CN208585339U - Obstacle detouring wheel assembly - Google Patents
Obstacle detouring wheel assembly Download PDFInfo
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- CN208585339U CN208585339U CN201821122321.9U CN201821122321U CN208585339U CN 208585339 U CN208585339 U CN 208585339U CN 201821122321 U CN201821122321 U CN 201821122321U CN 208585339 U CN208585339 U CN 208585339U
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- gear
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- obstacle detouring
- wheel
- transmission gear
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Abstract
The utility model provides a kind of obstacle detouring wheel assembly.Obstacle detouring wheel assembly includes cabinet, gear set, steering engine, more driving wheels.Gear set includes transmission gear and multiple output gears, and multi output gear is set to the two sides of transmission gear, and transmission gear and multiple output gears are sequentially connected.Steering wheel is fixedly connected with transmission gear, and steering wheel band nutating gear rotates, and transmission gear drives the rotation of two output gears.Two driving wheels and output gear are sequentially connected.The obstacle detouring wheel assembly of present embodiment, multiple driving wheels realize multiple spot output driving to crawler belt.To guarantee that obstacle detouring wheel assembly dynamic equilibrium exports, guarantees that crawler belt can be moved smoothly, avoid skidding.
Description
Technical field
The utility model relates to a kind of robot field, especially a kind of obstacle detouring wheel assembly.
Background technique
In recent years, with development in science and technology, the application of robot increasingly increases, under many scenes, needs that robot is allowed to have
Locomotivity, more intelligently to complete task.In previous robot architecture, mostly use wheeled or crawler type row as machine
The move mode of device people.In the move mode of four-wheel drive, road pavement is more demanding, when encountering complex road surface, is easy
It is stuck or falls into, so that movement is ineffective.
Compared with wheeled construction, in another caterpillar move mode, crawler belt has bigger contact area, has more
Good ground grip ability.But the caterpillar belt structure of robot is still remained when encountering complex road surface due to power transmission ability
Difference, the unbalanced problem of power output lead to crawler belt bad response, easily skid.
Utility model content
The purpose of this utility model is to provide one kind can guarantee that dynamic equilibrium exports, and prevents the Stump-jump wheel group skidded
Part.
A kind of obstacle detouring wheel assembly, comprising:
Cabinet offers an accommodating chamber；
Gear set is contained in the accommodating chamber, and the gear set includes transmission gear and multiple output gears, described more
A output gear is set to the two sides of the transmission gear, and the transmission gear is sequentially connected with multiple two output gears；
Steering engine is equipped with steering wheel, and the steering wheel is fixedly connected with the transmission gear, and the steering wheel drives the transmission gear
Rotation, the transmission gear drive the two output gear rotations；
Multiple driving wheels are sequentially connected set on the outside of the cabinet, and with the output gear, the output gear band
Move the driving wheel rotation.
In a wherein embodiment, which is characterized in that
The gear set is contained in the accommodating chamber, and the gear set includes transmission gear and two output gears, institute
The middle part that transmission gear is set to the cabinet is stated, two output gears are symmetrically set in the two sides of the transmission gear, the biography
Moving gear and two output gears are sequentially connected；
Steering engine is equipped with steering wheel, and the steering wheel is fixedly connected with the transmission gear, and the steering wheel drives the transmission gear
Rotation, the transmission gear drive the two output gear rotations；
Two driving wheels are sequentially connected set on the outside of the cabinet, and with the output gear, and the output gear drives
The driving wheel rotation.
In a wherein embodiment, further includes:
Crawler belt is sheathed on the driving wheel, and the driving wheel is engaged with the crawler belt, and the crawler belt is driven to rotate.
In a wherein embodiment, the output gear is equipped with output shaft, and the output gear passes through the output shaft
It is connect with the driving wheel.
In a wherein embodiment, the output shaft be it is prismatic, the driving wheel offers and the output shaft phase
The axis hole of adaptation.
In a wherein embodiment, the gear set further includes accelerating gear, and the accelerating gear is set to the transmission
Between gear and the output gear, and the diameter of the accelerating gear is less than the diameter of the transmission gear.
In a wherein embodiment, the gear set further includes transition gear, and the transition gear is set to the acceleration
Between tooth and the output gear.
In a wherein embodiment, through-hole, the steering wheel of the steering engine and the transmission are offered on the transmission gear
Gear is fastenedly connected by screw.
It further include trim in a wherein embodiment, the middle part of the driving wheel is equipped with groove, and the trim is set
In in the groove.
It further include decoration in a wherein embodiment, the decoration is fixed on the cabinet, and fills two
Gap between the driving wheel.
The obstacle detouring wheel assembly of present embodiment, by the transmission gear of servo driving gear set, the drive gears it is more
A output gear rotation.And since multiple output gears are set to the two sides of transmission gear, have and export transmission gear
Power, evenly distribute in the ability of each output gear, multiple spot power transmission be converted by single-point power transmission.Each transmission
Gear mesh answers a driving wheel, then multiple driving wheels drive to ground or to crawler belt simultaneously.In this case, power decentralized in
Everywhere in ground or crawler belt, then driving wheel realizes symmetrical driving to it.To guarantee that obstacle detouring wheel assembly dynamic equilibrium exports, guarantee
Crawler belt can be moved smoothly, avoid skidding.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the obstacle detouring wheel assembly of present embodiment；
Fig. 2 is the gear set of obstacle detouring wheel assembly shown in FIG. 1 and the assembling schematic diagram of lower cover；
Fig. 3 is the structural schematic diagram of the steering engine of obstacle detouring wheel assembly shown in FIG. 1；
Fig. 4 is the explosive view of obstacle detouring wheel assembly shown in FIG. 1.
The reference numerals are as follows: 10, obstacle detouring wheel assembly；11, cabinet；111, upper cover；112, lower cover；113, shaft；
114, via hole；12, gear set；121, transmission gear；1211, through-hole；122, accelerating gear；123, transition gear；124, it exports
Gear；125, output shaft；126, boss；13, steering engine；131, motor；132, steering wheel；14, driving wheel；141, groove；15, it carries out
Band；151, chaining part；152, silica gel part；153, chain；154, iron prop；16, steel bushing is matched；17, trim；171, extending bore；18,
Decoration.
Specific embodiment
The exemplary embodiment for embodying the utility model features and advantages will describe in detail in the following description.It should be understood that
Be that the utility model can have various variations in different embodiments, all do not depart from the model of the utility model
It encloses, and the descriptions and illustrations are essentially for illustration purposes, rather than to limit the utility model.
Fig. 1 and Fig. 3 is please referred to, the utility model provides a kind of obstacle detouring wheel assembly.Obstacle detouring wheel assembly 10 includes cabinet 11, tooth
Wheel group 12, steering engine 13, driving wheel 14.Gear set 12 is contained in cabinet 11, and steering engine 13 is that gear set 12 provides power, makes gear
Group 12 respectively drives multiple driving wheels 14, realizes the movement of obstacle detouring wheel assembly.
The obstacle detouring wheel assembly of present embodiment, by the transmission gear of servo driving gear set, the drive gears it is more
A output gear rotation.And since multiple output gears are set to the two sides of transmission gear, have and export transmission gear
Power, evenly distribute in the ability of each output gear, multiple spot power transmission be converted by single-point power transmission.Each transmission
Gear mesh answers a driving wheel, then multiple driving wheels drive to ground or to crawler belt simultaneously.In this case, power decentralized in
Everywhere in ground or crawler belt, then driving wheel realizes symmetrical driving to it.To guarantee that obstacle detouring wheel assembly dynamic equilibrium exports, guarantee
Crawler belt can be moved smoothly, avoid skidding.
Cabinet 11 is in flat, trapezium structure.Cabinet 11 includes upper cover 111 interconnected and lower cover 112.Upper cover 111
An accommodating chamber is formed with lower cover 112.Upper cover 111 is fastenedly connected with lower cover 112 by tapping screw realization.
Referring to Fig. 4, being equipped with the shaft 113 for being arranged gear set 12 in cabinet 11.Specifically, shaft 113 is set to down
On the inner sidewall of lid 112.According to the aperture of different gears, the diameter of shaft is different.Also, in upper cover 111 and lower cover 112
It is opposite to offer a via hole 114.
Referring to Fig. 2, gear set 12 is contained in accommodating chamber.Gear set 12 include transmission gear 121, accelerating gear 122,
Transition gear 123 and two output gears 124.
Transmission gear 121 is set to the middle part of cabinet 11.Transmission gear 121 is oppositely arranged with via hole 114.
Steering engine 13 includes motor 131 and steering wheel 132.Steering wheel 132 is set to the side of motor 131.Motor 131 drives steering wheel
132 rotations.Then the steering wheel 132 of steering engine 13 is fixedly connected by via hole 114 with transmission gear 121.It is offered on transmission gear 121
Through-hole 1211, screw pass through transmission gear 121 and are fixedly connected with steering wheel 132.Therefore, the steering wheel 132 of steering engine 13 is gear set 12
Power is provided.
Accelerating gear 122 is two, is respectively arranged on the opposite sides of transmission gear 121, and engage with transmission gear 121.
The diameter of accelerating gear 122 is less than the diameter of transmission gear 121.Then the velocity of rotation of accelerating gear 122 is relative to transmission gear
121 velocity of rotation is improved, and can compensate the lower deficiency of 13 revolving speed of steering engine.
Transition gear 123 is two.Transition gear 123 is set to the side of accelerating gear 122.Transition gear 123 can increase
The distance between big two output gears 124 help to maintain equalising torque between two output gears 124.
In other embodiments, accelerating gear 122 can be omitted.Transition gear 123, which is set to, accelerates tooth and output gear
Between 124, and engaged with tooth and output gear 124 is accelerated.
In other embodiments, transition gear 123 can be omitted.Accelerating gear 122 is set to transmission gear 121 and output
Between gear 124, and transmission gear 121 is engaged with output gear 124.
Two output gears 124 are symmetrically set in the two sides of transmission gear 121.Transmission gear 121 passes through accelerating gear 122, mistake
It crosses gear 123 and output gear 124 is sequentially connected.Two output gears 124 are symmetrical arranged relative to transmission gear 121, then two is defeated
The torque of gear 124 is identical out, guarantees the output power balance of two output gears 124.
In other embodiments, output gear can be multiple, and multiple output gears are set to the two sides of transmission gear, pass
Moving gear and multiple output gears are sequentially connected.Multiple output gears can be evenly distributed in the ability of each output gear, by
Single-point power transmission is converted into multiple spot power transmission.Output gear can be 3,4 or 5 etc..
What output gear 124 was used to connect with driving wheel 14, so that driving wheel 14 be driven to rotate.Specifically, output gear
124 are equipped with output shaft 125, and output shaft 125 passes through upper cover 111, connect with driving wheel 14.Also, output shaft 125 be it is prismatic,
Driving wheel 14 offers axis hole compatible with output shaft 125.The then rotation of output gear 124 can drive driving wheel 14 to rotate.
Specifically in the present embodiment, output shaft 125 is regular hexagonal prism, and driving wheel 14 offers a regular hexagon axis hole,
Then output shaft 125 and driving wheel 14 are drivingly connected.
Specifically in the present embodiment, transmission gear 121 is equipped with boss 126, and boss 126 is contained in via hole 114, with limit
Position transmission gear 121 is rotated in via hole 114.Accelerating gear 122, transition gear 123, output gear 124 are sheathed on shaft
On 113.Shaft 113 can limit the rotation of accelerating gear 122, transition gear 123, output gear 124, avoid accelerating gear
122, transition gear 123, output gear 124 shift during rotation.
Obstacle detouring wheel assembly further includes match steel bushing 16.Steel bushing 16 is matched to be set between cabinet 11 and gear set 12.Specifically, it is driven
Match steel bushing 16 is equipped between the boss 126 and via hole of gear 121.Match steel bushing 16 is equipped between shaft 113 and gear set 12.According to
The size of transmission gear 121, accelerating gear 122, transition gear 123, output gear 124 is adapted to match steel bushing 16 of corresponding size.
Match steel bushing 16 is gear buffering external member.Matching steel bushing 16 has self-lubricating function, for keeping power transmission more smooth.Matching steel bushing 16 is
Polyformaldehyde POM material.
Two driving wheels 14 are set to the outside of cabinet 11, and are sequentially connected with output gear 124, and output gear 124, which drives, to be driven
Driving wheel 14 rotates.In other embodiments, driving wheel 14 or multiple, multiple driving wheels 14 respectively with multiple output gears
124 connection of wheel.
Specifically in the present embodiment, obstacle detouring wheel assembly further includes crawler belt 15.Crawler belt 15 is sheathed on driving wheel 14, driving
Wheel 14 is engaged with crawler belt 15, and crawler belt 15 is driven to rotate.
Crawler belt 15 includes chaining part 151 and silica gel part 152.Silica gel part 152 is coated on the outside of chaining part 154.Silica gel part
152 can be enhanced the friction between crawler belt 15 and ground, prevent crawler belt 15 from skidding, smoothly complete the movement of obstacle detouring wheel assembly 10.
Chaining part 151 includes more piece chain 153 and multiple iron props 154, and iron prop 154 passes through two adjacent pitch chain items 153.It drives
Driving wheel 14 is equipped with teeth, and teeth and chaining part 154 are intermeshed, and driving wheel 14 rotates, then chaining part 151 is driven to move.
The obstacle detouring wheel assembly of present embodiment further includes trim 17.The middle part of driving wheel 14 is equipped with groove 141, trim
17 are set in groove 141.
The obstacle detouring wheel assembly of present embodiment further includes decoration 18.Decoration 18 is fixed on cabinet 11, and is filled
Gap between two driving wheels 14.
Trim 17 and decoration 18 enhance outside beauty function, may be used also in addition to that can decorate to obstacle detouring wheel assembly 10
To play protective action to 15 component of crawler belt in operating, crawler belt 15 on the one hand can be entered to avoid sundries, is on the other hand prevented
Human hand etc., which protrudes into, leads to injury.
Also, extending bore 171 is offered on trim 17 and decoration 18.Extending bore 171 is used for mutual with extension
Grafting.Extension can be high for pleasure.Therefore, the interactivity between user can be enhanced in above-mentioned obstacle detouring wheel assembly 10, mentions
The interest of high user.
Although describing the utility model with reference to several exemplary embodiments, it is to be understood that, term used is to say
Term bright and exemplary, and not restrictive.Since the utility model can be embodied in a variety of forms without departing from practical
Novel spirit or essence, it should therefore be appreciated that above embodiment is not limited to any of the foregoing details, and should be in accompanying right
Widely explained in spirit and scope defined by it is required that, thus fall into whole variations in claim or its equivalent scope and
Remodeling all should be appended claims and be covered.
Claims (10)
1. a kind of obstacle detouring wheel assembly characterized by comprising
Cabinet offers an accommodating chamber；
Gear set is contained in the accommodating chamber, and the gear set includes transmission gear and multiple output gears, the multiple defeated
Gear is set to the two sides of the transmission gear out, and the transmission gear and multiple output gears are sequentially connected；
Steering engine is equipped with steering wheel, and the steering wheel is fixedly connected with the transmission gear, and the steering wheel drives the driving cog rotation
Dynamic, the transmission gear drives the two output gear rotations；
Multiple driving wheels are sequentially connected set on the outside of the cabinet, and with the output gear, and the output gear drives institute
State driving wheel rotation.
2. obstacle detouring wheel assembly according to claim 1, which is characterized in that
The gear set is contained in the accommodating chamber, and the gear set includes transmission gear and two output gears, the biography
Moving gear is set to the middle part of the cabinet, and two output gears are symmetrically set in the two sides of the transmission gear, the driving cog
Wheel is sequentially connected with two output gears；
Steering engine is equipped with steering wheel, and the steering wheel is fixedly connected with the transmission gear, and the steering wheel drives the driving cog rotation
Dynamic, the transmission gear drives the two output gear rotations；
Two driving wheels are sequentially connected set on the outside of the cabinet, and with the output gear, described in the output gear drive
Driving wheel rotation.
3. obstacle detouring wheel assembly according to claim 1, which is characterized in that further include:
Crawler belt is sheathed on the driving wheel, and the driving wheel is engaged with the crawler belt, and the crawler belt is driven to rotate.
4. obstacle detouring wheel assembly according to claim 1, which is characterized in that the output gear is equipped with output shaft, described defeated
Gear is connect by the output shaft with the driving wheel out.
5. obstacle detouring wheel assembly according to claim 4, which is characterized in that the output shaft is prismatic, the driving wheel
Offer axis hole compatible with the output shaft.
6. obstacle detouring wheel assembly according to claim 1, which is characterized in that the gear set further includes accelerating gear, described
Accelerating gear is set between the transmission gear and the output gear, and the diameter of the accelerating gear is less than the driving cog
The diameter of wheel.
7. obstacle detouring wheel assembly according to claim 6, which is characterized in that the gear set further includes transition gear, described
Transition gear is set between the accelerating gear and the output gear.
8. obstacle detouring wheel assembly according to claim 1, which is characterized in that through-hole is offered on the transmission gear, it is described
The steering wheel of steering engine is fastenedly connected with the transmission gear by screw.
9. obstacle detouring wheel assembly according to claim 1, which is characterized in that it further include trim, the middle part of the driving wheel
Equipped with groove, the trim is set in the groove.
10. -9 any obstacle detouring wheel assembly according to claim 1, which is characterized in that it further include decoration, the decoration
It is fixed on the cabinet, and fills the gap between two driving wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821122321.9U CN208585339U (en) | 2018-07-13 | 2018-07-13 | Obstacle detouring wheel assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821122321.9U CN208585339U (en) | 2018-07-13 | 2018-07-13 | Obstacle detouring wheel assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208585339U true CN208585339U (en) | 2019-03-08 |
Family
ID=65540936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821122321.9U Active CN208585339U (en) | 2018-07-13 | 2018-07-13 | Obstacle detouring wheel assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208585339U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861722A (en) * | 2019-10-29 | 2020-03-06 | 河北工业大学 | Wall-climbing robot |
| CN113404826A (en) * | 2021-06-29 | 2021-09-17 | 南京工程学院 | Star wheel transmission mechanism with clutch function |
-
2018
- 2018-07-13 CN CN201821122321.9U patent/CN208585339U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861722A (en) * | 2019-10-29 | 2020-03-06 | 河北工业大学 | Wall-climbing robot |
| CN113404826A (en) * | 2021-06-29 | 2021-09-17 | 南京工程学院 | Star wheel transmission mechanism with clutch function |
| CN113404826B (en) * | 2021-06-29 | 2024-04-19 | 南京工程学院 | Star wheel transmission mechanism with clutch function |
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