CN203228889U - Vehicle with ball wheels - Google Patents
Vehicle with ball wheels Download PDFInfo
- Publication number
- CN203228889U CN203228889U CN 201320214605 CN201320214605U CN203228889U CN 203228889 U CN203228889 U CN 203228889U CN 201320214605 CN201320214605 CN 201320214605 CN 201320214605 U CN201320214605 U CN 201320214605U CN 203228889 U CN203228889 U CN 203228889U
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- CN
- China
- Prior art keywords
- ball
- ball wheel
- wheel
- vehicle
- lath
- 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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Abstract
The utility model relates to a vehicle with ball wheels. The vehicle comprises a plurality of driving units, each driving unit comprises an upper plate support, a lower plate support and battens, each upper plate support is connected with the corresponding lower plate support by the corresponding battens, each ball wheel is arranged between the two plate supports of the corresponding driving unit, the lowest point of each ball wheel is positioned below the corresponding lower plate support, and two friction wheels are fittingly arranged on the outer surface of each ball wheel and are provided with driving motors. The vehicle has the advantages that the vehicle is simple in structure, and a vehicle body can translate towards an optional direction under the differential action of the multiple ball wheels on the premise that the vehicle body is not turned, and can rotate in an in-situ manner; the vehicle can move along an optional track in a plane under the complete control.
Description
Technical field
The utility model relates to a kind of base apparatus of intelligent robot, relates in particular to a kind of ball wheel car.
Background technology
Existing intelligent carriage chassis realizes turning to basic differential or make wheel deflection by steering wheel by two-wheeled in the market.This steering mode flexibility ratio is low, and the wheelpath degree of freedom is little, and operability is poor.And dolly structure transition of using steering wheel to turn to is comparatively complicated.In addition, almost can realize transverse translation without any a kind of intelligent vehicle chassis in the market, changing direction of traffic can only realize by the deflection vehicle body.
The utility model content
The purpose of this utility model provides a kind of ball wheel car, to overcome present prior art above shortcomings.
The purpose of this utility model is to be achieved through the following technical solutions:
A kind of ball wheel car, comprise several driver elements, described driver element comprises upper and lower two flat brackets and the lath that is connected two flat brackets, be provided with the ball wheel between two flat brackets, the nadir of ball wheel is positioned at the below of flat bracket down, be furnished with two friction wheels on the described ball wheel outer surface, described friction wheel is provided with drive motor.
Preferably, described ball wheel car comprises three or four driver elements.Described two friction wheels are vertical the setting mutually.
Further, be provided with annular ball rack between described ball wheel and the following flat bracket.Described drive motor is installed on the lath, and described lath is captiveed joint with the upper flat plate support, described lath and following flat bracket overlap joint.
Preferably, the bottom of described lath connects an end of tension spring, and the other end of described tension spring is near the ball wheel.
The beneficial effects of the utility model are: simple in structure, differential by several balls wheel can be realized the original place rotation to the translation of any direction under the prerequisite that vehicle body does not turn to.It can be realized along the movement of track arbitrarily in the plane under improving control.
Description of drawings
With reference to the accompanying drawings the utility model is described in further detail below.
Fig. 1 is the birds-eye view of the described ball wheel of the utility model embodiment car;
Fig. 2 is the transparent configuration scheme drawing of the described ball wheel of the utility model embodiment car;
Fig. 3 is one of strained condition figure of the described ball wheel of the utility model embodiment car;
Fig. 4 be the described ball of the utility model embodiment wheel car strained condition figure two.
Among the figure:
1, flat bracket; 2, lath; 3, ball wheel; 4, friction wheel; 5, drive motor; 6, annular ball rack; 7, tension spring.
The specific embodiment
Shown in Fig. 1-2, the described a kind of ball wheel car of the utility model embodiment, comprise several driver elements, described driver element comprises upper and lower two flat brackets 1 and the lath 2 that is connected two flat brackets 1, be provided with ball wheel 3 between two flat brackets 1, the nadir of ball wheel 3 is positioned at the below of flat bracket 1 down, and described ball is taken turns is furnished with two friction wheels 4 on 3 outside faces, and described friction wheel 4 is provided with drive motor 5.Described ball wheel car comprises three or four driver elements.Be provided with annular ball rack 6 between described ball wheel 3 and the following flat bracket 1.Described drive motor 5 is installed on the lath 2, and described lath 2 is captiveed joint with upper flat plate support 1, described lath 2 and following flat bracket 1 overlap joint.The bottom of described lath 2 connects an end of tension spring 7, and the other end of described tension spring 7 is near ball wheel 3.Two friction wheel 4 vertical settings mutually.
The ball wheel car that the utility model provides, drive friction wheel 4 by drive motor 5, two friction wheels 4 apply propulsive effort at different directions to ball wheel 3, thereby guarantee that ball wheel 3 rolls towards different directions, consider the efficiency of application force, preferred two friction wheels 4 vertically arrange, a plurality of driver elements can guarantee that the plane any direction of whole ball wheel car moves with the original place and spin, in order to drive conveniently, preferred four driver elements are two kinds of stressing conditions that example is introduced ball wheel 3 with four driver elements below;
As shown in Figure 3, when eight friction wheels 4 provide the big propulsive effort of the grade of direction as shown respectively, the sense of motion unanimity of four ball wheels 3, this moment, ball wheel car wholely advanced towards direction as shown in the figure.
As shown in Figure 4, when eight friction wheels 4 provided the big propulsive effort of the grade of direction as shown respectively, four ball 3 speed of taking turns equated, direction as shown in the figure, this moment spins in ball wheel car original place.Because the calculating of propulsive effort direction belongs to basic physical knowledge, a plurality of structure of driving unit beyond four driver elements are not given unnecessary details at this also in this way.By the unified control of control system, impose on the propulsive effort of friction wheel 4 different sizes, thereby drive ball takes turns 3 towards the different directions motion, the combination that a plurality of balls are taken turns 3 sense of motions can make whole ball wheel car move towards the plane any direction.
The utility model is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present utility model; no matter but do any variation in its shape or structure; every have identical with a application or akin technical scheme, all drops within the protection domain of the present utility model.
Claims (6)
1. a ball is taken turns car, comprise several driver elements, described driver element comprises upper and lower two flat brackets (1) and the lath (2) that is connected two flat brackets (1), it is characterized in that: be provided with ball wheel (3) between two flat brackets (1), the nadir of ball wheel (3) is positioned at the below of flat bracket (1) down, be furnished with two friction wheels (4) on described ball wheel (3) outside face, described friction wheel (4) is provided with drive motor (5).
2. ball according to claim 1 is taken turns car, and it is characterized in that: the quantity of described driver element is three or four.
3. ball wheel car according to claim 2 is characterized in that: be provided with annular ball rack (6) between described ball wheel (3) and the following flat bracket (1).
4. ball according to claim 3 is taken turns car, and it is characterized in that: described drive motor (5) is installed on the lath (2), and described lath (2) is captiveed joint with upper flat plate support (1), described lath (2) and following flat bracket (1) overlap joint.
5. ball wheel car according to claim 4 is characterized in that: an end of the bottom connection tension spring (7) of described lath (2), the close ball wheel of the other end of described tension spring (7) (3).
6. according to each described ball wheel car of claim 1-5, it is characterized in that: two friction wheels (4) are vertical the setting mutually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320214605 CN203228889U (en) | 2013-04-25 | 2013-04-25 | Vehicle with ball wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320214605 CN203228889U (en) | 2013-04-25 | 2013-04-25 | Vehicle with ball wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203228889U true CN203228889U (en) | 2013-10-09 |
Family
ID=49285029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320214605 Expired - Fee Related CN203228889U (en) | 2013-04-25 | 2013-04-25 | Vehicle with ball wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203228889U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040451A (en) * | 2019-04-26 | 2019-07-23 | 南通大学 | A kind of automobile-used walking mechanism of track take-away dispatching |
| IT202000001354A1 (en) | 2020-01-23 | 2021-07-23 | S4E Impianti S R L | Spherical wheel drive device for omnidirectional plane motion |
-
2013
- 2013-04-25 CN CN 201320214605 patent/CN203228889U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040451A (en) * | 2019-04-26 | 2019-07-23 | 南通大学 | A kind of automobile-used walking mechanism of track take-away dispatching |
| IT202000001354A1 (en) | 2020-01-23 | 2021-07-23 | S4E Impianti S R L | Spherical wheel drive device for omnidirectional plane motion |
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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: 20131009 Termination date: 20140425 |