CN215883236U - Wheel set device, robot and vehicle - Google Patents
Wheel set device, robot and vehicle Download PDFInfo
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- CN215883236U CN215883236U CN202121548554.7U CN202121548554U CN215883236U CN 215883236 U CN215883236 U CN 215883236U CN 202121548554 U CN202121548554 U CN 202121548554U CN 215883236 U CN215883236 U CN 215883236U
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- mounting plate
- wheel
- swing rod
- transverse swing
- adjusting rod
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Abstract
The present invention relates to a wheel set device, a robot and a vehicle, the wheel set device including: one end of the flexible cardan shaft is connected with a transmission shaft arranged in a bearing assembly of the wheel, and the other end of the flexible cardan shaft is connected with a driving shaft on the side of the vehicle body; a mounting plate mounted outside a housing of a bearing assembly of a wheel, arranged in parallel with a hub of the wheel; a fixing plate mounted on the vehicle body opposite to the mounting plate; one end of the transverse swing rod is arranged on the mounting plate, the other end of the transverse swing rod is arranged on the fixing plate, and the transverse swing rod can swing within a fixed amplitude relative to the mounting plate and the fixing plate; one end of the elastic damper is arranged on the transverse swing rod, and the other end of the elastic damper is arranged on the fixing plate; and one end of the adjusting rod is arranged on the mounting plate, the other end of the adjusting rod is arranged on the fixed plate and can swing in a fixed range relative to the mounting plate and the fixed plate, the transverse swing rod and the adjusting rod are positioned at the upper side and the lower side of the flexible universal shaft, and the connection point between the transverse swing rod and the adjusting rod and the mounting plate is lower than the connection point between the transverse swing rod and the adjusting rod and the fixed plate.
Description
Technical Field
The present invention relates to a wheel, and more particularly, to a wheel set device, and a robot and a vehicle using the wheel set device.
Background
In current equipment having a carrying function, such as a robot and a scooter, a drive chassis has a wide variety of structures and various drive methods. However, in the conventional wheel set, fine adjustment is performed by providing a rubber pad between the wheel set and the vehicle body frame, and this structure is insufficient in a shock absorbing function and is difficult to cope with a heavy load. Further, in the conventional wheel set, there is also a case where jamming is likely to occur when torque is transmitted. In addition, the conventional wheel set has a problem that it is difficult to achieve both the easy attachment and detachment and the shock absorbing function.
SUMMERY OF THE UTILITY MODEL
The utility model takes the problems into consideration and provides a wheel set device. The present invention addresses at least one of the problems described above.
A first aspect of the utility model relates to a wheel assembly arrangement comprising: one end of the flexible cardan shaft is connected with a transmission shaft arranged in a bearing assembly of the wheel, and the other end of the flexible cardan shaft is connected with a driving shaft on the side of the vehicle body; a mounting plate mounted outside a housing of a bearing assembly of a wheel, arranged in parallel with a hub of the wheel; a fixing plate mounted on the vehicle body so as to face the mounting plate; one end of the transverse swing rod is mounted on the mounting plate, the other end of the transverse swing rod is mounted on the fixed plate, and the transverse swing rod can swing within a fixed amplitude relative to the mounting plate and the fixed plate; one end of the elastic damper is mounted on the transverse swing rod, and the other end of the elastic damper is mounted on the fixing plate; and one end of the adjusting rod is arranged on the mounting plate, the other end of the adjusting rod is arranged on the fixed plate and can swing in a fixed amplitude relative to the mounting plate and the fixed plate, the transverse swing rod and the adjusting rod are positioned on the upper side and the lower side of the flexible universal shaft, and the connecting point of the transverse swing rod and the adjusting rod on the mounting plate is lower than the connecting point of the transverse swing rod and the fixed plate.
According to the wheel set device of the first aspect, the flexible cardan shaft is a cross spline cardan shaft.
According to the wheel set device related to any one of the aspects, the connecting points of the transverse swing rod and the mounting plate and the fixing plate and the connecting points of the adjusting rod and the fixing plate and the mounting plate are sequentially connected to form a parallelogram.
The wheel assembly device according to any one of the above aspects, wherein the elastic damper is mounted on a side of the cross swing link close to the wheel.
The wheel assembly device according to any one of the above aspects, further comprising the hub, which is connected to the transmission shaft of the bearing assembly in a manner capable of transmitting power; and the wheel is arranged on the hub.
The utility model also relates to a robot which comprises the wheel set device.
The utility model also relates to a vehicle comprising the wheel set device.
The wheel set device of the utility model can give consideration to both good shockproof function and convenient assembly and disassembly.
Drawings
Fig. 1 is a schematic structural view of a wheel set device according to the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not to be construed as limiting the utility model. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
The wheel set device of the present invention includes: one end of the flexible cardan shaft is connected with a transmission shaft arranged in a bearing assembly of the wheel, and the other end of the flexible cardan shaft is connected with a driving shaft on the side of the vehicle body; a mounting plate mounted outside a housing of a bearing assembly of a wheel, arranged in parallel with a hub of the wheel; a fixing plate mounted on the vehicle body so as to face the mounting plate; one end of the transverse swing rod is mounted on the mounting plate, the other end of the transverse swing rod is mounted on the fixed plate, and the transverse swing rod can swing within a fixed amplitude relative to the mounting plate and the fixed plate; one end of the elastic damper is mounted on the transverse swing rod, and the other end of the elastic damper is mounted on the fixing plate; and one end of the adjusting rod is arranged on the mounting plate, the other end of the adjusting rod is arranged on the fixed plate and can swing in a fixed amplitude relative to the mounting plate and the fixed plate, the transverse swing rod and the adjusting rod are positioned on the upper side and the lower side of the flexible universal shaft, and the connecting point of the transverse swing rod and the adjusting rod on the mounting plate is lower than the connecting point of the transverse swing rod and the fixed plate.
The wheel set device can realize a good shockproof function, is convenient to disassemble and assemble, and can take both the good shockproof function and the convenient disassembly and assembly function into consideration.
The present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of a wheel set device according to the present invention.
The wheel wheelset device includes: the device comprises wheels 1, an elastic damper 2, a yaw rod 3, a flexible cardan shaft 4, a driving shaft 5, a fixing plate 6, an adjusting rod 7, a mounting plate 8, a bearing assembly 9, a hub 10 and a transmission shaft 11.
The wheel set device is described in detail below with reference to fig. 1.
The wheel 1 stands with respect to the road surface for carrying the entire vehicle body. The wheel may be a pneumatic tire or a solid tire.
The hub 10 is used for mounting the wheel 1, so that the integral rigidity of the wheel 1 is improved, and the vehicle body is ensured to have certain bearing capacity.
The transmission shaft 11 is connected to the hub 10, and transmits power of the drive shaft on the vehicle body side to the hub 10 to drive the hub 10 to rotate together, thereby achieving synchronism of rotation of the drive shaft and the wheels.
The bearing assembly 9 is used to support the mounting plate 6 and the drive shaft 11. A drive shaft 11 is supported inside the bearing assembly 9, and the drive shaft 11 can transmit power to the hub 10. The mounting plate 8 is fixedly mounted on the outer side of the bearing assembly 9, and the mounting plate 8 does not rotate along with the transmission shaft 11, so that the mounting plate 8 and the vehicle body can be relatively fixed.
The mounting plate 8 is disposed opposite to the hub 10. The mounting plate 8 is substantially parallel to the hub 10. The mounting plate 8 is used for fixing one end of the transverse swing rod 3 and one end of the adjusting rod 7. The shape of the mounting plate is not particularly limited as long as one end of the lateral swing link 3 and the adjustment lever 7 can be fixed.
The fixed plate 5 is disposed opposite to the mounting plate 8. The fixed plate 5 is arranged on the vehicle body and is used for fixing the other ends of the transverse swing rod 3 and the adjusting rod 7. The shape of the fixing plate is not particularly limited as long as the fixing plate can fix the other ends of the horizontal swing link 3 and the adjustment lever 7.
One end of the transverse swing rod 3 is arranged on the mounting plate 8, and the other end of the transverse swing rod is arranged on the fixing plate 5. The rocker 3 serves on the one hand for fixing the wheel set to the mounting plate 8 and on the other hand for supporting the spring damper 3. By means of the yaw rod 3, the weight of the vehicle body can be reasonably distributed in the longitudinal direction and the transverse direction, so that the stability of the vehicle body can be guaranteed to the maximum extent.
One end of the elastic damper 2 is arranged on the transverse swing rod 3, and the other end is arranged on the fixed plate 5. The elastic damper 2 is used for buffering impact and vibration brought to the vehicle body due to the unevenness of the ground in the running process of the vehicle body. The parameters of the elastic damper can be calculated according to the load of the vehicle body, so that the design and the model selection can be conveniently carried out.
One end of the adjusting rod 7 is mounted on the mounting plate 8, and the other end is mounted on the fixing plate 5. The length of the adjusting rod 7 can be adjusted to adjust the verticality of the wheels and the ground, and the relative position of the wheels and the ground is ensured to ensure the running stability of the vehicle body.
The flexible cardan shaft 4 is connected at one end to a transmission shaft 11 inside the bearing assembly 9 and at the other end to the vehicle body-side drive shaft 5. The flexible cardan shaft 4 is, for example, a cross-spline cardan shaft. The flexible universal shaft 4 is of a spline or key groove type structure, the universal shaft is composed of two halves, the two halves are fixed through a key, and the driving synchronism is achieved through telescopic balance buffering of the spline in the using process. In addition, the flexible cardan shaft can be used for transmitting power without easily causing blockage.
The drive shaft 5 is used for transmitting torque generated by the speed reducer on the vehicle body side to the flexible cardan shaft 4 to drive the wheels to roll.
In the present embodiment, the yaw lever 3 is located above the flexible cardan shaft 4, and the adjustment lever 7 is located below the flexible cardan shaft. The connecting position of the transverse swing rod 3 and the fixed plate 5 is higher than the connecting position of the transverse swing rod 3 and the mounting plate 8; the connecting position of the adjusting rod 7 and the fixed plate 5 is higher than the connecting position of the yaw rod 3 and the mounting plate 8.
Preferably, the yaw lever 3 and the adjustment lever 7 are parallel to each other, and the sequential lines between the connection point of the yaw lever 3 with the fixed plate 5 and the mounting plate 8, and the connection point of the adjustment lever 7 with the mounting plate 8 and the fixed plate 5 constitute a parallelogram, so that the degree of freedom of movement of the vehicle body with respect to the wheels is large, and vibration received by the vehicle body can be reduced.
According to the above, since the hub and the vehicle body can be adjusted relatively independently, the impact and vibration of the vehicle body due to the uneven ground surface can be reduced.
In addition, according to the above, the wheel set device is convenient to install and easy to disassemble and assemble.
According to the utility model, compared with the existing common wheel set installation mode, the elastic damper is arranged, so that the bearing capacity of the vehicle body can be improved as required; in addition, the damping capacity can be improved through the elastic damper, the transverse swing rod and the adjusting rod; in addition, the use of the flexible cardan shaft enables smooth power transmission, and jamming is less likely to occur.
In addition, according to the utility model, the installation difficulty can be reduced to the maximum extent on the premise of not improving the structural complexity, the driving and damping effects can be simultaneously considered, and the adaptability of the whole running vehicle body to the road surface environment is improved. In addition, the modularized wheel set is simple and convenient in installation mode, and can meet the requirements of different vehicle body structures on wheel sets.
Although the embodiments and specific examples of the present invention have been described above with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (7)
1. A wheel assembly apparatus, comprising:
one end of the flexible cardan shaft is connected with a transmission shaft arranged in a bearing assembly of the wheel, and the other end of the flexible cardan shaft is connected with a driving shaft on the side of the vehicle body;
a mounting plate mounted outside a housing of a bearing assembly of a wheel, arranged in parallel with a hub of the wheel;
a fixing plate mounted on the vehicle body so as to face the mounting plate;
one end of the transverse swing rod is mounted on the mounting plate, the other end of the transverse swing rod is mounted on the fixed plate, and the transverse swing rod can swing within a fixed amplitude relative to the mounting plate and the fixed plate;
one end of the elastic damper is mounted on the transverse swing rod, and the other end of the elastic damper is mounted on the fixing plate; and
one end of the adjusting rod is arranged on the mounting plate, the other end of the adjusting rod is arranged on the fixing plate, and the adjusting rod can swing within a fixed range relative to the mounting plate and the fixing plate,
the transverse swing rod and the adjusting rod are positioned at the upper side and the lower side of the flexible universal shaft,
the connection point between the transverse swing rod and the adjusting rod and the mounting plate is lower than the connection point between the transverse swing rod and the adjusting rod and the fixing plate.
2. The apparatus for wheel sets according to claim 1,
the flexible cardan shaft is a cross spline cardan shaft.
3. The apparatus for wheel sets according to claim 1,
the horizontal swing rod and the connecting point of the mounting plate and the fixing plate, and the adjusting rod and the connecting point of the fixing plate and the mounting plate are sequentially connected to form a parallelogram.
4. The apparatus for wheel sets according to claim 1,
the elastic damper is arranged on one side of the transverse swing rod, which is close to the wheel.
5. The apparatus for wheel sets according to claim 1,
also comprises
The hub is connected with the transmission shaft of the bearing assembly in a power transmission manner; and
the wheel is mounted on the hub.
6. A robot is characterized in that a robot body is provided with a plurality of robots,
comprising a wheel set arrangement according to any one of claims 1 to 5.
7. A vehicle, characterized in that,
comprising a wheel set arrangement according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121548554.7U CN215883236U (en) | 2021-07-08 | 2021-07-08 | Wheel set device, robot and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121548554.7U CN215883236U (en) | 2021-07-08 | 2021-07-08 | Wheel set device, robot and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215883236U true CN215883236U (en) | 2022-02-22 |
Family
ID=80345264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121548554.7U Active CN215883236U (en) | 2021-07-08 | 2021-07-08 | Wheel set device, robot and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215883236U (en) |
-
2021
- 2021-07-08 CN CN202121548554.7U patent/CN215883236U/en active Active
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