CN113968102B

CN113968102B - Sideslip wheel

Info

Publication number: CN113968102B
Application number: CN202111449575.8A
Authority: CN
Inventors: 王天
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2023-09-01
Anticipated expiration: 2041-12-01
Also published as: CN113968102A

Abstract

The invention provides a brand new transverse moving wheel, which comprises a wheel body and a wheel body, wherein the wheel body comprises a wheel body and a wheel cover, and the wheel cover is arranged on the: mainly comprises a tire, a bracket, a turbine, a worm and a driver. A driver accommodated in the bracket and driving the turbine through the worm; the turbine micro tooth surface on the turbine hammer head forms a rotation driving relationship with the tire micro tooth surface, and the turbine hammer head drives the tire to rotate along the radial line of the tire. The invention also provides a four-wheel vehicle provided with the transverse moving wheel. The front two wheels, the rear two wheels or the four wheels of the four-wheel vehicle are transverse wheels. The transverse moving wheel is driven by a driving device of the four-wheel vehicle through a wheel shaft to rotate along the tire circumference; driven by the driver, lateral rolling in the tire meridian rotation direction is performed. The invention has the remarkable advantages of novel structure, simple control, light weight, easy use and the like. Compared with a steering system or an omni-wheel system, the structure is greatly reduced, and the functions are more powerful.

Description

Sideslip wheel

Technical Field

The invention belongs to the technical field of wheels, and particularly relates to a transverse moving wheel.

Background

Steering of current vehicles mainly relies on steering systems, which require relatively complex mechanical and electrical structures.

The omni wheel is a novel wheel which is widely applied to light-load application scenes such as toys and the like, and the Mecanum wheel is a form of the omni wheel. The omni-wheel can be used for building an omni-directional mobile platform, and has higher movement flexibility and accuracy compared with the common wheels. But in the prior art, the omnidirectional wheel has more parts, complex structure, long assembly time, complex installation, inconvenient operation and higher cost.

Disclosure of Invention

The invention aims to provide a brand new transversely moving wheel, which combines the self-rotation of the wheel so as to form the action effects of forward and backward movement, turning, in-situ rotation and the like.

The transverse moving wheel mainly comprises a tire, a bracket, a turbine, a worm and a driver; the annular tire is sleeved on the Y-shaped fork annular groove of the bracket.

The tire micro tooth surface and the anti-rotation bulge are arranged on the surface of the tire and encircle the tire along the meridian; the anti-rotation protrusions are buckled at the notches on the bracket, so that the tire and the bracket are prevented from integrally steering along the circumference of the tire; a driver accommodated in the bracket and driving the turbine through the worm; the turbine micro tooth surface on the turbine hammer head forms a rotation driving relationship with the tire micro tooth surface, and the turbine hammer head drives the tire to rotate along the radial line of the tire.

A four-wheel vehicle is provided with the transverse moving wheels, and the front two wheels, the rear two wheels or the four wheels of the four-wheel vehicle are the transverse moving wheels; the traversing wheel is driven by a driving device of the four-wheel vehicle through a wheel shaft to implement a rotation action along the tire circumference steering; driven by the driver, the tire radial rolling is implemented.

The main principle of the invention is that the tire with unique structural form and the rotation mode of the tire realize that the whole traversing wheel can perform steering along the circumference of the tire and/or rotation along the meridian line of the tire. Has the remarkable advantages of novel structure, simple control, light weight, easy use and the like. Compared with a steering system or an omni-wheel system, the structure is greatly reduced, and the functions are more powerful.

Drawings

In order to more clearly illustrate the technical solution of the preferred examples of the present invention, the drawings which are required for the description of the preferred examples will be briefly described, it being apparent that the drawings in the following description are only some of the preferred examples of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a front view of the present invention;

FIG. 2 is a partial cross-sectional view of FIG. 1;

FIG. 3 is a right side view of FIG. 1;

FIG. 4 is an AA view of FIG. 2;

FIG. 5 is a view of the remover 45 of FIG. 3;

fig. 6 is a partial cross-sectional view.

In the drawings, the list of components represented by the various numbers is as follows:

1-a tire; 100-traversing wheels; 101-anti-rotation protrusions; 2-a hollow portion; 3-brackets; 4-balls; 41-a roller receiving groove; 42-Y-shaped fork annular groove; 43-turbine lever drive slot; 44-a drive receiving slot; 45-bracket cover; 46-a notch in the bracket; 5-a turbine; 51-engagement; 52-scroll bar steering; 53-turbine steering; 54-radial tire rotation; 55-tire circumferential steering; 56-turbine supporting rod and 6-turbine hammer head; 7-a fitting driving part; 8-worm; 9-a driver; 10-turbine micro tooth surface; 11-tire micro tooth surface; 12-wheel axle.

Description of the embodiments

The technical solutions in the preferred examples of the present invention will be clearly and completely described below with reference to the accompanying drawings in the preferred examples of the present invention, and it is apparent that the described preferred examples are only some of the preferred examples of the present invention, not all of the preferred examples. All other preferred examples, based on the preferred examples herein, which would be within the purview of one of ordinary skill in the art without the exercise of inventive faculty, are intended to be within the scope of the invention.

Preferred example 1: the traversing wheel 100 mainly comprises a tire 1, a bracket 3, a turbine 5, a worm 8 and a driver 9.

The annular tyre 1 is sleeved on the Y-shaped fork annular groove 42 of the bracket 3. So that the Y-shaped fork annular groove 42 accommodates the tyre 1 therein and is sleeved in the groove to avoid slipping out of the groove. Meanwhile, the inner wall of the groove is a smooth arc-shaped surface, so that the joint with the surface of the tire 1 is realized.

The tire micro tooth surface 11 and the anti-rotation protrusion 101 are arranged on the surface of the tire 1, and encircle the tire 1 along the meridian. The anti-rotation protrusions 101 are buckled at the notches 47 on the bracket to prevent the tire 1 and the bracket 3 from generating displacement along the tire circumference direction 55; a driver 9 is accommodated in the bracket 3 and drives the worm wheel 5 via a worm 8.

The worm 8 is accommodated in the worm wheel bar driving groove 43; the driver 9 is accommodated in the driver accommodating groove 44. The bracket cover 45 is mounted as an outer decorative cover on the traversing wheel 100 side.

The turbine micro tooth surface 10 on the turbine hammer head 6 and the tire micro tooth surface 11 form a similar rotation driving relationship, and similar to the engagement relationship, when the turbine 5 rotates, the turbine hammer head 6 drives the tire 1 to rotate along the tire meridian rotation direction 54 through the engagement relationship at the position of the joint driving part 7, so that the effect of rolling rotation of the annular tire 1 along the tire meridian rotation direction 54 is realized, and the transverse movement of the transverse moving wheel 100 is realized. This meshing relationship may also not exist significantly, such as by a large friction between the rough turbine flanks 10 and the tire flanks 11 to effect actuation.

A turbine 5; when the engaging portion 51 is positioned to engage with the turbine 5, the turbine 5 is rotated along the scroll direction 52, and the turbine 5 is driven to rotate, thereby driving the tire 1 to "roll".

The worm 8 is in a variable direction driving relationship with the worm gear 5. The driving relationship can be realized by a variable-direction transmission mode of a bevel gear. The structure diagram is shown in figure 2.

Preferred example 2: the tire 1 has a hollow structure, and has a hollow portion 2 penetrating the tire 1. The hollow structure of the hollow part 2 can be similar to that of the conventional common air bag type tire, or can be partitioned hollow, and a plurality of reinforcing ribs are added in the hollow part to strengthen the overall rigidity of the tire. The tire 1 surface may also be provided with a pattern provided for increasing friction, but the position and orientation of the pattern should not interfere with the tire micro tooth surface 11, the anti-rotation protrusions 101, and the positions of the balls 4 mentioned below.

Preferred example 3: the Y-shaped fork annular groove 42 is internally provided with a ball 4, and the ball 4 is positioned in the roller accommodating groove 41; the portion of the balls 4 protruding from the roller receiving groove 41 is in contact with the outer surface of the tire 1 so that a rolling relationship is formed between the tire 1 and the Y-fork annular groove 42. The friction between the tire 1 and the Y-fork annular groove 42 is reduced.

Preferred example 4: the balls 4 are arranged in the Y-shaped fork annular groove 42 in a euler-symmetric manner along the circumferential direction 55.

Preferred example 5: the number of the turbines 5 is three, and the turbines are uniformly distributed along the circumferential direction of the worm 8; each turbine 5 is supported by a turbine support bar 56. The arrangement of the turbines 5 is circumferentially and uniformly distributed, and each turbine 5 and the worm 8 form a driving relationship.

Preferred example 6: the driver 9 is a gear motor or a direct drive motor. The driving method is not limited to the two motors, and may be a driving method such as a servo motor, a stepping motor, or a hydraulic motor. The use of highly integrated drivers such as direct drive motors can make the integration level of the whole system high, thereby improving the adaptability to various application scenes.

Preferred example 7: a four-wheel vehicle is provided with a traversing wheel 100, and the front two wheels, the rear two wheels or four wheels of the four-wheel vehicle are the traversing wheels 100; the traversing wheel 100 is driven by a driving device of the four-wheel vehicle through the wheel shaft 12 to perform a rotation operation along the tire circumferential direction 55; driven by the actuator 9, the lateral rolling in the tire meridian direction 54 is performed.

In the description of the present specification, the description with reference to the terms "one preferred example," "specific example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims

1. Sideslip wheel, its characterized in that: mainly comprises a tire (1), a bracket (3), a turbine (5), a worm (8) and a driver (9); the annular tyre (1) is sleeved on the Y-shaped fork annular groove (42) of the bracket (3); the tire micro tooth surface (11) and the anti-rotation bulge (101) are arranged on the surface of the tire (1) and encircle the tire (1) along a meridian; the anti-rotation protrusions (101) are buckled at the notches (47) on the bracket to prevent the tire (1) and the bracket (3) from being displaced integrally along the tire circumference direction (55); a driver (9) is accommodated in the bracket (3) and drives the turbine (5) through the worm (8); a turbine micro-tooth surface (10) on the turbine hammer head (6) and the tire micro-tooth surface (11) form a rotation driving relationship, and the turbine hammer head (6) drives the tire (1) to rotate along a tire meridian rotation direction (54); the tyre (1) is of a hollow structure; the Y-shaped fork annular groove (42) is internally provided with a ball (4), and the ball (4) is positioned in the roller accommodating groove (41); the part of the ball (4) protruding out of the roller accommodating groove (41) is in contact with the outer surface of the tire (1), so that the tire (1) and the Y-shaped fork annular groove (42) form a rolling relationship; the balls (4) are arranged in the Y-shaped fork annular groove (42) in a left-right symmetry manner along the tire circumferential direction (55); the number of the turbines (5) is three, and the turbines are uniformly distributed along the circumferential direction of the worm (8); each turbine (5) is supported by a turbine support rod (56).

2. The traversing wheel according to claim 1, wherein: the driver (9) is a gear motor or a direct drive motor.

3. A four-wheeled vehicle fitted with a traversing wheel according to any one of claims 1-2, characterized in that: the front two wheels, the rear two wheels or the four wheels of the four-wheel vehicle are the transverse moving wheels; the traversing wheel is driven by a driving device of the four-wheel vehicle through an axle (12) to perform a rotation motion along the tire circumferential direction (55); driven by the driver (9), the lateral rolling along the radial direction (54) of the tire is implemented.