crank mechanisms are symmetrically arranged between the screw shaft (14) and two sides of the driving shaft (5); the pair of Z-shaped crank mechanisms comprise a left Z-shaped crank mechanism and a right Z-shaped crank mechanism which are of the same structure and opposite in direction;
the Z-shaped crankshaft mechanism comprises a Z-shaped crankshaft and a cross shaft, one end of the Z-shaped crankshaft is connected with one side of a screw shaft (14) through threads, the other end of the Z-shaped crankshaft is fixedly connected with the inner side of one end of the cross shaft, one end of the cross shaft is simultaneously and fixedly connected with a wheel axle, and the other end of the cross shaft is movably connected with one end of a driving shaft and can realize telescopic movement;
the left Z-shaped crankshaft mechanism comprises a left Z-shaped crankshaft (15) and a left cross shaft (6), and the right Z-shaped crankshaft mechanism comprises a right Z-shaped crankshaft (16) and a right cross shaft (7); one side of the left cross shaft (6) is connected with one end of the driving shaft (5) in a sliding fit manner, the other side of the left cross shaft (6) is an optical axis, one end of the left Z-shaped crankshaft (15) is fixedly sleeved on the optical axis of the left cross shaft (6), and the optical axis end of the left cross shaft (6) is fixedly connected with the wheel axle of the left wheel; one side of the right cross shaft (7) is connected with one end of the driving shaft (5) in a sliding fit manner, the other side of the right cross shaft (7) is an optical axis, one end of the right Z-shaped crankshaft (16) is fixedly sleeved on the optical axis of the right cross shaft (7), and the optical axis end of the right cross shaft (7) is fixedly connected with the axle of a right wheel;
the adjusting motor (10) drives the screw shaft (14) to rotate through a pair of driving gears, and the rotation of the screw shaft (14) drives a pair of cross shafts of a pair of Z-shaped crank mechanisms to move in a telescopic manner, so that the widening or shrinking adjustment of the wheel track of a pair of wheels is realized;
the screw shaft (14) of the adjusting motor (10) of the wheel track telescopic adjusting mechanism is positioned in the base (1), the base (1) is box-shaped, the pair of transmission gears and the pair of Z-shaped crank mechanisms of the wheel track telescopic adjusting mechanism are positioned outside the base (1), and the driving shaft (5) is fixed outside the front side surface of the base (1) through the pair of brackets.
2. The running gear with track expansion adjustment mechanism according to claim 1, wherein: the pair of driving gears are a driving gear (12) and a driven gear (13), the driving gear (12) is fixedly arranged on an output shaft of the adjusting motor (10), and one end of the driven gear (13) is fixedly provided with a screw shaft (14).
3. The running gear with track expansion adjustment mechanism according to claim 1, wherein: the wheel shafts of the left wheel and the right wheel have the same structure, are solid shafts on one side, and are positioning sleeves on the other side; the optical axis end of the left cross shaft (6) is fixedly inserted into a left positioning sleeve (8) of the left wheel shaft, and the optical axis end of the right cross shaft (7) is fixedly inserted into a right positioning sleeve (9) of the right wheel shaft.
4. The running gear with track expansion adjustment mechanism according to claim 1, wherein: the adjusting motor (10) is a GA12-N20 gear motor, the rated voltage is 3V, the rated load is 200g cm, and the rated load rotating speed is 112r/min.
5. The running gear with track expansion adjustment mechanism according to claim 1, wherein: the bracket is an L-shaped bracket.
6. The running gear with track expansion adjustment mechanism according to claim 1, wherein: the wheel distance adjustment range of the pair of wheels is 66 mm-94 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197053.XA CN109895557B (en) | 2019-03-15 | 2019-03-15 | Running gear with wheel tread flexible adjustment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197053.XA CN109895557B (en) | 2019-03-15 | 2019-03-15 | Running gear with wheel tread flexible adjustment mechanism |
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| Publication Number | Publication Date |
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| CN109895557A CN109895557A (en) | 2019-06-18 |
| CN109895557B true CN109895557B (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910197053.XA Active CN109895557B (en) | 2019-03-15 | 2019-03-15 | Running gear with wheel tread flexible adjustment mechanism |
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| CN110228493B (en) * | 2019-06-21 | 2020-11-24 | 中车青岛四方机车车辆股份有限公司 | Sleeve and locking mechanism for track-pitch-variable wheel pair |
| CN110228498B (en) * | 2019-06-21 | 2020-11-06 | 中车青岛四方机车车辆股份有限公司 | Locking mechanism's for gauge-variable wheel pair shield and gauge-variable wheel pair |
| CN110228495B (en) * | 2019-06-21 | 2021-02-02 | 中车青岛四方机车车辆股份有限公司 | Locking mechanism for track-pitch-variable wheel set and track-pitch-variable wheel set |
| CN110228497A (en) * | 2019-06-21 | 2019-09-13 | 中车青岛四方机车车辆股份有限公司 | Gauge-changeable wheelsets transversal driving mechanism and gauge-changeable wheelsets |
| CN110228496B (en) * | 2019-06-21 | 2021-02-02 | 中车青岛四方机车车辆股份有限公司 | Variable-gauge wheel set and variable-gauge bogie |
| CN110228494B (en) * | 2019-06-21 | 2021-02-09 | 中车青岛四方机车车辆股份有限公司 | Track-distance-variable wheel pair |
| CN110949582B (en) * | 2019-11-07 | 2021-04-30 | 永康市维度科技股份有限公司 | Electric vehicle |
| CN112109747A (en) * | 2020-09-28 | 2020-12-22 | 泉州泉港祥康工业机械有限公司 | Walking mechanism of commodity circulation week rotor mother car |
| CN113624155B (en) * | 2021-08-11 | 2022-05-13 | 宿迁学院 | Tunnel engineering deformation monitoring device |
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| CN104589917A (en) * | 2015-01-22 | 2015-05-06 | 扬州金威环保科技有限公司 | Front axle wheel tread regulating device |
| CN204526645U (en) * | 2015-01-22 | 2015-08-05 | 扬州金威环保科技有限公司 | A kind of propons Wheel gauge regulator |
| CN204774397U (en) * | 2015-04-30 | 2015-11-18 | 罗运明 | Auto wheel's adjustable track structure |
| CN209833251U (en) * | 2019-03-15 | 2019-12-24 | 合肥工业大学 | Running gear with wheel track telescopic adjusting mechanism |
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2019
- 2019-03-15 CN CN201910197053.XA patent/CN109895557B/en active Active
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| JPH1198908A (en) * | 1997-09-25 | 1999-04-13 | Kubota Corp | Furrow traveling apparatus |
| JP2001171305A (en) * | 2000-11-08 | 2001-06-26 | Seirei Ind Co Ltd | Tread adjusting device for movable agricultural machine |
| CN201161629Y (en) * | 2007-10-16 | 2008-12-10 | 北京京城重工机械有限责任公司 | Underpan traveling system |
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