CN205686507U - A kind of full wheel same phase drives dolly - Google Patents
A kind of full wheel same phase drives dolly Download PDFInfo
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- CN205686507U CN205686507U CN201620499471.6U CN201620499471U CN205686507U CN 205686507 U CN205686507 U CN 205686507U CN 201620499471 U CN201620499471 U CN 201620499471U CN 205686507 U CN205686507 U CN 205686507U
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- wheel
- circle wheel
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- trolley body
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Abstract
The utility model discloses a kind of full wheel same phase and drive dolly, including trolley body and several circle wheels being arranged in trolley body, described circle wheel is even number and at least four, and described circle wheel is symmetricly set on trolley body both sides by driver part two-by-two；Being evenly distributed with the some sections of bigger coarse arc sections of coefficient of friction on each described circle wheel, the coarse arc section on two be symmetrically set circle wheel is complementary and can form a full circle, and the coarse arc section phase place being positioned on the circle wheel of trolley body the same side is identical；This driving dolly terminal with compact integral structure is reliable, has the advantages that efficiency is high, earth's surface adaptability is good, obstacle climbing ability is strong, and being available for mobile robot, barrier-exceeding vehicle etc. needs the mobile device at uneven terrain and smooth ground running to use.
Description
Technical field
This utility model belongs to robot field, is specifically related to a kind of full wheel same phase and drives dolly.
Background technology
Along with the development of China's advanced technology, the research of intelligence wheeled robot becomes more and more popular, and its application is also got over
Come the most extensive, be worth the most notable.The general-purpose tugboat (three horn rings) occurred in recent years, various Stump-jump wheel and circle are taken turns and other
The walking mechanism of form mixing makes circle wheel start to depart from rigid planar ground and come into complicated landform.Therefore, a kind of energy of research
Enough walk freely in complicated landform, succinct wheeled mobile robot powerful, light becomes its application needs gram
Take primary difficulty.
Available data shows, circle wheel same phase is conducive to climbing obstacle detouring, is particularly suitable in complex environment walking.For wheel
Formula moves robot, if its all circles take turns all same phases (the most entirely taking turns homophase), its climbing obstacle climbing ability will be greatly enhanced.Cause
Move robot arbitrary round wheel has earth-grasping force when for full wheel homophase, all torsion torque, beneficially leaping over obstacles can be obtained.So
And entirely take turns and bring the problem of cornering difficulties with meeting, if introduced as the senior turning mode of motor turning frame one class, will drop
The intensity of low robot, increases structure complexity, also can increase the burden of energy power consumption, run counter to light succinct objective.
Summary of the invention
In view of this, the purpose of this utility model is to provide a kind of full wheel same phase to drive dolly, turns to not introducing
The problem solving complicated difficulty of turning under full wheel homophase in the case of the complicated turning mode such as frame.
For reaching above-mentioned purpose, this utility model following technical scheme of offer:: a kind of full wheel same phase drives dolly, wraps
Including trolley body and several circle wheels being arranged in trolley body, described circle wheel is even number and at least four, described circle
Wheel is symmetricly set on trolley body both sides by driver part two-by-two；It is evenly distributed with some sections of coefficient of frictions on each described circle wheel
Bigger coarse arc section, the coarse arc section on two be symmetrically set circle wheel is complementary and can form a full circle, position
Coarse arc section phase place on the circle wheel of trolley body the same side is identical.
Further, it is connected by actuating device between adjacent driven parts.
Further, described driver part is mainly made up of rotary shaft and driving source, and round wheel symmetrical two-by-two passes through rotary shaft
Connect and driven by the source of driving.
Further, described actuating device is conveyer belt, and described conveyer belt two ends correspondence is sleeved on two groups of adjacent driven parts
Driving source on.
The beneficial effects of the utility model are:
(1) phase controlling and motor are driven (acceleration and deceleration) to carry out reasonable coordination by this utility model, have both remained full wheel same
The advantage that phase obstacle climbing ability is strong, the problem having captured again full wheel homophase cornering difficulties, can be in the completely in phase position of each road wheel
In the case of, it is achieved advance normally, retreat, turn left and turn right, there is the strongest practicality.
(2) structure is overall succinct reliable, has the advantages that efficiency is high, earth's surface adaptability is good, obstacle climbing ability is strong, is available for mobile
Robot, barrier-exceeding vehicle etc. need the mobile device at uneven terrain and smooth ground running to use.
(3) when trolley body is with uniform speed or the most gently acceleration and deceleration walking on smooth ground, car body macroscopic view
Upper straight line moving；When needs are turned, carry out anxious acceleration or anxious deceleration according to the phase state of circle wheel, can reach and turn to effect
Really.When non-flat forms ground running, due to circle wheel homophase, can the obstacle performance of wheeled vehicle be performed to ultimate attainment.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and beneficial effect clearer, this utility model provides as follows
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present utility model (six wheel construction)；
Fig. 2 is structural representation of the present utility model (four wheel construction)；
Fig. 3 is for accelerating left turn state schematic diagram；
Fig. 4 is deceleration left turn state schematic diagram；
Fig. 5 is for accelerating right turn state schematic diagram；
Fig. 6 is deceleration right turn state schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail.
As it is shown in figure 1, the full wheel same phase in this utility model drives dolly, it is arranged on including trolley body 1 and six
Circle wheel 2-1,2-2,2-3,2-4,2-5 and 2-6 in trolley body 1, described circle wheel is symmetricly set on by driver part 3 two-by-two
Trolley body 1 both sides, i.e. side are provided with circle wheel 2-1,2-2 and 2-3, and opposite side is provided with circle wheel 2-4,2-5 and 2-6.Each institute
State and on circle wheel, be evenly distributed with the some sections of bigger coarse arc sections 21 of coefficient of friction, on two be symmetrically set circle wheel
Coarse arc section 21 is complementary and can form a full circle, is positioned at coarse arc section 21 phase place on the circle wheel of trolley body 1 the same side
Identical.I.e. coarse arc section 21 phase place on circle wheel 2-1,2-2 and 2-3 is identical, the coarse circular arc on circle wheel 2-4,2-5 and 2-6
Section 21 phase places are identical, and corresponding and on circle wheel 2-4,2-5 and 2-6 the coarse arc section 21 of circle wheel 2-1,2-2,2-3 is complementary.
Concrete, it is not provided with the arc section of big coefficient of friction and corresponds to smooth arc section 22 (in figure, smooth arc section 22 is
Light district on circle wheel, coarse arc section 21 is the dark district on circle wheel).Due to the circle wheel frictional force that above out of phase is interval not
With, and the circle wheel phase place of homonymy is identical, and both sides circle wheel phase place is mutually complementary, therefore, in the same time, and trolley body 1 both sides circle wheel
Produced frictional force is different；And trolley body 1 vehicle body when speed change has skewness, in vehicle body and the both sides of deflection not
Jointly act on down with frictional force, dolly can be completed and turn to.
This utility model is connected by actuating device 4 between adjacent driven parts 3, i.e. the driving of circle wheel (2-1,2-4)
Parts 3 are connected by actuating device 4 with the driver part of circle wheel (2-2,2-5), the driver part of circle wheel (2-2,2-5) also with
The driver part of circle wheel (2-3,2-6) is connected.All circle wheels are connected by driver part 3 by actuating device 4, strict guarantee
Immobilizing of relative phase.
Driver part 3 in this utility model is mainly made up of rotary shaft 31 and driving source 32, and circle wheel symmetrical two-by-two is logical
Cross rotary shaft 31 connect and driven by driving source 32.Wherein, driving source can be motor.
Actuating device 4 in this utility model is conveyer belt, and described conveyer belt two ends correspondence is sleeved on two groups of adjacent driven
On the driving source 32 of parts.
As in figure 2 it is shown, as a example by a certain lorry, this trolley body 1 is provided with four circles wheel 2-1,2-2,2-3 and 2-
4, each circle wheel all there is the coarse arc section of half cycle 1, additionally half cycle is smooth arc section 22；Wherein, round wheel 2-1 is same with circle wheel 2-4
Axle connects and phase complements, and 2-3 is coaxially connected and phase complements for circle wheel 2-2 and circle wheel.At the coarse arc section 21 of circle wheel 2-1
When in high half cycle, smooth arc section 22 is in low half cycle, the coarse arc section 21 of circle wheel 2-4 is in low half cycle and smooth circular arc
Section 22 is in high half cycle, and owing to the phase place of circle wheel 2-1,2-2 is identical, and the rotary shaft 31 on front and rear wheel passes through conveyer belt
It is connected, further ensures the fixing of four circle wheel relative phases.Therefore, dolly can realize car body deflection in different modes.
Following principle explanation all turns clockwise, i.e. based on forward travel state, as shown in Fig. 3,4,5,6 justifying wheel.
When normally travelling, owing to the absolute value of acceleration is relatively low, both sides circle wheel does not the most break through the limit of stiction, because of
Produced by this, stiction is identical, and both sides are all without sliding, and car body keeps straight-line travelling.
When the absolute value of acceleration is sufficiently large, trolley body 1 both sides or side circle wheel break through the stiction limit
Time, there is sliding in circle wheel.Wherein, smooth arc section 22 is in the side of low half cycle, and the frictional force between itself and ground is less and first
First breaking through the limit of stiction, meanwhile, the coarse arc section 21 of opposite side is in the side of low half cycle, and it is by frictional force relatively
Greatly.When little coefficient of friction side occurs sliding, big coefficient of friction side sliding not to occur, car body can turn to.In like manner, two
When side all occurs sliding, because the frictional force suffered by both sides is different, car body can produce equally and turn to.
When turning left:
(1) add under fast mode, when the smooth arc section 22 of left circles wheel is in low half cycle, due to phase complements, right circles
The coarse arc section 21 of wheel is in low half cycle, the most drastically accelerates, and side (must be little friction low half cycle side) or both sides be the most prominent
During the broken static friction limit, there is sliding between circle wheel and ground so that car body turns left.As shown in Figure 3.
(2) under deceleration mode, when the coarse arc section 21 of left circles wheel is in low half cycle, due to phase complements, right circles
The smooth arc section 22 of wheel is in low half cycle, is now a significant slowdown, and side or bilateral can break through the static friction limit, circle wheel with
Sliding is there is so that car body turns left between ground.As shown in Figure 4.
When turning right:
(1) add under fast mode, when the coarse arc section 21 of left circles wheel is in low half cycle, due to phase complements, right circles
The smooth arc section 22 of wheel is in low half cycle, the most drastically accelerates, and side (must be little friction low half cycle side) or both sides be the most prominent
During the broken static friction limit, there is sliding between circle wheel and ground so that car body is turned right.As shown in Figure 5.
(2) under deceleration mode, when the smooth arc section 22 of left circles wheel is in low half cycle, due to phase complements, right circles
The coarse arc section 21 of wheel is in low half cycle, is now a significant slowdown, and side or bilateral can break through the static friction limit, circle wheel and ground
Sliding is there is so that car body is turned right between face.As shown in Figure 6.
This trolley body, neither loses the efficiency of smooth ground running, has taken into account again obstacle performance.When trolley body 1 is with even
Speed or the most gently on smooth ground acceleration and deceleration walking time, car body macroscopically straight line moving；When needs are turned, root
Carry out anxious acceleration or anxious deceleration according to the phase state of circle wheel, turning efficiency can be reached.When non-flat forms ground running, due to
Circle wheel homophase, can perform to ultimate attainment by the obstacle performance of wheeled vehicle.
Finally illustrating, preferred embodiment above is only in order to illustrate the technical solution of the utility model and unrestricted, to the greatest extent
This utility model is described in detail by pipe by above preferred embodiment, but those skilled in the art should manage
Solve, in the form and details it can be made various change, without departing from this utility model claims institute
The scope limited.
Claims (4)
1. a full wheel same phase drives dolly, it is characterised in that: include trolley body and several be arranged in trolley body
Circle wheel, described circle wheel is even number and at least four, and described circle wheel is symmetricly set on dolly originally by driver part two-by-two
Body both sides；It is evenly distributed with the some sections of bigger coarse arc sections of coefficient of friction, two be symmetrically set on each described circle wheel
Coarse arc section on individual circle wheel is complementary and can form a full circle, is positioned at the coarse arc section on the circle wheel of trolley body the same side
Phase place is identical.
Full wheel same phase the most according to claim 1 drives dolly, it is characterised in that: pass through transmission between adjacent driven parts
Device is connected.
Full wheel same phase the most according to claim 2 drives dolly, it is characterised in that: described driver part is mainly by rotating
Axle and the source of driving composition, circle wheel symmetrical two-by-two is connected by rotary shaft and is driven by driving source.
Full wheel same phase the most according to claim 3 drives dolly, it is characterised in that: described actuating device is conveyer belt,
Described conveyer belt two ends correspondence is sleeved on the driving source of two groups of adjacent driven parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620499471.6U CN205686507U (en) | 2016-05-27 | 2016-05-27 | A kind of full wheel same phase drives dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620499471.6U CN205686507U (en) | 2016-05-27 | 2016-05-27 | A kind of full wheel same phase drives dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205686507U true CN205686507U (en) | 2016-11-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620499471.6U Expired - Fee Related CN205686507U (en) | 2016-05-27 | 2016-05-27 | A kind of full wheel same phase drives dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205686507U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966492A (en) * | 2016-05-27 | 2016-09-28 | 西南大学 | All-wheel same-phase driving trolley and turning control method thereof |
-
2016
- 2016-05-27 CN CN201620499471.6U patent/CN205686507U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966492A (en) * | 2016-05-27 | 2016-09-28 | 西南大学 | All-wheel same-phase driving trolley and turning control method thereof |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161116 Termination date: 20180527 |