CN209336405U - A kind of full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism - Google Patents

Abstract

The utility model relates to a kind of full Terrain Elevation active lifting formula omnidirectional driving wheel mechanisms, it is made of main body, driving assembly, steering assembly, dampening assembly, active lifting component, wheel module, the steering assembly, dampening assembly are installed in main body, bottom part body is mounted with wheel module, and wheel module is connect with driving assembly, active lifting component respectively.The utility model enormously simplifies the complexity of driving wheel structure, improves driving wheel integrated level, control precision, reduces driving wheel weight, dynamic response speed；Module is gone up and down by oneself height, realize the height adjustment of driving wheel opposed platforms, to be obviously improved driving wheel shock-absorbing performance and obstacle detouring passage capacity, the leap performance of mobile platform is also improved simultaneously, but also realize the road surface road conditions perceptional function of system, greatly improve the intelligence degree of system.

Description

A kind of full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism

Technical field

The utility model belongs to technical field of driving, and in particular to a kind of full Terrain Elevation active lifting formula omnidirectional drive Driving wheel mechanism.

Background technique

Omni-mobile platform is to refer to move along two direction XY, and can realize the platform rotated in place, has and turns to sky Between it is small, maneuverability is good, manipulation is convenient, moves the advantages that steady, be electric business logistics, factory's material carry, it is military explosive and The industries such as home services provide a perfect solution.Omni-mobile platform is not changing itself posture because it has Under the premise of the ability that is moved to any direction, that is, there is 3 or 3 or more in the plane freedom of motion, movement is flexible Property is higher, is highly suitable for narrow or limited space area operation.

Omni-mobile mechanism used by realizing train omnidirectional moving usually at present has ball wheel, Mike to receive female wheel, universal wheel Or the modified product based on them.In terms of improving train or attached mobile platform lift in height, pass is depended on The telescoping mechanism of nodular.

On I, Omni-mobile platform drive form, mainly there are ball wheel, Mike to receive the schemes such as female wheel and omni-directional wheel.

(1) ball wheel construction technical solution

Such as application No. is the patent of 201110421107.X " motion platform based on the driving of Qiu Lun omnidirectional ", it is related to one kind Can paleocinetic smart motion platform, in particular to it is a kind of by control three ball wheels movement to realize platform entirety Omnidirectional moving mechanism, belong to motor driven, sensor instrument distance, wireless telecommunications and automatic control technology field；It specifically includes Three sets of same ball wheel drive mechanical structures and three motor drivers, context aware systems and platform control system；Platform master Control module processing obtains control instruction, issues motor driver control module, and ball wheel rolls under the control of driving motor, real The movement of existing platform.Omni-directional principle of the invention based on balls tumble is, it can be achieved that manual control and two kinds of autonomous operation work Mode, and the operation of single platform and the multi-platform method of operation, have small in size, and balance is good, and motor behavior expressive force is prominent, fastly The characteristics of fast motor-driven and omnidirectional moving.It is similar that there are also application No. is 201280035387.3 patent " omnibearing moving platforms " Deng.

Global wheel generally uses magnetism or other means, fully controls to ball wheel, to realize wheel in the direction XY Upper omnidirectional moving.But global wheel control is got up more difficult, is seldom used in actual use, it is more at present to be present in concept product In, such as global wheel mechanism for tire of Audi etc..

(2) Mike receives female wheel structure technology scheme

Application No. is 201611060832.8 patent disclosure " a kind of Omni-mobile platform ", including vehicle body frame, pendulum Dynamic component, swing vehicle axle and damper, the wobble component are fixed on vehicle body frame bottom, and the swing vehicle axle passes through described Wobble component being mounted on the vehicle body frame of swinging up and down of the relatively described vehicle body frame bottom；The swing vehicle axle includes The middle section being connect with the wobble component and the swing arm positioned at middle section two sides, the middle section and the swing group Part connection, the swing arm are equipped with wheel far from the end of the middle section；Shown damper one end and the vehicle body frame Connection, the other end are connect with the swing arm.The mobile platform, on ground in the case where injustice, it is also possible that Omni-mobile is flat Platform smooth operations, while service life is longer.

Similar, there are also " a kind of independences of Omni-mobile platform application No. is 201620216799.2 patent disclosure Suspension mechanism ", including Mecanum wheel, transition shaft assembly, flange installation base plate, guide rail slide block, suspension installation base plate, oil gas are mixed Close spring mounting seat and air-fuel mixture spring.The present invention, can be according to ground by using air-fuel mixture spring and guide rail slide block Irregularities, adjust the height of Mecanum wheel, thus the moment guarantee Mecanum wheel can be come into full contact with ground, make Obtain all Mecanum wheel uniform forces, it is ensured that even running can allow Mecanum wheel preferably to adapt to the injustice on ground Whole property can adaptively adjust Mecanum wheel terrain clearance by using air-fuel mixture spring, and structure is simple, and system is stablized, just In maintenance.

Mike receives female wheel because its design and control are all relatively simple, using relatively broad in Omni-mobile product.But because It is discontinuous with the contact point on ground for it, and only one controlled motion freedom degree, cause to cause to skid and make an uproar in operation Sound causes sport efficiency low.Since two wheels are alternately to contact ground to orthogonal wheel during the motion, this results in transporting The pressure change that each wheel is born during dynamic is big, to influence the frictional force with ground face contact, influences wheel rotation speed Degree, it cannot be guaranteed that the stationarity of body movement speed；Furthermore there are gaps between the roller of Mecanum wheel, are easy to produce vibration Or skid, cause energy loss serious, cause car body unstable, not can guarantee position precision, and this wheel is to processing Design has high requirements, so as to cause use cost height.

(3) Universal wheel structure technical solution

In such scheme, generally uses and driving motor is directly installed on driving wheel hub to simplify structure.

Such as " a kind of omnidirectional turns to liftable agricultural remote control and moves application No. is the patent disclosure of 201310019276.X Mobile robot platform " is related to omnidirectional and turns to liftable agricultural remote control mobile robot platform.The platform is by omnidirectional's turning machine Structure, hydraulic lifting system, vehicle frame platform, vehicle electronic device, walking mechanism composition.Omnidirectional's transfer is driven by servo motor, By pinion gear, gear wheel, power is transmitted to turning sleeve, is then passed to wheel stand and hub motor type wheel, is realized complete To steering.Its advantage is that: driving motor and hydraulic lifting self-movement, it can be achieved that 360 degree of casts whiles adjust vehicle body Height, to adapt to crops and the terrain environment of different height；Steering resisting moment is small when steering, turns to easy and flexible；Using Hub motor wheel, motor and wheel one, simplify platform structure.

It is similar there are also application No. is " a kind of Omni-mobile platform " of 201510206463.8 patent disclosures, application No. is A kind of 201510299730.0 " transport vehicles with omnidirectional moving " announced are announced application No. is 201610300370.6 " Omni-mobile platform and its steering wheel and driving wheel ", there are also application No. is " a kind of electromechanicals that 201711141193.2 announce Novel omnidirectional's structure wheel apparatus of formula " etc..

The mechanism general structure redundancy of Universal wheel type is complicated, can integrated level it is poor, due to there is driving and steering motor, be difficult It realizes suspension shock-absorbing function, cannot achieve full landform shock-absorbing obstacle crossing function.Importantly, at present in universal wheel scheme, generally It uses and driving motor is directly installed on driving wheel hub to simplify structure, but equally will increase universal wheel weight, be unfavorable for The speed-raising of train loss of weight increases obstacle performance, while also bringing along the drawbacks such as energy consumption increase.And it is moved by chain or conveyer belt In the scheme of power transmission, have the shortcomings that power delay, torque transmitting gap are excessive, the mobile response speed of robot is slow, precision It is low, it is unfavorable for improving robot motion's flexibility, high maneuverability and high precision.

On II, Omni-mobile platform lifting scheme, the scheme of mainstream is to realize height by electric pushrod or hydraulic system Elevating function.

(1) electric pushrod lifting structure scheme

Such as application No. is 201510445274.6 patent disclosure " a kind of mars exploration chassis ", including car body, Front swing arm, rear-swing arm, course changing control servo motor, wheel drive servo motor, wheel, electric pushrod, camera rotation platform Deng composition.Six wheels can independent steering, it is independent to drive, encountering barrier, when such as ratchel, earth's surface gully, can pushed away with electronic Bar lifts front swing arm, clears the jumps, and then rear-swing arm lifts, and clears the jumps.The present invention is intelligently flexible, and design is reasonable, It is adapted to the detection requirement of various landform.

(2) hydraulic lifting organization plan

Such as " a kind of omnidirectional turns to liftable agricultural remote control and moves application No. is the patent disclosure of 201310019276.X Mobile robot platform " is made of steering mechanism, omnidirectional, hydraulic lifting system, vehicle frame platform, vehicle electronic device, walking mechanism.Entirely It is driven to transfer by servo motor, by pinion gear, gear wheel, power is transmitted to turning sleeve, is then passed to wheel branch Frame and hub motor type wheel realize that omnidirectional turns to, while hydraulic lift lifting platform under the action of hydraulic-driven. Its advantage is that: driving motor and hydraulic lifting self-movement, it can be achieved that adjust the height of vehicle body while 360 degree of casts, To adapt to crops and the terrain environment of different height.

Currently, there is no liftable mechanism on most Omni-mobile platforms, on the agricultural mobile platform of only a few, generally according to The hydraulic station carried on platform realizes the simple lifting of podium level, to realize the functions such as avoidance.But it due to hydraulic station, rises Descending mechanism is more complex, is unfavorable for the micromation of platform or Omni-mobile platform.Importantly, only by mobile will simply put down The relatively directional wheel of platform carries out substantially improving the obstacle performance of driving wheel apart from change, and is only capable of improving the leap of platform Ability.

Generally speaking, it has not yet to see that structure is simplified, dynamic response speed is fast, shock-absorbing and obstacle performance are strong etc. collection is a variety of and answer The universal wheel drive associated mechanisms or scheme being integrated with demand.

Summary of the invention

The purpose of this utility model is to provide a kind of full Terrain Elevation active lifting formula omnidirectional driving wheel mechanisms, solve mesh Preceding omnidirectional's actuation volume is big, integrated level is low, cannot achieve driving wheel upper end podium level change and existing shock-absorbing is got over Hinder the problems such as difference.

The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of full Terrain Elevation active lifting formula is complete To drive wheel mechanism, it is made of main body, driving assembly, steering assembly, dampening assembly, active lifting component, wheel module, it is described Steering assembly, dampening assembly are installed in main body, and bottom part body is mounted with wheel module, wheel module respectively with driving group Part, the connection of active lifting component.

Specifically, the main body includes skeleton and connection sheet, connection sheet is fixed on skeleton upper surface, and skeleton passes through connection sheet Fixed steering assembly and dampening assembly are supported, skeleton side is connected and fixed active lifting component and driving assembly, and lower end side connects Connect fixed axis gear trains component.

Specifically, the driving component is made of driving motor, umbrella shape master gear, umbrella shape from gear, driving gear-box, drive Dynamic motor is fixed by the bracket in the side of wheel module, the input shaft of the shaft connection driving gear-box of driving motor, driving The output shaft of gear-box connects umbrella shape master gear, and umbrella shape master gear engages connection from gear with umbrella shape.

Specifically, the steering assembly is determined by steering motor, main biography shaft coupling, secondary biography shaft coupling, transmission shaft, transmission shaft master Position spring, transmission shaft pair retaining spring turn to master gear, turn to pinion, turn to spring bearing, steering box, the company of steering Axis composition, steering motor are mounted on the upper end of connection sheet, and the input shaft of the shaft connection steering box of steering motor turns to tooth The main biography shaft coupling of the output axis connection of roller box, main biography shaft coupling pass shaft coupling by transmission shaft auxiliary connection, and pair passes shaft coupling and passes through It turns to connecting shaft connection and turns to master gear, turn to master gear and be mounted on the output shaft of steering box, turn to master gear and turn to Pinion engagement connection, turns to pinion and is fixed on connection sheet upper end surface, turns to pinion connection and turns to spring bearing, transmission Axis master positioning spring is arranged between transmission shaft and main biography shaft coupling, and the setting of transmission shaft pair retaining spring joins in transmission shaft and secondary pass Between axis device.

Preferably, the coefficient of elasticity of the transmission shaft master positioning spring is greater than the coefficient of elasticity of transmission shaft pair retaining spring.

Specifically, the dampening assembly includes the main slide cartridge of shock-absorbing, shock-absorbing pair slide cartridge, shock absorber, the upper end of the main slide cartridge of shock-absorbing It connect and fixes with connection sheet lower end surface, in the lower end insertion shock-absorbing pair slide cartridge of the main slide cartridge of shock-absorbing, and can be in shock-absorbing pair slide cartridge It slides up and down, lower end and the skeleton upper surface of shock-absorbing pair slide cartridge are connected and fixed, and damper is arranged inside shock-absorbing pair slide cartridge, shock-absorbing Device and the main slide cartridge lower end face contact of shock-absorbing provide resilient support.

Specifically, the active lifting component includes lifting motor, lifting support, lifting driving umbrella tooth, the passive umbrella of lifting Tooth goes up and down secondary umbrella tooth, umbrella tooth bearing, conversion slide bar, umbrella tooth axle sleeve, slide bar support, slide bar, sliding block, and lifting motor is mounted on liter On descending branch frame, lifting driving umbrella tooth, the passive umbrella tooth of lifting and the secondary umbrella tooth of lifting pass through umbrella tooth bearing respectively and are fixed on lifting support Inside, the shaft connection lifting driving umbrella tooth of lifting motor, lifting driving umbrella tooth respectively with go up and down passive umbrella tooth and lifting pair umbrella Tooth engagement goes up and down and is along the circumferential direction evenly arranged with hemispherical counterbore in passive umbrella tooth and the secondary umbrella tooth of lifting, goes up and down passive umbrella tooth And go up and down and be provided with conversion slide bar between secondary umbrella tooth, conversion slide bar is fixed on the lower end surface of lifting support by umbrella tooth axle sleeve, sliding Rod bearing is separately fixed at the front and rear sides of train bracket, and slide bar is fixed on lifting support by slide bar support, and sliding block passes through Bolt arrangement is fixed on skeleton two sides.

Specifically, the lifting driving umbrella tooth is arranged in lifting support upper inside, goes up and down passive umbrella tooth and pass through bevel gear shaft Setting is held in lifting support inner front side, secondary umbrella tooth is gone up and down and is arranged by umbrella tooth bearing in lifting support inner back side, go up and down quilt Dynamic umbrella tooth is greater than the diameter that lifting drives umbrella tooth with the diameter for going up and down secondary umbrella tooth, goes up and down passive umbrella tooth and goes up and down the opposite liter of secondary umbrella tooth The positional symmetry setting of drop driving umbrella tooth.

Specifically, the conversion slide bar includes conversion slide bar ontology, is connected by power inclined shaft, power output shaft and bulb, turn It changes the setting of slide bar ontology going up and down passive umbrella tooth and going up and down between secondary umbrella tooth, conversion slide bar ontology lower end is fixed with power output Axis, conversion slide bar ontology run through dynamic connection inclined shaft, are connected by power inclined shaft two sides and are respectively arranged with bulb, be connected by power inclined shaft One end be placed in a hemispherical counterbore for going up and down passive umbrella tooth by bulb, the other end for being connected by power inclined shaft passes through bulb It is placed in a hemispherical counterbore for going up and down secondary umbrella tooth, the center for being connected by power inclined shaft, which is located at, to be gone up and down passive umbrella tooth and go up and down secondary umbrella On the circle center line connecting of tooth.

Specifically, the wheel module includes universal wheel, train shaft, train bearing, train bracket, universal wheel passes through wheel It is that shaft is mounted on train bearing, umbrella shape is connected and fixed in train shaft from gear, train bearing is fixed on train bracket, wheel It is pedestal upper end and power output axis connection, the side of train bracket is connected and fixed driving motor by bracket.

The utility model has the following beneficial effects:

1) by using driving assembly, power is directly transferred on wheel module by gear mechanism, is made by driving motor It is higher that omnidirectional driving wheel dynamic response is faster, mechanical transfer loses smaller and drive wheel precision.

2) steering assembly is used, power is transferred on driving wheel system by transmission shaft, realizes the power under displacement is set Transmitting, ensure that the working effect of shock mitigation system.Transmission shaft retaining spring is used simultaneously, ensure that transmission shaft in the position of shaft room Uniformity is set, realizes wider lower driving wheel barrier avoiding function；Dampening assembly realizes that the damping between driving wheel and main platform is kept away Shake, improves the shock-absorbing performance and obstacle detouring row performance of driving wheel, can also better protecting platform equipment.

3) active lifting component is used, using mechanisms such as lifting driving umbrella tooth, the passive umbrella tooths of lifting, cooperates slide bar positioning group Part makes to take turns the efficient function of regulating height thereof of module realization, not only greatly simplifies the structure of height regulating mechanism, but also improve height The efficiency of adjustment expands the system scope of application, is conducive to height and adjusts motor installation and debugging, can also be achieved the road surface road conditions of system Perception and generating function, the control strategy for being conducive to robot system adjust in real time, improve system intelligent.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the utility model omnidirectional driving wheel mechanism.

Fig. 2 is the schematic view of the front view of the utility model omnidirectional driving wheel mechanism.

Fig. 3 is the left view structural representation of the utility model omnidirectional driving wheel mechanism.

Fig. 4 is the right side structural representation of the utility model omnidirectional driving wheel mechanism.

Fig. 5 is the backsight structural representation of the utility model omnidirectional driving wheel mechanism.

Fig. 6 is the overlooking structure diagram of the utility model omnidirectional driving wheel mechanism.

Fig. 7 is the schematic perspective view of active lifting component in the utility model omnidirectional driving wheel mechanism.

Fig. 8 is the schematic view of the front view of active lifting component in the utility model omnidirectional driving wheel mechanism.

Fig. 9 is the backsight structural representation of active lifting component in the utility model omnidirectional driving wheel mechanism.

Figure 10 is the overlooking structure diagram of active lifting component in the utility model omnidirectional driving wheel mechanism.

Figure 11 is the broken isometric structural schematic diagram of steering assembly in the utility model omnidirectional driving wheel mechanism.

Figure 12 is the section schematic view of the front view of steering assembly in the utility model omnidirectional driving wheel mechanism.

Specific embodiment

The utility model is described in further detail presently in connection with attached drawing.

As shown in Figure 1 and Figure 2, a kind of full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism, by main body 1, driving assembly 2, steering assembly 3, dampening assembly 4, active lifting component 5, wheel module 6 form, and the steering assembly 3, dampening assembly 4 are installed In in main body 1,1 bottom of main body is mounted with wheel module 6, wheel module 6 respectively with driving assembly 2, active lifting component 5 Connection.

As shown in figure 3, main body 1 include skeleton 1-1 and connection sheet 1-2, skeleton 1-1 be alloy material or carbon fibre material, L shape is presented in shape, there is one fixed width, and connection sheet 1-2 is slab construction, and connection sheet 1-2 is fixed on the upper surface skeleton 1-1, skeleton 1-1 supports fixed steering assembly 3 and dampening assembly 4 by connection sheet 1-2, and the side skeleton 1-1 is connected and fixed active lifting component 5 With driving assembly 2, lower end side is connected and fixed wheel module 6.

As shown in Figure 4, Figure 5, driving assembly 2 by driving motor 2-1, umbrella shape master gear 2-2, umbrella shape from gear 2-3, driving Gear-box 2-4 composition, driving motor 2-1 are direct current or servo motor, and driving motor 2-1 is fixed by the bracket in wheel module 6 The side train bracket 6-4, driving motor 2-1 shaft connection driving gear-box 2-4 input shaft.Drive gear-box 2-4's Output shaft connects umbrella shape master gear 2-2, and umbrella shape master gear 2-2 engages connection from gear 2-3 with umbrella shape, realizes power transmission.Umbrella Shape is connected and fixed from gear 2-3 and train shaft 6-2.Driving gear-box 2-4 mainly realizes revolving speed and torque conversion function, fixed In the lower end driving motor 2-1.

Driving assembly 2 mainly passes through the power output of driving motor 2-1, after driving gear-box 2-4 transformation, through umbrella shape master Gear 2-2 and umbrella shape finally act on power transmission to train shaft 6-2 to universal wheel 6-1 from the engagement of gear 2-3 On.By changing the positive and negative rotation of driving motor 2-1, to change universal wheel 6-1 forward or reverse.

As shown in Fig. 4-12, steering assembly 3 is by steering motor 3-1, main biography shaft coupling 3-2, secondary biography shaft coupling 3-3, transmission Axis 3-4, transmission shaft master positioning spring 3-5, transmission shaft pair retaining spring 3-6, master gear 3-7 is turned to, pinion 3-8 is turned to, turns To spring bearing 3-9, steering box 3-10, turn to connecting shaft 3-11 composition.

Steering motor 3-1 is direct current, servo or stepper motor, and steering motor 3-1 is mounted on the upper end of connection sheet 1-2, is turned To the input shaft of the shaft of motor 3-1 connection steering box 3-10.

Main biography shaft coupling 3-2 is cylindrical structure, has certain altitude, circular hole is arranged in upper surface, turns to be connected and fixed To gear-box 3-10 output shaft；Square hole is set in lower end surface, to connect transmission shaft 3-4.

Pair passes shaft coupling 3-3 and is similarly cylindrical structure, has certain altitude, square hole is arranged in upper surface, to connect Circular hole is arranged in lower end surface by transmission shaft 3-4, turns to connecting shaft 3-11 to be connected and fixed.

Transmission shaft 3-4 is pivot structure, and section is rectangular, the upper end insertion lower end main biography shaft coupling 3-2, the secondary biography of lower end insertion The upper end shaft coupling 3-3, to transmit torque between main biography shaft coupling 3-2 and secondary biography shaft coupling 3-3, while can also be in main biography shaft coupling Device 3-2 and secondary sliding motion up and down between passing shaft coupling 3-3.

Transmission shaft master positioning spring 3-5 is elastic element, and setting is under the upper surface transmission shaft 3-4 and main biography shaft coupling 3-2 Between holding square hole, to support transmission shaft 3-4 to keep certain overlying relation in main biography shaft coupling 3-2.

Transmission shaft pair retaining spring 3-6 is similarly elastic element, and setting is in the lower end surface transmission shaft 3-4 and secondary biography shaft coupling 3- Between 3 upper end square holes, certain overlying relation is kept to support transmission shaft 3-4 to pass in shaft coupling 3-3 in pair.

Master gear 3-7 is turned to be mounted on the output shaft of steering box 3-10.Turning to pinion 3-8 is that radius is slightly larger Ring gear is fixed on the upper end surface connection sheet 1-2, connect with spring bearing 3-9 is turned to, and nibble with master gear 3-7 is turned to It closes.When turning to pinion 3-8 rotation, connection sheet 1-2 can be driven to rotate.

It turns to spring bearing 3-9 and is fixed on the upper end surface skeleton 1-1, turn to master gear 3-7 and the secondary tooth of steering to realize Gear engagement rotation function drives by turning to the rotation and gear engagement of master gear 3-7 and turns to pinion between taking turns 3-8 3-8 rotation, the passive rotation by turning to spring bearing 3-9 acts on, to realize the rotation of skeleton 1-1 opposing tab 1-2 Function.

Steering box 3-10 mainly realizes revolving speed and torque conversion function, is fixed on the lower end steering motor 3-1.The company of steering Axis 3-11 is pivot structure, passes shaft coupling 3-3 to auxiliary connection and turns to master gear 3-7.

The working mechanism of steering assembly 3 are as follows: after steering motor 3-1 rotation, will be transmitted after the diverted gear-box 3-10 of power To main biography shaft coupling 3-2, rotational power is transferred to secondary biography shaft coupling 3-3, Jin Ertong from main biography shaft coupling 3-2 by transmission shaft 3-4 It crosses and turns to connecting shaft 3-11, turn to master gear 3-7 and turn to the engagement of pinion 3-8, steering power is transferred to steering branch It supports on bearing 3-9, so that skeleton 1-1 opposing tab 1-2 rotating function is realized, to drive a whole set of skeleton 1-1 and company, institute It connects fixed wheel module 6 to rotate, to realize turning function.By changing the positive and negative rotation of steering motor 3-1, it can be achieved that wheel The direction of travel of module 6 adjusts in real time.

In addition, transmission shaft 3-4 is by transmission shaft master positioning spring 3-5, transmission shaft pair retaining spring 3-6 in main biography shaft coupling The mechanism that balanced relation is held in position between 3-2, secondary biography shaft coupling 3-3 is as follows:

Transmission shaft master positioning spring 3-5 is realized transmission shaft 3-4 being relied on main biography shaft coupling by natural resiliency tensioning function The downward bullet of 3-2 is stretched, and transmission shaft pair retaining spring 3-6 then passes through natural resiliency tensioning function, is realized and is passed transmission shaft 3-4 by secondary Shaft coupling 3-3, which upsprings, to be stretched, and by the final elastic force equilibrium of transmission shaft master positioning spring 3-5, transmission shaft pair retaining spring 3-6 and is passed The gravitational equilibrium of moving axis 3-4 acts on, and is maintained at transmission shaft 3-4 in main one passed between shaft coupling 3-2, secondary biography shaft coupling 3-3 Between on position.

Further, when choosing transmission shaft master positioning spring 3-5, transmission shaft pair retaining spring 3-6, due to transmission shaft 3-4 self gravitation effect, the coefficient of elasticity of transmission shaft master positioning spring 3-5 need to be greater than the elasticity of transmission shaft pair retaining spring 3-6 Coefficient.

As shown in figure 12, dampening assembly 4 includes the main slide cartridge 4-1 of shock-absorbing, shock-absorbing pair slide cartridge 4-2, shock absorber 4-3.Shock-absorbing master Slide cartridge 4-1 is cylindrical structure, and the upper end of intermediate transmission, the main slide cartridge 4-1 of shock-absorbing connect and fixes with the lower end surface connection sheet 1-2, keeps away It shakes in the lower end insertion shock-absorbing pair slide cartridge 4-2 of main slide cartridge 4-1, and can be slided up and down in shock-absorbing pair slide cartridge 4-2.Shock-absorbing pair slide cartridge 4-2 is similarly cylindrical structure, intermediate transmission, and lower end and the upper surface skeleton 1-1 of shock-absorbing pair slide cartridge 4-2 is connected and fixed, shock-absorbing pair Slide cartridge 4-2 internal diameter is slightly larger than the main slide cartridge 4-1 outer diameter of shock-absorbing.Shock absorber 4-3 is spring element, and damper 4-3 is arranged in shock-absorbing pair Slide cartridge 4-2 interior lower end, shock absorber 4-3 and shock-absorbing main slide cartridge 4-1 lower end face contact provide resilient support.

The shock-absorbing mechanism of dampening assembly 4 are as follows: skeleton 1-1, the wheel module 6 connecting with shock-absorbing pair slide cartridge 4-2 connect with ground Touching, feedback force is communicated up, and is then acted on to the shock absorber 4-3 between the main slide cartridge 4-1 of shock-absorbing, shock-absorbing pair slide cartridge 4-2, To realize incabloc function.

As shown in figs. 4 through 10, active lifting component 5 includes lifting motor 5-1, lifting support 5-2, lifting driving umbrella tooth 5- 3, it goes up and down passive umbrella tooth 5-4, go up and down secondary umbrella tooth 5-5, umbrella tooth bearing 5-6, conversion slide bar 5-7, umbrella tooth axle sleeve 5-8, slide bar support 5-9, slide bar 5-10, sliding block 5-11.

Lifting motor 5-1 is direct current, stepping or servo motor, and lifting motor 5-1 is mounted on lifting support 5-2, is gone up and down The shaft connection lifting driving umbrella tooth 5-3 of motor 5-1.

Lifting support 5-2 is cuboidal configuration, and inner hollow is to place lifting driving umbrella tooth 5-3, the passive umbrella tooth of lifting Hollow out etc. is arranged to fixed umbrella tooth bearing 5-6 and umbrella tooth axle sleeve 5-8 etc. in 5-4 and the secondary umbrella tooth 5-5 of lifting etc., surrounding.

Lifting driving umbrella tooth 5-3 is arranged in lifting support 5-2 upper inside, is connected and fixed lifting motor 5-1 shaft, and It is engaged with going up and down passive umbrella tooth 5-4 and going up and down pair umbrella tooth 5-5.

Going up and down passive umbrella tooth 5-4 is the diameter bevel gear bigger than lifting driving umbrella tooth 5-3, is set by umbrella tooth bearing 5-6 It sets in lifting support 5-2 inner front side, and is engaged with lifting driving umbrella tooth 5-3 and carry out power transmission.Go up and down passive umbrella tooth 5-4 disk It is interior to be along the circumferential direction evenly arranged with hemispherical counterbore 5-4a under some radius parameter, in fixed conversion slide bar 5-7 Side bulb 5-7d.

The secondary umbrella tooth 5-5 shape of lifting is consistent with passive umbrella tooth 5-4 is gone up and down, the bevel gear bigger than lifting driving umbrella tooth 5-3, It is arranged by umbrella tooth bearing 5-6 in lifting support 5-2 inner back side, and is engaged with lifting driving umbrella tooth 5-3 and carry out power transmission. It is similar, in lifting pair umbrella tooth 5-5 disk under some radius parameter, equally along the circumferential direction it is evenly arranged with hemispherical counterbore 5-4a, the bulb 5-7d to the other side in fixed conversion slide bar 5-7.It goes up and down passive umbrella tooth 5-4 and goes up and down secondary umbrella tooth 5-5 It is relative symmetry that OQ t, which drives the position of umbrella tooth 5-3,.

It further, can be by going up and down passive umbrella tooth 5-4, lifting in order to adjust the scope of application of active lifting component 5 Hemispherical counterbore 5-4a is uniformly set on the different corresponding circumference of radius in secondary umbrella tooth 5-5, to realize power output shaft The delivery stroke of 5-7c changes, and then realizes and form adjustment function with respect to the upper and lower position of main body 1 to wheel module 6.Certainly, exist Should during, when adjusting the hemispherical counterbore 5-4a on different radii position, also need to adjust and matched be connected by power inclined shaft 5-7b Length.

Umbrella tooth bearing 5-6 is mainly realized to lifting driving umbrella tooth 5-3, the passive umbrella tooth 5-4 of lifting and is gone up and down secondary umbrella tooth 5-5's Fixed supporting role, is installed on lifting support 5-2 wall surface.

Conversion slide bar 5-7 includes: conversion slide bar ontology 5-7a, is connected by power inclined shaft 5-7b, power output shaft 5-7c and ball Head 5-7d.

Slide bar ontology 5-7a is converted as certain thickness direction ontology, chamfering is arranged in surrounding, and flanking central is through dynamic Connect inclined shaft 5-7b.The conversion lower end slide bar ontology 5-7a is fixed with power output shaft 5-7c, and conversion slide bar ontology 5-7a setting exists It goes up and down passive umbrella tooth 5-4 and goes up and down between secondary umbrella tooth 5-5.

Being connected by power inclined shaft 5-7b is circular shaft structure, and insertion is converted in slide bar ontology 5-7a, and in conversion slide bar ontology 5- Expose certain distance in the two sides 7a.It is connected by power the two sides inclined shaft 5-7b and is additionally provided with bulb 5-7d.

Power output shaft 5-7c is circular shaft structure, the lower end of insertion conversion slide bar ontology 5-7a, by converting slide bar ontology The movement of 5-7a, so that power output shaft 5-7c be driven to realize linear power and change in displacement output.Due to going up and down passive umbrella tooth 5-4 and the secondary umbrella tooth 5-5 rotation direction of lifting are on the contrary, and needing to go up and down passive umbrella tooth 5-4 and moving with the rotation for going up and down pair umbrella tooth 5-5 Power is converted into uniform linear power, therefore is connected by power inclined shaft 5-7b and is in the passive umbrella tooth 5-4 of lifting and the secondary umbrella tooth 5-5 of lifting It is oblique symmetrically placed, it may be assumed that the head end for being connected by power inclined shaft 5-7b is placed on some of the passive umbrella tooth 5-4 of lifting by bulb 5-7d In hemispherical counterbore 5-4a, and the end for being connected by power inclined shaft 5-7b then passes through bulb 5-7d and is placed in the secondary umbrella tooth 5-5 of lifting Corresponding hemispherical counterbore 5-4a, the OQ t pair center of circle umbrella tooth 5-5 opposite hemispherical counterbore 5-4a in.It is connected by power inclined shaft 5- The center of 7b, which is located at, to be gone up and down passive umbrella tooth 5-4 and goes up and down on the circle center line connecting of secondary umbrella tooth 5-5.

Bulb 5-7d is spherical structure, and quantity is two sets, is separately fixed at the both ends for being connected by power inclined shaft 5-7b.Bulb 5- 7d is also embedded in hemispherical counterbore 5-4a and realizes cooperation.

Conversion slide bar 5-7, which can be realized, will go up and down passive umbrella tooth 5-4 and goes up and down the circular motion of pair umbrella tooth 5-5 performance, conversion For the straight line upper and lower displacement campaign of final power output shaft 5-7c.It is as follows to implement mechanism: lifting motor 5-1 rotation drives Lifting driving umbrella tooth 5-3 rotation, so that the passive umbrella tooth 5-4 of lifting and lifting pair umbrella tooth 5-5 is driven to rotate in the opposite direction, by It is embedded in the hemispherical counterbore 5-4a gone up and down in passive umbrella tooth 5-4, the secondary umbrella tooth 5-5 of lifting in bulb 5-7d, therefore passes through lifting Passive umbrella tooth 5-4 and the rotation for going up and down secondary umbrella tooth 5-5, can drive hemispherical counterbore 5-4a to rotate, to be connected by power tiltedly Axis 5-7b is circumferentially moved, to drive conversion slide bar ontology 5-7a and the power output shaft 5-7c connected movement, power Output shaft 5-7c power output form is near-linear movement, can finally drive the wheel module 6 connecting with power output shaft 5-7c It moves up and down with driving assembly 2.

Umbrella tooth axle sleeve 5-8 is cylindrical structure, is internally provided with open-work, and open-work upper end diameter is greater than lower end diameter, and lower end Diameter is slightly larger than power output shaft 5-7c diameter.Umbrella tooth axle sleeve 5-8 is fixed on the lower end surface lifting support 5-2.

Slide bar support 5-9 quantity is two, is separately fixed on the wall surface of the front and rear sides of train bracket 6-4, and connect Vertical slide bar 5-10.

Slide bar 5-10 is polished rod structure, and quantity is two, and lower end passes through slide bar support 5-9 respectively and is fixed on lifting support 5- On 2.

Sliding block 5-11 is ball slider, and quantity is similarly two, is fixed on the two sides skeleton 1-1 by bolt arrangement.

Slide bar support 5-9, slide bar 5-10 and sliding block 5-11 are matched, and realize that active lifting component 5 is upper with respect to main body 1 The next shifting movement, concrete principle are as follows: power output shaft 5-7c is with the rotational angle for going up and down passive umbrella tooth 5-4, going up and down secondary umbrella tooth 5-5 And vertical position variation occurs, so that universal wheel 6-1 and train bracket 6-4 or more be driven to slide, it is connect with train bracket 6-4 Slide bar support 5-9 and slide bar 5-10 opposing slider 5-11 or more sliding, since sliding block 5-11 is fixed on the body 1 and slide bar support 5-9 is also fixed on wheel module 6, therefore can realize up and down sliding motion of the wheel module 6 with respect to main body 1, during the motion, By cooperating active lifting component 5, to realize highly automated adjustment function of the wheel module 6 with respect to main body 1.

Taking turns module 6 includes universal wheel 6-1, train shaft 6-2, train bearing 6-3, train bracket 6-4.Universal wheel 6-1 It is mounted on train bearing 6-3 by train shaft 6-2, train bearing 6-3 is fixed on skeleton 1-1 lower end side, realizes and ground Face contact walking.Umbrella shape is connected and fixed on train shaft 6-2 from gear 2-3, train bracket 6-4 is certain thickness rectangular reality Through-hole is run through in body, side, and to fixed axis gear trains bearing 6-3, the train upper end bracket 6-4 is connect with power output shaft 5-7c, train The side of bracket 6-4 is connected and fixed driving motor 2-1 by bracket.

The working method of above-mentioned full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism, including height active accommodation side Method, road surface road conditions cognitive method, electricity-generating method.

The step of height active accommodation method, is as follows:

1) robot drives lifting driving umbrella according to external avoidance or height lifting demand, control lifting motor 5-1 rotation Tooth 5-3 rotation, and then the passive umbrella tooth 5-4 of lifting, lifting pair umbrella tooth 5-5 is driven to rotate round about；

2) bulb 5-7d is embedded into the hemispherical counterbore 5-4a gone up and down in passive umbrella tooth 5-4, the secondary umbrella tooth 5-5 of lifting, leads to The rotation crossed and go up and down passive umbrella tooth 5-4, go up and down secondary umbrella tooth 5-5, can drive hemispherical counterbore 5-4a to rotate, so that power be driven to connect Inclined shaft 5-7b is met circumferentially to move；

3) it is connected by power inclined shaft 5-7b to rotate in the passive umbrella tooth 5-4 of lifting, the secondary umbrella tooth 5-5 of lifting, axle center centre It changes apart from umbrella tooth axle sleeve 5-8 distance, is connected by power inclined shaft 5-7b and drives conversion slide bar ontology 5-7a and connected Power output shaft 5-7c movement finally drives the wheel module 6 connecting with power output shaft 5-7c and about 2 driving assembly to transport It is dynamic；

4) in above-mentioned height adjustment process, power output shaft 5-7c is with the passive umbrella tooth 5-4 of lifting, the secondary umbrella tooth 5-5 of lifting Rotational angle and occur vertical position variation, thus drive universal wheel 6-1 and train bracket 6-4 or more sliding, with train branch The slide bar support 5-9 and slide bar 5-10 opposing slider 5-11 or more of frame 6-4 connection slide, and sliding block 5-11 is fixed on the body 1, sliding Rod bearing 5-9 is fixed on wheel module 6, and then takes turns up and down sliding motion of the module 6 with respect to main body 1, during the motion, By cooperating active lifting component 5, highly automated adjustment of the wheel module 6 with respect to main body 1 is completed.

Specifically, the step of road surface road conditions cognitive method, is as follows:

1) peripheral control unit controls lifting motor 5-1 power down, and all components in active lifting component 5, which are in, lets out power shape State；

2) in omnidirectional driving wheel traveling process, since ground is uneven, bearing up-down force situation can occur for universal wheel 6-1, To the power output shaft 5-7c delivered torque in conversion slide bar 5-7；

3) the converted slide bar ontology 5-7a of torque, be connected by power inclined shaft 5-7b, bulb 5-7d and finally effect to lifting quilt Dynamic umbrella tooth 5-4, go up and down the corresponding hemispherical counterbore 5-4a of secondary umbrella tooth 5-5, go up and down passive umbrella tooth 5-4, lifting pair umbrella tooth 5-5 by Power delivers torque on lifting motor 5-1 to drive lifting driving umbrella tooth 5-3 rotation；

4) torque of lifting driving umbrella tooth 5-3 is converted to own rotation by lifting motor 5-1, by external sensor to liter Motor 5-1 revolving speed or amperometric determination are dropped, to inversely calculate the up and down motion situation of universal wheel 6-1, road pavement is jolted progress Judgement, controller carry out the adjustment of movement driving strategy according to road surface road conditions.

Specifically, the step of electricity-generating method, is as follows:

1) lifting motor 5-1 power down is controlled, all components in active lifting component 5 are to let out power state；

2) in omnidirectional driving wheel traveling process, since ground is uneven, bearing up-down force situation can occur for universal wheel 6-1, To the power output shaft 5-7c delivered torque in conversion slide bar 5-7；

3) the converted slide bar ontology 5-7a of torque, be connected by power inclined shaft 5-7b, bulb 5-7d and finally effect to lifting quilt Dynamic umbrella tooth 5-4, go up and down the corresponding hemispherical counterbore 5-4a of secondary umbrella tooth 5-5, go up and down passive umbrella tooth 5-4, lifting pair umbrella tooth 5-5 by Power realizes that torque is transferred on lifting motor 5-1 to drive lifting driving umbrella tooth 5-3 rotation；

4) torque of lifting driving umbrella tooth 5-3 is converted to own rotation by lifting motor 5-1, passes through foreign current sensor Or lifting motor 5-1 electric current is captured and stored in current regulating circuit, realizes the power generation of active lifting component 5.

The utility model is not limited to above embodiment, anyone, which should learn, makes under the enlightenment of the utility model Structure change, it is all that there is same or similar technical solution with the utility model, each fall within the protection scope of the utility model Within.

Technology that the utility model is not described in detail, shape, construction portion are well-known technique.

Claims (10)

1. a kind of full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism, which is characterized in that by main body, driving assembly, steering Component, dampening assembly, active lifting component, wheel module composition, the steering assembly, dampening assembly are installed in main body, main Body bottom is mounted with wheel module, and wheel module is connect with driving assembly, active lifting component respectively.

2. full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as described in claim 1, which is characterized in that the main body Including skeleton and connection sheet, connection sheet is fixed on skeleton upper surface, and skeleton supports fixed steering assembly and damping by connection sheet Component, skeleton side are connected and fixed active lifting component and driving assembly, and lower end side is connected and fixed wheel module.

3. full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as described in claim 1, which is characterized in that the driving Component is made of driving motor, umbrella shape master gear, umbrella shape from gear, driving gear-box, and driving motor, which is fixed by the bracket, is taking turns The side of module, the input shaft of the shaft connection driving gear-box of driving motor, drives the output shaft of gear-box to connect umbrella shape Master gear, umbrella shape master gear engage connection from gear with umbrella shape.

4. full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as claimed in claim 2, which is characterized in that the steering Component positions bullet by steering motor, main biography shaft coupling, secondary shaft coupling, transmission shaft, transmission shaft master positioning spring, the transmission shaft pair of passing Spring turns to master gear, turns to pinion, turn to spring bearing, steering box, turn to connecting shaft composition, and steering motor is mounted on The upper end of connection sheet, the input shaft of the shaft connection steering box of steering motor, the main biography of output axis connection of steering box Shaft coupling, main biography shaft coupling pass shaft coupling by transmission shaft auxiliary connection, and pair passes shaft coupling and turns to main tooth by turning to connecting shaft connection Wheel turns to master gear and is mounted on the output shaft of steering box, turns to master gear with pinion is turned to and engages connection, turns to secondary Gear is fixed on connection sheet upper end surface, turns to pinion connection and turns to spring bearing, the setting of transmission shaft master positioning spring is passing Between moving axis and main biography shaft coupling, the setting of transmission shaft pair retaining spring is between transmission shaft and secondary biography shaft coupling.

5. full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as claimed in claim 4, which is characterized in that the transmission The coefficient of elasticity of axis master positioning spring is greater than the coefficient of elasticity of transmission shaft pair retaining spring.

6. full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as claimed in claim 2, which is characterized in that the damping Component includes the main slide cartridge of shock-absorbing, shock-absorbing pair slide cartridge, shock absorber, and the upper end of the main slide cartridge of shock-absorbing connect and consolidates with connection sheet lower end surface It is fixed, it in the lower end insertion shock-absorbing pair slide cartridge of the main slide cartridge of shock-absorbing, and can be slided up and down in shock-absorbing pair slide cartridge, under shock-absorbing pair slide cartridge End is connected and fixed with skeleton upper surface, and damper is arranged inside shock-absorbing pair slide cartridge, and shock absorber connects with the main slide cartridge lower end surface of shock-absorbing Touching provides resilient support.

7. the full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as described in claim 1-6 is any, which is characterized in that institute Active lifting component is stated to include lifting motor, lifting support, lifting driving umbrella tooth, the passive umbrella tooth of lifting, go up and down secondary umbrella tooth, umbrella tooth Bearing, conversion slide bar, umbrella tooth axle sleeve, slide bar support, slide bar, sliding block, lifting motor are mounted on lifting support, lifting driving umbrella Tooth, the passive umbrella tooth of lifting and the secondary umbrella tooth of lifting pass through umbrella tooth bearing respectively and are fixed on inside lifting support, the shaft of lifting motor It connects and goes up and down driving umbrella tooth, lifting driving umbrella tooth is engaged with the passive umbrella tooth of lifting and the secondary umbrella tooth of lifting respectively, goes up and down passive umbrella tooth It is along the circumferential direction evenly arranged with hemispherical counterbore in secondary umbrella tooth with going up and down, goes up and down and is arranged between passive umbrella tooth and the secondary umbrella tooth of lifting There is conversion slide bar, conversion slide bar is fixed on the lower end surface of lifting support by umbrella tooth axle sleeve, and slide bar support is separately fixed at train The front and rear sides of bracket, slide bar are fixed on lifting support by slide bar support, and sliding block is fixed on skeleton two by bolt arrangement Side.

8. full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as claimed in claim 7, which is characterized in that the lifting It drives umbrella tooth setting in lifting support upper inside, goes up and down passive umbrella tooth and be arranged before lifting support inside by umbrella tooth bearing Side goes up and down secondary umbrella tooth and is arranged by umbrella tooth bearing in lifting support inner back side, goes up and down passive umbrella tooth and goes up and down the straight of secondary umbrella tooth Diameter is greater than the diameter of lifting driving umbrella tooth, and the positional symmetry for going up and down passive umbrella tooth and the secondary umbrella tooth OQ t driving umbrella tooth of lifting is set It sets.

9. full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as claimed in claim 7, which is characterized in that the conversion Slide bar includes conversion slide bar ontology, is connected by power inclined shaft, power output shaft and bulb, and the setting of conversion slide bar ontology is passive in lifting Between umbrella tooth and the secondary umbrella tooth of lifting, conversion slide bar ontology lower end is fixed with power output shaft, and conversion slide bar ontology is through dynamic Inclined shaft is connected, inclined shaft two sides is connected by power and is respectively arranged with bulb, the one end for being connected by power inclined shaft is placed in lifting quilt by bulb In one hemispherical counterbore of dynamic umbrella tooth, the other end for being connected by power inclined shaft is placed in a hemisphere for going up and down secondary umbrella tooth by bulb In shape counterbore, the center for being connected by power inclined shaft, which is located at, to be gone up and down passive umbrella tooth and goes up and down on the circle center line connecting of secondary umbrella tooth.

10. full Terrain Elevation active lifting formula omnidirectional driving wheel mechanism as claimed in claim 9, which is characterized in that the wheel Module includes universal wheel, train shaft, train bearing, train bracket, and universal wheel is mounted on train bearing by train shaft On, umbrella shape is connected and fixed in train shaft from gear, train bearing is fixed on train bracket, train pedestal upper end and power output The side of axis connection, train bracket is connected and fixed driving motor by bracket.