CN113306651A

CN113306651A - Walking wheel assembly, walking mechanism and walking device

Info

Publication number: CN113306651A
Application number: CN202110779821.XA
Authority: CN
Inventors: 林锫森
Original assignee: Beijing Youshi Technology Co ltd
Current assignee: Beijing Youshi Technology Co ltd
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2021-08-27

Abstract

The invention relates to the technical field of mechanical transmission and discloses a travelling wheel assembly, a travelling mechanism and a travelling device. In this walking wheel subassembly: the first driving wheel is coaxial with the first travelling wheel so as to drive the first travelling wheel to rotate; the second transmission wheel is coaxial with the second travelling wheel so as to drive the second travelling wheel to rotate; the first central shaft is coaxial with the third driving wheel so as to drive the third driving wheel to rotate; the cradle is provided with a first mounting position, a second mounting position and a third mounting position, a first driving wheel, a second driving wheel and a third driving wheel are respectively and relatively rotatably mounted at the first mounting position, the second mounting position and the third mounting position, and the first driving wheel, the third driving wheel and the second driving wheel are sequentially in transmission connection. According to the invention, the first travelling wheel and the second travelling wheel can form a stable support for the device under various conditions through the cradle, and particularly, when going up and down stairs, the device can have the effects of plane support, toppling prevention and rolling prevention.

Description

Walking wheel assembly, walking mechanism and walking device

Technical Field

The invention relates to the technical field of mechanical transmission, in particular to a walking wheel assembly, a walking mechanism with the walking wheel assembly and a walking device with the walking wheel assembly.

Background

The small-sized unmanned vehicle generally has more four-wheel chassis, but when climbing a slope or climbing stairs, the four-wheel chassis is obviously more stable than a six-wheel chassis, while the existing six-wheel unmanned vehicle generally adopts six-wheel full drive or front and rear wheel independent drive, and all wheels are arranged on the chassis of the vehicle.

The six-motor drive has the possibility of causing different speeds of six wheels due to the problem of factory configuration of the motors, so that the route of the unmanned vehicle is unstable in the advancing process, and meanwhile, a single unmanned vehicle is provided with the six motors, so that the cost is high and the consumption is high. The unmanned vehicle with a single driving wheel set can travel on a smooth ground, but when the unmanned vehicle encounters a step, the vehicle body inclines, so that the whole unmanned vehicle is unstable.

In addition, during the driving process of the unmanned vehicle, the unmanned vehicle often needs to go up and down stairs. At this time, no matter whether the vehicle is a common four-wheel vehicle or a six-wheel unmanned vehicle, when the vehicle goes up and down stairs, the whole vehicle body inclines, the left and right wheels at the lowest part play a main supporting role, and the two supporting points are connected to form a line parallel to the axle.

Disclosure of Invention

In view of the above, the present invention provides a traveling wheel assembly, and a traveling mechanism and a traveling device provided with the traveling wheel assembly, wherein a cradle enables a first traveling wheel and a second traveling wheel to form a stable support for the device under various conditions, and particularly, the device has effects of planar support, anti-toppling and anti-rolling when going up and down stairs.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a walking wheel assembly, includes first center pin, cradle, drive mechanism, first walking wheel, second walking wheel, wherein:

the transmission mechanism comprises a first transmission wheel, a second transmission wheel and a third transmission wheel, wherein the central axes of the first transmission wheel, the second transmission wheel and the third transmission wheel are parallel to each other;

the first driving wheel is coaxial with the first travelling wheel so as to drive the first travelling wheel to rotate;

the second transmission wheel is coaxial with the second travelling wheel so as to drive the second travelling wheel to rotate;

the first central shaft is coaxial with the third driving wheel so as to drive the third driving wheel to rotate;

the cradle is provided with a first installation position, a second installation position and a third installation position, the first transmission wheel, the second transmission wheel and the third transmission wheel are respectively installed in the first installation position, the second installation position and the third installation position in a relatively rotatable manner, and the first transmission wheel, the third transmission wheel and the second transmission wheel are sequentially connected in a transmission manner.

Optionally, in the above walking wheel assembly, a plane on which the central axis of the first transmission wheel and the central axis of the second transmission wheel are located is a reference plane, and a distance between the central axis of the third transmission wheel and the reference plane is greater than zero.

Optionally, in the above-described traveling wheel assembly, a central axis of the third transmission wheel is located above the reference plane.

Optionally, in the above-mentioned traveling wheel assembly, the first driving wheel, the third driving wheel, and the second driving wheel are all gears.

Optionally, in the above walking wheel assembly, the third transmission wheel and the first transmission wheel are in transmission connection through one or more gears;

the third transmission wheel is in transmission connection with the second transmission wheel through one or more gears;

the distance between the central axis of the third driving wheel and the central axis of the first driving wheel is equal to the distance between the central axis of the third driving wheel and the central axis of the second driving wheel.

A running gear comprising a second central axle and a third running wheel, and a running wheel assembly as hereinbefore described, wherein:

the second central shaft is used for driving the third travelling wheel to rotate;

the second central axis is arranged in parallel with the first central axis.

Alternatively, in the above-described traveling mechanism, the first center shaft may be a drive shaft that is driven to rotate by a power unit, or the second center shaft may be a drive shaft that is driven to rotate by a power unit.

Optionally, in the traveling mechanism, the first central shaft and the second central shaft are connected by a chain transmission.

Alternatively, in the above-described traveling mechanism, the first center shaft and the second center shaft are independently driven.

A walking device comprises a chassis and a walking mechanism as described above, wherein a first central shaft and a second central shaft in the walking mechanism are respectively and rotatably connected with the chassis.

Optionally, in the above traveling apparatus, a plurality of the traveling mechanisms are installed below the chassis, wherein:

the first central shafts in the plurality of travelling mechanisms are coaxially arranged or are the same shaft piece;

the second central shafts in the plurality of running mechanisms are coaxially arranged or are the same shaft piece.

Optionally, in the walking device, a limiting mechanism for limiting a limit position of the cradle in the walking wheel assembly when pivoting relative to the chassis is further included.

Optionally, in the above traveling device, the limiting mechanism includes a limiting post and a limiting slot hole disposed on the chassis, one end of the limiting post is connected to the cradle, and the other end of the limiting post extends into the limiting slot hole.

According to the technical scheme, in the travelling wheel assembly, the travelling mechanism and the travelling device provided with the travelling wheel assembly, the first central shaft is coaxially connected with the third transmission wheel, and the third transmission wheel is rotatably connected with the cradle, so that the cradle can swing up and down (namely rotate forwards for a certain angle or rotate backwards for a certain angle) around the first central shaft. And because the first walking wheel and the second walking wheel are both arranged on the cradle and are respectively positioned at two sides of the first central shaft, a mechanism consisting of the first walking wheel, the second walking wheel and the cradle can swing up and down around the first central shaft. During the swing, assuming that the first road wheel is located in front of the second road wheel and the initial positions of the first road wheel and the second road wheel are that the central axes of the first road wheel and the second road wheel are in the same horizontal plane (the horizontal plane is named as S1), then:

when the mechanism formed by the first travelling wheel, the second travelling wheel and the cradle rotates forwards for a certain angle around the first central shaft, the first travelling wheel tilts upwards relative to the horizontal plane S1, and the second travelling wheel descends downwards relative to the horizontal plane S1;

when the mechanism formed by the first travelling wheel, the second travelling wheel and the cradle rotates reversely for a certain angle around the first central shaft, the first travelling wheel descends relative to the horizontal plane S1, and the second travelling wheel tilts upwards relative to the horizontal plane S1.

Therefore, after the walking wheel assembly is installed on the chassis, the mechanism consisting of the first walking wheels, the second walking wheels and the cradle can swing up and down relative to the chassis, so that the first walking wheels and the second walking wheels can be in the same plane regardless of whether the chassis is in a horizontal running state, a stair climbing state or a stair descending state, and the equipment main body borne by the chassis forms horizontal support (or plane support), and the walking wheel assembly has the effects of stable support, toppling prevention and rolling prevention. In contrast, when the vehicle is afraid of steps and descending steps, the weight of the vehicle body is basically concentrated on the pair of wheels at the lowest part to form a dotted line support, so that the problem of unstable gravity center is easy to occur, and the vehicle is easy to roll, turn forwards or backwards.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is an isometric view of a walking device provided in accordance with a first embodiment of the present invention;

fig. 2 is a top view of a walking device according to a first embodiment of the present invention;

FIG. 3 is a front view of a walking device according to a first embodiment of the present invention;

FIG. 4 is a side view of a walking device according to a first embodiment of the present invention;

FIG. 5 is a schematic diagram of the movement state of the walking device provided by the first embodiment of the invention when walking on a flat ground;

FIG. 6 is a schematic view illustrating a movement state of the walking device when climbing stairs according to the first embodiment of the present invention;

FIG. 7 is a schematic view illustrating a movement state of the walking device when descending stairs according to the first embodiment of the present invention;

FIG. 8 is a schematic structural view of a walking wheel assembly according to a second embodiment of the present invention;

FIG. 9 is a schematic structural view of a walking wheel assembly according to a third embodiment of the present invention;

fig. 10 is a schematic structural view of a walking device according to a fourth embodiment of the present invention;

fig. 11 is a schematic structural diagram of a walking device according to a fifth embodiment of the present invention.

Wherein:

1-a first travelling wheel, 2-a second travelling wheel, 3-a third travelling wheel,

4-a cradle, 5-a third driving wheel,

6-limiting columns, 7-limiting slotted holes,

8-chain, 9-first central shaft, 10-second central shaft, and 11-fourth traveling wheel.

Detailed Description

The invention discloses a walking wheel assembly, a walking mechanism and a walking device, wherein the walking mechanism and the walking device are provided with the walking wheel assembly, a first walking wheel and a second walking wheel can integrally form a stable support for the device under various conditions through a cradle, and particularly, the walking wheel assembly has the effects of plane support, toppling prevention and rolling prevention when going up and down stairs.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

First embodiment

Referring to fig. 1 to 7, a first embodiment of the present invention provides a walking device, which is generally a vehicle walking device, or a walking robot walking device, or other devices that need to walk on the ground and need to go up and down stairs. The core technology point of the walking device lies in that a walking mechanism with a novel structure is adopted, and the core technology of the walking mechanism lies in that a walking wheel component with a novel structure is adopted.

This walking wheel subassembly includes first center pin 9, cradle 4, drive mechanism, first walking wheel 1, second walking wheel 2, wherein:

the transmission mechanism comprises a first transmission wheel, a second transmission wheel and a third transmission wheel 5, the central axes of which are parallel to each other;

the first driving wheel is coaxial with the first travelling wheel 1 so as to drive the first travelling wheel 1 to rotate; the second transmission wheel is coaxial with the second travelling wheel 2 so as to drive the second travelling wheel 2 to rotate; the first central shaft 9 is coaxial with the third transmission wheel 5 so as to drive the third transmission wheel 5 to rotate;

the cradle 4 is provided with a first mounting position, a second mounting position and a third mounting position, a first driving wheel, a second driving wheel and a third driving wheel 5 are respectively and relatively rotatably mounted at the first mounting position, the second mounting position and the third mounting position, and the first driving wheel, the third driving wheel 5 and the second driving wheel are sequentially in transmission connection.

In the walking wheel assembly, the first central shaft 9 is coaxially connected with the third transmission wheel 5, and the third transmission wheel 5 is rotatably connected with the cradle 4, so that the cradle 4 can swing up and down (i.e. rotate forwards for a certain angle or rotate backwards for a certain angle) around the first central shaft 9. And because the first walking wheel 1 and the second walking wheel 2 are both arranged on the cradle 4, and the first walking wheel 1 and the second walking wheel 2 are respectively positioned at two sides of the first central shaft 9, a mechanism formed by the first walking wheel 1, the second walking wheel 2 and the cradle 4 can swing up and down around the first central shaft 9.

In the specific swing process, assuming that the first road wheel 1 is located in front of the second road wheel 2, and the initial positions of the first road wheel 1 and the second road wheel 2 are that the central axes of the first road wheel 1 and the second road wheel 2 are in the same horizontal plane (the horizontal plane is named as S1), then:

when the mechanism formed by the first travelling wheel 1, the second travelling wheel 2 and the cradle 4 rotates forwards for a certain angle around the first central shaft 9, the first travelling wheel 1 tilts upwards relative to the horizontal plane S1, and the second travelling wheel 2 descends downwards relative to the horizontal plane S1;

when the mechanism formed by the first travelling wheel 1, the second travelling wheel 2 and the cradle 4 rotates around the first central shaft 9 for a certain angle, the first travelling wheel 1 descends relative to the horizontal plane S1, and the second travelling wheel 2 tilts upwards relative to the horizontal plane S1.

Therefore, after the walking wheel assembly is installed on a chassis, a mechanism formed by the first walking wheel 1, the second walking wheel 2 and the cradle 4 can swing up and down relative to the chassis, so that as shown in fig. 5 to 7, no matter the chassis is in a horizontal driving state, a stair climbing state or a stair descending state, the first walking wheel 1 and the second walking wheel 2 can be in the same plane, a horizontal support (or a plane support) is formed on a device main body borne by the first walking wheel 1 and the second walking wheel 2, and the walking wheel assembly has the effects of stable support, toppling prevention and rolling prevention. (in contrast, in the case of a general vehicle afraid of steps and descending steps, the weight of the vehicle body is basically concentrated on the pair of wheels at the lowest part, and a dotted line support is formed, so that the problem of unstable center of gravity, easy roll over/forward roll over/backward roll over easily occurs.)

Preferably, referring to fig. 4, in the above-mentioned traveling wheel assembly, a plane in which the central axis of the first transmission wheel and the central axis of the second transmission wheel are located is a reference plane, and a distance h between the central axis of the third transmission wheel 5 and the reference plane is greater than zero. Furthermore, the central axis of the third transmission wheel 5 is located above the reference plane. Alternatively, in other embodiments, the central axis of the third transmission wheel 5 can be located below the reference plane or coplanar with the reference plane according to actual needs.

Specifically, referring to fig. 1 and 4, in the traveling wheel assembly, the first driving wheel, the third driving wheel 5 and the second driving wheel are all gears. Furthermore, the third transmission wheel 5 is in transmission connection with the first transmission wheel through one or more gears; the third transmission wheel 5 is in transmission connection with the second transmission wheel through one or more gears; the distance between the central axis of the third transmission wheel 5 and the central axis of the first transmission wheel is equal to the distance between the central axis of the third transmission wheel 5 and the central axis of the second transmission wheel. However, the present invention is not limited to this, and in other embodiments, the transmission connection among the first transmission wheel, the third transmission wheel 5 and the second transmission wheel can be realized by a chain transmission or other transmission structures.

In particular, the first embodiment of the invention provides a walking mechanism comprising a second central axle 10 and a third road wheel 3, and a road wheel assembly as hereinbefore described. Wherein: the second central shaft 10 is used for driving the third travelling wheel 3 to rotate; the second central axis 10 is arranged parallel to the first central axis 9.

In a specific implementation, the first central shaft 9 may be (preferably) a drive shaft driven by a power device (e.g., a motor), and the second central shaft 10 may be a drive shaft driven by a power device. Further, the first central shaft 9 and the second central shaft 10 can be in transmission connection through the chain 8. At this time, a first toothed chain wheel is arranged on the first central shaft 9, a second toothed chain wheel is arranged on the second central shaft, and the chain 8 is an annular chain sleeved on the first toothed chain wheel and the second toothed chain wheel.

Alternatively, in practice, the first central shaft 9 and the second central shaft 10 may be driven separately.

Specifically, the first embodiment of the present invention provides a traveling device including a chassis, and a traveling mechanism as described above, in which the first central shaft 9 and the second central shaft 10 are respectively rotatably mounted on the chassis.

When the device is specifically implemented, one traveling mechanism or a plurality of traveling mechanisms (generally two) can be arranged below the chassis. When a plurality of running gears can be arranged under the chassis: the first central shafts 9 in the plurality of travelling mechanisms are coaxially arranged or are the same shaft piece; the second central shafts of the plurality of running mechanisms are coaxially arranged or are the same shaft piece.

In a preferred embodiment, the power output device of the walking device is two motors which are respectively used for controlling the rotation of the first central shaft in the two walking mechanisms which are arranged side by side at the left and the right. That is to say, a running gear is respectively arranged on both sides of the vehicle body, one motor is in transmission connection with the first central shaft of the left running gear to drive the left wheels to synchronously rotate, and the other motor is in transmission connection with the first central shaft of the right running gear to drive the right wheels to synchronously rotate.

Furthermore, in the above-mentioned running gear, still include stop gear, be used for limiting the extreme position when cradle 4 in the walking wheel subassembly rotates around the axle relative to the chassis to this limits the maximum distance of the displacement from top to bottom of first walking wheel 1 and second walking wheel 2, promptly the running gear is when climbing the step, the maximum height of chassis front end.

The arrangement mode of the limiting mechanism has multiple optional schemes. For example, referring to fig. 1, 3 and 4, the limiting mechanism includes a limiting column 6 and a limiting slot 7 (preferably an arc-shaped hole) disposed on the chassis. Wherein: one end of the limiting column 6 is connected with the cradle 4, and the other end extends into the limiting slotted hole 7. When the walking wheel assembly swings to a first limit position relative to the chassis, the limiting column 6 abuts against one end of the arc-shaped hole; when the walking wheel component swings to a second limit position relative to the chassis, the limiting column 6 is abutted against the other end of the arc-shaped hole. Of course, the specific structure of the position-limiting slot 7 can be configured into other shapes, such as a strip-shaped slot, a strip-shaped hole, a circular hole with a larger area, and the like.

In summary, compared with the chassis structure with six wheels driven fully in the prior art, the traveling device provided by the first embodiment of the invention has the advantages that the number of motors is reduced, six wheels driven by six wheels can be realized through transmission of the gears and the chains, the cost is low, the power is large, in addition, the six wheels can be simultaneously contacted with the ground or steps in the stair climbing process through the transmission mechanism and the traveling wheels, the friction force is increased, meanwhile, the stability of the vehicle can be ensured, and the vehicle cannot be overturned.

Second embodiment

A second embodiment of the invention provides a walking wheel assembly which differs from the walking wheel assembly provided by the first embodiment of the invention only in that: two first walking wheels 1 and two second walking wheels 2 are arranged, the two first walking wheels 1 are respectively positioned at the left side and the right side of the rocking frame 4, and the two second walking wheels 2 are respectively positioned at the left side and the right side of the rocking frame 4.

The working principle and the technical effect of the walking wheel assembly provided by the second embodiment of the invention are basically the same as those of the walking wheel assembly provided by the first embodiment of the invention. In specific implementation, the method can be selected and used according to actual conditions.

Moreover, the walking wheel assembly provided by the second embodiment of the invention can be used alone, for example, in a small walking device, the walking wheel assembly is used, and a walking wheel is combined in front of or behind the walking wheel assembly, so that the walking device can realize the same up-and-down stair function as the walking device provided by the first embodiment.

Third embodiment

A third embodiment of the invention provides a walking wheel assembly which differs from the walking wheel assembly provided by the first embodiment of the invention only in that: two rocking frames 4 are provided, and the first travelling wheel 1 and the second travelling wheel 2 are positioned between the two rocking frames 4.

The working principle and the technical effect of the walking wheel assembly provided by the third embodiment of the invention are basically the same as those of the walking wheel assembly provided by the first embodiment of the invention. In specific implementation, the method can be selected and used according to actual conditions.

Moreover, the traveling wheel assembly provided in the third embodiment of the present invention can be used alone, for example, as shown in fig. 9, the axial widths of the first traveling wheel 1 and the second traveling wheel 2 are designed to be large, and in a small-sized traveling device, the traveling wheel assembly is used, and a traveling wheel is coupled to the front or rear of the traveling wheel assembly, so that the traveling device can perform the same up-and-down stair function as the traveling device provided in the first embodiment.

Fourth embodiment

A third embodiment of the invention provides a walking wheel assembly which differs from the walking wheel assembly provided by the first embodiment of the invention only in that: a fourth running wheel 11 is also included.

Fifth embodiment

A third embodiment of the invention provides a walking wheel assembly which differs from the walking wheel assembly provided by the first embodiment of the invention only in that: two walking wheel assemblies are arranged.

It should be noted that "center axis" as used herein refers to a shaft-like structural member, and "center axis" refers to an imaginary line passing through the center of the component.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a walking wheel assembly, its characterized in that includes first center pin, cradle, drive mechanism, first walking wheel, second walking wheel, wherein:

2. The road wheel assembly of claim 1, wherein a plane in which the central axis of the first drive wheel and the central axis of the second drive wheel lie is a reference plane, and a distance between the central axis of the third drive wheel and the reference plane is greater than zero.

3. The road wheel assembly of claim 2, wherein the central axis of the third drive wheel is above the reference plane.

4. The road wheel assembly of claim 1, wherein the first drive wheel, the third drive wheel, and the second drive wheel are gears.

5. The road wheel assembly of claim 4, wherein the third drive wheel and the first drive wheel are in drive connection via one or more gears;

6. A running gear comprising a second central axle and a third running wheel, and a running wheel assembly according to any one of claims 1 to 5, wherein:

the second central axis is arranged in parallel with the first central axis.

7. The running mechanism of claim 6, wherein the first central shaft is a drive shaft driven to rotate by a power device, or wherein the second central shaft is a drive shaft driven to rotate by a power device.

8. The running mechanism of claim 7, wherein the first central shaft and the second central shaft are in chain drive connection.

9. The running mechanism of claim 6, wherein the first central axle and the second central axle are each independently driven.

10. A walking device, comprising a chassis and a walking mechanism as claimed in any one of claims 6 to 9, wherein the first central shaft and the second central shaft of the walking mechanism are respectively and rotatably connected with the chassis.

11. The walking apparatus of claim 10, wherein a plurality of said running gears are mounted under said chassis, wherein:

12. The walking device of claim 10 or 11, further comprising a limiting mechanism for limiting the limit position of the cradle in the walking wheel assembly when pivoting relative to the chassis.

13. The walking device of claim 12, wherein the limiting mechanism comprises a limiting post and a limiting slot hole arranged on the chassis, one end of the limiting post is connected with the cradle, and the other end of the limiting post extends into the limiting slot hole.