CN2393740Y - All directional obstacle-over wheel set - Google Patents

Abstract

The utility model discloses an omnidirectional obstacle-surmounting wheel set. It consists of a power unit, a steering unit and a drive train. A central shaft is installed on the frame, and a driving clutch, a steering clutch, a rotating arm and a central sprocket are arranged on the central shaft. The three wheel axes of each wheel set are equiangularly distributed. When the driving clutch is closed, the brake is applied, and the steering clutch is disengaged, and the road force on the wheel changes, the driving wheel system will also be transformed into a fixed-axis wheel system or a planetary wheel system to realize the driving or obstacle-crossing of the wheel. . And when the brake is disengaged and the steering clutch is closed, the power passes through the meshing gear pair, the steering sprocket pair and the bevel gear pair to make the frame rotate relative to the vehicle body.

Description

All-round obstacle course wheel set

The utility model relates to an obstacle-surmounting wheel set, in particular to an all-round obstacle-overriding wheel set.

The existing obstacle-crossing wheel set, such as the climbing robot (JSME Series C., Vo1.39, No.3, 1996), adopts a two-wheel structure arranged in a plane, and has a large amount of motion fluctuations when crossing obstacles, and does not have steering Function, unable to achieve all-round obstacle surmounting. Chinese patent CN1073636A proposes a vehicle that can move in all directions, adopts outer roller type wheels, can realize omnidirectional movement, but it basically does not have the function of surmounting obstacles. And the carrying capacity is small, only suitable for running on flat roads.

The purpose of the utility model is to provide an all-round obstacle-crossing wheel set integrating driving, steering and obstacle-crossing. The vehicle equipped with it can not only realize omni-directional movement on a flat road surface, but also has good obstacle-crossing ability. .

The task of the present utility model is achieved in that the all-round obstacle-crossing wheel set is formed by a power unit, a steering gear and a driving wheel train. The power unit consists of an electric motor, meshing gears, drive clutch and steering clutch. The driving wheel train is composed of a rotating arm, a small sprocket, and a center sprocket. The small sprocket is fixedly connected to the corresponding three wheels on each wheel set, and the axes of the three wheels are equiangularly distributed. A central shaft is installed on the frame, and a driving clutch, a steering clutch, a rotating arm and a central sprocket are arranged on the central shaft. When the driving clutch is closed, the brake is applied, the steering clutch is disengaged, and the force applied to the wheels by the road changes, the driving wheel system is also transformed into a fixed-axis wheel system or a planetary wheel system. When the road surface is flat, the two wheels will touch the ground at the same time, and the driving wheel train composed of the rotating arm, the small sprocket and the center sprocket forms a fixed-axis gear train. Driven by the motor, the wheel set moves in a rolling manner. And when the forward wheel encounters an obstacle, the front wheel remains still, and the fixed-axis gear train automatically converts into a planetary gear train. Driven by the motor, the pivoting arm drives the remaining two wheels to rotate around the central axis of the front wheel to achieve obstacle surmounting. And when the brake is disengaged and the steering clutch is closed, the steering device consisting of a steering sprocket, a drive sprocket and a pair of mutually meshing steering bevel gears starts to move. Driven by the motor, the power is transmitted to the steering sprocket arranged on the central shaft through the meshing gear, and the frame is rotated relative to the car body through the transmission sprocket and the bevel gear pair.

Because the utility model adopts a group of driving and steering clutches matched with the transmission device, it can flexibly realize the all-round movement of the wheel group moving forward, backward or turning;

It adopts 3 wheels whose axes are equiangularly distributed, and has good obstacle-surmounting ability;

It can be equipped with different vehicle facilities according to the needs, and the overall structure is compact.

Fig. 1 is a structural representation of the utility model

Figure 2 is a schematic diagram of the utility model to overcome obstacles

Below, in conjunction with drawing, introduce the utility model in detail.

Example

The mobile mechanism of the wall-climbing robot consists of four sets of omnidirectional obstacle-surmounting wheel sets, including power units, wheel sets and drive trains. Power set is made up of motor 1 of rated power 100W, meshing wheels 16,17, drive clutch 15, steering clutch 9 and steering transmission. The driving wheel train is made up of rotating arm 11, small sprocket 13 and center sprocket 14, and small sprocket 13 is fixedly connected with corresponding 3 wheels 12 on each wheel group respectively, and the axis of 3 wheels 12 is equiangular distribution. A central shaft 10 is installed on the frame 2, and the central shaft 10 is provided with a driving clutch 15, a steering clutch 9, a rotating arm 11 and a central sprocket 14. When the drive clutch 15 is closed, the brake 4 brakes, and the steering clutch 9 is disengaged, and the road force changes on the wheels, the drive train is also converted into a fixed-axis gear train or a planetary gear train accordingly. Such as: when the road surface is smooth, two wheels 12 are arranged to touch the ground simultaneously, and the driving wheel train that is made up of pivoting arm 11, small sprocket wheel 13 and central sprocket wheel 14 constitutes fixed axle wheel train. Driven by the motor 1, the wheel set advances or retreats in a rolling manner, and the maximum moving speed is 11m/min. And when the forward wheel encounters an obstacle, the front wheel is stationary, and at this moment, the fixed-axis gear train will be converted into a planetary gear train by itself. Driven by the motor 1, the rotating arm 11 drives the remaining two wheels 12 to rotate around the central axis of the front wheel, and the obstacle height across can reach 70mm. When guaranteeing obstacle surmounting, there is sufficient frictional force between the front wheel and the road surface, the gear ratio of central sprocket 14 and small sprocket 13 should be appropriately increased, and rubber can also be wrapped on the wheel rim of wheel 12. And when wanting to rotate, driving clutch 15 is disengaged, brake 4 is disengaged, and steering clutch 9 is closed, and the driving force of motor 1 is transmitted to the steering sprocket 8 that is arranged on the central shaft 10 through meshing gear 16,17, and passes through The chain and drive sprocket 7 drive the steering bevel gear 6 to make the frame 2 rotate relative to the vehicle body 3 . The time to turn 90° is about 6 seconds.

Claims (2)

1. an all-round obstacle-crossing wheel set made up of a power unit, a steering gear and a drive train, is characterized in that said power unit consists of a motor (1), meshing gears (16), (17), a drive clutch ( 15) and steering clutch (9), and the described driving wheel train is made up of rotating arm (11), small sprocket (13), center sprocket (14), and small sprocket (13) is connected with each wheel group respectively The corresponding three wheels (12) are fixedly connected, the axes of the three wheels (12) are equiangularly distributed, the central shaft (10) is installed on the frame (2), and the central shaft (10) is provided with a driving clutch (15 ), the steering clutch (9), the rotating arm (11) and the center sprocket (14), when the drive clutch (15) is closed, the brake (4) is braked, and the steering clutch (9) is disengaged, and the road faces the wheels In the case of changing force, the driving gear train is transformed accordingly to form a fixed-axis gear train or a planetary gear train. 2. The all-round obstacle-crossing wheel set according to claim 1, characterized in that said steering gear consists of a steering sprocket (8), a drive sprocket (7), a chain and a pair of mutually meshing steering bevel gears ( 5), (6) form, and bevel gear (5) is fixed with car body (3), and steering sprocket (8) is placed on the center shaft (10).

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