CN2393740Y - All directional obstacle-over wheel set - Google Patents
All directional obstacle-over wheel set Download PDFInfo
- Publication number
- CN2393740Y CN2393740Y CN 99240034 CN99240034U CN2393740Y CN 2393740 Y CN2393740 Y CN 2393740Y CN 99240034 CN99240034 CN 99240034 CN 99240034 U CN99240034 U CN 99240034U CN 2393740 Y CN2393740 Y CN 2393740Y
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- CN
- China
- Prior art keywords
- wheel
- wheels
- clutch
- steering
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The utility model discloses an all-directional over-obstacle wheel group which is composed of a power device, a steering device and a driving wheel train, wherein a central shaft is arranged on a frame and is provided with a driving clutch, a steering clutch, a rotating arm and a central chain wheel. Three wheel axis lines of each wheel group are in equiangular distribution. When the driving clutch is closed, a braking device is braked and the steering clutch is disengaged, the driving wheel train is also correspondingly changed to form a fixing shaft wheel train or a planetary wheel train under the condition that the acting force of road surfaces on wheels is changed, and the driving or the over-obstacle of the wheels is realized. When the braking device is disengaged and the steering clutch is closed, the power causes the frame which is corresponding to a cycle body to rotate by an engaging gear pair, a steering chain wheel pair and a bevel gear pair.
Description
The utility model relates to a kind of barrier-exceeding vehicle wheels, particularly relates to a kind of comprehensive barrier-exceeding vehicle wheels.
Existing barrier-exceeding vehicle wheels as stair climbing robot (JSME Series C., Vo1.39, No.3,1996), adopt two wheel constructions that are floor plan, and the motion relief volume is big during obstacle detouring, and does not possess the function of turning to, and can't realize comprehensive obstacle detouring.But Chinese patent CN1073636A has proposed a kind of vehicle of omnibearing movable, adopts outer roller type wheel, can realize omnibearing movable, but it does not possess the obstacle detouring function basically.And load-carrying capacity is little, only is suitable for moving on smooth road surface.
The purpose of this utility model is to provide a kind of and integrates driving, turn to the comprehensive barrier-exceeding vehicle wheels with obstacle detouring, not only can realize omnibearing movable on smooth road surface by the vehicle of its equipment, and have good obstacle climbing ability.
Task of the present utility model is achieved in that by engine installation, steering hardware and drive train forms comprehensive barrier-exceeding vehicle wheels.Engine installation is made up of motor, engaging gear, driving power-transfer clutch and steering clutch.Drive train is made up of pivoted arm, minor sprocket, center chain wheel, and minor sprocket is captiveed joint with corresponding 3 wheels on each set of wheels respectively, and the axis of 3 wheels is isogonism and distributes.Center shaft has been installed on the framework, and center shaft is provided with and drives power-transfer clutch, steering clutch, pivoted arm and center sprocket wheel.When driving the power-transfer clutch closure, drg is braked, and when steering clutch is thrown off, and under the situation of road surface to the variation of wheel application force, the also corresponding conversion of drive train constitutes fixed shaft gear train or planet circular system.When the road surface was smooth, two wheels will land simultaneously, and the drive train of being made up of pivoted arm, minor sprocket, center chain wheel constitutes fixed shaft gear train, and under the driving of motor, set of wheels is moved with roll mode.And when the wheel that advances runs into obstacle, the front-wheel transfixion, fixed shaft gear train is converted into planet circular system voluntarily.Under the driving of motor, pivoted arm drives the center shaft revolution of all the other two wheels around front-wheel, realizes obstacle detouring.And when the drg disengagement, when steering clutch is closed, by turning to sprocket wheel, driving chain wheel and a pair of intermeshing steering hardware setting in motion that turns to finishing bevel gear cuter to form.Under the driving of motor, power is sent to the sprocket wheel that turns to that is placed on the center shaft by engaging gear, and by driving chain wheel, bevel-gear pair, framework is rotated with respect to car body.
The utility model can be realized the omnibearing movable that set of wheels is advanced, retreated or turns to neatly owing to adopted one group of driving, the steering clutch that is complementary with driving device;
Adopt axis to be 3 wheels that isogonism distributes, have good obstacle climbing ability;
Can equip different vehicle facilities as required, and compact overall structure.
Fig. 1 is a structural representation of the present utility model
Fig. 2 is an obstacle detouring scheme drawing of the present utility model
Below, in conjunction with diagram, introduce the utility model in detail.
Embodiment
The travel mechanism of climbing robot is made up of the comprehensive barrier-exceeding vehicle wheels of quadruplet, comprises engine installation, set of wheels and drive train.Engine installation is made up of motor 1, engagement wheel 16,17, driving power-transfer clutch 15, steering clutch 9 and the steering transmission linkage of rating horsepower 100W.Drive train is made up of pivoted arm 11, minor sprocket 13 and center sprocket wheel 14, and minor sprocket 13 is captiveed joint with corresponding 3 wheels 12 on each set of wheels respectively, and the axis of 3 wheels 12 is isogonism and distributes.Center shaft 10 has been installed on the framework 2, and center shaft 10 is provided with and drives power-transfer clutch 15, steering clutch 9, pivoted arm 11 and center sprocket wheel 14.When driving power-transfer clutch 15 closures, drg 4 brakings, when steering clutch 9 is thrown off, and under the situation of road surface to the variation of wheel application force, also corresponding fixed shaft gear train or the planet circular system of changing into of drive train.As: when the road surface is smooth, have two wheels 12 to land simultaneously, the drive train of being made up of pivoted arm 11, minor sprocket 13 and center sprocket wheel 14 constitutes fixed shaft gear train.Under the driving of motor 1, set of wheels is advanced with roll mode or is retreated, and maximum moving velocity is 11m/min.And when the wheel that advances runs into obstacle, the front-wheel transfixion, at this moment, fixed shaft gear train will be converted into planet circular system voluntarily.Under the driving of motor 1, pivoted arm 11 drives the center shaft revolution of all the other two wheels 12 around front-wheel, the barrier Gao Keda 70mm of leap.During for the assurance obstacle detouring, have enough friction force between front-wheel and the road surface, should suitably increase the ratio of number of teeth of center sprocket wheel 14 and minor sprocket 13, also can on the wheel rim of wheel 12, wrap up rubber.And in the time will rotating, driving power-transfer clutch 15 throws off, drg 4 is thrown off, steering clutch 9 closures, the propulsive effort of motor 1 is sent to be placed in by engaging gear 16,17 and turns to sprocket wheel 8 on the center shaft 10, and drive by chain and driving chain wheel 7 and to turn to finishing bevel gear cuter 6, framework 2 is rotated with respect to car body 3.The time of rotating 90 ° is about 6 seconds.
Claims (2)
1. one kind by engine installation, the comprehensive barrier-exceeding vehicle wheels that steering hardware and drive train are formed, it is characterized in that described engine installation is by motor (1), engaging gear (16), (17), driving power-transfer clutch (15) and steering clutch (9) forms, described drive train is by pivoted arm (11), minor sprocket (13), center sprocket wheel (14) is formed, minor sprocket (13) is captiveed joint with corresponding 3 wheels (12) on each set of wheels respectively, the axis of 3 wheels (12) is isogonism and distributes, center shaft (10) has been installed on the framework (2), center shaft (10) is provided with and drives power-transfer clutch (15), steering clutch (9), pivoted arm (11) and center sprocket wheel (14), when driving power-transfer clutch (15) closure, drg (4) braking, when steering clutch (9) is thrown off, and under the situation of road surface to the variation of wheel application force, the also corresponding conversion of drive train constitutes fixed shaft gear train or planet circular system.
2. comprehensive barrier-exceeding vehicle wheels according to claim 1, it is characterized in that described steering hardware is by turning to sprocket wheel (8), driving chain wheel (7), chain and a pair of intermeshing finishing bevel gear cuter (5), (6) of turning to form, finishing bevel gear cuter (5) fixes with car body (3), turns to sprocket wheel (8) to be placed on the center shaft (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99240034 CN2393740Y (en) | 1999-10-26 | 1999-10-26 | All directional obstacle-over wheel set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99240034 CN2393740Y (en) | 1999-10-26 | 1999-10-26 | All directional obstacle-over wheel set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2393740Y true CN2393740Y (en) | 2000-08-30 |
Family
ID=34027174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 99240034 Expired - Fee Related CN2393740Y (en) | 1999-10-26 | 1999-10-26 | All directional obstacle-over wheel set |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2393740Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101323256B (en) * | 2008-07-10 | 2010-06-02 | 中国农业大学 | Obstacle-cross driving and running mechanism |
| CN104118272A (en) * | 2014-07-30 | 2014-10-29 | 蔡强胜 | Multi-sub-wheel combined belt wheel |
-
1999
- 1999-10-26 CN CN 99240034 patent/CN2393740Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101323256B (en) * | 2008-07-10 | 2010-06-02 | 中国农业大学 | Obstacle-cross driving and running mechanism |
| CN104118272A (en) * | 2014-07-30 | 2014-10-29 | 蔡强胜 | Multi-sub-wheel combined belt wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |