CN206307196U - Can omnibearing movable single wheel mechanism of car - Google Patents

Abstract

The utility model discloses it is a kind of can omnibearing movable single wheel mechanism of car, including omni-directional wheel, omni-directional wheel includes left and right wheel hub, and each wheel hub is provided with section wheel, wheel carrier lower fork is installed on the left and right wheel disc that left and right wheel hub is fixedly mounted with；The outer transmission component for saving wheel is located in the wheel carrier lower fork above left and right wheel hub, including being installed on upper wheel fork friction driving roller, friction section wheel is evenly distributed on its wheel body, connected by elastic press mounting structure between the upper wheel fork and wheel carrier lower fork and friction section wheel is pressed on the section wheel of left or right wheel hub, save the left and right large helical gear that the interior transmission component of wheel is included in left and right wheel disc, each large helical gear is engaged with circumference uniform distribution and with the bevel pinion of each section wheel contraposition, and each bevel pinion is connected with contraposition section wheel by transmission belt.Omni-directional wheel of the present utility model is synthesized in traversing velocity with velocity is moved forward and backward, and can be converted into a vector that can make single wheel mechanism of car omnibearing movable.

Description

Unicycle mechanism with full range of motion

technical field

The utility model relates to a road walking mechanism, in particular to a wheelbarrow mechanism capable of omnidirectional movement.

Background technique

Wheeled walking mechanism is a widely used road walking mechanism, which can be applied to transportation tools such as bicycles and automobiles. As one of the wheeled walking mechanisms, the unicycle has the characteristics of a single wheel on the ground, static instability and dynamic stability. It is an ideal transportation tool that is light, compact, environmentally friendly and energy-saving.

Most of the existing unicycle mechanisms are designed based on the principle of inverted swing. The unicycle mechanism can achieve forward and backward movement, but it cannot achieve lateral lateral movement, which limits the application of the unicycle mechanism. In addition, in the traditional unicycle design Among them, in order to achieve lateral stability, the solution usually needs to add an additional counterweight adjustment mechanism such as a wobble plate or a swing rod, and the design result will make the system bulky, which is not good for humans to ride or carry.

For example, the patent application No. 201310648831.5 "Unicycle robot that can realize self-balancing" has a swing rod that needs to be turned around. The structure of this kind of unicycle mechanism is complex, the volume space occupied by the horizontal direction is large, and it lacks the ability to move laterally , Turning and avoiding obstacles is not flexible enough.

Utility model content

Aiming at the deficiencies of the prior art, the utility model proposes a wheelbarrow mechanism that can move in all directions.

The utility model can move the unicycle mechanism in all directions. Its technical proposal includes a single wheel installed on the lower fork of the wheel frame. The difference is that the single wheel is an omnidirectional wheel. The left and right wheel hubs of each wheel hub are evenly distributed with joint wheels that rotate left and right. The positions of the joint wheels on the left and right hubs are staggered, and the left and right wheel discs are fixed coaxially with the left and right hubs. The wheel disc is installed on the left and right fork openings of the lower fork of the wheel frame through the left and right support shafts idling on the left and right wheel discs, and the drive of the wheel hub is a hub motor installed on one side of the lower fork of the wheel frame. The drive of the knuckle wheel includes a hub outer transmission assembly and a hub inner transmission assembly. The hub outer transmission assembly is arranged in the lower fork of the wheel frame above the left and right hubs, including a wheel that is installed on the upper wheel fork and rotates left and right. Friction driving wheel, the upper circumference of the wheel body of the friction driving wheel is evenly distributed with friction joint wheels that rotate back and forth, and the upper wheel fork is installed on the lower fork of the wheel frame through an elastic pressing structure to press the friction joint wheel on the left or right On the joint wheel of the right wheel hub, the drive of the friction drive wheel is a stepper motor installed on one side of the upper wheel fork; the transmission assembly in the wheel hub includes left and right large helical gears arranged in the left and right wheel discs, The left and right large helical gears are installed on the transmission shafts that run through the left and right hubs. The large helical gears mesh with the small helical gears that are evenly distributed around the circumference and aligned with the pitch wheels. The rotating shafts are connected by a transmission belt or meshing transmission teeth.

The in-wheel motor conventionally adopts a decelerating gear transmission pair to connect the shaft sleeve fixedly connected with the corresponding wheel disc, and the shaft sleeve is installed on the corresponding support shaft in idle rotation; while the stepper motor conventionally adopts a direct-connected friction drive wheel mode direct drive.

The hub motor is conventionally a pancake motor.

The elastic press-fitting structure is as follows: the plug at the top of the upper fork is inserted into the socket at the top of the lower fork of the wheel frame, and a spring is pressed between the plug and the limit plate in the socket.

In a further design, the socket is provided with a vehicle body mount.

In a further design, an inner notch is opened on the outer surface of the hub, and a plurality of small helical gear support frames uniformly distributed on the circumference are arranged in the inner notch, and the wheel disc is installed on the outer edge of the corresponding hub, and a part The internal transmission components of the wheel hub are arranged in the inner recess provided on the side of the corresponding wheel hub, and the small helical gears are installed in the corresponding two small helical gear support frames.

In order to simplify the structure, the left and right support shafts and the drive shaft in the middle are an integral shaft.

The beneficial effects of the utility model:

1. In the structure of the wheelbarrow mechanism that can move in all directions according to the utility model, its double-row omnidirectional wheels can produce a speed vector that makes the wheelbarrow mechanism move laterally under the friction of the single row of omnidirectional wheels. This vector is driven by the pancake motor. The front and rear motion velocity vectors of the omnidirectional wheels are synthesized, and finally can be converted into a vector that can make the unicycle mechanism move in all directions.

2. In the structure of the utility model, the spring pressing structure is adopted to make the single-row omni-directional wheels fully contact with the double-row omni-directional wheels, thereby improving the reliability of the mechanical transmission of the system.

3. In the structure of the utility model, the side of the hub of the double-row omnidirectional wheel is provided with an inner notch for installing the helical gear transmission pair, which can increase the installation space of the large helical gear transmission pair and make the mechanism more compact.

Description of drawings

Fig. 1 is a front view of an embodiment of the utility model.

Fig. 2 is a left side view of the embodiment in Fig. 1 .

Fig. 3 is a perspective view of the omnidirectional wheel in Fig. 1 and Fig. 2 .

Fig. 4 is a view from direction A in Fig. 3 (the roulette is hidden).

Drawing number identification: 1. Lower fork of wheel frame; 1-1. Insert sleeve; 1-2. Limiting plate; 2. Hub; 3. Knuckle wheel; 4. Wheel disc; 5. Pizza motor; 6. Upper wheel fork ; 6-1, plug; 7, wheel body; 8, stepping motor; 9, large helical gear; 10, small helical gear; 11, transmission belt; 12, reduction gear transmission pair; 13, spring; 14, small helical gear Gear support frame; 15, omnidirectional wheel; 16, car body mounting seat; 17, friction joint wheel; 18, axle sleeve; 19, support shaft.

detailed description

The technical solutions of the present utility model will be further described below in conjunction with the embodiments shown in the accompanying drawings.

The unicycle mechanism capable of omnidirectional movement of the utility model comprises wheel frame lower fork 1, upper wheel fork 6, double-row omnidirectional wheels 15 (as a single wheel), friction drive wheels, pancake motor 5 and driving wheel for driving omnidirectional wheels 15. Parts such as the stepper motor 8 of the friction drive wheel.

Described omnidirectional wheel 15 comprises the left and right wheel hub 2 of coaxial solid installation, and the joint wheel 3 that rotates left and right is evenly distributed on the circumference of each wheel hub 2, and the position of joint wheel 3 on the left and right wheel hub 2 is staggered, and each wheel hub 2 A plurality of small helical gear support frames 14 uniformly distributed in the circumference are provided in the inner recess of the outer surface, and the left and right wheel discs 4 are installed on the outer edges of the left and right wheel hubs 2 respectively, and the outer ends of the left and right wheel discs 4 are the same. Shaft idling is equipped with left and right support shaft 19, as shown in Figure 1 and Figure 3.

The omnidirectional wheel 15 is located in the lower fork 1 of the wheel frame and is installed in the left and right forks of the lower fork 1 of the wheel frame through the left and right support shafts 19, and the pancake motor 5 is installed on one side of the lower fork 1 of the wheel frame Installed on the top, the output shaft of the pancake motor 5 is connected to the coaxially fixed bushing 18 on the corresponding side wheel 4 through the speed reduction gear transmission pair 12, and the bushing 18 is mounted on the corresponding support shaft 19 in idle rotation (rolling bearing structure) , as shown in Figure 1 and Figure 2.

The friction driving wheel (single-row omnidirectional wheel) includes a wheel body 7 that rotates left and right, and friction joint wheels 17 that rotate forward and backward are evenly distributed on the upper circumference of the wheel body 7. The friction driving wheel is arranged in the upper wheel fork 6 and passes through The rotating shafts on both sides of the wheel body 7 are installed in the front and rear forks of the upper wheel fork 6, and the stepping motor 8 is installed on one side of the upper wheel fork 6, and the output shaft of the stepping motor 8 is connected to the wheel body on the corresponding side. 7 rotating shaft connection; the upper wheel fork 6 together with the friction drive wheel is placed in the lower fork 1 of the wheel frame above the omnidirectional wheel 15, and the plug 6-1 at the top of the upper wheel fork 6 is inserted into the plug at the top of the lower fork 1 of the wheel frame. In the cover 1-1 (car body mounting seat 16 is installed on the socket 1-1), the spring 13 is pressed between the limit plate 1-2 in the plug 6-1 and the socket 1-1, and the spring 13 Under the action of the friction drive wheel, the friction joint wheel 17 of the friction drive wheel is pressed downward on the joint wheel 3 of the left or right hub 2, as shown in Figure 1.

Between the left wheel disc 4 and the left wheel hub 2, and between the right wheel disc 4 and the right wheel hub 2, left and right helical gear transmission pairs are respectively provided. 9 meshed small helical gears 10, the position of each small helical gear 10 corresponds to the position of each pitch wheel 3 on the corresponding side hub 2, and half of the helical gear transmission pair is placed in the concave hole opened on the outer surface of the same side hub 2 In the mouth, the left and right large helical gears 9 are connected through the transmission shaft (the transmission shaft can be a single shaft, or can be connected with the left and right support shafts to form a whole shaft) that runs through the left and right hubs 2. The transmission shaft of the part is installed with the wheel hub 2 through rolling bearings, each small helical gear 10 is installed between two pairs of small helical gear support frames 14 in the alignment, and the rotating shaft of each small helical gear 10 and the rotating shaft of the alignment pitch wheel 3 pass through The tensioned transmission belt 11 is connected, as shown in Fig. 3 and Fig. 4 .

The mode of operation of the utility model:

1. The pancake motor 5 is driven independently, and the left and right hubs 2 are driven to rotate through the speed reduction gear transmission pair 12 and the wheel disc 4 to realize forward and backward.

2. The stepper motor 8 is driven separately, through the friction drive wheel, a joint wheel 3 on the left or right hub 2, the joint wheel 3 drives the corresponding small helical gear 10 through the transmission belt 11, and the small helical gear 10 drives the left and right The large helical gear 9 rotates simultaneously, and the left and right large helical gears 9 drive the joint wheels 3 on the left and right wheel hubs 2 to rotate synchronously to realize left and right movement.

3. Pancake motor 5 and stepper motor 8 are driven simultaneously, and the forward and backward movement of left and right hubs 2 and the left and right movement of joint wheel 3 can be synthesized into the omnidirectional motion of the wheelbarrow mechanism.

Claims (7)

1. can omnibearing movable single wheel mechanism of car, including the single wheel for being installed on wheel carrier lower fork (1), it is characterised in that：It is described only It is omni-directional wheel (15) to take turns, and the omni-directional wheel (15) is round on each wheel hub (2) including being coaxially fixedly mounted with the front and rear left and right wheel hub (2) for rotating It is evenly equipped with the section wheel (3) of left-right rotation week, the section wheel (3) on left and right wheel hub (2) is staggeredly located, coaxial with left and right wheel hub (2) Left and right wheel disc (4) is fixed with, left and right wheel disc (4) is installed by the left and right support shaft (19) dallied on left and right wheel disc (4) In on the left and right prong of wheel carrier lower fork (1), the wheel hub motor for being driven to be installed on wheel carrier lower fork side of the wheel hub (2)；Institute Stating the driving of section wheel (3) includes transmission component in the outer transmission component of wheel hub and wheel hub, and the outer transmission component of the wheel hub is located at left and right In wheel carrier lower fork (1) above wheel hub (2), including wheel fork (6) and the friction driving roller for turning left and right are installed on, it is described to rub Friction section wheel (17) of rotation before and after being evenly distributed on the wheel body (7) for wiping driving wheel, the upper wheel fork (6) is press-fited by elasticity Structure is installed on wheel carrier lower fork (1) and friction section wheel (17) is pressed on the section wheel (3) of left or right wheel hub (2), the friction The stepper motor (8) for being driven to be installed on wheel fork (6) side of driving wheel, in the wheel hub transmission component include located at it is left, Left and right large helical gear (9) in right wheel disk (4), left and right large helical gear (9) is installed on the power transmission shaft through left and right wheel hub (2) On, the bevel pinion (10) that each large helical gear (9) aligns with circumference uniform distribution and with each section wheel (3) is engaged, each bevel pinion (10) Rotating shaft with contraposition section wheel rotating shaft by transmission belt (11) or engage driving cog be connected.

2. it is according to claim 1 can omnibearing movable single wheel mechanism of car, it is characterised in that：The wheel hub motor passes through Deceleration gear transmission (12) connects the axle sleeve (18) being connected with corresponding wheel disc (4), and axle sleeve (18) idle running is installed on correspondence In support shaft (19)；The direct-connected friction driving roller of the stepper motor (8).

3. it is according to claim 2 can omnibearing movable single wheel mechanism of car, it is characterised in that：The wheel hub motor is used Pancake motor (5).

4. according to any one in claims 1 to 3 can omnibearing movable single wheel mechanism of car, it is characterised in that it is described Elastic press mounting structure is：Plug (6-1) at the top of the upper wheel fork (6) is plugged in the sleeve (1-1) at the top of wheel carrier lower fork (1) It is interior, it is pressed with spring (13) between the limiting plate (1-2) in the plug (6-1) and sleeve (1-1).

5. it is according to claim 4 can omnibearing movable single wheel mechanism of car, it is characterised in that：On the sleeve (1-1) It is provided with car body mounting seat (16).

6. according to any one in claims 1 to 3 can omnibearing movable single wheel mechanism of car, it is characterised in that：Institute Inner recess is offered on the lateral surface for stating wheel hub (2), multiple bevel pinion support frames of circumference uniform distribution are provided with the inner recess (14), the wheel disc (4) is installed on the outer ledge of correspondence wheel hub (2), and transmission component is located at correspondence in the wheel hub of a part In the inner recess opened up on wheel hub (2) side, the bevel pinion (10) is in the corresponding support frame of bevel pinion two-by-two (14) Install.

7. according to any one in claims 1 to 3 can omnibearing movable single wheel mechanism of car, it is characterised in that：Left, Right support axle (19) is a bearing with the power transmission shaft of centre.