CN205059869U - Wheeled running gear of many mode - Google Patents
Wheeled running gear of many mode Download PDFInfo
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- CN205059869U CN205059869U CN201520801518.5U CN201520801518U CN205059869U CN 205059869 U CN205059869 U CN 205059869U CN 201520801518 U CN201520801518 U CN 201520801518U CN 205059869 U CN205059869 U CN 205059869U
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- 235000012771 pancakes Nutrition 0.000 claims description 26
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 2
- 239000011295 pitch Substances 0.000 description 4
- 230000003068 static Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052736 halogen Inorganic materials 0.000 description 1
- 150000002367 halogens Chemical class 0.000 description 1
- 230000013632 homeostatic process Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory Effects 0.000 description 1
Abstract
The utility model discloses a wheeled running gear of many mode, but the two wheeler including dynamic balance, the two wheeler includes the frame and locates before the frame, before the rear end, back wheel mechanism, wheel mechanism includes the axle bed, car fork and wheel, the axle bed is installed bottom the frame, the pivot of car fork is installed in the axle bed, wheel installation in the car fork, be equipped with the car fork slewing mechanism who rotates the car fork on the frame, the car is stuck and is equipped with drive wheels pivoted wheel actuation mechanism, still include side direction wheel mechanism, side direction wheel mechanism includes the revolving rack, side direction car fork and side direction wheel, the revolving rack is in frame one side hinge dress, the pivot of side direction car fork is installed in the revolving rack, the installation in side direction car fork of side direction wheel, be equipped with revolving rack slewing mechanism on the frame, be equipped with side direction car fork slewing mechanism in the revolving rack, the side direction car is stuck and is equipped with side direction wheel actuation mechanism. The utility model discloses a direction of advance of adjustment side direction wheel mechanism and wheel can realize the multiple mode of walking.
Description
Technical field
The utility model relates to bicycle machines people application engineering, is specially a kind of multi-operation mode running gear system.
Background technology
Bicycle machines people and Segway two-wheel car (a kind of driven by power, have the personal transport carrier of homeostasis ability) belong to static instability but the wheel type traveling mechanism of dynamic Absorbable organic halogens, realize driverless operation bicycle self-balancing by installing mechanic adjustment unit on bicycle machines people vehicle frame additional.Because robot bicycle is not by landform and environmental concerns, complex-terrain, harsh environment can be introduced into, play a role in transport and rescue and in the monitoring of ground environment and detection, there is potential using value.
Study more deep for bicycle separately at present, abroad, Japan's village field research and development can robot " field, village playboy " by bike, at home, the driverless operation bicycle machines people of people's researchs such as Beijing University of Post & Telecommunication Guo Lei, be no matter that mechanism design or the balance of robot controls, all achieve certain achievement; Segway two-wheel car has come into the life of people especially, and the trip for the mankind provides convenient.
Utility model content
The purpose of this utility model is to propose the multi-operation mode running gear system that a kind of realized bicycle machines people of dynamic stability, Segway two-wheel car and three-wheel vehicle are changed mutually.
The multi-operation mode running gear system of above-mentioned purpose can be realized, its technical scheme comprises dynamically balanceable two-wheel car, described two-wheel car comprises vehicle frame and before being located at vehicle frame, before rear end, rear wheel mechanism, described wheel mechanism comprises axle bed, car fork and wheel, described axle bed is installed in bottom of frame, the rotating shaft of described car fork is installed in axle bed, described wheel is installed in car fork, the car fork rotating mechanism of 360 ° of rotation car forks is provided with in vehicle frame, described car fork is provided with the drive mechanism for wheel driving vehicle wheel rotation, also comprise side direction wheel mechanism with prior art difference, described side direction wheel mechanism comprises pivoted frame, side direction car fork and side direction wheel, described pivoted frame is in vehicle frame side hinge dress, the rotating shaft of described side direction car fork is installed in pivoted frame, described side direction wheel is installed in side direction car fork, being provided with pivoted frame to be produced in vehicle frame makes side direction vertical road wheel (working in three-wheel state) downwards, pivoted frame is gone back to and makes side direction wheel be concealed in pivoted frame rotating mechanism in vehicle frame, the side direction car fork rotating mechanism that 360 ° of rotating side are pitched to car is provided with in described pivoted frame, described side direction car fork is provided with the side direction drive mechanism for wheel of drive side to vehicle wheel rotation.
A kind of structure of described pivoted frame rotating mechanism comprises pancake motor, intermeshing pivoted frame driving gear and pivoted frame driven gear, described pancake motor is installed on vehicle frame by frame, described pivoted frame driving gear is installed on the output shaft of pancake motor, and described pivoted frame driven gear is installed on the hinge dress axle of pivoted frame; The hinge dress axle of described pivoted frame is also provided with pivoted frame encoder gear, described pivoted frame encoder gear respectively with pivoted frame absolute encoder gear and pivoted frame incremental encoder gears meshing, described pivoted frame absolute encoder gear and pivoted frame incremental encoder gear are installed on the output shaft of pivoted frame absolute encoder and pivoted frame incremental encoder respectively, and described pivoted frame absolute encoder and pivoted frame incremental encoder are installed on pivoted frame.
A kind of structure of described side direction car fork rotating mechanism comprises rotary electric machine, intermeshing side direction wheel driving gear and side direction wheel driven gear, described rotary electric machine is installed on pivoted frame, described side direction wheel driving gear is installed on the output shaft of rotary electric machine, and the rotating shaft that described side direction wheel driven gear is pitched in side direction car is installed; Described side direction wheel driven gear also respectively with side direction wheel absolute encoder gear and side direction wheel incremental encoder gears meshing, described side direction wheel absolute encoder gear and side direction wheel incremental encoder gear are installed on the output shaft of side direction wheel absolute encoder and side direction wheel incremental encoder respectively, and described side direction wheel absolute encoder and side direction wheel incremental encoder are installed on pivoted frame.
Described car fork rotating mechanism comprises pancake motor, intermeshing wheel driving gear and wheel driven gear, described pancake motor is installed in frame by support, described wheel driving gear is installed on the output shaft of pancake motor, and described wheel driven gear is installed in the rotating shaft of car fork; Described wheel driven gear also respectively with wheel absolute encoder gear and wheel incremental encoder gears meshing, described wheel absolute encoder gear and wheel incremental encoder gear are installed on the output shaft of wheel absolute encoder and wheel incremental encoder respectively, and described wheel absolute encoder and wheel incremental encoder are installed on support.
Described drive mechanism for wheel is identical with side direction drive mechanism for wheel, and its a kind of simple structure all adopts pancake motor, and the output shaft of described pancake motor is installed and drives driving gear, described driving driving gear engages with the internally toothed annulus on wheel or side direction wheel rim flange ring.
The beneficial effects of the utility model:
1, the utility model multi-operation mode running gear system is by adjusting the travel direction of forward and backward wheel mechanism and regulating control position and the travel direction of side direction wheel mechanism, running gear can be made to be in three-wheel longitudinal driving state, three-wheel cross running state respectively, be with two of mechanically-operated controller (withdrawal of side direction wheel mechanism) to take turns cross running Segway state, be with two of mechanically-operated controller (withdrawal of side direction wheel mechanism) to take turns longitudinal driving bicycle state.
2, utility model works is in three-wheel walking states, has natural equilibrium and no-radius and the advantage such as to turn to; Work in two-wheeled state, the side direction wheel mechanism of withdrawal serves as mechanically-operated controller, is easy to the balance at two-wheeled state timer.
3, the utility model achieves the conversion from bicycle machines people to three-wheel vehicle robot, achieves the organic connections of two kinds of robots, and mechanism design is simple, and process and assemble is good.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of the utility model, is shown as three-wheel longitudinal driving mode of operation.
Fig. 2 is the three-wheel cross running mode of operation of Fig. 1 embodiment.
Fig. 3 is that two of Fig. 1 embodiment takes turns cross running mode of operation.
Fig. 4 is that two of Fig. 1 embodiment takes turns longitudinal driving mode of operation.
Figure number identifies: 1, vehicle frame; 2, axle bed; 3, car fork; 4, wheel; 5, pivoted frame; 6, pancake motor; 7, pivoted frame driven gear; 8, frame; 9, pivoted frame encoder gear; 10, pivoted frame absolute encoder gear; 11, pivoted frame incremental encoder gear; 12, pivoted frame absolute encoder; 13, pivoted frame incremental encoder; 14, rotary electric machine; 15, side direction wheel driving gear; 16, side direction wheel driven gear; 17, side direction car fork; 18, side direction wheel; 19, side direction wheel absolute encoder gear; 20, side direction wheel incremental encoder gear; 21, side direction wheel incremental encoder; 22, wheel driven gear; 23, support; 24, wheel absolute encoder gear; 25, wheel incremental encoder gear; 26, wheel absolute encoder; 27, wheel incremental encoder; 28, internally toothed annulus.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, the technical solution of the utility model is described further.
The utility model multi-operation mode running gear system installs side direction wheel mechanism additional on dynamically balanceable two-wheel car, realize the static balancing of two-wheel car and the stable of motion, and side direction wheel mechanism can also serve as mechanically-operated controller, be easy to the balance of the utility model at two-wheeled state timer.
Described two-wheel car comprises vehicle frame 1 and is located at the forward and backward wheel mechanism of vehicle frame 1 front and back ends, and described forward and backward wheel mechanism adopts identical structure.
The structure that described wheel mechanism is identical comprises axle bed 2, car fork 3 and wheel 4, described axle bed 2 (being built-in with bearing) is installed bottom vehicle frame 1, rotating shaft fitted bearing in axle bed 2 that 3 tops pitched by described car is installed, vehicle frame 1 top is stretched out in rotating shaft after equipped, described wheel 4 is installed in car fork 3, described car fork 3 is provided with the drive mechanism for wheel driving wheel 4 to rotate, rotating mechanism pitched by the car being provided with 360 ° of rotation car forks 3 in vehicle frame 1 corresponding to the extended position of car fork 3, as shown in Figure 1, Figure 2, Figure 3, Figure 4.
Described car fork rotating mechanism comprises pancake motor 6, intermeshing wheel driving gear and wheel driven gear 22 and wheel absolute encoder 26 and wheel incremental encoder 27, described wheel driven gear 22 is installed on car and pitches on the axle head that 3 rotating shafts stretch out, described pancake motor 6 is installed in frame 1 by support 23 is other in wheel driven gear 22 side, described wheel driving gear is installed on the output shaft of pancake motor 6, described wheel absolute encoder 26 and wheel incremental encoder 27 are installed and are in by wheel driven gear 22 opposite side on support 23, the wheel absolute encoder gear 24 that wheel absolute encoder 26 output shaft is installed engages with wheel driven gear 22, the wheel incremental encoder gear 25 that wheel incremental encoder 27 output shaft is installed engages with wheel driven gear 22, as Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4.
Described drive mechanism for wheel comprises pancake motor 6 and intermeshing driving driving gear and internally toothed annulus 28, described pancake motor 6 is installed on the side of car fork 3, described driving driving gear is installed on the output shaft of pancake motor 6, described internally toothed annulus 28 is installed on the steel ring of wheel 4, as shown in Figure 1, Figure 2, Figure 3, Figure 4.
Described side direction wheel mechanism is located at the front side of vehicle frame 1, and before being in, the central authorities of rear wheel mechanism, comprise U-shaped pivoted frame 5, side direction car fork 17 and side direction wheel 18, the both sides of described pivoted frame 5 are cut with scissors by the bearing pin of fore-and-aft direction and vehicle frame 1 and are filled, the rotating shaft of pitching 17 tops of described side direction car to be installed in the bottom of pivoted frame 5 by bearing and is put at U-shaped pivoted frame 5 inner, be provided with pivoted frame rotating mechanism between described vehicle frame 1 and pivoted frame 5 side direction wheel mechanism is produced to make side direction wheel 18 become third round and participate in balancing or walking, mechanically-operated controller is served as with in hollow groove side direction wheel mechanism being retracted in vehicle frame 1 inside, be provided with the side direction car that 360 ° of rotating side pitch 17 to car between the rotating shaft that described pivoted frame 5 and side direction car pitch 17 and pitch rotating mechanism, the side direction drive mechanism for wheel that drive side rotates to wheel 18 is provided with between described side direction car fork 17 and side direction wheel 18, as Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4.
Described pivoted frame rotating mechanism comprises pancake motor 6, intermeshing pivoted frame driving gear and pivoted frame driven gear 7 and pivoted frame absolute encoder 12 and pivoted frame incremental encoder 13, described pancake motor 6 is installed on vehicle frame 1 by frame 8 is other in pivoted frame 5 side, described pivoted frame driving gear is installed on the output shaft of pancake motor 6, described pivoted frame driven gear 7 is installed on the bearing pin of pivoted frame 5 respective side, the bearing pin of pivoted frame 5 opposite side installs pivoted frame encoder gear 9, described pivoted frame absolute encoder 12 and pivoted frame incremental encoder 13 are installed on the pivoted frame 5 of respective side, pivoted frame absolute encoder gear 10 on pivoted frame absolute encoder 12 output shaft engages with pivoted frame encoder gear 9, pivoted frame incremental encoder gear 11 on described pivoted frame incremental encoder 13 output shaft engages with pivoted frame encoder gear 9, as Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4.
Described side direction car fork rotating mechanism comprises rotary electric machine 14, intermeshing side direction wheel driving gear 15 and side direction wheel driven gear 16 and side direction wheel absolute encoder and side direction wheel incremental encoder 21, described rotary electric machine 14 is in the other bottom being installed on pivoted frame 5, the rotating shaft side of side direction car fork 17, side direction wheel driving gear 15 is installed on the output shaft of rotary electric machine 14, described side direction wheel driven gear 16 is installed in the rotating shaft of side direction car fork 17, described side direction wheel absolute encoder and side direction wheel incremental encoder 21 are pitched 17 rotating shaft opposite sides in side direction car and are installed on the bottom of pivoted frame 5, side direction wheel absolute encoder gear 19 on side direction wheel absolute encoder output shaft engages with side direction wheel driven gear 16, side direction wheel incremental encoder gear 20 on described side direction wheel incremental encoder 21 output shaft engages with side direction wheel driven gear 16, as Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4.
Described side direction drive mechanism for wheel adopts the structure identical with above-mentioned drive mechanism for wheel.
In said structure, measure rotating speed by incremental encoder and measure corner by absolute type encoder, observed reading being fed back to the actuator of system, forming closed loop control, to increase the control accuracy of motor.
Four kinds of mode of operations of the present utility model:
1, Fig. 1 is that three-wheel lands longitudinal driving state.
Side direction wheel 18 produces at vertical position by pivoted frame rotating mechanism, and the direction of side direction wheel 18 is adjusted to longitudinally by side direction vehicle wheel revolving gear, and the direction of forward and backward wheel 4 is adjusted to longitudinally by forward and backward vehicle wheel revolving gear.
2, Fig. 2 is that three-wheel lands cross running state.
Under Fig. 1 state, the direction of side direction wheel 18 is adjusted to laterally by side direction vehicle wheel revolving gear, and the direction of forward and backward wheel 4 is adjusted to laterally by forward and backward vehicle wheel revolving gear.
3, Fig. 3 is the Segway motoring condition (self-balancing) of two-wheeled.
Under Fig. 2 state, side direction wheel 18 is retracted in the hollow groove of pivoted frame 5 by pivoted frame rotating mechanism, and side direction wheel mechanism now uses as mechanically-operated controller.
4, Fig. 4 is the bicycle running state of two-wheeled.
Under Fig. 3 state, the direction of forward and backward wheel 4 is adjusted to longitudinal direction by forward and backward vehicle wheel revolving gear, and the side direction wheel mechanism of withdrawal uses as mechanically-operated controller equally.
The utility model has installed side direction car fork 17 and side direction wheel 18 to bicycle and Segway two-wheel car, being designed to by side direction car fork 17 can 360 ° of rotation, and side direction car fork 17 and side direction wheel 18 is collapsible packs up, make side direction wheel 18 become mechanic adjustment unit, the utility model can be changed as required between the Segway two-wheel running pattern and the cyclery walking modes of band mechanically-operated controller of three-wheel walking mode, band mechanically-operated controller.
Claims (5)
1. multi-operation mode running gear system, comprise dynamically balanceable two-wheel car, described two-wheel car comprises vehicle frame (1) and is located at vehicle frame (1) front, before rear end, rear wheel mechanism, described wheel mechanism comprises axle bed (2), car fork (3) and wheel (4), described axle bed (2) is installed in vehicle frame (1) bottom, the rotating shaft of described car fork (3) is installed in axle bed (2), described wheel (4) is installed in car fork (3), the car fork rotating mechanism of 360 ° of rotation cars fork (3) is provided with in vehicle frame (1), described car fork (3) is provided with the drive mechanism for wheel driving wheel (4) to rotate, it is characterized in that: also comprise side direction wheel mechanism, described side direction wheel mechanism comprises pivoted frame (5), side direction car fork (17) and side direction wheel (18), described pivoted frame (5) is in vehicle frame (1) side hinge dress, the rotating shaft of described side direction car fork (17) is installed in pivoted frame (5), described side direction wheel (18) is installed in side direction car fork (17), be provided with pivoted frame (5) to be produced in vehicle frame (1) and make side direction wheel (18) straight down, pivoted frame (5) is gone back to and makes side direction wheel (18) be concealed in pivoted frame rotating mechanism in vehicle frame (1), the side direction car fork rotating mechanism of 360 ° of rotating side to car fork (17) is provided with in described pivoted frame (5), described side direction car fork (17) is provided with the side direction drive mechanism for wheel that drive side rotates to wheel (18).
2. multi-operation mode running gear system according to claim 1, it is characterized in that: described pivoted frame rotating mechanism comprises pancake motor (6), intermeshing pivoted frame driving gear and pivoted frame driven gear (7), described pancake motor (6) is installed on vehicle frame (1) by frame (8), described pivoted frame driving gear is installed on the output shaft of pancake motor (6), and described pivoted frame driven gear (7) is installed on the hinge dress axle of pivoted frame (5); The hinge dress axle of described pivoted frame (5) is also provided with pivoted frame encoder gear (9), described pivoted frame encoder gear (9) is engaged with pivoted frame absolute encoder gear (10) and pivoted frame incremental encoder gear (11) respectively, described pivoted frame absolute encoder gear (10) and pivoted frame incremental encoder gear (11) are installed on the output shaft of pivoted frame absolute encoder (12) and pivoted frame incremental encoder (13) respectively, and described pivoted frame absolute encoder (12) and pivoted frame incremental encoder (13) are installed on pivoted frame (5).
3. multi-operation mode running gear system according to claim 1, it is characterized in that: described side direction car fork rotating mechanism comprises rotary electric machine (14), intermeshing side direction wheel driving gear (15) and side direction wheel driven gear (16), described rotary electric machine (14) is installed in pivoted frame (5) is upper, described side direction wheel driving gear (15) is installed on the output shaft of rotary electric machine (14), and described side direction wheel driven gear (16) is installed in the rotating shaft of side direction car fork (17); Described side direction wheel driven gear (16) is also engaged with side direction wheel absolute encoder gear (19) and side direction wheel incremental encoder gear (20) respectively, described side direction wheel absolute encoder gear (19) and side direction wheel incremental encoder gear (20) are installed on the output shaft of side direction wheel absolute encoder and side direction wheel incremental encoder (21) respectively, and described side direction wheel absolute encoder and side direction wheel incremental encoder (21) are installed on pivoted frame (5).
4. according to the multi-operation mode running gear system in claims 1 to 3 described in any one, it is characterized in that: described car fork rotating mechanism comprises pancake motor (6), intermeshing wheel driving gear and wheel driven gear (22), described pancake motor (6) is installed in frame (1) by support (23), described wheel driving gear is installed on the output shaft of pancake motor (6), and described wheel driven gear (22) is installed in the rotating shaft of car fork (3); Described wheel driven gear (22) is also engaged with wheel absolute encoder gear (24) and wheel incremental encoder gear (25) respectively, described wheel absolute encoder gear (24) and wheel incremental encoder gear (25) are installed on the output shaft of wheel absolute encoder (26) and wheel incremental encoder (27) respectively, and described wheel absolute encoder (26) and wheel incremental encoder (27) are installed on support (23).
5. according to the multi-operation mode running gear system in claims 1 to 3 described in any one, it is characterized in that: described drive mechanism for wheel is identical with side direction drive mechanism for wheel, include pancake motor (6), the output shaft of described pancake motor (6) is installed and drives driving gear, described driving driving gear engages with the internally toothed annulus (28) on wheel (4) or side direction wheel (18) steel ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520801518.5U CN205059869U (en) | 2015-10-13 | 2015-10-13 | Wheeled running gear of many mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520801518.5U CN205059869U (en) | 2015-10-13 | 2015-10-13 | Wheeled running gear of many mode |
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| Publication Number | Publication Date |
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| CN205059869U true CN205059869U (en) | 2016-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520801518.5U Withdrawn - After Issue CN205059869U (en) | 2015-10-13 | 2015-10-13 | Wheeled running gear of many mode |
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| CN (1) | CN205059869U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197155A (en) * | 2015-10-13 | 2015-12-30 | 桂林电子科技大学 | Multi-working-mode wheel type walking device |
| CN106114707A (en) * | 2016-07-14 | 2016-11-16 | 东莞市车小秘智能科技有限公司 | A kind of balance car |
| CN110723247A (en) * | 2019-10-29 | 2020-01-24 | 腾讯科技（深圳）有限公司 | Vehicle deformation control method and deformable vehicle |
-
2015
- 2015-10-13 CN CN201520801518.5U patent/CN205059869U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197155A (en) * | 2015-10-13 | 2015-12-30 | 桂林电子科技大学 | Multi-working-mode wheel type walking device |
| CN105197155B (en) * | 2015-10-13 | 2017-06-23 | 桂林电子科技大学 | Multi-operation mode running gear system |
| CN106114707A (en) * | 2016-07-14 | 2016-11-16 | 东莞市车小秘智能科技有限公司 | A kind of balance car |
| CN106114707B (en) * | 2016-07-14 | 2019-02-19 | 东莞市车小秘智能科技有限公司 | A kind of balance car |
| CN110723247A (en) * | 2019-10-29 | 2020-01-24 | 腾讯科技（深圳）有限公司 | Vehicle deformation control method and deformable vehicle |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20160302 Effective date of abandoning: 20170623 |
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| AV01 | Patent right actively abandoned |