CN204263837U - A kind of two spherical crown differential type all-round wheel in parallel - Google Patents
A kind of two spherical crown differential type all-round wheel in parallel Download PDFInfo
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- CN204263837U CN204263837U CN201420602952.6U CN201420602952U CN204263837U CN 204263837 U CN204263837 U CN 204263837U CN 201420602952 U CN201420602952 U CN 201420602952U CN 204263837 U CN204263837 U CN 204263837U
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Abstract
The utility model relates to a kind of directional wheel, specifically relate to a kind of two spherical crown differential type all-round wheel in parallel, its direction movement mainly as robot is taken turns, service robot and similar application, it takes turns a by ball and ball wheel b is formed, ball wheel a and ball wheel b is connected on support respectively by the driving wheel of center cross, and two ball wheels are by gear cluster transferring power; Its structure is simple, and motion flexibly; Rely on and the alternately uninterrupted contact being unified into two spheroids spherical crown and the ground in motion process that corner differs 45 ° realizes easy motion, load-carrying capacity is strong, is easy to control, and is particularly suitable as the cardan wheel of robot movement platform.In motion process, b alternately realizes whole driving process continuity with earth surface taken turns by ball wheel a and ball.
Description
Technical field
The utility model relates to a kind of directional wheel, specifically relates to a kind of in parallel two spherical crown differential type all-round wheel, and its direction movement mainly as robot is taken turns, service robot and similar application.
Background technology
At present, directional wheel is roughly divided into two kinds: one adopts special wheel construction, and another kind is the traditional wheel construction of application.The design concept of most special wheel constructions is: on a direction of wheel, have constraint to obtain propulsive effort, and remove constraint in the other directions to realize passive movement.As special classical being designed to taken turns: at a series of follower of circumferentially installation of a traditional wheel construction, the rotational axis vertical of these passive rollers or favour the S. A. of tradition wheel.Such as: the design of Mecanum wheel, the design of other special wheel construction comprises orthogonal wheel construction and ball wheel construction.The Universal mobile robot of special wheel construction has very strong kinematic dexterity and stability, and very accurately can realize track following.But such Universal mobile robot is except mechanism's more complicated, also there is obstacle climbing ability difference, load-carrying capacity is low, and passive roller easily causes the shortcomings such as body oscillating.Ball wheel construction driver train and motion control more complicated, apply less.All directionally movable robot based on traditional wheel construction mainly adopts the Castor structure turning to and rotate and all have individual drive, although this mechanism load-carrying capacity is strong, simultaneously lower to the requirement of movement environment, little obstacle can be crossed over, but kinematic dexterity and less stable.Although the differential type all-round wheel patent before us solves above-mentioned most of shortcoming, the defect due to spherical cap structure causes spheroid imperfect, makes spheroid vibrations occur in motion process and easily sandwich object.
Summary of the invention
In view of prior art Problems existing, the purpose of this utility model to provide a kind of two spherical crown differential type all-round wheels with differential enclosed construction in parallel, it relies on and the alternately uninterrupted contact on two spheroids being unified into phase 45 ° spherical crown and ground in motion process realizes easy motion, load-carrying capacity is strong, be easy to control, and not easily on wheel body, sandwich wisp, be particularly suitable as robot movement platform.
To achieve these goals, the technical scheme that the utility model adopts is a kind of two spherical crown differential type all-round wheel in parallel, it takes turns a by ball and ball wheel b is formed, and ball wheel a and ball wheel b is connected on support respectively by the driving wheel of center cross, and two balls wheels are by gear cluster transferring power; Described ball wheel a comprises spherical crown and two frustums of a cone that two have circular cone bench-type groove; Two spherical crowns with circular cone bench-type groove and two frustums of a cone cooperatively interact, two spherical crowns and two frustums of a cone connect into the mutual of enclose inside by the adapter shaft of center cross and transmit motion and the difference structure of power, and integral structure is improved a lot on load-carrying capacity; It is identical that a take turns by structure and the ball of described ball wheel b, and b taken turns by ball and ball is taken turns a and is unified into the differential enclosed construction of phase 45 degree.
Diameter and the tapering of the diameter of the described frustum of a cone and tapering and the circular cone bench-type groove of spherical crown inside are consistent, the frustum of a cone and spherical crown close contact; Harmonious in motion process, mutually support and transmit motion.
Two spherical crowns of described ball wheel a or ball wheel b are connected by the adapter shaft of center cross, and two spherical crowns directly do not contact, and have distance between the two.
Working process of the present utility model is: this directional wheel active movement direction is the hand of rotation of wheel, and namely two ball wheels are rotated to obtain ground propulsive effort to drive the imput shaft of center cross by motor-driven gear constant speed rotation; The adapter shaft of center cross drives spherical crown to rotate together with the frustum of a cone, namely drives ball wheel a and ball wheel b to rotate; The spherical crown that b taken turns by ball wheel a and ball replaces and earth surface, and the spherical crown gabarit of two-wheeled defines the effect that complete wheel structure serves continuous drive; The reaction force acts on ground to be delivered in the enclosed construction be made up of circular cone bench-type groove and the frustum of a cone of spherical crown simultaneously and to be absorbed by this enclosed construction on spherical crown; The axial application force of active simultaneously along center cross unloaded by the moving of adapter shaft of spherical crown around center cross; In motion process, the spherical crown that b taken turns by ball wheel a and ball replaces the continuity realizing whole driving process with earth surface.
The utility model has the advantage of: its structure is simple, motion flexibly; Rely on and the alternately uninterrupted contact being unified into two spheroids spherical crown and the ground in motion process that corner differs 45 ° realizes easy motion, load-carrying capacity is strong, is easy to control, and is particularly suitable as the cardan wheel of robot movement platform.In motion process, b alternately realizes whole driving process continuity with earth surface taken turns by ball wheel a and ball.The design taking turns inner differential enclosed construction adds the intensity of the axle supporting spherical crown, cardan wheel load-carrying capacity is strengthened, avoids wheel body simultaneously in motion process, clamp other object.
Accompanying drawing explanation
Fig. 1 structural representation of the present utility model;
Fig. 2 is the right TV structure schematic diagram of Fig. 1;
Fig. 3 is the upper TV structure schematic diagram of Fig. 1;
Fig. 4 is the generalized section of Fig. 3 structure;
Fig. 5 is the generalized section of Fig. 2 structure;
Fig. 6 is the schematic diagram of gear cluster 5;
In figure: 1, center cross, 2, ball wheel a, 3, ball wheel b, 4, support, 5, gear cluster, 6, spherical crown, 7, the frustum of a cone, 8, motor.
Detailed description of the invention
Referring to Fig. 1-Fig. 5, described pair of spherical crown differential all-directional movable pulley, takes turns a by ball and ball wheel b is formed.Two-wheeled is connected to support 4 respectively by the imput shaft of center cross, and transmits motion by gear cluster 5; Described ball wheel a and ball wheel b has same structure, is made up of, and connects into enclose inside structure respectively by the adapter shaft of center cross two inside with the spherical crown 6 of the frustum of a cone and two frustums of a cone 7.
Working process of the present utility model is: this directional wheel active movement direction is the hand of rotation of wheel, and namely two ball wheels are rotated to obtain ground propulsive effort to drive the imput shaft of center cross by motor 8 driven wheel 5 constant speed rotation; The adapter shaft of center cross drives spherical crown 6 to rotate together with the frustum of a cone 7, namely drives ball wheel a and ball wheel b to rotate; The spherical crown that b taken turns by ball wheel a and ball replaces and earth surface, and the spherical crown gabarit of two-wheeled defines the effect that complete wheel structure serves continuous drive; The reaction force acts on ground to be delivered in the enclosed construction be made up of circular cone bench-type groove and the frustum of a cone of spherical crown simultaneously and to be absorbed by this enclosed construction on spherical crown; The axial application force of active simultaneously along center cross unloaded by the moving of adapter shaft of spherical crown around center cross; In motion process, the spherical crown that b taken turns by ball wheel a and ball replaces the continuity realizing whole driving process with earth surface.Cardan wheel is, so the three degree of freedom that three cardan wheels just can drive platform to complete plane moves realize direction movement owing to forming each wheel of mobile platform.
Can be applied on the mobile chassis of family's sweeping robot, also can be applied on comprehensive wheelchair, can be applied on assembling on automated assembly line and transportation device.
Claims (3)
1. the two spherical crown differential type all-round wheel of parallel connection, it takes turns a by ball and ball wheel b is formed, and ball wheel a and ball wheel b is connected on support respectively by the driving wheel of center cross, and two ball wheels are by gear cluster transferring power; It is characterized in that: described ball wheel a comprises spherical crown and two frustums of a cone that two have circular cone bench-type groove; Two spherical crowns with circular cone bench-type groove and two frustums of a cone cooperatively interact, two spherical crowns and two frustums of a cone connect into the mutual of enclose inside by the adapter shaft of center cross and transmit the difference structure moved with power, it is identical that a take turns by structure and the ball of described ball wheel b, and b taken turns by ball and ball is taken turns a and is unified into the differential enclosed construction of phase 45 degree.
2. a kind of in parallel two spherical crown differential type all-round wheel according to claim 1, is characterized in that: diameter and the tapering of the diameter of the described frustum of a cone and tapering and the circular cone bench-type groove of spherical crown inside are consistent, the frustum of a cone and spherical crown close contact; Harmonious in motion process, mutually support and transmit motion.
3. a kind of two spherical crown differential type all-round wheel in parallel according to claim 1, is characterized in that: two spherical crowns of described ball wheel a or ball wheel b are connected by the adapter shaft of center cross, and two spherical crowns directly do not contact, and have distance between the two.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201420602952.6U CN204263837U (en) | 2014-10-17 | 2014-10-17 | A kind of two spherical crown differential type all-round wheel in parallel |
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CN201420602952.6U CN204263837U (en) | 2014-10-17 | 2014-10-17 | A kind of two spherical crown differential type all-round wheel in parallel |
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CN204263837U true CN204263837U (en) | 2015-04-15 |
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CN201420602952.6U Active CN204263837U (en) | 2014-10-17 | 2014-10-17 | A kind of two spherical crown differential type all-round wheel in parallel |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104354525A (en) * | 2014-10-17 | 2015-02-18 | 沈阳航空航天大学 | Parallel double-spherical-crown differential type all-directional wheel |
US9809056B1 (en) | 2015-11-26 | 2017-11-07 | X Development Llc | Roller assemblies for a holonomic base |
-
2014
- 2014-10-17 CN CN201420602952.6U patent/CN204263837U/en active Active
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104354525A (en) * | 2014-10-17 | 2015-02-18 | 沈阳航空航天大学 | Parallel double-spherical-crown differential type all-directional wheel |
CN104354525B (en) * | 2014-10-17 | 2016-06-29 | 沈阳航空航天大学 | Double; two spherical crown differential type all-round wheel in parallel |
US9809056B1 (en) | 2015-11-26 | 2017-11-07 | X Development Llc | Roller assemblies for a holonomic base |
US10562344B1 (en) | 2015-11-26 | 2020-02-18 | X Development Llc | Roller assemblies for a holonomic base |
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