CN212637645U

CN212637645U - Vector wheel device

Info

Publication number: CN212637645U
Application number: CN202021098161.6U
Authority: CN
Inventors: 史银花; 施琴; 党丽峰; 左文艳; 张星亮; 顾泽宇; 孔祥飞
Original assignee: ZHENJIANG VOCATIONAL TECHNICAL COLLEGE
Current assignee: ZHENJIANG VOCATIONAL TECHNICAL COLLEGE
Priority date: 2020-06-15
Filing date: 2020-06-15
Publication date: 2021-03-02
Anticipated expiration: 2030-06-15

Abstract

The utility model discloses a vector wheel device, which comprises a mounting plate, a wheel frame, a first wheel transmission device, a second transmission device, a first connecting plate and a rotating plate, wherein the wheel frame is fixedly connected with the bottom surface of the rotating plate, the first connecting plate is fixedly connected with the bottom surface of the mounting plate, and the rotating plate is positioned on the bottom surface of the first connecting plate; the first transmission device works to drive the wheels to walk, the second transmission device works to drive the wheel frame to rotate through the rotating plate, and the first transmission device and the second transmission device work to drive the wheels to walk and rotate. The vector wheel device designed by the device drives the wheels to walk through the first transmission device and drives the wheels to turn through the second transmission device during use, so that the function that the wheels can turn independently is realized, the first transmission device and the second transmission device work simultaneously to drive the wheels to turn when walking, and the wheels can realize the walking maintenance during climbing or descending.

Description

Vector wheel device

Technical Field

The utility model relates to a robot trolley technical field, concretely relates to vector wheel device.

Background

The robot competition is a high-tech confrontation activity which is rapidly developed internationally in recent years, and the robot competition is rich in types, including football trolleys, intelligent trolleys, rolling trolleys and the like. Regardless of which wheels of the robot trolley are indispensable actuators.

In the prior art, wheels of a trolley used for robot competition can only walk, and when the trolley turns, a connecting shaft of two front wheels or a connecting shaft of two rear wheels needs to be controlled so as to achieve the purpose of steering. However, this control method cannot effectively keep the vehicle moving when climbing or descending, i.e. the vehicle cannot stop at a certain position during ascending or descending. How to design a wheel, can fast realize turning to, and can accomplish walking when climbing or downhill path and keep, be the problem that we need to solve urgently.

Disclosure of Invention

An object of the utility model is to provide a vector wheel device to solve the problem that the wheel that leads to among the prior art can not turn to.

In order to achieve the purpose, the utility model is realized by adopting the following technical scheme:

a vector wheel device comprises a mounting plate, a wheel frame, a first wheel transmission device, a second wheel transmission device, a first connecting plate and a rotating plate, wherein the wheel frame is fixedly connected to the bottom surface of the rotating plate, the first connecting plate is fixedly connected to the bottom surface of the mounting plate, and the rotating plate is positioned on the bottom surface of the first connecting plate;

the first transmission device works to drive the wheels to walk, the second transmission device works to drive the wheel frame to rotate through the rotating plate, and the first transmission device and the second transmission device work to drive the wheels to walk and rotate.

Further, the first transmission device comprises a first motive power device, a gear transmission mechanism and a worm and gear mechanism, and the first motive power device is connected to the top surface of the mounting plate;

the gear transmission mechanism is connected between the wheel frame and the rotating plate, and the output end of the first motive power device penetrates through the rotating plate and is connected to the gear transmission mechanism;

the worm and gear mechanism is arranged in the wheel frame, the gear transmission mechanism is connected with the worm and gear mechanism, and the worm and gear mechanism drives the wheels to move.

Further, the first prime mover is a first servo motor.

Further, the gear transmission mechanism comprises a first gear and a second gear, and the first gear and the second gear are meshed;

the first gear is connected to the output end of the first motive power device, and a first rotating shaft in the center of the second gear is connected with the worm gear mechanism.

Furthermore, the worm gear mechanism comprises a worm wheel and a worm, the worm is meshed with the worm wheel, the worm wheel is fixed on the side face of the wheel, a worm wheel shaft of the worm wheel is rotatably connected with the wheel frame, and the worm is connected with the output end of the gear transmission mechanism.

Further, the second transmission device comprises a second motive power device, a third gear and a fourth gear, the second motive power device is connected to the top surface of the mounting plate, the output end of the second motive power device penetrates through the mounting plate and is connected with the third gear, the third gear is meshed with the fourth gear, and the fourth gear drives the rotating plate to rotate.

Further, the third gear and the fourth gear are located between the mounting plate and the first connecting plate.

Furthermore, the fourth gear is sleeved at the output end of the first motive power device, the top surface of the first connecting plate is connected with a fixed seat, and the fourth gear is rotatably connected to the top surface of the fixed seat.

Further, the top surface of rotor plate is connected with a plurality of connecting rods, the connecting rod runs through first connecting plate with the fourth gear is connected.

Further, the second prime mover is a second servo motor.

According to the above technical scheme, the embodiment of the utility model has following effect at least:

1. when the vector wheel device designed by the device is used, the first transmission device drives the wheels to walk, the second transmission device drives the wheels to turn, so that the function that the wheels can turn independently is realized, and the first transmission device and the second transmission device work simultaneously to drive the wheels to turn when walking, so that the wheels can realize the walking maintenance when climbing or descending;

2. the first transmission device of the device adopts the matching of the gear transmission mechanism and the worm gear mechanism, both have the advantages of high transmission efficiency and high transmission stability, and the connection stability of the gear transmission mechanism and the worm gear mechanism is high, so that the device can adapt to various road conditions, and the service life of the device is ensured;

3. the prime device of the device adopts the servo motor, and the servo motor can ensure the control precision, thereby ensuring the precision of wheel walking and steering.

Drawings

FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of a first transmission and its connecting parts according to an embodiment of the present invention;

FIG. 3 is a schematic view of a gear mechanism and a worm gear mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a second transmission according to an embodiment of the present invention;

FIG. 5 is a schematic view of a portion of the structure of FIG. 4;

FIG. 6 is a schematic structural view of a fourth gear and its connecting member according to an embodiment of the present invention;

FIG. 7 is a schematic view of the mounting of the fixing base according to the embodiment of the present invention;

fig. 8 is a schematic structural view of the rotation plate and the first connection plate according to the embodiment of the present invention.

Wherein: 1. mounting a plate; 2. a wheel frame; 3. a wheel; 4. a first transmission device; 5. a second transmission device; 6. a first connecting plate; 7. a rotating plate; 41. a first servo motor; 42. an output shaft; 43. a gear transmission mechanism; 44. a worm and gear mechanism; 431. a first gear; 432. a second gear; 433. a first rotating shaft; 441. a worm; 442. a worm gear; 443. a worm gear shaft; 51. a second servo motor; 52. a third gear; 53. a fourth gear; 54. a fixed seat; 71. a connecting rod.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

It should be noted that, in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", etc. indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, and are only for convenience of description of the present invention but do not require the present invention to be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

As shown in fig. 1 to 8, a vector wheel device comprises a mounting plate 1, a wheel frame 2, a wheel 3, a first transmission device 4, a second transmission device 5, a first connecting plate 6 and a rotating plate 7, wherein the wheel frame 2 is fixedly connected to the bottom surface of the rotating plate 7, the first connecting plate 6 is fixedly connected to the bottom surface of the mounting plate 1, and the rotating plate 7 is positioned at the bottom surface of the first connecting plate 6; the first transmission device 4 works to drive the wheels 3 to walk, the second transmission device 5 works to drive the wheel frame 2 to rotate through the rotating plate 7, and the first transmission device 4 and the second transmission device 5 work to drive the wheels 3 to walk and rotate. The vector wheel device designed by the device drives the wheels to walk through the first transmission device 4 and turns through the second transmission device 5 during use, so that the function that the wheels 3 can turn independently is realized, the first transmission device 4 and the second transmission device 5 work simultaneously to drive the wheels 3 to turn when walking, and the wheels 3 can keep walking when climbing or descending.

Specifically, as shown in fig. 1, the device comprises a mounting plate 1, wherein the mounting plate 1 is a square plate, and a plurality of through holes and mounting holes are formed in the mounting plate for mounting the device on a trolley. The first connecting plate 6 is fixedly connected to the bottom surface of the mounting plate 1 through four connecting rods, the rotating plate 7 is located on the bottom surface of the first connecting plate 6, the wheel frame 2 is fixed to the bottom surface of the rotating plate 7 through the four connecting rods, and the rotating plate 7 rotates to drive the wheel frame 2 to rotate.

The first transmission device 4 comprises a first servo motor 41, a gear transmission mechanism 43 and a worm and gear mechanism 44, the first servo motor 41 is fixed on the top surface of the mounting plate 1, and an output shaft 42 of the first servo motor 41 penetrates through the mounting plate 1, the first connecting plate 6 and the rotating plate 7 to be connected with the gear transmission mechanism 43. The specific gear transmission mechanism 43 includes a first gear 431, a second gear 432 and a first rotating shaft 433, wherein the center of the first gear 431 is fixed at the end of the output shaft 42, the second gear 432 is engaged with the first gear 431, and the first rotating shaft 433 is a central fixed shaft of the second gear 432.

The bottom end of the first rotating shaft 433 penetrates through the wheel frame 2 and is connected with the worm gear mechanism, the worm gear mechanism 44 comprises a worm 441, a worm wheel 442 and a worm wheel shaft 443, the worm 441 is coaxially connected with the first rotating shaft 433, and the first rotating shaft 433 rotates to drive the worm 441 to rotate. The worm 441 and the worm wheel 442 are engaged. The worm gear 442 is fixed to the right side of the wheel 3, the wheel 3 is rotated by the rotation of the worm gear 442, and both ends of the central worm gear shaft 443 of the worm gear 442 are rotatably connected to the wheel frame 2.

When the wheel is used, the first servo motor 41 receives a signal to start, the output shaft 42 of the first servo motor drives the first gear to rotate, the first gear 431 drives the second gear 432 to rotate, the worm 441 is driven to rotate through the first rotating shaft 433, and the worm 411 drives the worm wheel 442 to rotate, so that the wheel 3 travels.

The second transmission device 5 comprises a second servo motor 51, a third gear 52, a fourth gear 53 and a fixed seat 54, wherein the second servo motor 51 is fixed on the top surface of the mounting plate 1. The third gear 52 is meshed with the fourth gear 53, the third gear 52 is fixed at the output end of the second servo motor 51, and the second servo motor 51 works to drive the third gear 52 to rotate. The fourth gear 53 is fitted around the outer periphery of the output shaft 42 and does not rotate with the output shaft 42. Specifically, as shown in fig. 6 to 8, the first connecting plate 6 is provided with a middle through hole, a fixing groove is formed in the periphery of the middle through hole of the first connecting plate 6, the fixing seat 54 is connected in the fixing groove, the top surface of the fixing seat 54 is provided with a sliding groove, the bottom surface of the fourth gear 53 is provided with a protrusion, and the protrusion is connected in the sliding groove. The third gear 52 rotates to rotate the fourth gear 53. Further, four connecting rods are integrally formed on the top surface of the rotating plate 7, a connecting hole is formed in the bottom surface of the fourth gear 53, and the connecting rod 71 passes through the middle through hole of the first connecting plate 6 to be connected into the connecting hole of the fourth gear 53. The fourth gear 53 rotates to rotate the rotating plate 7 through the connecting rod 71.

When the device is used, when the wheel 3 only needs to advance or retreat, the first servo motor 41 is controlled to work, when the wheel needs to turn, the second servo motor 51 is started, the second servo motor 51 drives the fourth gear 53 to rotate through the third gear 52, the fourth gear 53 drives the rotating plate 7 to rotate, and therefore the turning of the wheel is realized, for example, when the device needs to be maintained on a climbing slope, the wheel is controlled to turn for 90 degrees (compared with the situation of 90 degrees on the climbing slope) through the second servo motor 51, the trolley can be static, and the climbing slope of the trolley is controlled to be maintained.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of the invention or which are equivalent to the scope of the invention are embraced by the invention.

Claims

1. A vector wheel device is characterized by comprising a mounting plate (1), a wheel frame (2), wheels (3), a first transmission device (4), a second transmission device (5), a first connecting plate (6) and a rotating plate (7), wherein the wheel frame (2) is fixedly connected to the bottom surface of the rotating plate (7), the first connecting plate (6) is fixedly connected to the bottom surface of the mounting plate (1), and the rotating plate (7) is positioned on the bottom surface of the first connecting plate (6);

the first transmission device (4) works to drive the wheels (3) to walk, the second transmission device (5) works to drive the wheel frame (2) to rotate through the rotating plate (7), and the first transmission device (4) and the second transmission device (5) work to drive the wheels (3) to walk and rotate.

2. The vector wheel device according to claim 1, characterized in that the first transmission means (4) comprises a first motive means, a gear transmission mechanism (43) and a worm gear mechanism (44), the first motive means being connected to the top surface of the mounting plate (1);

the gear transmission mechanism (43) is connected between the wheel frame (2) and the rotating plate (7), and the output end of the first motive power device penetrates through the rotating plate (7) to be connected to the gear transmission mechanism (43);

the worm and gear mechanism (44) is installed in the wheel frame (2), the gear transmission mechanism (43) is connected with the worm and gear mechanism (44), and the worm and gear mechanism (44) drives the wheels (3) to move.

3. A vector wheel arrangement according to claim 2, wherein said first prime mover is a first servo motor (41).

4. The vector wheel apparatus according to claim 2, wherein the gear transmission mechanism (43) comprises a first gear (431) and a second gear (432), the first gear (431) and the second gear (432) being engaged;

the first gear (431) is connected to the output end of the first motive power device, and a first rotating shaft in the center of the second gear (432) is connected with the worm gear mechanism (44).

5. The vector wheel device according to claim 2, characterized in that the worm and gear mechanism (44) comprises a worm wheel (442) and a worm (441), the worm (441) is meshed with the worm wheel (442), the worm wheel (442) is fixed on the side of the wheel (3), a worm wheel shaft (443) of the worm wheel (442) is rotatably connected with the wheel frame (2), and the worm (441) is connected with the output end of the gear transmission mechanism (43).

6. The vector wheel device according to claim 2, characterized in that the second transmission device (5) comprises a second motive power device, a third gear (52) and a fourth gear (53), the second motive power device is connected to the top surface of the mounting plate (1), the output end of the second motive power device penetrates through the mounting plate (1) and the third gear (52), the third gear (52) and the fourth gear (53) are meshed, and the fourth gear (53) drives the rotating plate (7) to rotate.

7. The vector wheel device according to claim 6, characterized in that said third gear (52) and said fourth gear (53) are located between said mounting plate (1) and said first connection plate (6).

8. The vector wheel device according to claim 6, characterized in that the fourth gear (53) is sleeved on the output end of the first prime mover, the top surface of the first connecting plate (6) is connected with a fixed seat (54), and the fourth gear (53) is rotatably connected on the top surface of the fixed seat (54).

9. The vector wheel apparatus according to claim 6, wherein a plurality of connecting rods (71) are connected to the top surface of the rotating plate (7), and the connecting rods (71) are connected to the fourth gear (53) through the first connecting plate (6).

10. A vector wheel arrangement according to claim 6, wherein said second prime mover is a second servo motor (51).