CN220639403U - Wheel assembly capable of surmounting obstacle - Google Patents
Wheel assembly capable of surmounting obstacle Download PDFInfo
- Publication number
- CN220639403U CN220639403U CN202321648679.6U CN202321648679U CN220639403U CN 220639403 U CN220639403 U CN 220639403U CN 202321648679 U CN202321648679 U CN 202321648679U CN 220639403 U CN220639403 U CN 220639403U
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- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 241000209140 Triticum Species 0.000 description 2
- 235000021307 Triticum Nutrition 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009193 crawling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Abstract
The utility model discloses a wheel assembly capable of surmounting an obstacle. The device comprises a pair of cross brackets, wherein a central gear is rotationally connected between the centers of the two cross brackets, a wheel bar assembly is rotationally connected between each pair of vertexes of the two cross brackets, and one end of the wheel bar assembly is meshed with the central gear; the four wheel bar assemblies wrap the central gear in the circumferential direction to form a Mecanum wheel structure; the wheel bar assembly comprises a pair of supporting arms, the two supporting arms are correspondingly connected with a pair of vertexes in a rotating way, and more than one wheel body is obliquely arranged between the two supporting arms; one end of the supporting arm is meshed with the central gear; the whole wheel assembly can be driven to rotate by driving the central gear to rotate; the cross support is driven to rotate, and under the meshing transmission of the support arm and the central gear, each wheel bar assembly can rotate and open around the corresponding vertex. The utility model has simple structure, omnidirectional movement and obstacle surmounting capability and strong environmental adaptability.
Description
Technical Field
The utility model relates to the technical field of disaster search and rescue equipment, in particular to a wheel assembly capable of surmounting obstacles.
Background
The Mecanum wheel is a wheel body structure for an omnidirectional mobile robot. The wheel body structure benefits from an unconstrained kinematic model, can freely run in a narrow, complex and changeable environment, and consumes less energy than the traditional differential wheel model and the traditional ackerman model. To achieve omni-directional movement, a typical robot would use omni-directional wheels or Mecanum wheels. The Mecanum wheel is a classical universal wheel structure and has important position on a universal motion robot platform. However, the Mecanum wheel has poor obstacle surmounting capability and is required to be used on a relatively flat ground. The omnidirectional robot is required to be capable of entering a narrow and rugged space for operation, so that the use of the Mecanum wheel in the current omnidirectional robot is greatly limited.
Disclosure of Invention
The utility model aims to provide a wheel assembly capable of surmounting an obstacle. The utility model has simple structure, omnidirectional movement and obstacle surmounting capability and strong environmental adaptability.
The technical scheme of the utility model is as follows: the wheel assembly capable of surmounting the obstacle comprises a pair of cross brackets, a central gear is rotationally connected between the centers of the two cross brackets, a wheel bar assembly is rotationally connected between each pair of vertexes of the two cross brackets, and one end of the wheel bar assembly is meshed with the central gear; the four wheel bar assemblies wrap the central gear in the circumferential direction to form a Mecanum wheel structure; the wheel bar assembly comprises a pair of supporting arms, the two supporting arms are correspondingly connected with a pair of vertexes in a rotating way, and more than one wheel body is obliquely arranged between the two supporting arms; one end of the supporting arm is meshed with the central gear; the whole wheel assembly can be driven to rotate by driving the central gear to rotate; the cross support is driven to rotate, and under the meshing transmission of the support arm and the central gear, each wheel bar assembly can rotate and open around the corresponding vertex.
In the above wheel assembly capable of surmounting an obstacle, the wheel assembly is driven by the driving assembly; the driving assembly comprises a shaft sleeve and a mandrel; one end of the shaft sleeve is connected with the cross bracket at the inner side of the wheel assembly, and the other end of the shaft sleeve is connected with the auxiliary power output assembly through the transmission assembly; one end of the mandrel is connected with the main power output assembly, and the other end of the mandrel penetrates through the shaft sleeve and then is connected with the sun gear; the mandrel is rotationally connected with the shaft sleeve.
In the wheel assembly capable of surmounting the obstacle, a clutch is further arranged between the transmission assembly and the auxiliary power output assembly.
In the wheel assembly capable of surmounting the obstacle, the included angle between the axis of the wheel body and the central gear shaft is 10 degrees.
Advantageous effects
Compared with the prior art, the utility model performs the optimization design on the traditional Mecanum wheel structure to obtain the Mecanum wheel structure with excellent obstacle crossing capability, thereby being more suitable for complex and changeable search and rescue environments. Specifically, the utility model is optimized as follows:
structural formula change is carried out on the basis of the existing wheel type mechanism, and the wheel assembly is cooperatively combined by a plurality of mechanisms: the wheel assembly is rotationally connected with the central gear between the centers of the pair of cross brackets, and simultaneously, the wheel assembly is rotationally connected with the wheel bar assembly between each pair of vertexes of the two cross brackets, and one end of the wheel bar assembly is meshed with the central gear; the four wheel bar assemblies wrap the central gear in the circumferential direction to form a Mecanum wheel structure; the wheel bar assembly comprises a pair of supporting arms, the two supporting arms are correspondingly connected with a pair of vertexes in a rotating way, and more than one wheel body is obliquely arranged between the two supporting arms; one end of the supporting arm is meshed with the central gear; under the normal state, the wheel bar assembly wraps the central gear to form a Mecanum wheel, and the driving assembly drives the whole wheel assembly to rotate by driving the rotation of the central gear, so that the movement such as in-situ steering, transverse translation and the like can be realized, and the movement of narrow terrains can be effectively adapted; when encountering an obstacle, the driving assembly drives the cross support to rotate, so that the supporting arms of the wheel bar assembly rotate and open around corresponding vertexes under the action of gear engagement, and crawling obstacle surmounting is realized.
The wheel assembly of the utility model has compact structure, and compared with the traditional wheat wheel (Mecanum wheel) structure, the wheel assembly of the utility model does not increase occupied space as a whole, so that the traditional advantages of the traditional wheat wheel are not weakened due to obstacle crossing requirements.
The included angle between the axis of the wheel body and the axis of the sun gear is 10 degrees, and compared with the traditional arrangement of 45 degrees, the energy consumption of the wheel assembly is smaller. According to the test, the endurance of the wheel assembly provided by the utility model is increased by 1.5-2 hours compared with that of a traditional wheel body.
Drawings
FIG. 1 is a schematic illustration of the connection of a wheel assembly to a drive assembly;
FIG. 2 is a schematic diagram of the structure of the present utility model;
FIG. 3 is an elevational side view of the present utility model;
FIG. 4 is an expanded schematic view of the present utility model;
FIG. 5 is a schematic view of a search and rescue vehicle incorporating the present utility model;
FIG. 6 is a top view of the search and rescue cart.
The marks in the drawings are: the device comprises a 1-vehicle frame main body, a 2-wheel assembly, a 21-cross bracket, a 22-central gear, a 23-wheel bar assembly, a 231-supporting arm, a 232-wheel body, a 3-driving assembly, a 31-shaft sleeve, a 32-mandrel, a 33-auxiliary power output assembly, a 34-clutch, a 35-main power output assembly, a 4-intermediate plate, a 5-rescue mechanical arm and a 6-image acquisition assembly.
Description of the embodiments
Example 1. 1-4, a wheel assembly capable of surmounting obstacle comprises a pair of cross brackets 21, a central gear 22 is rotatably connected between the centers of the two cross brackets 21, a wheel bar assembly 23 is rotatably connected between each pair of vertexes of the two cross brackets 21, and one end of the wheel bar assembly 23 is meshed with the central gear 22; the four wheel bar assemblies 23 wrap the central gear 22 in the circumferential direction to form a Mecanum wheel structure; the wheel bar assembly 23 comprises a pair of support arms 231, wherein the two support arms 231 are correspondingly connected with a pair of vertexes in a rotating way, and more than one wheel body 232 is obliquely arranged between the two support arms 231; one end of the support arm 231 is engaged with the sun gear 22; by driving the sun gear 22 to rotate, the entire wheel assembly 2 can be driven to rotate; by driving the cross support 21 to rotate and by the engagement transmission of the support arm 231 with the sun gear 22, each spoke assembly 23 can be rotated and opened around the corresponding vertex.
The angle between the axis of the wheel 232 and the axis of the sun gear 22 is 10 °.
The search and rescue vehicle with the structure comprises a vehicle frame main body 1, four wheel assemblies 2 with the structure are distributed on the periphery of the vehicle frame main body 1, and each wheel assembly 2 is connected with a driving assembly 3 correspondingly arranged in the vehicle frame main body 1; the driving assembly 3 drives the whole wheel assembly 2 to rotate by driving the sun gear 22 to rotate; the driving assembly 3 drives the cross bracket 21 to rotate, and the supporting arm 231 is meshed with the central gear 22 to drive each wheel bar assembly 23 to rotate and open around the corresponding vertex.
During search and rescue, the driving assembly 3 drives the sun gear 22 to rotate so as to drive the whole wheel assemblies 2 to move, and meanwhile, turning or in-situ turning is completed by controlling the speed difference of each wheel assembly 2, so that the search and rescue vehicle finally moves to a position to be rescued. When obstacle crossing is needed, the corresponding driving assembly 3 controls the cross bracket 21 to rotate, so that the driving wheel bar assembly 23 rotates around the corresponding vertex, and the driving wheel bar assembly 23 is unfolded under the meshing of the sun gear 22; at this point, the sun gear 22 is driven again to rotate, and obstacle surmounting is completed by the deployed wheel bar assembly 23.
The aforementioned drive assembly 3 comprises a sleeve 31 and a spindle 32; one end of the shaft sleeve 31 is connected with the cross bracket 21 positioned at the inner side of the wheel assembly 2, and the other end of the shaft sleeve penetrates into the frame main body 1 and is connected with the auxiliary power output assembly 33 through the transmission assembly; one end of the mandrel 32 is connected with the main power output assembly 35, and the other end passes through the shaft sleeve 31 and then is connected with the sun gear 22; the shaft sleeve 31 is rotatably connected with the frame main body 1, and the mandrel 32 is rotatably connected with the shaft sleeve 31.
The main power output assembly 35 is a driving motor, and the auxiliary power output assembly 33 is a steering engine. The rotation of the sun gear 22 is driven by a drive motor via a spindle 32, and the rotation of the cross support 21 is driven by a steering engine via a shaft sleeve 31.
A clutch 34 is also provided between the transmission assembly and the auxiliary power take-off assembly 33. The clutch 34 is an electromagnetic clutch. When the central gear 22 is driven in rotation, the clutch 34 disengages the steering engine from the sleeve 31.
The two main power output assemblies 35 driving the two wheel assemblies 2 of the front/rear axle of the search and rescue vehicle to move are arranged in a staggered manner in the frame main body 1.
The interior of the vehicle frame main body 1 is divided into an upper layer space and a lower layer space by a partition plate 4, the lower layer space is used for installing a driving component 3, and the upper layer is used for installing a battery component and a corresponding electric control component.
Two wheel assemblies 2 which are positioned on the same side of the frame main body 1 and are respectively positioned in front and rear axles of the search and rescue vehicle are distributed in a staggered mode.
The rescue mechanical arm 5 is further arranged at the top of the frame main body 1.
The top of the frame body 1 is also provided with an image acquisition assembly 6.
The frame body 1 is also provided with a temporary storage bin for materials.
Claims (4)
1. A wheel assembly capable of surmounting an obstacle, comprising: the device comprises a pair of cross brackets (21), wherein a central gear (22) is rotatably connected between the centers of the two cross brackets (21), a wheel bar assembly (23) is rotatably connected between each pair of vertexes of the two cross brackets (21), and one end of the wheel bar assembly (23) is meshed with the central gear (22); the four wheel bar assemblies (23) wrap the central gear (22) along the circumferential direction to form a Mecanum wheel structure; the wheel bar assembly (23) comprises a pair of supporting arms (231), the two supporting arms (231) are correspondingly connected with a pair of vertexes in a rotating way, and more than one wheel body (232) is obliquely arranged between the two supporting arms (231); one end of the supporting arm (231) is meshed with the sun gear (22); the whole wheel assembly (2) can be driven to rotate by driving the sun gear (22) to rotate; by driving the cross bracket (21) to rotate and under the meshing transmission of the supporting arm (231) and the central gear (22), each wheel bar assembly (23) can be rotated and opened around the corresponding vertex.
2. The obstacle surmounting wheel assembly as claimed in claim 1, wherein: the wheel assembly is driven by a driving assembly (3); the driving assembly (3) comprises a shaft sleeve (31) and a mandrel (32); one end of the shaft sleeve (31) is connected with the cross bracket (21) positioned at the inner side of the wheel assembly (2), and the other end of the shaft sleeve is connected with the auxiliary power output assembly (33) through the transmission assembly; one end of the mandrel (32) is connected with the main power output assembly (35), and the other end of the mandrel passes through the shaft sleeve (31) and then is connected with the sun gear (22); the mandrel (32) is rotationally connected with the shaft sleeve (31).
3. The obstacle surmounting wheel assembly as claimed in claim 2, wherein: a clutch (34) is also arranged between the transmission assembly and the auxiliary power output assembly (33).
4. The obstacle surmounting wheel assembly as claimed in claim 1, wherein: the included angle between the axis of the wheel body (232) and the axis of the central gear (22) is 10 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321648679.6U CN220639403U (en) | 2023-06-27 | 2023-06-27 | Wheel assembly capable of surmounting obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321648679.6U CN220639403U (en) | 2023-06-27 | 2023-06-27 | Wheel assembly capable of surmounting obstacle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220639403U true CN220639403U (en) | 2024-03-22 |
Family
ID=90290454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321648679.6U Active CN220639403U (en) | 2023-06-27 | 2023-06-27 | Wheel assembly capable of surmounting obstacle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220639403U (en) |
-
2023
- 2023-06-27 CN CN202321648679.6U patent/CN220639403U/en active Active
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