CN111071035A - Motor-driven four-wheel walking and steering mechanism - Google Patents
Motor-driven four-wheel walking and steering mechanism Download PDFInfo
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- CN111071035A CN111071035A CN202010095430.1A CN202010095430A CN111071035A CN 111071035 A CN111071035 A CN 111071035A CN 202010095430 A CN202010095430 A CN 202010095430A CN 111071035 A CN111071035 A CN 111071035A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 134
- 238000010586 diagram Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
Abstract
The invention discloses a motor-driven four-wheel walking and steering mechanism, which comprises a driving wheel, a third driven wheel, a first driven wheel, a second driven wheel and the like, wherein a first transmission device is synchronously connected with the driving wheel; the first transmission device is synchronously connected with the first driven wheel, and a one-way transmission mechanism is arranged between the first driven wheel and the second driven wheel; or a one-way transmission mechanism is arranged between the first transmission device and the first driven wheel, and a rotating shaft is synchronously connected between the first driven wheel and the second driven wheel. When the equipment normally advances, the driving wheel rotates forwards, and the other three wheels are driven to rotate through the first transmission device, the one-way transmission mechanism and the second transmission device; when the driving wheel rotates reversely to perform a reversing action, the one-way transmission mechanism can interrupt the transmission of force, so that the second driven wheel and the third driven wheel lose the self-rotating driving force, and finally the steering action of the equipment is completed. The invention has reasonable structural layout, simple structure and stable operation, and can complete the driving of the wheels and the steering of the equipment only by a single motor.
Description
Technical Field
The invention relates to the field of wheel drive equipment, in particular to four-wheel drive walking equipment, and specifically relates to a motor-driven four-wheel walking and steering mechanism.
Background
Many devices rely on four wheels for travel, such as explosive ordnance robots, remote control cars, underwater cleaning robots, and the like. In a patent publication "CN 208380174U" entitled "an underwater cleaning robot", a cleaning robot is disclosed, which is a cleaning apparatus for cleaning the ground or a swimming pool, having four wheels, two of which are respectively equipped with independent driving motors, and a front wheel is rotated by a pulley transmission. Because the motors equipped on the two rear wheels are independent, the two rear wheels can rotate in different speeds and even opposite directions to make steering action, but the two rear wheels have the defects that the two independent motors are required to be provided as power sources of the wheels, the manufacturing cost is high, and the self weight is high.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a motor-driven four-wheel walking and steering mechanism which is reasonable in structural layout, light in dead weight, stable in running and capable of driving wheels and steering equipment by only one motor.
The technical scheme adopted by the invention for solving the technical problems is as follows: the motor-driven four-wheel walking and steering mechanism comprises a driving wheel and a third driven wheel which are oppositely arranged at the left and the right, and a first driven wheel and a second driven wheel which are oppositely arranged at the left and the right; a first transmission device is arranged between the driving wheel and the first driven wheel, a second transmission device is synchronously connected between the second driven wheel and the third driven wheel, and the first transmission device is synchronously connected with the driving wheel;
the first transmission device is synchronously connected with the first driven wheel, and a one-way transmission mechanism is arranged between the first driven wheel and the second driven wheel;
or a one-way transmission mechanism is arranged between the first transmission device and the first driven wheel, and a rotating shaft is synchronously connected between the first driven wheel and the second driven wheel.
In order to optimize the technical scheme, the adopted measures further comprise:
the first transmission device is synchronously connected with the first driven wheel, and a one-way transmission mechanism is arranged between the first driven wheel and the second driven wheel.
As a modification of the present invention, the one-way transmission mechanism includes a rotary shaft synchronously coupled to the second driven wheel, and a ratchet gear disposed between the rotary shaft and the first driven wheel, the ratchet gear including a ratchet body fixed to the rotary shaft, and a pawl body disposed on the first driven wheel.
The pawl body is a column, a pawl groove for allowing the pawl body to freely slide and a ratchet groove for accommodating the ratchet body are formed in the first driven wheel, and the pawl groove is formed along the radial direction of the first driven wheel and communicated with the ratchet groove.
The first transmission device comprises a first belt wheel linked with the driving wheel, a second belt wheel linked with the first driven wheel, and a first transmission belt connecting the first belt wheel and the second belt wheel; the second transmission device comprises a third belt wheel linked with a third driven wheel, a fourth belt wheel linked with a second driven wheel, and a second transmission belt connecting the third belt wheel and the fourth belt wheel.
As another improvement of the invention, the first driven wheel is synchronously connected with the first shaft, the second driven wheel is synchronously connected with the second shaft, and the one-way transmission mechanism is arranged between the first shaft and the second shaft.
As another improvement of the invention, the one-way transmission mechanism comprises a rotating shaft synchronously connected with the first driven wheel, and a ratchet gear arranged between the rotating shaft and the second driven wheel, wherein the ratchet gear comprises a ratchet body fixed on the rotating shaft and a pawl body arranged on the second driven wheel.
The pawl body is a column, a pawl groove for allowing the pawl body to freely slide and a ratchet groove for accommodating the ratchet body are formed in the second driven wheel, and the pawl groove is formed along the radial direction of the second driven wheel and communicated with the ratchet groove.
As another improvement of the invention, the one-way transmission mechanism is arranged between the first transmission device and the first driven wheel, and a rotating shaft is synchronously connected between the first driven wheel and the second driven wheel.
The first transmission device comprises a first belt wheel linked with the driving wheel, a second belt wheel coaxial with the first driven wheel and a first transmission belt connecting the first belt wheel and the second belt wheel; the one-way transmission mechanism is a one-way sawtooth structure which is oppositely arranged on the first driven wheel and the second belt wheel.
Compared with the prior art, the motor-driven four-wheel walking and steering mechanism comprises a driving wheel and a third driven wheel which are oppositely arranged on the left and the right, and a first driven wheel and a second driven wheel which are oppositely arranged on the left and the right; a first transmission device is arranged between the driving wheel and the first driven wheel, a second transmission device is synchronously connected between the second driven wheel and the third driven wheel, and the first transmission device is synchronously connected with the driving wheel; the first transmission device is synchronously connected with the first driven wheel, and a one-way transmission mechanism is arranged between the first driven wheel and the second driven wheel; or a one-way transmission mechanism is arranged between the first transmission device and the first driven wheel, and a rotating shaft is synchronously connected between the first driven wheel and the second driven wheel. When the equipment normally advances, the driving wheel rotates forwards, and the other three wheels are driven to rotate through the first transmission device, the one-way transmission mechanism and the second transmission device; when the driving wheel rotates reversely to perform a reversing action, the one-way transmission mechanism can interrupt the transmission of force, so that the second driven wheel and the third driven wheel lose the self-rotating driving force, and finally the steering action of the equipment is completed. Compared with the prior art, the invention has reasonable structural layout, light dead weight and stable operation, and can drive the wheels and steer the equipment by only one motor.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a third embodiment of the present invention;
FIG. 4 is a schematic diagram of the one-way transmission mechanism in forward rotation of the driving wheel according to the fourth embodiment of the present invention;
FIG. 5 is a schematic diagram of the one-way transmission mechanism of the fourth embodiment of the present invention when the driving wheel is backward rotated;
FIG. 6 is a schematic structural diagram of embodiments one, three and four of the present invention;
FIG. 7 is an exploded schematic view of FIG. 6;
FIG. 8 is a schematic perspective view of a first driven wheel according to the first embodiment;
FIG. 9 is an exploded schematic view of FIG. 8;
FIG. 10 is a further exploded schematic view of FIG. 9;
FIG. 11 is a schematic perspective view of a second driven wheel in the third embodiment;
FIG. 12 is an exploded schematic view of FIG. 11;
fig. 13 is a further exploded view of fig. 12.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
Fig. 1 to 13 are schematic structural views of the present invention.
Wherein the reference numerals are: the driving wheel 1, the first driven wheel 2, the second driven wheel 3, the third driven wheel 4, the rotating shaft 5, the first shaft 51, the second shaft 52, the one-way transmission mechanism 7, the ratchet body 71, the ratchet groove 711, the pawl body 72, the pawl groove 721, the first transmission device 8, the first belt wheel 81, the second belt wheel 82, the first transmission belt 83, the second transmission device 9, the third belt wheel 91, the fourth belt wheel 92 and the second transmission belt 93.
Only the driving wheel 1 is provided with a driving motor, the driving wheel 1 is used as an output source of power, and the other three wheels are not provided with motors for direct driving.
In a first embodiment, as shown in fig. 1 and 6, a motor-driven four-wheel walking and steering mechanism includes a driving wheel 1 and a third driven wheel 4 which are oppositely arranged left and right, a first driven wheel 2 and a second driven wheel 3 which are oppositely arranged left and right, a first transmission device 8 is synchronously connected between the driving wheel 1 and the first driven wheel 2, and a second transmission device 9 is synchronously connected between the second driven wheel 3 and the third driven wheel 4. a one-way transmission mechanism 7 is arranged between the first driven wheel 2 and the second driven wheel 3.
In the embodiment, as shown in fig. 9 and 10, the one-way transmission mechanism 7 includes a rotating shaft 5 synchronously coupled to the second driven wheel 3, and a ratchet gear disposed between the rotating shaft 5 and the first driven wheel 2, the ratchet gear including a ratchet body 71 fixed to the rotating shaft 5 and a pawl body 72 disposed on the first driven wheel 2.
In the embodiment, as shown in fig. 9 and 10, the pawl body 72 is a cylinder, a pawl groove 721 for allowing the pawl body 72 to freely slide and a ratchet groove 711 for accommodating the ratchet body 71 are provided in the first driven wheel 2, and the pawl groove 721 is provided along the radial direction of the first driven wheel 2 and communicates with the ratchet groove 711.
In the embodiment, as shown in fig. 1, 6, 7, 8, 9 and 10, the first transmission device 8 includes a first pulley 81 linked with the driving wheel 1, a second pulley 82 linked with the first driven wheel 2, and a first transmission belt 83 connecting the first pulley 81 and the second pulley 82; the second transmission 9 includes a third pulley 91 linked with the third driven pulley 4, a fourth pulley 92 linked with the second driven pulley 3, and a second transmission belt 93 connecting the third pulley 91 and the fourth pulley 92.
In the embodiment, the driving pulley 1 and the first pulley 81 are formed integrally, the first driven pulley 2 and the second pulley 82 are formed integrally, the third driven pulley 4 and the third pulley 91 are formed integrally, and the second driven pulley 3 and the fourth pulley 92 are formed integrally with the fourth pulley 92 in cooperation with the second driven pulley 3.
Traveling principle of embodiment one: when the driving wheel 1 rotates forwards, the first driven wheel 2 is driven to rotate forwards synchronously through the first transmission device 8, and the pawl body 72 in the first driven wheel 2 is meshed with the ratchet wheel body 71, so that the rotating shaft 5 and the second driven wheel 3 can be driven to rotate forwards synchronously, the second driven wheel 3 drives the third driven wheel 4 to rotate forwards synchronously through the second transmission device 9, and finally, the four wheels can rotate forwards synchronously, and the purpose of advancing is achieved.
The steering principle of the first embodiment: when the driving wheel 1 rotates reversely, the first driven wheel 2 is driven to rotate reversely synchronously by the first transmission device 8, but because the ratchet device has the characteristic of 'forward meshing transmission and reverse slipping', the ratchet body 71 in the first driven wheel 2 is released from the pawl body 72, and the rotating shaft 5 can not obtain the rotating driving force, so that the second driven wheel 3 and the third driven wheel 4 lose the driving force, and finally the purpose of steering the whole equipment is achieved.
In the second embodiment, as shown in fig. 2, a motor-driven four-wheel walking and steering mechanism includes a driving wheel 1 and a third driven wheel 4 which are oppositely arranged left and right, a first driven wheel 2 and a second driven wheel 3 which are oppositely arranged left and right, a first transmission device 8 is synchronously connected between the driving wheel 1 and the first driven wheel 2, and a second transmission device 9 is synchronously connected between the second driven wheel 3 and the third driven wheel 4, and a one-way transmission mechanism 7 is arranged between the first driven wheel 2 and the second driven wheel 3.
In the embodiment, as shown in fig. 2, the first driven wheel 2 is synchronously connected with a first shaft 51, the second driven wheel 3 is synchronously connected with a second shaft 52, and the one-way transmission mechanism 7 is arranged between the first shaft 51 and the second shaft 52.
In the embodiment, as shown in fig. 2, the first transmission 8 includes a first pulley 81 linked with the driving wheel 1, a second pulley 82 linked with the first driven wheel 2, and a first transmission belt 83 connecting the first pulley 81 and the second pulley 82; the second transmission 9 includes a third pulley 91 linked with the third driven pulley 4, a fourth pulley 92 linked with the second driven pulley 3, and a second transmission belt 93 connecting the third pulley 91 and the fourth pulley 92.
In the embodiment, the driving pulley 1 and the first pulley 81 are formed integrally, the first driven pulley 2 and the second pulley 82 are formed integrally, the third driven pulley 4 and the third pulley 91 are formed integrally, and the second driven pulley 3 and the fourth pulley 92 are formed integrally with the fourth pulley 92 in cooperation with the second driven pulley 3.
The traveling principle of the second embodiment: when the driving wheel 1 rotates forwards, the first driven wheel 2 and the first shaft 51 are synchronously driven to rotate forwards through the first transmission device 8, the second shaft 52 and the second driven wheel 3 can be synchronously driven to rotate forwards through the one-way transmission mechanism 7, the second driven wheel 3 synchronously drives the third driven wheel 4 to rotate forwards through the second transmission device 9, and finally the four wheels can rotate forwards synchronously to achieve the purpose of advancing.
The steering principle of the second embodiment: when the driving wheel 1 rotates reversely, the first driven wheel 2 and the first shaft 51 are driven to rotate reversely by the first transmission device 8 synchronously, but the one-way transmission mechanism 7 loses the transmission function and the second shaft 52 cannot obtain the rotating driving force because the one-way transmission mechanism 7 has the characteristic of 'forward meshing transmission and reverse slipping', so that the second driven wheel 3 and the third driven wheel 4 lose the driving force, and finally the purpose of steering the whole equipment is achieved.
In the third embodiment, as shown in fig. 3 and 6, a motor-driven four-wheel walking and steering mechanism includes a driving wheel 1 and a third driven wheel 4 which are oppositely arranged left and right, a first driven wheel 2 and a second driven wheel 3 which are oppositely arranged left and right, a first transmission device 8 is synchronously connected between the driving wheel 1 and the first driven wheel 2, and a second transmission device 9 is synchronously connected between the second driven wheel 3 and the third driven wheel 4, and a one-way transmission mechanism 7 is arranged between the first driven wheel 2 and the second driven wheel 3.
In the embodiment, as shown in fig. 12 and 13, the one-way transmission mechanism 7 includes a rotating shaft 5 synchronously coupled to the first driven wheel 2, and a ratchet gear disposed between the rotating shaft 5 and the second driven wheel 3, the ratchet gear including a ratchet body 71 fixed to the rotating shaft 5, and a pawl body 72 disposed on the second driven wheel 3.
In the embodiment, as shown in fig. 12 and 13, the pawl body 72 is a cylinder, a pawl groove 721 for allowing the pawl body 72 to freely slide and a ratchet groove 711 for accommodating the ratchet body 71 are provided in the second driven wheel 3, and the pawl groove 721 is provided along the radial direction of the second driven wheel 3 and communicates with the ratchet groove 711.
In the embodiment, as shown in fig. 3, 6, 7, 11, 12, and 13, the first transmission 8 includes a first pulley 81 linked with the driving wheel 1, a second pulley 82 linked with the first driven wheel 2, and a first transmission belt 83 connecting the first pulley 81 and the second pulley 82; the second transmission 9 includes a third pulley 91 linked with the third driven pulley 4, a fourth pulley 92 linked with the second driven pulley 3, and a second transmission belt 93 connecting the third pulley 91 and the fourth pulley 92.
Travel principle of the third embodiment: when the driving wheel 1 rotates forwards, the first driven wheel 2 and the rotating shaft 5 are driven to rotate forwards synchronously through the first transmission device 8, the pawl body 72 in the second driven wheel 3 is meshed with the ratchet wheel body 71, so that the second driven wheel 3 can be driven to rotate forwards synchronously, the second driven wheel 3 drives the third driven wheel 4 to rotate forwards synchronously through the second transmission device 9, and finally the four wheels can rotate forwards synchronously, so that the purpose of advancing is achieved.
Steering principle of the third embodiment: when the driving wheel 1 rotates reversely, the first driven wheel 2 and the rotating shaft 5 are driven to rotate reversely synchronously through the first transmission device 8, but because the ratchet device has the characteristic of 'forward meshing transmission and reverse slipping', the ratchet body 71 in the second driven wheel 3 is released from the pawl body 72, the second driven wheel 3 cannot obtain the rotating driving force, so that the second transmission device 9 and the third driven wheel 4 lose the driving force, and finally the purpose of steering the whole equipment is achieved.
In a fourth embodiment, as shown in fig. 4, 5, 6, and 7, a motor-driven four-wheel walking and steering mechanism includes a driving wheel 1 and a third driven wheel 4 disposed opposite to each other in the left-right direction, and a first driven wheel 2 and a second driven wheel 3 disposed opposite to each other in the left-right direction, and is characterized in that: a first transmission device 8 is arranged between the driving wheel 1 and the first driven wheel 2, a second transmission device 9 is synchronously connected between the second driven wheel 3 and the third driven wheel 4, and the first transmission device 8 is synchronously connected with the driving wheel 1; a one-way transmission mechanism 7 is arranged between the first transmission device 8 and the first driven wheel 2, and a rotating shaft 5 is synchronously connected between the first driven wheel 2 and the second driven wheel 3.
In the embodiment, as shown in fig. 6 and 7, the first transmission 8 includes a first pulley 81 linked with the drive pulley 1, a second pulley 82 coaxial with the first driven pulley 2, and a first transmission belt 83 connecting the first pulley 81 and the second pulley 82; the one-way transmission mechanism 7 is a one-way sawtooth structure which is oppositely arranged on the first driven wheel 2 and the second belt wheel 82; the second transmission 9 includes a third pulley 91 linked with the third driven pulley 4, a fourth pulley 92 linked with the second driven pulley 3, and a second transmission belt 93 connecting the third pulley 91 and the fourth pulley 92.
Example four travel principle: when the driving wheel 1 rotates forwards, the driving wheel can synchronously drive the first belt wheel 81, the first transmission belt 83 and the second belt wheel 82 to rotate forwards, the second belt wheel 82 enables the first driven wheel 2 to rotate forwards synchronously through the one-way transmission mechanism 7, the first driven wheel 2 drives the rotating shaft 5, the second driven wheel 3 and the third driven wheel 4 to rotate forwards synchronously, and finally the four wheels can rotate forwards synchronously, so that the purpose of advancing is achieved.
The steering principle of the fourth embodiment: when the driving wheel 1 rotates reversely, the first belt wheel 81, the first transmission belt 83 and the second belt wheel 82 are driven to rotate reversely synchronously, but because the one-way transmission mechanism 7 has the characteristic of 'forward meshing transmission and reverse slipping', the second belt wheel 82 slips and separates from the first driven wheel 2, the one-way transmission mechanism 7 loses the transmission function, the first driven wheel 2, the rotating shaft 5, the second driven wheel 3 and the third driven wheel 4 lose the rotating driving force, and finally the purpose that the whole equipment rotates along with the driving wheel 1 is achieved.
In the first to fourth embodiments, the unidirectional transmission mechanism 7 can be a unidirectional pin unidirectional bearing in addition to the ratchet device. The first transmission 8 and the second transmission 9 can also be gear transmissions instead of belt wheel transmissions.
Through practical test experiments, the following results are found: in the scheme of the fourth embodiment, only the driving wheel 1 reversely rotates during steering, and other three wheels lose power, so that the steering is difficult, and the purpose of steering is difficult to realize, while the schemes of the first to third embodiments can synchronously reversely rotate the driving wheel 1 and the first driven wheel 2, and finally the purpose of steering the equipment can be realized.
While the preferred embodiments of the present invention have been illustrated, various changes and modifications may be made by one skilled in the art without departing from the scope of the invention.
Claims (9)
1. A motor drive four-wheel walking and steering mechanism, drive wheel (1) and the third of controlling the subtend setting are followed driving wheel (4), and the first follow driving wheel (2) and the second of controlling the subtend setting follow driving wheel (3), characterized by: a first transmission device (8) is synchronously connected between the driving wheel (1) and the first driven wheel (2), a second transmission device (9) is synchronously connected between the second driven wheel (3) and the third driven wheel (4), and a one-way transmission mechanism (7) is arranged between the first driven wheel (2) and the second driven wheel (3).
2. A motor-driven four-wheel walking and steering mechanism as claimed in claim 1, wherein: the one-way transmission mechanism (7) comprises a rotating shaft (5) synchronously connected with the second driven wheel (3) and a ratchet wheel device arranged between the rotating shaft (5) and the first driven wheel (2), wherein the ratchet wheel device comprises a ratchet wheel body (71) fixed on the rotating shaft (5) and a pawl body (72) arranged on the first driven wheel (2).
3. A motor-driven four-wheel walking and steering mechanism as claimed in claim 2, wherein: the pawl body (72) is a column, a pawl groove (721) for allowing the pawl body (72) to freely slide and a ratchet groove (711) for accommodating the ratchet body (71) are arranged in the first driven wheel (2), and the pawl groove (721) is arranged along the radial direction of the first driven wheel (2) and communicated with the ratchet groove (711).
4. A motor-driven four-wheel walking and steering mechanism as claimed in claim 1, wherein: the first driven wheel (2) is synchronously connected with a first shaft (51), the second driven wheel (3) is synchronously connected with a second shaft (52), and the one-way transmission mechanism (7) is arranged between the first shaft (51) and the second shaft (52).
5. A motor-driven four-wheel walking and steering mechanism as claimed in claim 1, wherein: the one-way transmission mechanism (7) comprises a rotating shaft (5) synchronously connected with the first driven wheel (2) and a ratchet wheel device arranged between the rotating shaft (5) and the second driven wheel (3), wherein the ratchet wheel device comprises a ratchet wheel body (71) fixed on the rotating shaft (5) and a pawl body (72) arranged on the second driven wheel (3).
6. A motor-driven four-wheel walking and steering mechanism according to claim 5, wherein: the pawl body (72) is a column, a pawl groove (721) for allowing the pawl body (72) to freely slide and a ratchet groove (711) for accommodating the ratchet body (71) are arranged in the second driven wheel (3), and the pawl groove (721) is arranged along the radial direction of the second driven wheel (3) and communicated with the ratchet groove (711).
7. A motor driven four wheel walking and steering mechanism as claimed in any one of claims 1 to 6, wherein: the first transmission device (8) comprises a first belt wheel (81) linked with the driving wheel (1), a second belt wheel (82) linked with the first driven wheel (2), and a first transmission belt (83) connecting the first belt wheel (81) and the second belt wheel (82); the second transmission device (9) comprises a third belt wheel (91) linked with the third driven wheel (4), a fourth belt wheel (92) linked with the second driven wheel (3), and a second transmission belt (93) connecting the third belt wheel (91) and the fourth belt wheel (92).
8. A motor drive four-wheel walking and steering mechanism, drive wheel (1) and the third of controlling the subtend setting are followed driving wheel (4), and the first follow driving wheel (2) and the second of controlling the subtend setting follow driving wheel (3), characterized by: a first transmission device (8) is arranged between the driving wheel (1) and the first driven wheel (2), a second transmission device (9) is synchronously connected between the second driven wheel (3) and the third driven wheel (4), and the first transmission device (8) is synchronously connected with the driving wheel (1); a one-way transmission mechanism (7) is arranged between the first transmission device (8) and the first driven wheel (2), and a rotating shaft (5) is synchronously connected between the first driven wheel (2) and the second driven wheel (3).
9. A motor-driven four-wheel walking and steering mechanism according to claim 8, wherein: the first transmission device (8) comprises a first belt wheel (81) linked with the driving wheel (1), a second belt wheel (82) coaxial with the first driven wheel (2), and a first transmission belt (83) connecting the first belt wheel (81) and the second belt wheel (82); the one-way transmission mechanism (7) is of a one-way sawtooth structure which is oppositely arranged on the first driven wheel (2) and the second belt wheel (82); the second transmission device (9) comprises a third belt wheel (91) linked with the third driven wheel (4), a fourth belt wheel (92) linked with the second driven wheel (3), and a second transmission belt (93) connecting the third belt wheel (91) and the fourth belt wheel (92).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010095430.1A CN111071035A (en) | 2020-02-17 | 2020-02-17 | Motor-driven four-wheel walking and steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010095430.1A CN111071035A (en) | 2020-02-17 | 2020-02-17 | Motor-driven four-wheel walking and steering mechanism |
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| CN111071035A true CN111071035A (en) | 2020-04-28 |
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| CN202010095430.1A Pending CN111071035A (en) | 2020-02-17 | 2020-02-17 | Motor-driven four-wheel walking and steering mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104108A (en) * | 2021-04-22 | 2021-07-13 | 伊犁师范大学 | Automatic steering device of agricultural machine |
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| CN113104108A (en) * | 2021-04-22 | 2021-07-13 | 伊犁师范大学 | Automatic steering device of agricultural machine |
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