CN203211894U - Spherical mobile structure - Google Patents
Spherical mobile structure Download PDFInfo
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- CN203211894U CN203211894U CN 201320093230 CN201320093230U CN203211894U CN 203211894 U CN203211894 U CN 203211894U CN 201320093230 CN201320093230 CN 201320093230 CN 201320093230 U CN201320093230 U CN 201320093230U CN 203211894 U CN203211894 U CN 203211894U
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Abstract
The utility model discloses a spherical mobile structure, which comprises a spherical wheel, a drive device and a shell, wherein the spherical wheel is a spherical body with a friction force increasing layer, the drive device is arranged on the upper side of the spherical wheel, and comprises two groups of drive units, each drive unit comprises a motor, a motor seat and a drive wheel, the drive wheel is in contact with the spherical wheel, the drive wheel and the spherical wheel are arranged in an orthorhombic structure, and the shell is sleeved outside the drive device to be positioned and fixed on the drive device in the shell. The spherical mobile structure truly achieves that the spherical wheel can be controlled and driven to do active movement.
Description
Technical field
The utility model relates to a kind of spherical drive mechanism, relates in particular to a kind of spherical moving structure.
Background technology
The ball-type transmission device is being applied in all trades and professions, and wherein the buphthalmos wheel is the utility structure that the universal property of ball is applied to physical construction, so the buphthalmos wheel has been used in many occasions.But, be suggested from the concept of buphthalmos wheel, the meticulousst product of technology up till now, just friction drag, outward appearance, material etc. of changing to some extent, and it is as the traditional thought that follower uses, and does not obtain so far breaking through.
Existing driving wheel separately by motor-driven the time, does not all have the ability of universal movement, the device controlling party that needs other to.And the buphthalmos wheel has the ability of omnidirectional moving, if can use as driving wheel, its usefulness is greatly improved, and can not realizes making global wheel to be controlled and to drive in the existing mechanism.
Thus, the inventor considers improving on the existing spherical drive mechanism, and through test of many times and practical application, this case produces thus.
The utility model content
At the deficiencies in the prior art, the utility model provide a kind of simple in structure that rationally, the spherical vehicle wheel construction of installation and control convenient to use, as to realize global wheel and driving, convenient for maintaining.
For achieving the above object, the utility model is achieved through the following technical solutions:
A kind of spherical moving structure, this spherical vehicle wheel construction comprises global wheel, actuating device and shell, wherein:
Global wheel, it is to have the spheroid that friction force increases layer.
Actuating device, it is positioned at the upside of global wheel, this actuating device comprises two groups of driver elements, each driver element comprises motor, motor cabinet and drive wheel, described drive wheel contact with global wheel and with the orthogonal thereto structure setting of global wheel;
Shell, it is sheathed on the actuating device outside with the location and fixedly places its inner actuating device.
Further, described global wheel is hollow stainless steel ball.
Further, described actuating device comprises two groups of four driver elements.
Further, described motor cabinet is fixed in the miniature carving inboard, and this motor cabinet comprises two motor fixing plates of coupling mutually, and described drive wheel is arranged between two motor fixing plates, and a transmission shaft passes motor fixing plate and drive wheel forms the drive wheel connection structure.
Further, described driving wheel is omnidirectional wheel or Sweden's wheel or Lay wheel not.
Further, described shell comprises top board, base plate and side panel, described top board is provided with the through hole with the electric machine main shaft coupling, have on the described base plate one with the circular port of global wheel coupling, this circular port is sheathed on the episphere position of global wheel, and described top board, base plate are threaded with side panel respectively and form a complete shell.
Effect of the present utility model is: no matter in theory the design still puts into practice, and all tool has very important significance.In theory, it has creatively proposed the thought of cardan wheel as the driving wheel use, and has designed theoretical model, has created the new model of " wheel drive ball "; In practice, what it had strengthened old driving wheel can be handling, when moving for irregular, as long as some contact is arranged, and can provide enough positive pressures, just can realize the control fully to car body.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model STRUCTURE DECOMPOSITION figure;
Fig. 3 is the utility model one structure of driving unit scheme drawing;
Fig. 4 is the utility model inner structure scheme drawing;
Fig. 5 is the utility model drive wheel structural representation.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing:
Embodiment: see also Fig. 1 to shown in Figure 5, a kind of spherical moving structure, this spherical vehicle wheel construction comprises global wheel 1, actuating device 2 and shell 3; Groundwork of the present utility model is with two groups of mutually orthogonal drive wheels, the driving global wheel rotates, and by changing two groups of revolution ratios between the wheel, ball can be rotated to any direction, thereby realized the control to global wheel, below the utility model structure has been specifically addressed.
See also Fig. 1 to shown in Figure 3, global wheel 1, it is hollow stainless steel ball, be sprayed with friction force on this global wheel 1 and increase layer, be sprayed with friction force and increase layer and be layer of sand, in order to having reduced quality, and when drive wheel 113 frictions with actuating device 2 drive, can provide enough big friction coefficient, in order to avoid the situation of skidding occurs.
See also Fig. 2 to shown in Figure 5, driving is adorned 2 and is put, and it is positioned at the episphere of global wheel 1, and this actuating device 2 comprises four driver elements 21, and each driver element 21 comprises motor 211, motor cabinet 212 and drive wheel 213; Described motor 111 is the turbine and worm reducing motor; Described motor cabinet 212 is fixed in the miniature carving inboard, this motor cabinet 212 comprises two motor fixing plates 214 of coupling mutually, described drive wheel 213 is arranged between two motor fixing plates 214, one transmission shaft 215 passes motor fixing plate 214 and drive wheel 213 forms the drive wheel connection structure, and this motor cabinet 122 is angle aluminium bore screw connection structure; Described drive wheel 213 contact with global wheel 1 and with the orthogonal thereto structure setting of global wheel, described drive wheel 213 can be omnidirectional wheel or Sweden's wheel or Lay wheel not, driving wheel is omnidirectional's wheel in the present embodiment.Described worm and gear reducing motor can provide enough moments of torsion, guaranteeing the smooth operation of device, and can save the space, as much as possible the volume of compression set; Motor cabinet is made by the boring of angle aluminium, and said structure can make the component velocity of global wheel on another direction can not interfere mutually with drive wheel.
See also Fig. 1 to shown in Figure 5, shell 3, it is sheathed on actuating device 2 outsides with the location and fixedly places its inner actuating device 2, described shell 3 comprises top board 31, base plate 32 and side panel 33, described top board 31 is provided with the through hole 311 with main shaft 216 coupling of motor 211, have on the described base plate 32 one with the circular port 321 of global wheel 1 coupling, this circular port 321 is sheathed on the episphere position of global wheel 1, and described top board 31, base plate 32 are threaded with side 33 plates respectively and form a complete shell.Above-mentioned shell 3 adopts aluminium alloy plate and connects threadably by angle steel, is easy to processing, dismounting, has guaranteed enough firm degree simultaneously, has also played the protection inner structure, and the effect that connects firmly each parts.
Advantage of the present utility model and beneficial effect are as follows:
1, thought novelty is about to traditional global wheel and uses as driving wheel, broken through the thought binding of " the buphthalmos wheel is follower ", and the advantage of buphthalmos wheel and driving wheel is combined.
2, brand-new theoretical, the design provides a kind of brand-new theoretical model for the control of spheroid, namely takes turns the principle of friction-driven ball by quadrature drive.
3, efficiently convenient, the universal property of global wheel make the design be doomed to become a kind of easily, travel mechanism efficiently, have the powerful ability to any direction motion
4, handling strong, in the travel mechanism that several " global wheels " are housed, run into phenomenons such as skidding can not appear in the road surface of jolting, because only needing 1, the movement of entire mechanism have the point of positive pressure just can realize controlling fully.
5, the modern times attractive in appearance, succinct outward appearance, completely new concept, powerful ability has embodied the combination of art with science and technology.
The utlity model has the market potential promotional value, attempt two examples below:
A, logistics system
In traditional logistics system, because travel line can only provide the motion of one degree of freedom, cause can only transmitting to a direction from a bit, if any a plurality of receiver addresses, can only adopt tandem moor to arrange, divide level sortation.Such system effectiveness is low, the energy consumption height, and the line body is long, takes up an area of wide.As adopting the design at sending end, then a plurality of receiver addresses can directly transmit to any receiver address from going out to make a start around the annular layout arranged side by side of making a start, the efficient height, and layout is flexible, takes up an area of few relatively.
B, vehicular propulsion
Traditional vehicle such as need change sense of motion, are to rely on the sensing that changes wheel flutter to realize that this steering mode causes vehicle that bigger turn radius need be arranged.And at some special occasions, as crowded storehouse, narrow region etc., the space that can turn is limited.For this reason, people have invented technology such as follow-up steering reducing the turn radius of vehicle, but cause the significantly rising of manufacturing cost.As adopt the design as actuating device, and can realize that car body moves to any direction, can realize that also no-radius turns to.
The above record only for utilizing the embodiment of this origination techniques content, anyly is familiar with modification, the variation that this skill person uses this creation to do, and all belongs to the claim of this creation opinion, and is not limited to those disclosed embodiments.
Claims (6)
1. spherical moving structure, it is characterized in that: this spherical vehicle wheel construction comprises global wheel, actuating device and shell, wherein:
Global wheel, it is to have the spheroid that friction force increases layer;
Actuating device, it is positioned at the upside of global wheel, this actuating device comprises two groups of driver elements, each driver element comprises motor, motor cabinet and drive wheel, described drive wheel contact with global wheel and with the orthogonal thereto structure setting of global wheel;
Shell, it is sheathed on the actuating device outside with the location and fixedly places its inner actuating device.
2. a kind of spherical moving structure according to claim 1, it is characterized in that: described global wheel is hollow stainless steel ball.
3. a kind of spherical moving structure according to claim 1, it is characterized in that: described actuating device comprises two groups of four driver elements.
4. a kind of spherical moving structure according to claim 1, it is characterized in that: described motor cabinet is fixed in the miniature carving inboard, this motor cabinet comprises two motor fixing plates of coupling mutually, described drive wheel is arranged between two motor fixing plates, and a transmission shaft passes motor fixing plate and drive wheel forms the drive wheel connection structure.
5. a kind of spherical moving structure according to claim 1 is characterized in that: described driving wheel is omnidirectional's wheel or Sweden's wheel or Lay wheel not.
6. a kind of spherical moving structure according to claim 1, it is characterized in that: described shell comprises top board, base plate and side panel, described top board is provided with the through hole with the electric machine main shaft coupling, have on the described base plate one with the circular port of global wheel coupling, this circular port is sheathed on the episphere position of global wheel, and described top board, base plate are threaded with side panel respectively and form a complete shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320093230 CN203211894U (en) | 2013-03-01 | 2013-03-01 | Spherical mobile structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320093230 CN203211894U (en) | 2013-03-01 | 2013-03-01 | Spherical mobile structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203211894U true CN203211894U (en) | 2013-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320093230 Expired - Fee Related CN203211894U (en) | 2013-03-01 | 2013-03-01 | Spherical mobile structure |
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| CN (1) | CN203211894U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493725A (en) * | 2016-10-25 | 2017-03-15 | 复旦大学 | A kind of industrial robot positioner based on omnidirectional's driven pulley and encoder |
| CN107364281A (en) * | 2017-07-31 | 2017-11-21 | 熊鹏 | Spherical tire drive system, method and the spherical tire automobile with the system |
| CN107421038A (en) * | 2017-09-13 | 2017-12-01 | 湖州职业技术学院 | A kind of green intelligent humidity control system |
| CN109484421A (en) * | 2017-09-10 | 2019-03-19 | 杭州宏成节能科技有限公司 | A kind of removable storing trolley and its track |
| CN109506294A (en) * | 2017-09-10 | 2019-03-22 | 杭州宏成节能科技有限公司 | A kind of green intelligent humidity control system |
-
2013
- 2013-03-01 CN CN 201320093230 patent/CN203211894U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493725A (en) * | 2016-10-25 | 2017-03-15 | 复旦大学 | A kind of industrial robot positioner based on omnidirectional's driven pulley and encoder |
| CN107364281A (en) * | 2017-07-31 | 2017-11-21 | 熊鹏 | Spherical tire drive system, method and the spherical tire automobile with the system |
| CN107364281B (en) * | 2017-07-31 | 2021-03-26 | 熊鹏 | Spherical tire driving system and spherical tire automobile with same |
| CN109484421A (en) * | 2017-09-10 | 2019-03-19 | 杭州宏成节能科技有限公司 | A kind of removable storing trolley and its track |
| CN109506294A (en) * | 2017-09-10 | 2019-03-22 | 杭州宏成节能科技有限公司 | A kind of green intelligent humidity control system |
| CN109506294B (en) * | 2017-09-10 | 2020-12-15 | 浙江广播电视大学 | Green intelligent temperature regulation system |
| CN107421038A (en) * | 2017-09-13 | 2017-12-01 | 湖州职业技术学院 | A kind of green intelligent humidity control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130925 Termination date: 20150301 |
|
| EXPY | Termination of patent right or utility model |