CN202080360U - Spherical impeller device - Google Patents
Spherical impeller device Download PDFInfo
- Publication number
- CN202080360U CN202080360U CN2011201482107U CN201120148210U CN202080360U CN 202080360 U CN202080360 U CN 202080360U CN 2011201482107 U CN2011201482107 U CN 2011201482107U CN 201120148210 U CN201120148210 U CN 201120148210U CN 202080360 U CN202080360 U CN 202080360U
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- China
- Prior art keywords
- spherical impeller
- spherical
- synchronizing
- rolling
- bearing plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000005096 rolling process Methods 0.000 claims abstract description 25
- 229920003266 Leaf® Polymers 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000013016 damping Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009183 running Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
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Abstract
The utility model relates to a spherical impeller device, which comprises a support plate. The bottom part of the support plate is provided with a plurality of supports; the supports are respectively provided with a synchronizing shaft; all the synchronizing shafts are arranged onto the support plate in a penetrating way; the synchronizing shafts are respectively provided with a synchronizing wheel; a caterpillar band is sheathed outside each synchronizing wheel; one of the synchronizing shafts is connected with a rolling shaft through a first gear transmission mechanism; the rolling shaft is arranged on the support plate; the rolling shaft is connected with a power input device through a second gear transmission mechanism; the support plate is provided with a spherical impeller mechanism; the spherical impeller mechanism comprises spherical impellers; each spherical impeller comprises a plurality of elastic blades; one ends of the elastic blades are fixed on a blade fixator; the other ends of the elastic blades are fixed on the support plate and are arranged in the manner of radian; and the elastic blades are evenly distributed in the manner of central symmetry. The spherical impeller device has the advantages of simple structure, easiness in production, flexibility in movement, toppling resistance, ambient interference resistance and vibration damping and is capable of adapting to occasions with complicated road surfaces.
Description
Technical field
The utility model relates to a kind of wheel apparatus, especially a kind of spherical impeller unit.
Background technology
At the driving device on the present China market, as the wheel of automobile, owing to adopt cylindrical structural, when rollover took place automobile, automobile often can not be got back to the position of cruising; And the caterpillar driving device on traditional tank also is difficult to the function that realization is not fallen; Traditional spherical device adopts fully enclosed structure, as long as there are any the gradient or out-of-flat in ground, the capital makes machine move, be difficult to guarantee the static of machine, be unfavorable for the work that when machine is static, to carry out, this also feasible motion control to machine has proposed higher accuracy requirement, has increased the complexity of machine.
Summary of the invention
The utility model will solve existing driving device and have the problem that performance is not high, can not be suitable for multiple occasion, the spherical impeller unit that provides a kind of energy to be suitable for multiple occasion, to have better performance.
The technical solution of the utility model:
A kind of spherical impeller unit is characterized in that: comprise stay bearing plate, the bottom of described stay bearing plate is equipped with a plurality of supports, on the described support synchronizing shaft is installed, described synchronizing shaft is located on the stay bearing plate, on the described synchronizing shaft synchronizing wheel is installed, and described synchronizing wheel is set with crawler belt outward;
One of them described synchronizing shaft is connected with the axis of rolling by first gear drive, and the described axis of rolling is installed on the stay bearing plate, and the described axis of rolling is connected with power input device by second gear drive;
Spherical impeller mechanism is installed on the described stay bearing plate, and described spherical impeller mechanism comprises spherical impeller, and described spherical impeller is made up of a plurality of spring leafs, and described spring leaf one end is fixed on the vanes fixed device, and the other end is fixed on the stay bearing plate, is the radian setting; The described spring leaf rectangular distribution that is centrosymmetric.
Further, be provided with the spring that bumper and absorbing shock is used between described spring leaf and the vanes fixed device.
Further, described first gear drive comprises ingear first straight gear and second straight gear, and described first straight gear is installed on the synchronizing shaft, and described second straight gear is installed on the axis of rolling.
Further, described second gear drive comprises ingear first helical wheel and second helical wheel, and described first helical wheel is installed on the axis of rolling, and described second helical wheel is installed on the output shaft of power input device.
Further, the described axis of rolling by bearing installation on stay bearing plate.
Further, described spherical impeller comprises six spring leafs, is 60 degree angles between the adjacent described spring leaf.
During the utility model work, by the power input device imput power, dynamic action is on second helical wheel, drive the second helical gear rotation, second helical wheel drives with its ingear first helical wheel and rotates, first helical wheel drives the axis of rolling and rotates, second straight gear that the axis of rolling drives on it is rotated, second straight gear and its ingear first straight gear are rotated, first straight gear drives synchronizing shaft and rotates, synchronizing shaft drives synchronizing wheel and rotates, and the synchronizing wheel running drives caterpillar drive, thereby realizes the transmission and the motion of spherical impeller unit.When practice, can about on the machine, respectively adorn a spherical impeller unit, by left and right sides actuating device actuating speed difference realize machine left-hand rotation, turn right and advance.
The setting of the spherical impeller mechanism of the utility model, make machine arbitrarily around X, Y after the Z axle topples, still has four synchronizing wheels to turn round, thus the drive caterpillar drive, thereby kept the locomitivity of robot.
The spherical impeller mechanism of the utility model has elasticity, and machine can be moved in complicated ruins, and eminence falls and can not break, and plays buffering and cushioning effect.The special construction that adopts the semicircle impeller to combine simultaneously with crawler belt, than other various drivings device, be more suitable for advancing in the rugged ground of complexity and, flexible, the anti-ambient interference of moving.Semicircle wheel design, in the local time that grade ratio is bigger, device can directly roll down, and does not need power, reduces the consumption of the energy, and when arriving nadir, the machine space motion also can not keeping state, does not have rollover and rolls problem.
The utility model has the advantages that:
1, simple in structure, be easy to produce.
The occasion that 2, can adapt to the road surface complexity.
3, motion flexibly, anti-ly topple over, anti-ambient interference, damping.
Description of drawings
Fig. 1 is a main TV structure scheme drawing of the present utility model.
Fig. 2 is a stravismus structural representation of the present utility model.
Fig. 3 is the structural representation of looking up of the utility model ball.
Fig. 4 is a gear drive structural representation of the present utility model.
Fig. 5 is that spring of the present utility model is provided with structural representation.
The specific embodiment
With reference to Fig. 1-5, a kind of spherical impeller unit comprises stay bearing plate 4, the bottom of described stay bearing plate 4 is equipped with a plurality of supports 1, on the described support 1 synchronizing shaft 5 is installed, and described synchronizing shaft 5 is located on the stay bearing plate 4, on the described synchronizing shaft 5 synchronizing wheel 3 is installed, the described synchronizing wheel 3 outer crawler belts 2 that are set with;
One of them described synchronizing shaft 5 is connected with the axis of rolling 9 by first gear drive, and the described axis of rolling 9 is installed on the stay bearing plate 4, and the described axis of rolling 9 is connected with power input device by second gear drive;
On the described stay bearing plate 4 spherical impeller mechanism is installed, described spherical impeller mechanism comprises spherical impeller 11, and described spherical impeller 11 is made up of a plurality of spring leafs, and described spring leaf one end is fixed on the vanes fixed device 12, the other end is fixed on the stay bearing plate 4, is the radian setting; The described spring leaf rectangular distribution that is centrosymmetric.
Be provided with the spring 13 that bumper and absorbing shock is used between described spring leaf and the vanes fixed device 12.
Described first gear drive comprises ingear first straight gear 6 and second straight gear 7, and described first straight gear 6 is installed on the synchronizing shaft 5, and described second straight gear 7 is installed on the axis of rolling 9.
Described second gear drive comprises ingear first helical wheel 8 and second helical wheel 10, and described first helical wheel 8 is installed on the axis of rolling 9, and described second helical wheel 10 is installed on the output shaft of power input device.
The described axis of rolling 9 by bearing installation on stay bearing plate 4.
Described spherical impeller 11 comprises six spring leafs, is 60 degree angles between the adjacent described spring leaf.
During the utility model work, by the power input device imput power, dynamic action is on second helical wheel 10, drive the rotation of second helical wheel 10, second helical wheel 10 drives with its ingear first helical wheel 8 and rotates, first helical wheel 8 drives the axis of rolling 9 and rotates, second straight gear 7 that the axis of rolling 9 drives on it is rotated, second straight gear 7 is rotated with its ingear first straight gear 6, first straight gear 6 drives synchronizing shaft 5 and rotates, synchronizing shaft 5 drives synchronizing wheel 3 and rotates, and synchronizing wheel 3 runnings drive crawler belt 2 motions, thereby realizes the transmission and the motion of spherical impeller unit.When practice, can about on the machine, respectively adorn a spherical impeller unit, by left and right sides actuating device actuating speed difference realize machine left-hand rotation, turn right and advance.
The setting of the spherical impeller mechanism of the utility model, make machine arbitrarily around X, Y after the Z axle topples, still has four synchronizing wheels 3 to turn round, and moves thereby drive crawler belt 2, thereby has kept the locomitivity of robot.
The spherical impeller mechanism of the utility model has elasticity, and machine can be moved in complicated ruins, and eminence falls and can not break, and plays buffering and cushioning effect.The special construction that adopts the semicircle impeller to combine simultaneously with crawler belt, than other various drivings device, be more suitable for advancing in the rugged ground of complexity and, flexible, the anti-ambient interference of moving.Semicircle wheel design, in the local time that grade ratio is bigger, device can directly roll down, and does not need power, reduces the consumption of the energy, and when arriving nadir, the machine space motion also can not keeping state, does not have rollover and rolls problem.
The described content of this specification sheets embodiment only is enumerating the way of realization of utility model design; protection domain of the present utility model should not be regarded as only limiting to the concrete form that embodiment states, protection domain of the present utility model also reach in those skilled in the art according to the utility model design the equivalent technologies means that can expect.
Claims (6)
1. spherical impeller unit, it is characterized in that: comprise stay bearing plate, the bottom of described stay bearing plate is equipped with a plurality of supports, on the described support synchronizing shaft is installed, described synchronizing shaft is located on the stay bearing plate, on the described synchronizing shaft synchronizing wheel is installed, and described synchronizing wheel is set with crawler belt outward;
One of them described synchronizing shaft is connected with the axis of rolling by first gear drive, and the described axis of rolling is installed on the stay bearing plate, and the described axis of rolling is connected with power input device by second gear drive;
Spherical impeller mechanism is installed on the described stay bearing plate, and described spherical impeller mechanism comprises spherical impeller, and described spherical impeller is made up of a plurality of spring leafs, and described spring leaf one end is fixed on the vanes fixed device, and the other end is fixed on the stay bearing plate, is the radian setting; The described spring leaf rectangular distribution that is centrosymmetric.
2. a kind of spherical impeller unit according to claim 1 is characterized in that: be provided with the spring that bumper and absorbing shock is used between described spring leaf and the vanes fixed device.
3. a kind of spherical impeller unit according to claim 1 and 2, it is characterized in that: described first gear drive comprises ingear first straight gear and second straight gear, described first straight gear is installed on the synchronizing shaft, and described second straight gear is installed on the axis of rolling.
4. a kind of spherical impeller unit according to claim 3, it is characterized in that: described second gear drive comprises ingear first helical wheel and second helical wheel, described first helical wheel is installed on the axis of rolling, and described second helical wheel is installed on the output shaft of power input device.
5. a kind of spherical impeller unit according to claim 4 is characterized in that: the described axis of rolling by bearing installation on stay bearing plate.
6. a kind of spherical impeller unit according to claim 5 is characterized in that: described spherical impeller comprises six spring leafs, is 60 degree angles between the adjacent described spring leaf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201482107U CN202080360U (en) | 2011-05-11 | 2011-05-11 | Spherical impeller device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201482107U CN202080360U (en) | 2011-05-11 | 2011-05-11 | Spherical impeller device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202080360U true CN202080360U (en) | 2011-12-21 |
Family
ID=45341007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201482107U Expired - Fee Related CN202080360U (en) | 2011-05-11 | 2011-05-11 | Spherical impeller device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202080360U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231746A (en) * | 2013-04-25 | 2013-08-07 | 浙江大学 | Spherical impeller robot |
-
2011
- 2011-05-11 CN CN2011201482107U patent/CN202080360U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231746A (en) * | 2013-04-25 | 2013-08-07 | 浙江大学 | Spherical impeller robot |
| CN103231746B (en) * | 2013-04-25 | 2015-08-19 | 浙江大学 | A kind of Spherical impeller robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111221 Termination date: 20140511 |