CN206327483U - The double single wheel auxiliary walking devices of lateral movement can be realized - Google Patents

The double single wheel auxiliary walking devices of lateral movement can be realized Download PDF

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Publication number
CN206327483U
CN206327483U CN201621424262.1U CN201621424262U CN206327483U CN 206327483 U CN206327483 U CN 206327483U CN 201621424262 U CN201621424262 U CN 201621424262U CN 206327483 U CN206327483 U CN 206327483U
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wheel
straight trip
backward
sidesway
wheel hub
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CN201621424262.1U
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Inventor
黄用华
王昌盛
张�杰
庄未
黄美发
匡兵
李雪梅
宋宜梅
钟永全
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Abstract

The double single wheel auxiliary walking devices of lateral movement, including left and right two single wheel balancing units can be realized the utility model discloses one kind, each single wheel balancing unit includes straight trip mechanism, steering mechanism and lateral movement mechanism.Straight trip mechanism include it is forward and backward be rotatablely installed in the omni-directional wheel in straight trip wheel carrier, section wheel is evenly distributed on the left and right wheel hub of omni-directional wheel;The pedal frame of steering mechanism is arranged in the rotary shaft on wheel carrier;Lateral movement mechanism includes transmission component in the outer transmission component of wheel hub and wheel hub, the outer transmission component of wheel hub includes forward and backward friction driving roller, and forward and backward friction driving roller is installed by forward and backward elastic slant-pull structure be pressed on respectively on the section wheel of left and right wheel hub in radial direction so as to which forward and backward friction section be taken turns respectively.The utility model can flexibly be switched over by controlling the athletic posture and relative position of two single wheel balancing units respectively between single wheel balance car, two-wheel balance car, the running status of balance-bicycle.

Description

The double single wheel auxiliary walking devices of lateral movement can be realized
Technical field
The utility model is related to intelligent robot running gear, is specially that one kind can realize the double single wheel secondary rows of lateral movement Walking apparatus.
Background technology
Electrodynamic balance car is a kind of new running gear, is mainly used as walking-replacing tool.
Existing electrodynamic balance car distinguishes the Segway two-wheels for mainly having single wheel balance car, wheel or so to set from structure The unmanned bicycle set before and after balance car and wheel.
At present, this three classes electrodynamic balance car is respectively provided with certain balance quality, but is due to the limitation of body construction, drives People's bipod must stand on same car body, reduce the flexibility of system and recreational.
The utility model patent of Application No. 201620104697.1 discloses one kind《Wearable pair of single wheel self-balancing dress Put》, its technical scheme can make device in single wheel by controlling the athletic posture and relative position of two single wheel balancing units respectively Flexibly switched between balance car, Segway two-wheels balance car, the running status of unmanned bicycle.
But be due to the limitation of car wheel structure, the device can only forward and backward rolling and can not be displaced sideways.
Utility model content
To solve the deficiencies in the prior art, the double single wheel auxiliary walkings of lateral movement can be realized the utility model proposes one kind Device.
The utility model can realize the double single wheel auxiliary walking devices of lateral movement, and its technical scheme includes wearing for left and right The two single wheel balancing units worn, two single wheel balancing units are controlled by being worn on the motion control unit with human body, Except that each single wheel balancing unit includes straight trip mechanism, steering mechanism and lateral movement mechanism, wherein,
1st, the straight trip mechanism includes the omni-directional wheel of forward and backward rotation, and the omni-directional wheel includes the left and right wheel being coaxially fixedly mounted with The section wheel being evenly distributed on hub, each wheel hub on the section wheel turned left and right, left and right wheel hub is staggeredly located, and left and right wheel hub passes through It is fixed with the support shaft of bearing to be installed between the left and right side plate of straight trip wheel carrier, the straight trip motor that drive hub is rotated is installed on Keep straight on the side plate of wheel carrier.
2nd, the steering mechanism includes pedal frame, and the base plate of the pedal frame is installed on the rotating shaft, and the rotary shaft is led to Cross bearing assembly to be installed on the top board of straight trip wheel carrier, footmuff, the steering that driving rotary shaft is rotated are set on the top board of pedal frame Motor is between the top board and base plate of pedal frame.
3rd, the lateral movement mechanism is that section actuation includes transmission component, the wheel in the outer transmission component of wheel hub and wheel hub The outer transmission component of hub is included in the forward and backward friction driving roller for being symmetrical arranged and turning left and right in left and right wheel hub top, and each friction is driven The friction section wheel of forward and backward rotation is evenly distributed on the wheel body of driving wheel, forward and backward friction driving roller is respectively at forward and backward sidesway wheel carrier Upper to install, forward and backward sidesway wheel carrier is installed on straight trip wheel carrier so as to by forward and backward friction by forward and backward elastic slant-pull structure respectively Section is taken turns to be pressed on the section wheel of left and right wheel hub respectively in radial direction, and being driven to of forward and backward friction driving roller is installed on straight trip wheel carrier top The sidesway motor of plate bottom, the forward and backward output shaft of the sidesway motor synchronously drives forward and backward rub by forward and backward sidesway transmission Wipe the power transmission shaft that transmission component in driving wheel, the wheel hub includes being uniformly arranged respectively at left and right wheel hub inner periphery, each power transmission shaft Between by universal joint connect and with corresponding wheel hub section wheel align, between the power transmission shaft and the section wheel of contraposition pass through be driven Pair connection.
Wheel hub drive mechanism uses the straight trip gear driving pair of at least one-level decreasing transmission, the straight trip gear driving pair Straight trip small active gear is installed on the output shaft of straight trip motor, the big driven gear of straight trip and the corresponding wheel hub of gear driving pair It is coaxial to be connected.
Rotary shaft drive mechanism is using the tooth sector transmission of at least one-level decreasing transmission, the tooth sector transmission Steering small active gear be installed on steering motor from the output shaft that pedal frame base plate stretches out, the steering of tooth sector transmission Big driven gear is installed in rotary shaft.
A kind of elastic slant-pull structure uses left and right rocker, the upper end of left and right rocker be hinged at respectively straight trip wheel carrier a left side, On right plate, the sidesway wheel carrier is installed between corresponding left and right rocker, and the lower end of left and right rocker is drawn by left and right spring Tightly on the left and right side plate of straight trip wheel carrier.
The sidesway transmission is using the sidesway Bevel Gear Drive pair of at least one-level decreasing transmission, the sidesway circular cone tooth The small active conical gear of sidesway of wheel transmission is installed on the corresponding output shaft of sidesway motor, sidesway Bevel Gear Drive pair The rotating shaft of the big driven bevel gear of sidesway connects the rotating shaft of corresponding friction driving roller by universal joint.
Transmission between the power transmission shaft and section wheel can use Timing Belt, and the Timing Belt is stretched in power transmission shaft and taken turns with section Between.
For the load of balanced pedal frame, the forward and backward straight wheel top of the trellis of the rotary shaft, which is set, left and right two buphthalmos axles Hold, four buphthalmos bearings are in the bottom of pedal frame base plate.
For being designed as that raising walking stability is taken:The hub body of relative opposite side wheel hub with the section wheel of side wheel hub The cambered surface constituted at the top of ball, each ball is evenly equipped with periphery and section wheel top cambered surface is contour.
The beneficial effects of the utility model:
1st, the utility model can realize the double single wheel auxiliary walking devices of lateral movement by controlling two single wheels balance single respectively The athletic posture and relative position of member, allow it in single wheel balance car, segway balance cars, unmanned balance-bicycle Flexibly switched between running status, while having the light of the rapidity of bicycle, segway stability and wheelbarrow Property.
2nd, the utility model realizes the lateral movement of device by the section wheel of friction driving roller friction-driven omni-directional wheel.
3rd, in the utility model structure, the section wheel of omni-directional wheel can produce one under the drive of friction driving roller makes device Traversing velocity, the synthesis for the velocity that the vector is kept straight on omni-directional wheel can make device omnibearing movable.
4th, in the utility model structure, the arranged on left and right sides on omni-directional wheel top is symmetrically installed with forward and backward friction driving roller, preceding, Friction driving roller is pressed on the section wheel (3) of left and right wheel hub (2) by forward and backward elastic slant-pull structure afterwards, this flexible structure It is able to ensure that the reliability of frictional drive.
Brief description of the drawings
Fig. 1 is a kind of three-dimensional structure diagram of embodiment of the utility model.
Fig. 2 is the front view of Fig. 1 embodiments.
Fig. 3 is the right view of Fig. 2 embodiments.
Fig. 4 is sectional views of the Fig. 3 along median vertical line.
Fig. 5 is the view after hiding straight trip motor, extension spring and its supporting mechanism in Fig. 2.
Fig. 6 (a) is the three-dimensional structure diagram of half of omni-directional wheel in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 embodiment.
Fig. 6 (b) is Fig. 6 (a) front view.
Figure number is identified:1st, omni-directional wheel;2nd, wheel hub;3rd, section wheel;4th, support shaft;5th, straight trip wheel carrier;6th, straight trip motor;7th, ride Frame;8th, rotary shaft;9th, footmuff;10th, friction driving roller;11st, friction section wheel;12nd, sidesway wheel carrier;13rd, sidesway motor;14th, it is driven Axle;15th, universal joint;16th, straight trip small active gear;17th, the big driven gear of straight trip;18th, drive sleeve;19th, small active gear is turned to; 20th, steering motor;21st, big driven gear is turned to;22nd, rocker;23rd, spring;24th, small active conical gear;25th, sidesway is driven greatly Conical gear;26th, Timing Belt;27th, buphthalmos bearing;28th, thrust bearing;29th, ball;30th, bolt assembly;31st, deep groove ball bearing.
Embodiment
Illustrated embodiment is described further to the technical solution of the utility model below in conjunction with the accompanying drawings.
The utility model can realize the double single wheel auxiliary walking devices of lateral movement, and its structure includes wearing what is worn for left and right Two single wheel balancing units, two single wheel balancing units are controlled by being worn on the motion control unit with human body, each only Taking turns balancing unit includes straight trip mechanism, steering mechanism and lateral movement mechanism, wherein,
The straight trip mechanism includes the omni-directional wheel 1 (single wheel) set based on straight trip wheel carrier 5 and the straight trip electricity for driving omni-directional wheel 1 Machine 6 (using pancake motor):
The straight trip wheel carrier 5 is using left and right vertical side plate and the frame structure of horizontal top;The structure of the omni-directional wheel 1 Including the left and right wheel hub 2 being coaxially fixedly mounted with, the wheel hub 2 includes middle hub sleeve and the spoke in circumference uniform distribution on hub sleeve, two two-wheeleds It is provided between spoke top on the section wheel 3 turned left and right, the periphery of each spoke and is evenly equipped with ball 29, each top structure of ball 29 Into cambered surface and section wheel 3 top cambered surfaces it is contour, the section wheel 3 on left and right wheel hub 2 is staggeredly located, omni-directional wheel 1 be placed in straight trip wheel carrier 5 It is interior, and straight wheel is installed on by the support shaft 4 (hub sleeve that left and right wheel hub 2 is crossed using a bearing) on left and right wheel hub 2 The left and right side plate bottom of frame 5, support shaft 4 is installed by left and right deep groove ball bearing 31 with left and right wheel hub 2, and in support shaft 4 The axial limiting deep groove ball bearing 31 of drive sleeve 18 is set;The straight trip motor 6 is installed simultaneously in the side plate top of straight trip wheel carrier 5 side Pass through the straight trip gear driving pair (the straight trip small active gear 16 and big driven gear 17 of keeping straight on that are meshed) of one-level decreasing transmission Connect the wheel hub 2 of respective side, the straight trip small active gear 16 is installed on the output shaft of straight trip motor 6, the straight trip it is big from Moving gear 17 is coaxial connected with corresponding wheel hub 2, as shown in Figure 1, Figure 2, Figure 3, Figure 4.
The steering mechanism includes the rotary shaft 8 set based on pedal frame 7 and steering motor 20 (using pancake motor):
Top board and base arrangement that the pedal frame 7 is connected using bolt assembly 30, the base plate of pedal frame 7 are installed on rotation On axle 8, the rotary shaft 8 is installed on straight trip wheel carrier 5 by bearing assembly (combination of deep groove ball bearing 31 and thrust bearing 28) Top board on, the steering motor 20 is installed on the base plate of pedal frame 7, and the output shaft of steering motor 20 extends downwardly from pedal frame 7 base plate and by the tooth sector transmission of one-level decreasing transmission (the steering small active gear 19 that is meshed and turn to it is big from Moving gear 21) connection rotary shaft 8, the steering small active gear 19 is installed on the output shaft of steering motor 20, described to turn to Big driven gear 21 is installed in rotary shaft 8, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5.
The lateral movement mechanism includes transmission component in the outer transmission component of wheel hub and wheel hub, and the outer transmission component of the wheel hub is based on Keeping straight on, wheel carrier 5 is forward and backward to be symmetrical arranged, and common be used as using sidesway motor 13 is driven, and transmission component includes friction drive outside each wheel hub The sidesway Bevel Gear Drive pair of driving wheel 10 and elastic slant-pull structure and one-level decreasing transmission, the outer transmission component of former side wheel hub Exemplified by:
Preceding friction driving roller 10 is installed on front side and moves on wheel carrier 12 and can turn left and right, the wheel body of preceding friction driving roller 10 On be evenly distributed in the friction section wheel 11 of forward and backward rotation, preceding friction driving roller 10 is outwards inclined in (preceding in front of the top of omni-directional wheel 1 The rotating shaft of friction driving roller 10 is inwardly tilting) and radially contact with the left and right wheel hub 2 of omni-directional wheel 1 (on the section wheel 3 of side and At the top of the spoke of opposite side on ball 29);Preceding elastic slant-pull structure includes left and right rocker 22 and left and right spring 23, left and right to shake Plate 22 is inwardly tilting, and the upper end of left and right rocker 22 is hinged at the top-left position of the left and right side plate of straight trip wheel carrier 5 respectively, it is described before Sidesway wheel carrier 12 is placed between the left and right lower end of rocker 22 and is hinged therewith, outside tilting, left and right 23 points of the spring of left and right spring 23 The lower left position of the left and right side plate in the left and right lower end of rocker 22 and straight trip wheel carrier 5 is not tensed, as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5 It is shown.
The sidesway motor 13 located at the top board bottom of the straight trip wheel carrier 5 of the top of omni-directional wheel 1, sidesway motor 13 it is forward and backward Output shaft passes through secondary (the small active conical gear 24 being meshed of sidesway Bevel Gear Drive of forward and backward one-level decreasing transmission respectively With the big driven bevel gear 25 of sidesway), the small active conical gear 24 is installed on the corresponding output shaft of sidesway motor 13, institute State the big driven bevel gear 25 of sidesway to connect by the rotating shaft of universal joint 15 and corresponding friction driving roller 10, as shown in Figure 1, Figure 2, Fig. 5 It is shown.
Transmission component is included in the power transmission shaft 14 that the left and right inner periphery of wheel hub 2 is uniformly arranged, each power transmission shaft 14 in the wheel hub It is installed on the axle bed between spoke bottom two-by-two (being located at hub sleeve), is connected between each power transmission shaft 14 by universal joint 15, it is described Connected between power transmission shaft 14 and the section wheel 3 of contraposition by two Timing Belts 26 of tensioning, shown in such as Fig. 6 (a), Fig. 6 (b).
The method of operation of the present utility model:
1st, the straight trip of device --- straight trip motor 6 is activated individually, and by keeping straight on, gear driving pair drives left and right 2 turns of wheel hub Forward and backward rolling that is dynamic and realizing omni-directional wheel 1.
2nd, the sidesway of device --- sidesway motor 13 is activated individually, before being driven by forward and backward sidesway Bevel Gear Drive pair, Friction driving roller 10 is rotated afterwards, so as to drive the left and right shifting for saving 3 synchronous axial systems of wheel and realizing omni-directional wheel 1 on left and right wheel hub 2 It is dynamic.
3rd, the comprehensive operation of device --- straight trip motor 6 starts simultaneously with sidesway motor 13, the straight trip speed of omni-directional wheel 1 Vector synthesizes comprehensive motion with sidesway velocity.
4th, in the three of the above method of operation, under the driving of steering motor 20, device can be achieved to turn to.

Claims (8)

1. the double single wheel auxiliary walking devices of lateral movement can be realized, including the two single wheel balancing units worn, two are worn for left and right Individual single wheel balancing unit is controlled by being worn on the motion control unit with human body, it is characterised in that:Each single wheel balance is single Member includes straight trip mechanism, steering mechanism and lateral movement mechanism, wherein,
1., the straight trip mechanism includes the omni-directional wheel (1) of forward and backward rotation, and the omni-directional wheel (1) is left and right including what is be coaxially fixedly mounted with Section wheel (3) position phase on the section wheel (3) turned left and right, left and right wheel hub (2) is evenly distributed on wheel hub (2), each wheel hub (2) Mistake, left and right wheel hub (2) is installed between the left and right side plate of straight trip wheel carrier (5) by being fixed with the support shaft (4) of bearing, driving The straight trip motor (6) that wheel hub (2) is rotated is installed on the side plate of straight trip wheel carrier (5);
2., the steering mechanism includes pedal frame (7), and the base plate of the pedal frame (7) is arranged in rotary shaft (8), described turn Moving axis (8) is installed on by bearing assembly on the top board of straight trip wheel carrier (5), and footmuff (9) is set on the top board of pedal frame (7), is driven The steering motor (20) that dynamic rotary shaft (8) is rotated is between the top board and base plate of pedal frame (7);
3., the lateral movement mechanism is that section actuation includes transmission component, the wheel hub in the outer transmission component of wheel hub and wheel hub Outer transmission component is included in the forward and backward friction driving roller (10) for being symmetrical arranged and turning left and right in left and right wheel hub (2) top, respectively rubs The friction section wheel (11) of forward and backward rotation is evenly distributed on the wheel body for wiping driving wheel (10), forward and backward friction driving roller (10) is respectively In being installed on forward and backward sidesway wheel carrier (12), forward and backward sidesway wheel carrier (12) is installed on directly by forward and backward elastic slant-pull structure respectively So as to which forward and backward friction section wheel (11) be pressed on the section wheel (3) of left and right wheel hub (2) respectively in radial direction on road wheel frame (5), preceding, Afterwards friction driving roller (10) be driven to be installed on straight trip wheel carrier (5) top board bottom sidesway motor (13), the sidesway motor (13) forward and backward output shaft is synchronously driven in forward and backward friction driving roller (10), the wheel hub by forward and backward sidesway transmission and passed Dynamic component includes passing through ten thousand between the power transmission shaft (14) being uniformly arranged respectively at left and right wheel hub (2) inner periphery, each power transmission shaft (14) Align to section (15) connection and with the section wheel (3) on corresponding wheel hub (2), between the section wheel (3) of the power transmission shaft (14) and contraposition Connected by transmission.
2. according to claim 1 can realize the double single wheel auxiliary walking devices of lateral movement, it is characterised in that:Wheel hub drives Mechanism is the straight trip gear driving pair of at least one-level decreasing transmission, the straight trip small active gear (16) of the straight trip gear driving pair On the output shaft for being installed on straight trip motor (6), the big driven gear of straight trip (17) of gear driving pair is coaxial solid with corresponding wheel hub (2) Even.
3. according to claim 1 can realize the double single wheel auxiliary walking devices of lateral movement, it is characterised in that:Rotary shaft is driven Motivation structure is the tooth sector transmission of at least one-level decreasing transmission, the steering small active gear of the tooth sector transmission (19) be installed on steering motor (20) from the output shaft that pedal frame (7) base plate stretches out, the steering of tooth sector transmission it is big from Moving gear (21) is installed in rotary shaft (8).
4. according to claim 1 can realize the double single wheel auxiliary walking devices of lateral movement, it is characterised in that:The elasticity Slant-pull structure includes left and right rocker (22), and the upper end of left and right rocker (22) is hinged at the left and right side plate of straight trip wheel carrier (5) respectively On, the sidesway wheel carrier (12) is installed between corresponding left and right rocker (22), and the lower end of left and right rocker (22) passes through left and right Spring (23) is tensed on the left and right side plate of straight trip wheel carrier (5).
5. according to claim 1 can realize the double single wheel auxiliary walking devices of lateral movement, it is characterised in that:The sidesway Transmission is the sidesway Bevel Gear Drive pair of at least one-level decreasing transmission, the secondary small master of sidesway of the sidesway Bevel Gear Drive Dynamic conical gear (24) is installed on the corresponding output shaft of sidesway motor (13), and the secondary sidesway of sidesway Bevel Gear Drive is driven greatly The rotating shaft of conical gear (25) connects the rotating shaft of corresponding friction driving roller (10) by universal joint (15).
6. according to claim 1 can realize the double single wheel auxiliary walking devices of lateral movement, it is characterised in that:The transmission Transmission between axle (14) and section wheel (3) is Timing Belt (26), and the Timing Belt (26) is stretched in power transmission shaft (14) and taken turns with section (3) between.
7. it can realize the double single wheel auxiliary walking devices of lateral movement, its feature according to any one in claim 1~6 It is:Being set at the top of the forward and backward straight trip wheel carrier (5) of the rotary shaft (8) has left and right two buphthalmos bearings (27), four buphthalmos The bottom that bearing (27) is supported on pedal frame (7) base plate is used for the load of balanced pedal frame (7).
8. it can realize the double single wheel auxiliary walking devices of lateral movement, its feature according to any one in claim 1~6 It is:Ball (29) is evenly equipped with the hub body periphery of the opposite side wheel hub (2) relative with the section wheel (3) of side wheel hub (2), respectively The cambered surface constituted at the top of ball (29) and cambered surface at the top of section wheel (3) are contour.
CN201621424262.1U 2016-12-23 2016-12-23 The double single wheel auxiliary walking devices of lateral movement can be realized Active CN206327483U (en)

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CN201621424262.1U CN206327483U (en) 2016-12-23 2016-12-23 The double single wheel auxiliary walking devices of lateral movement can be realized

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621424262.1U CN206327483U (en) 2016-12-23 2016-12-23 The double single wheel auxiliary walking devices of lateral movement can be realized

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