CN211196422U - Reversible wheel system and vehicle - Google Patents
Reversible wheel system and vehicle Download PDFInfo
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- CN211196422U CN211196422U CN201922194316.XU CN201922194316U CN211196422U CN 211196422 U CN211196422 U CN 211196422U CN 201922194316 U CN201922194316 U CN 201922194316U CN 211196422 U CN211196422 U CN 211196422U
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Abstract
The utility model relates to a wheel system and vehicle that can overturn for alleviate the problem that obstacle crossing performance and mobility can't have simultaneously. Wherein the reversible wheel system comprises: a chassis; the at least two wheel assemblies are arranged on the chassis, each wheel assembly of the at least two wheel assemblies comprises a wheel carrier and at least two wheels, and the wheel carrier is rotatably arranged relative to the chassis; and at least two power assemblies, each wheel assembly being equipped with one of the at least two power assemblies, the power assembly being configured to drive rotation of a wheel carrier of the wheel assembly. The utility model discloses a wheel carrier among the power component drive wheel subassembly rotates, and the wheel carrier rotates, and each wheel on the wheel carrier changes along with the turned position of wheel carrier to the barycenter terrain clearance of whole car that changes makes the vehicle can initiatively overturn fast when meetting the obstacle, crosses the obstacle, is applicable to open-air complicated road conditions, and mobility is strong.
Description
Technical Field
The utility model relates to a vehicle chassis field especially relates to a wheel system and vehicle that can overturn.
Background
With the rapid development of modern science and technology, the chassis with high passing performance and maneuverability has great application prospect in the fields of future war, agriculture, intelligent transportation and the like. Although the traditional wheel type chassis has high running speed and good maneuvering performance on hard roads, the traditional wheel type chassis has insufficient obstacle crossing and trench crossing performance and is greatly limited in the field environment. The whole crawler-type chassis has good climbing, obstacle crossing and trench crossing performances, but has large volume, complex structure, heavy weight of the whole vehicle and large energy consumption, and reduces the maneuvering performance to a certain extent.
SUMMERY OF THE UTILITY MODEL
Some embodiments of the utility model provide a wheel system and vehicle that can overturn for alleviate the problem that obstacle crossing performance and mobility can't have simultaneously.
Some embodiments of the present invention provide a reversible wheel system, comprising:
a chassis;
the at least two wheel assemblies are arranged on the chassis, each wheel assembly of the at least two wheel assemblies comprises a wheel carrier and at least two wheels, and the wheel carrier is rotatably arranged relative to the chassis; and
at least two power assemblies, each wheel assembly being equipped with one of the at least two power assemblies, the power assembly being configured to drive rotation of a wheel carrier of the wheel assembly.
In some embodiments, the wheel frame is triangular, and the at least two wheels include three wheels, and the three wheels respectively correspond to three vertexes of the triangular wheel frame.
In some embodiments, the power assembly includes a cylinder, a first end of the cylinder is rotatably connected to the chassis, and a second end of the cylinder is rotatably connected to the wheel frame.
In some embodiments, the power assembly comprises:
the central shaft penetrates through and is fixedly connected with the wheel frame, and the central shaft is rotatably arranged relative to the chassis; and
and the motor is in driving connection with the central shaft.
In some embodiments, the power assembly includes a transmission mechanism through which the motor is drivingly connected to the central shaft.
In some embodiments, the transmission mechanism comprises:
the first chain wheel is arranged on a motor output shaft of the motor;
the second chain wheel is arranged on the central shaft; and
a chain connecting the first sprocket and the second sprocket.
In some embodiments, the transmission mechanism further includes a connecting member, a cavity is formed in the connecting member, the first sprocket, the second sprocket and the chain are all disposed in the cavity, the first sprocket is disposed at a first end of the connecting member, the second sprocket is disposed at a second end of the connecting member, and the central shaft is fixedly connected to the connecting member.
In some embodiments, the power assembly includes a cylinder, a first end of the cylinder is rotatably connected to the chassis, and a second end of the cylinder is rotatably connected to the connecting member.
In some embodiments, a reversible wheel system comprises:
the displacement sensor is arranged on the oil cylinder and used for detecting the stretching amount of the oil cylinder;
the electromagnetic directional valve is arranged on an oil way where the oil cylinder is located and used for realizing the telescopic action of the oil cylinder; and
a controller electrically connected to the displacement sensor and the electromagnetic directional valve, the controller configured to control switching of the electromagnetic directional valve according to a signal detected by the displacement sensor.
In some embodiments, a reversible wheel system comprises:
the motor encoder is arranged on the motor;
a controller electrically connected to the motor encoder, the controller configured to control a rotation direction and a rotation angle of the motor according to a signal transmitted from the motor encoder.
Some embodiments of the present invention provide a vehicle comprising a reversible wheel system as described above.
Based on the technical scheme, the utility model discloses following beneficial effect has at least:
in some embodiments, the chassis is provided with a plurality of wheel assemblies, each wheel assembly is provided with a power assembly, the power assembly drives a wheel carrier in the wheel assembly to rotate, the wheel carrier rotates, and each wheel on the wheel carrier changes along with the rotating position of the wheel carrier so as to change the height of the center of mass of the whole vehicle from the ground, so that the vehicle can actively and rapidly turn over when encountering an obstacle to cross the obstacle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:
fig. 1 is a schematic structural view of a reversible wheel system provided in accordance with some embodiments of the present invention;
fig. 2 is a schematic illustration of a reversible wheel system crossing an obstacle provided in accordance with some embodiments of the present invention;
fig. 3 is a schematic power transmission diagram of an electric motor according to some embodiments of the present invention;
fig. 4 is a schematic diagram of a control principle of a reversible wheel system according to some embodiments of the present invention.
The reference numbers in the drawings illustrate the following:
1-a chassis;
2-a wheel assembly; 21-a wheel frame; 22-a wheel;
3-a power assembly; 31-oil cylinder; 32-a central axis; 33-a motor; 331-a motor output shaft; 34-a transmission mechanism; 341-first sprocket; 342-a second sprocket; 343-a chain; 344-a connector;
4-a displacement sensor; 5-an electromagnetic directional valve; 6-a controller; 7-motor encoder; 8-a manipulation device; 9-driver.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the invention.
As shown in fig. 1 and 2, a reversible wheel system is provided for some embodiments, which includes a chassis 1, at least two wheel assemblies 2, and at least two power assemblies 3.
At least two wheel assemblies 2 are provided to the chassis 1, each wheel assembly 2 of the at least two wheel assemblies 2 comprising a wheel carrier 21 and at least two wheels 22, the wheel carrier 21 being rotatably arranged with respect to the chassis 1.
Each wheel assembly 2 is equipped with one power assembly 3 of at least two power assemblies 3, the power assembly 3 being configured to drive the wheel carrier 21 of the wheel assembly 2 in rotation.
Each wheel component 2 is equipped with a power component 3, the wheel carrier 21 in the wheel component 2 is driven to rotate through the power component 3, the wheel carrier 21 rotates, each wheel 22 on the wheel carrier 21 changes along with the rotating position of the wheel carrier 21, the height of the center of mass of the whole vehicle from the ground can be changed, the vehicle can actively and rapidly turn over when encountering obstacles and cross the obstacles, and therefore the vehicle is suitable for the field complex road conditions, is high in mobility, can rapidly pass through various complex terrains, and has good ground adaptability.
Optionally, the chassis 1 is provided with four wheel assemblies 2. Wherein two wheel assemblies 2 are arranged at the front end of the chassis 1, and the other two wheel assemblies 2 are arranged at the rear end of the chassis 1.
In some embodiments, the wheel frame 21 is triangular, and the at least two wheels 22 include three wheels 22, and the three wheels 22 are respectively disposed at three vertexes of the triangular wheel frame 21. The special triangular wheel carrier 21 is adopted, the power assembly 3 drives the wheel carrier 21 to turn over, the height of the center of mass of the whole vehicle from the ground can be changed, and the vehicle can actively turn over quickly when encountering obstacles and cross the obstacles.
Each vertex of the triangular wheel frame 21 is provided with a wheel 22, and the wheels 22 at the three vertex positions sequentially contact the ground in the rotation process of the wheel frame 21.
After the wheel assembly 2 is turned over, the wheels 22 on two vertexes contact the ground to run.
In some embodiments, the power assembly 3 includes a cylinder 31, a first end of the cylinder 31 is rotatably connected to the chassis 1, and a second end of the cylinder 31 is rotatably connected to the wheel frame 21. By adjusting the extension and contraction of the oil cylinder 31, the wheel assembly 2 can be controlled to rotate at a small angle, and the rotation angle of the wheel assembly 2 depends on the stroke of the oil cylinder 31 and the position of a hinge point. The rotation of the wheel assembly 2 can change the height of the ground center of mass of the chassis 1, and when the obstacle is crossed, the obstacle can be quickly crossed by controlling the active rotation of the wheel assembly 2.
In some embodiments, the power assembly 3 includes a central shaft 32 and a motor 33.
The center shaft 32 is inserted through and fixedly connected to the wheel frame 21, and the center shaft 32 is rotatably provided with respect to the chassis 1. The motor 33 is drivingly connected to the center shaft 32 so that the center shaft 32 is rotatable.
By controlling the rotation direction, angle and number of turns of the motor 33, the multi-turn and large-angle rotation of the wheel assembly 2 can be realized. The rotation of the wheel assembly 2 can change the height of the ground center of mass of the chassis 1, and when the obstacle is crossed, the obstacle can be quickly crossed by controlling the active rotation of the wheel assembly 2.
In some embodiments, as shown in fig. 3, the power assembly 3 includes a transmission mechanism 34, and the motor 33 is drivingly connected to the central shaft 32 through the transmission mechanism 34. The transmission mechanism 34 transmits the power of the motor 33 to the wheel assembly 2.
In some embodiments, the transmission 34 includes a first sprocket 341, a second sprocket 342, and a chain 343.
The first sprocket 341 is provided on the motor output shaft 331 of the motor 33. The second sprocket 342 is provided on the central shaft 32. The chain 343 connects the first sprocket 341 and the second sprocket 342. The first sprocket 341 is driven by the motor output shaft 331 to rotate, the first sprocket 341 transmits power to the second sprocket 342 through the chain 343, the second sprocket 342 is driven by the chain 343 to rotate, the second sprocket 342 rotates to drive the central shaft 32 to rotate, and the central shaft 32 rotates to drive the wheel frame 21 to rotate.
In some embodiments, the transmission mechanism 34 further includes a connecting member 344, a cavity is formed in the connecting member 344, the first sprocket 341, the second sprocket 342 and the chain 343 are disposed in the cavity, the first sprocket 341 is disposed at a first end of the connecting member 344, the second sprocket 342 is disposed at a second end of the connecting member 344, and the central shaft 32 is fixedly connected to the connecting member 344.
In some embodiments, a first end of the cylinder 31 in the power assembly 3 is rotatably connected to the chassis 1, and a second end of the cylinder 31 is rotatably connected to the connecting member 344.
In some embodiments, the cylinder end of the cylinder 31 is hinged to the chassis 1, and the rod end of the cylinder 31 is hinged to the connection 344. The first sprocket 341 is disposed at a first end of the connecting member 344, the second sprocket 342 is disposed at a second end of the connecting member 344, and the connecting member 344 is fixedly connected to the central shaft 32.
In some embodiments, the motor output shaft 331 of the motor 33 is coupled to the first sprocket 341 inside the link 344 by a first coupling. The central shaft 32 to which the wheel assembly 2 is connected to the second sprocket 342 inside the connecting member 344 via a second coupling. The first and second sprockets 341 and 342 achieve power transmission through a chain 343.
In some embodiments, the reversible wheel system includes a displacement sensor 4, a solenoid directional valve 5, and a controller 6.
The displacement sensor 4 is provided in the cylinder 31 and detects the amount of expansion and contraction of the cylinder 31. The electromagnetic directional valve 5 is arranged on an oil path where the oil cylinder 31 is located, and hydraulic oil is introduced into a rod cavity or a rodless cavity of the oil cylinder 31 to realize the extending or retracting action of the oil cylinder 31. The controller 6 is electrically connected to the displacement sensor 4 and the electromagnetic directional valve 5, and the controller 6 is configured to control the opening and closing of the electromagnetic directional valve 5 and the direction change according to a signal detected by the displacement sensor 4.
In some embodiments, when the controller 6 controls the on/off and the direction change of the electromagnetic directional valve 5, so as to control the extension and retraction of the cylinder 31, the wheel assembly 2 rotates around the hinge point of the connecting member 344 and the cylinder 31, the rotation angle depends on the stroke of the cylinder 31 and the position of the hinge point, and the wheel assembly can be turned over by the extension and retraction of the cylinder 31 when climbing small obstacles.
The displacement sensor 4 attached to the cylinder 31 detects the amount of extension and contraction of the cylinder 31, and the controller 6 calculates and converts the amount into the roll-over angle corresponding to the wheel assembly 2.
In some embodiments, the reversible wheel system further comprises a motor encoder 7. The motor encoder 7 is provided to the motor 33. The controller 6 is electrically connected to the motor encoder 7, and the controller 6 is configured to control the rotation direction and the rotation angle of the motor 33 according to a signal sent from the motor encoder 7.
In some embodiments, the reversible wheel system further comprises a drive 9. When the controller 6 sends the rotation direction and angle signals to the driver 9, the driver 9 controls the motor 33 to rotate until the target rotation angle is reached, the wheel assembly 2 rotates around the central shaft 32 as the center of a circle, the wheel assembly 2 can rotate for multiple circles because the motor 33 can rotate for multiple circles, and the oil cylinder 31 is in an elastic mode, namely a free state when the wheel assembly is overturned by the motor 33.
Optionally, the controller 6 comprises a vehicle VCU (vehicle control unit). The VCU of the whole vehicle is a central processing unit of the whole system.
As shown in fig. 4, the motor encoder 7 built in the motor 33 can accurately detect the rotation direction and angle of the motor 33, that is, the rotation direction and angle of the wheel assembly 2.
The rotation angle detected by the motor encoder 7 or the amount of extension and retraction of the cylinder 31 detected by the displacement sensor 4 is sent to the controller 6. The controller 6 processes signals of the displacement sensor 4 and the motor encoder 7, feeds back real-time attitude data of the wheel assembly 2 to the control terminal through data interaction with the control device 4, and sends an operation command through the control device 4. The controller 6 sends a control signal to the electromagnetic directional valve 5 corresponding to the oil cylinder 31 to drive the oil cylinder 31 to extend and retract. Alternatively, the controller 6 sends a control signal to the driver 9 to drive the rotation of the motor 33.
The form of the oil cylinder 31 and the form of the motor 33 can independently control the swing of the wheel assembly 2.
Some embodiments also provide a vehicle including a reversible wheel system as described above.
The reversible wheel system comprises a wheel assembly 2 with a triangular wheel carrier, and the wheel assembly 2 can be actively turned through the driving of a power assembly 3 to change the height of the center of mass of the whole vehicle from the ground, so that the vehicle can be rapidly turned to cross an obstacle when encountering the obstacle.
In some embodiments, the vehicle comprises an industrial or off-road vehicle, or the like.
In the description of the present invention, it should be understood that the terms "first", "second", "third", etc. are used to define the components, and are only used for the convenience of distinguishing the components, and if not stated otherwise, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present invention.
Furthermore, the technical features of one embodiment may be combined with one or more other embodiments advantageously without explicit negatives.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.
Claims (11)
1. A reversible wheel system, comprising:
a chassis (1);
at least two wheel assemblies (2) arranged on the chassis (1), wherein each wheel assembly (2) of the at least two wheel assemblies (2) comprises a wheel carrier (21) and at least two wheels (22), and the wheel carrier (21) is rotatably arranged relative to the chassis (1); and
at least two power assemblies (3), each wheel assembly (2) being equipped with one power assembly (3) of said at least two power assemblies (3), said power assembly (3) being configured to drive in rotation a wheel carrier (21) of said wheel assembly (2).
2. The reversible wheel system according to claim 1, wherein the wheel frame (21) is triangular, and the at least two wheels (22) comprise three wheels (22), and the three wheels (22) are respectively arranged at three vertexes of the triangular wheel frame (21).
3. The reversible wheel system according to claim 1, characterized in that the power assembly (3) comprises a cylinder (31), a first end of the cylinder (31) is rotatably connected with the chassis (1), and a second end of the cylinder (31) is rotatably connected with the wheel frame (21).
4. A reversible wheel system according to claim 1, wherein said power assembly (3) comprises:
the central shaft (32) is arranged in a penetrating way and fixedly connected to the wheel frame (21), and the central shaft (32) can be rotatably arranged relative to the chassis (1); and
and the motor (33) is in driving connection with the central shaft (32).
5. A reversible wheel system according to claim 4, characterized in that the power assembly (3) comprises a transmission mechanism (34), and the motor (33) is drivingly connected to the central shaft (32) through the transmission mechanism (34).
6. A reversible wheel system according to claim 5, wherein said transmission mechanism (34) comprises:
a first sprocket (341) provided on a motor output shaft (331) of the motor (33);
a second sprocket (342) provided to the center shaft (32); and
a chain (343) connecting the first sprocket (341) and the second sprocket (342).
7. The reversible wheel system according to claim 6, wherein the transmission mechanism (34) further comprises a connecting member (344), a cavity is formed in the connecting member (344), the first sprocket (341), the second sprocket (342) and the chain (343) are all disposed in the cavity, the first sprocket (341) is disposed at a first end of the connecting member (344), the second sprocket (342) is disposed at a second end of the connecting member (344), and the central shaft (32) is fixedly connected to the connecting member (344).
8. The reversible wheel system according to claim 7, wherein the power assembly (3) comprises a cylinder (31), a first end of the cylinder (31) is rotatably connected to the chassis (1), and a second end of the cylinder (31) is rotatably connected to the connecting member (344).
9. The reversible wheel system according to claim 3 or 8, comprising:
the displacement sensor (4) is arranged on the oil cylinder (31) and used for detecting the expansion amount of the oil cylinder (31);
the electromagnetic directional valve (5) is arranged on an oil way where the oil cylinder (31) is located and used for realizing the telescopic action of the oil cylinder (31); and
a controller (6) electrically connecting the displacement sensor (4) and the electromagnetic directional valve (5), the controller (6) being configured to control the opening and closing of the electromagnetic directional valve (5) according to a signal detected by the displacement sensor (4).
10. The reversible wheel system according to claim 4, comprising:
a motor encoder (7) provided to the motor (33);
a controller (6) electrically connected to the motor encoder (7), wherein the controller (6) is configured to control the rotation direction and the rotation angle of the motor (33) according to the signal sent by the motor encoder (7).
11. A vehicle comprising a reversible wheel system according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922194316.XU CN211196422U (en) | 2019-12-10 | 2019-12-10 | Reversible wheel system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922194316.XU CN211196422U (en) | 2019-12-10 | 2019-12-10 | Reversible wheel system and vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN211196422U true CN211196422U (en) | 2020-08-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922194316.XU Active CN211196422U (en) | 2019-12-10 | 2019-12-10 | Reversible wheel system and vehicle |
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| CN (1) | CN211196422U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789628A (en) * | 2019-12-10 | 2020-02-14 | 徐工集团工程机械股份有限公司 | Reversible wheel system and vehicle |
| CN112622603A (en) * | 2020-12-30 | 2021-04-09 | 徐工集团工程机械股份有限公司 | Four-wheel independent drive wheel carrier posture-adjustable vehicle comprehensive drive system |
-
2019
- 2019-12-10 CN CN201922194316.XU patent/CN211196422U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789628A (en) * | 2019-12-10 | 2020-02-14 | 徐工集团工程机械股份有限公司 | Reversible wheel system and vehicle |
| CN112622603A (en) * | 2020-12-30 | 2021-04-09 | 徐工集团工程机械股份有限公司 | Four-wheel independent drive wheel carrier posture-adjustable vehicle comprehensive drive system |
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