CN211196422U - Reversible wheel system and vehicle - Google Patents

Abstract

The utility model relates to a reversible wheel system and a vehicle, which are used for alleviating the problem that obstacle crossing performance and maneuvering performance cannot be achieved simultaneously. Wherein, the reversible wheel system includes: a chassis; at least two wheel assemblies disposed on the chassis, each wheel assembly in the at least two wheel assemblies includes a wheel frame and at least two wheels, the wheel frames are opposite to each other rotatably disposed on the chassis; and at least two power assemblies, each wheel assembly being equipped with one of the at least two power assemblies, the power assemblies being configured to drive wheels of the wheel assemblies rack rotation. The utility model drives the wheel frame in the wheel assembly to rotate through the power assembly, the wheel frame rotates, and each wheel on the wheel frame changes with the rotation position of the wheel frame, so as to change the height of the center of mass of the whole vehicle from the ground, so that the vehicle can encounter obstacles when encountering obstacles. It can actively and quickly turn over and over obstacles, which is suitable for complex road conditions in the wild and has strong maneuverability.

Description

Reversible Wheel Systems and Vehicles

technical field

The utility model relates to the field of vehicle chassis, in particular to a reversible wheel system and a vehicle.

Background technique

With the rapid development of modern science and technology, chassis with high passing performance and maneuverability will have great application prospects in the fields of future warfare, agriculture, and intelligent transportation. Although the traditional wheeled chassis has fast driving speed and good maneuverability on hard roads, it has insufficient performance in overcoming obstacles and trenches, and is greatly limited in the field environment. Although the overall crawler chassis has better performance in climbing, overcoming obstacles, and overcoming trenches, the chassis is large in size, complex in structure, heavy in weight and energy consumption, which reduces the maneuverability to a certain extent.

Utility model content

Some embodiments of the present invention provide a reversible wheel system and a vehicle for alleviating the problem that obstacle-crossing performance and maneuvering performance cannot be achieved at the same time.

Some embodiments of the present invention provide a reversible wheel system comprising:

chassis;

at least two wheel assemblies disposed on the chassis, each of the at least two wheel assemblies including a wheel carrier and at least two wheels, the wheel carrier being rotatably disposed 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 a wheel carrier in the wheel assemblies in rotation.

In some embodiments, the wheel frame is triangular, the at least two wheels include three wheels, and the three wheels are respectively corresponding to three vertices of the triangular wheel frame.

In some embodiments, the power assembly includes an oil cylinder, a first end of the oil cylinder is rotatably connected to the chassis, and a second end of the oil cylinder is rotatably connected to the wheel frame.

In some embodiments, the power assembly includes:

a central shaft, which penetrates and is fixedly connected to the wheel frame, the central shaft is rotatably arranged relative to the chassis; and

A motor drives and connects the central shaft.

In some embodiments, the power assembly includes a transmission mechanism, and the motor is drivingly connected to the central shaft through the transmission mechanism.

In some embodiments, the transmission mechanism includes:

a first sprocket, arranged on the motor output shaft of the motor;

a second sprocket mounted on the central shaft; and

A chain connects the first sprocket and the second sprocket.

In some embodiments, the transmission mechanism further includes a connecting piece, a cavity is formed in the connecting piece, and the first sprocket, the second sprocket and the chain are all disposed in the cavity , the first sprocket is arranged at the first end of the connecting piece, the second sprocket is arranged at the second end of the connecting piece, and the central shaft is fixedly connected to the connecting piece.

In some embodiments, the power assembly includes an oil cylinder, a first end of the oil cylinder is rotatably connected to the chassis, and a second end of the oil cylinder is rotatably connected to the connecting member.

In some embodiments, the reversible wheel system includes:

a displacement sensor, which is arranged on the oil cylinder and is used to detect the expansion and contraction of the oil cylinder;

an electromagnetic reversing valve, which is arranged in the oil circuit where the oil cylinder is located, and is used for realizing the telescopic action of the oil cylinder; and

The controller is electrically connected to the displacement sensor and the electromagnetic reversing valve, and the controller is configured to control the switch of the electromagnetic reversing valve according to the signal detected by the displacement sensor.

In some embodiments, the reversible wheel system includes:

a motor encoder, located on the motor;

The controller is electrically connected to the motor encoder, and the controller is configured to control the rotation direction and rotation angle of the motor according to the signal sent by the motor encoder.

Some embodiments of the present invention provide a vehicle including the above-described reversible wheel system.

Based on the above-mentioned technical solutions, the present invention has at least the following beneficial effects:

In some embodiments, the chassis is provided with a plurality of wheel assemblies, each wheel assembly is equipped with a power assembly, and the wheel frame in the wheel assembly is driven by the power assembly to rotate, the wheel frame rotates, and each wheel on the wheel frame follows the rotation of the wheel frame. The rotation position changes to change the height of the center of mass of the whole vehicle from the ground, so that the vehicle can actively and quickly turn over and cross the obstacle when encountering an obstacle. Therefore, it is suitable for complex road conditions in the field, with strong mobility, and can quickly pass through various complex terrains Has good ground adaptability.

Description of drawings

The accompanying drawings described herein are used to provide further understanding of the present invention and constitute a part of the present application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 is a schematic structural diagram of a reversible wheel system provided according to some embodiments of the present invention;

FIG. 2 is a schematic diagram of a reversible wheel system over an obstacle provided according to some embodiments of the present invention;

3 is a schematic diagram of motor power transmission provided 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 accompanying drawings are described as follows:

1 - chassis;

2-wheel assembly; 21-wheel frame; 22-wheel;

3-Power assembly; 31-Cylinder; 32-Central shaft; 33-Motor; 331-Motor output shaft; 34-Transmission mechanism; 341-First sprocket; 342-Second sprocket; 343-Chain; 344-Connection piece;

4-displacement sensor; 5-electromagnetic reversing valve; 6-controller; 7-motor encoder; 8-control device; 9-driver.

Detailed ways

The technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal" , "top", "bottom", "inside", "outside" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, only for the convenience of describing the present utility model and simplifying the description, rather than indicating Or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the protection scope of the present invention.

As shown in FIGS. 1 and 2 , a reversible wheel system provided for some embodiments 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 on the chassis 1 , each of the at least two wheel assemblies 2 includes a wheel frame 21 and at least two wheels 22 , and the wheel frame 21 is rotatably disposed relative to the chassis 1 .

Each wheel assembly 2 is equipped with one power assembly 3 of at least two power assemblies 3 configured to drive a wheel carrier 21 in the wheel assembly 2 in rotation.

Each wheel assembly 2 is equipped with a power assembly 3, through which the wheel frame 21 in the wheel assembly 2 is driven to rotate, the wheel frame 21 rotates, and each wheel 22 on the wheel frame 21 changes with the rotation position of the wheel frame 21, It can change the height of the center of mass of the whole vehicle from the ground, so that the vehicle can actively and quickly turn over and cross the obstacle when encountering obstacles. Therefore, it is suitable for complex road conditions in the wild, with strong maneuverability, and can quickly pass through various complex terrains, with good ground adaptability.

Optionally, the chassis 1 is provided with four wheel assemblies 2 . Two of the wheel assemblies 2 are disposed at the front end of the chassis 1 , and the other two wheel assemblies 2 are disposed at the rear end of the chassis 1 .

In some embodiments, the wheel frame 21 is triangular, and at least two wheels 22 include three wheels 22 , and the three wheels 22 are respectively corresponding to three vertices of the triangular wheel frame 21 . The special triangular wheel frame 21 is used, and the turning of the wheel frame 21 is driven by the power assembly 3, which can change the height of the center of mass of the whole vehicle from the ground, so that the vehicle can actively and quickly turn over and overcome the obstacle when it encounters an obstacle.

Wherein, each vertex of the triangular wheel frame 21 is provided with a wheel 22. During the rotation of the wheel frame 21, the wheels 22 at the three vertex positions contact the ground in turn.

After the wheel assembly 2 is turned over, the wheels 22 on the two vertices touch the ground and travel.

In some embodiments, the power assembly 3 includes an oil cylinder 31 , a first end of the oil cylinder 31 is rotatably connected to the chassis 1 , and a second end of the oil cylinder 31 is rotatably connected to the wheel frame 21 . By adjusting the expansion 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 the hinge point. The rotation of the wheel assembly 2 can change the height of the chassis 1 from the earth's center, and when the obstacle is overrun, the active rotation of the wheel assembly 2 can be controlled to realize the rapid obstacle crossing.

In some embodiments, the power assembly 3 includes a central shaft 32 and a motor 33 .

The central shaft 32 passes through and is fixedly connected to the wheel frame 21 , and the central shaft 32 is rotatably arranged relative to the chassis 1 . The motor 33 drives and connects the central shaft 32 so that the central shaft 32 can rotate.

By controlling the rotation direction, angle and number of turns of the motor 33 , 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 chassis 1 from the earth's center, and when the obstacle is overrun, the active rotation of the wheel assembly 2 can be controlled to realize the rapid obstacle crossing.

In some embodiments, as shown in FIG. 3 , the power assembly 3 includes a transmission mechanism 34 , and the motor 33 is driven and 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 mechanism 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 rotates under the driving of the motor output shaft 331, the first sprocket 341 transmits power to the second sprocket 342 through the chain 343, the second sprocket 342 rotates under the driving of the chain 343, the second sprocket 341 342 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 piece 344, a cavity is formed in the connecting piece 344, the first sprocket 341, the second sprocket 342 and the chain 343 are all arranged in the cavity, the first sprocket 341 The second sprocket 342 is disposed at the first end of the connecting member 344 , and the central shaft 32 is fixedly connected to the connecting member 344 .

In some embodiments, the first end of the oil cylinder 31 in the power assembly 3 is rotatably connected to the chassis 1 , and the second end of the oil cylinder 31 is rotatably connected to the connecting piece 344 .

In some embodiments, the cylinder end of the oil cylinder 31 is hinged with the chassis 1 , and the cylinder rod end of the oil cylinder 31 is hinged with the connecting member 344 . The first sprocket 341 is disposed on the first end of the connecting piece 344 , the second sprocket 342 is disposed on the second end of the connecting piece 344 , and the connecting piece 344 is fixedly connected with the central shaft 32 .

In some embodiments, the motor output shaft 331 of the motor 33 is connected with the first sprocket 341 inside the connecting member 344 through a first coupling. The central shaft 32 connected with the wheel assembly 2 is connected with the second sprocket 342 inside the connecting piece 344 through the second coupling. The first sprocket 341 and the second sprocket 342 realize power transmission through the chain 343 .

In some embodiments, the reversible wheel system includes a displacement sensor 4 , an electromagnetic reversing valve 5 and a controller 6 .

The displacement sensor 4 is provided in the oil cylinder 31 and is used for detecting the expansion and contraction amount of the oil cylinder 31 . The electromagnetic reversing valve 5 is arranged in the oil circuit where the oil cylinder 31 is located, and realizes the extension or retraction of the oil cylinder 31 by feeding hydraulic oil into the rod cavity or the rodless cavity of the oil cylinder 31 . The controller 6 is electrically connected to the displacement sensor 4 and the electromagnetic reversing valve 5 , and the controller 6 is configured to control the switching and reversing of the electromagnetic reversing valve 5 according to the signal detected by the displacement sensor 4 .

In some embodiments, when the controller 6 controls the opening and closing and reversing of the electromagnetic reversing valve 5, thereby controlling the expansion and contraction of the oil cylinder 31, the wheel assembly 2 rotates with the hinge point of the connecting piece 344 and the oil cylinder 31 as the center of the circle, and the rotation angle The size depends on the stroke of the oil cylinder 31 and the position of the hinge point. Generally, the expansion and contraction of the oil cylinder 31 can be used to turn over small obstacles.

The displacement sensor 4 installed on the oil cylinder 31 detects the expansion and contraction amount of the oil cylinder 31 , and is then calculated and converted into the roll angle corresponding to the wheel assembly 2 by the controller 6 .

In some embodiments, the reversible wheel system further includes a motor encoder 7 . The motor encoder 7 is provided in 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 rotation angle of the motor 33 according to the signal sent by the motor encoder 7 .

In some embodiments, the reversible wheel system further includes 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, and the wheel assembly 2 rotates with the central axis 32 as the center of the circle. Since the motor 33 can rotate in multiple circles, the wheel assembly 2 Multi-turn rotation can be achieved. Generally, when the motor 33 is turned over, the oil cylinder 31 is in an elastic mode, that is, a free state.

Optionally, the controller 6 includes a vehicle VCU (vehicle controller). The vehicle VCU is the central processing unit of the entire 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 expansion/contraction amount of the oil cylinder 31 detected by the displacement sensor 4 is sent to the controller 6 . The controller 6 feeds back the real-time data of the attitude of the wheel assembly 2 to the control terminal by processing the signals of the displacement sensor 4 and the motor encoder 7, and by interacting with the data of the control device 4, and sends the operation command through the control device 4. The controller 6 sends a control signal to the electromagnetic reversing valve 5 corresponding to the oil cylinder 31 to drive the extension and retraction of the oil cylinder 31 . Alternatively, the controller 6 sends a control signal to the driver 9 to drive the rotation of the motor 33 .

Both the oil cylinder 31 form and the motor 33 form can independently control the swing of the wheel assembly 2 .

Some embodiments also provide a vehicle including the above-described reversible wheel system.

The reversible wheel system includes a wheel assembly 2 with a triangular wheel frame. The wheel assembly 2 can be actively turned over by the drive of the power assembly 3 to change the height of the vehicle's center of mass from the ground, so that the vehicle can quickly turn over when encountering obstacles. Get over obstacles.

In some embodiments, the vehicle includes an off-road vehicle or the like.

In the description of the present invention, it should be understood that the use of words such as "first", "second" and "third" to define components is only for the convenience of distinguishing the above components, unless otherwise stated , the above words have no special meaning, and therefore cannot be construed as limiting the protection scope of the present invention.

In addition, the technical features of one of the embodiments may be beneficially combined with one or more of the other embodiments, unless expressly denied.

Finally it should be noted that: the above embodiment is only used to illustrate the technical scheme of the present invention and not to limit it; Although the present invention has been described in detail with reference to the preferred embodiment, those of ordinary skill in the art should understand that: still The specific embodiments of the present invention can be modified or some technical features can be equivalently replaced; without departing from the spirit of the technical solutions of the present invention, all of them should be included in the scope of the technical solutions claimed in the present invention.

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.

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