WO2018113395A1 - Roue de véhicule et véhicule de transport - Google Patents

Roue de véhicule et véhicule de transport Download PDF

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Publication number
WO2018113395A1
WO2018113395A1 PCT/CN2017/105902 CN2017105902W WO2018113395A1 WO 2018113395 A1 WO2018113395 A1 WO 2018113395A1 CN 2017105902 W CN2017105902 W CN 2017105902W WO 2018113395 A1 WO2018113395 A1 WO 2018113395A1
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WO
WIPO (PCT)
Prior art keywords
wheel
sub
support ring
wheels
rotation
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PCT/CN2017/105902
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English (en)
Chinese (zh)
Inventor
程伟
李显菲
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北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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Publication of WO2018113395A1 publication Critical patent/WO2018113395A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels

Definitions

  • the present disclosure relates to the field of transport vehicles, and in particular to a wheel and a transport vehicle.
  • a related art is provided with a wheel on the transport vehicle, the wheel including a hub and a plurality of freely rotatable sub-wheels disposed on the hub, the rotation of the sub-wheels relative to the hub
  • the center line is slanted so that the wheel can be moved laterally as the wheel rolls, and the combined use and control of the plurality of wheels can cause the vehicle body to move and rotate in any direction within the plane of motion.
  • the inventors have recognized that the above-described conventional wheel has a certain inclination angle of its sub-wheel with respect to the center of rotation, and its application flexibility is poor, especially when the road condition changes, for example, when walking on uneven road surface. It is difficult to ensure that the sub-wheels maintain good contact with the ground, and the phenomenon of bumps is often serious, and the walking stability is poor.
  • one technical problem to be solved by the present disclosure is that the current wheel with the inclined sub-wheel has poor application flexibility and is difficult to adapt to changing road conditions.
  • the present disclosure provides a wheel.
  • the wheel comprises a hub and a plurality of sub-wheels disposed on the hub.
  • the plurality of sub-wheels can rotate along the center line of rotation of the hub around the hub to realize the walking of the wheel, and each of the sub-wheels can rotate about its central axis, and
  • the wheel further includes a posture adjustment mechanism capable of synchronously adjusting an angle between a central axis of each of the sub-wheels and a center line of rotation of the hub.
  • the pose adjustment mechanism is configured to adjust the arcuate coincidence degree of the adjacent sub-wheels to vary within a range of 1-1.2 by synchronously adjusting the angle between the center axis of each of the sub-wheels and the center line of the hub rotation.
  • the posture adjustment mechanism can synchronously adjust the angle between the central axis of each of the sub-wheels and the center line of rotation of the hub to vary from 0° to 50°.
  • the posture adjustment mechanism can synchronously adjust between the central axis of each of the sub-wheels and the center line of the hub rotation
  • the angle of the change varies from 40° to 50°.
  • the hub includes a first support ring and a second support ring whose center axis coincides with the rotation center line, the first ends of each of the sub-wheels are hinged with the first support ring, and the second ends of the respective sub-wheels are both second and second
  • the support ring is hinged, and the posture adjustment mechanism is drivingly coupled to at least one of the first support ring and the second support ring and can rotate the second support ring and the first support ring relative to the rotation center line to adjust the center of each of the sub-wheels The angle between the axis and the centerline of the hub rotation.
  • the posture adjustment mechanism includes a gear mechanism, and the second support ring is a ring gear, and the posture adjustment mechanism drives the second support ring to rotate around the rotation center with respect to the first support ring by the engagement of the gear mechanism and the second support ring.
  • the line turns.
  • the gear mechanism includes a center wheel and a planet gear that cooperate with the second support ring to form a differential gear train.
  • the center wheel and the second support ring are concentrically disposed, and the planet gear is meshed between the center wheel and the second support ring to The central wheel is enabled to rotate the second support ring relative to the first support ring about the centerline of rotation by the planet wheels.
  • the posture adjustment mechanism further comprises adjusting the power source, and adjusting the power source and the gear mechanism driving connection for driving the gear mechanism to rotate.
  • the wheel further includes a traveling power source, and the traveling power source is drivingly coupled to the first support ring for driving the first support ring to rotate about the rotation center line to realize the walking of the wheel.
  • the wheel further includes a plurality of self-aligning bearings, wherein the plurality of self-aligning bearings are in one-to-one correspondence with the plurality of sub-wheels, and each of the self-aligning bearings is disposed between the first end of the corresponding sub-wheel and the first support ring; And/or, the wheel further includes a plurality of ball joints, wherein the plurality of ball joints are disposed in one-to-one correspondence with the plurality of sub-wheels, and each of the ball joints is disposed between the second end of the corresponding sub-wheel and the second support ring.
  • Another aspect of the present disclosure also provides a transport vehicle including the wheel of the present disclosure.
  • the present disclosure provides a posture adjustment mechanism on the wheel, so that the wheel can adjust the inclination angle of each sub-wheel by using the posture adjustment mechanism, so that the inclination angle of the sub-wheel is adapted to the road condition, which is favorable for ensuring good contact between the sub-wheel and the ground moment. Therefore, the application flexibility of the wheel can be effectively improved, and the running stability of the wheel can be improved.
  • Fig. 1 is a perspective structural view showing a wheel of an embodiment of the present disclosure.
  • FIG. 2 is a schematic view showing the principle of movement of a transport vehicle according to an embodiment of the present disclosure.
  • orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom”, etc. indicate the orientation.
  • positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the disclosure and the simplification of the description, which does not indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the disclosure; the orientations “inside and outside” refer to the inside and outside of the contour of the components themselves.
  • Figure 1 illustrates one embodiment of a wheel of the present disclosure.
  • a wheel 1 provided by the present disclosure includes a hub and a plurality of sub-wheels 13 disposed on the hub.
  • the plurality of sub-wheels 13 can rotate along the center line of rotation of the hub around the hub, thereby realizing the walking of the wheel 1, and each child
  • the wheel 13 is rotatable about its own central axis, and the wheel 1 further includes a posture adjustment mechanism capable of synchronously adjusting the angle between the central axis of each of the sub-wheels 13 and the centerline of rotation of the hub.
  • the angle between the central axis of the sub-wheel 13 and the center line of rotation of the hub (hereinafter simply referred to as the inclination angle of the sub-wheel 13) can affect the degree of coincidence of the arc of the adjacent sub-wheels 13, and the degree of coincidence of the arc affects the rotation of the wheel 1.
  • the contact of the neutron wheel 13 with the ground In the prior art, the tilt angle of the sub-wheel 13 cannot be changed, resulting in the adjacent sub-wheel 13
  • the degree of coincidence of the camber cannot be adjusted according to the actual road conditions, so there is no guarantee that the sub-wheels 13 of the wheel 1 can still maintain good contact with the ground when the road conditions change.
  • the present disclosure provides a posture adjustment mechanism, so that the wheel 1 can flexibly adjust the inclination angle of each sub-wheel 13 according to the actual road condition, thereby ensuring that the inclination angle of the sub-wheel 13 is adapted to the road condition, and is beneficial to realize the moment of the wheel 1 and the ground. Good contact, therefore, can effectively reduce bumps, improve the running stability of the wheel 1, and make the wheel 1 of the present disclosure adapt to more road conditions, effectively improving the application flexibility of the wheel 1.
  • the hub may include a first support ring 11 and a second support ring 12 whose center axis coincides with the center line of rotation, and the first ends of each of the sub-wheels 13 are hinged to the first support ring 11, each of the sub-wheels 13 The second ends are both hinged to the second support ring 12, and the attitude adjustment mechanism is drivingly coupled to at least one of the first support ring 11 and the second support ring 12 and is capable of winding the second support ring 12 and the first support ring 11
  • the rotation center line is relatively rotated to achieve simultaneous adjustment of the angle between the center axis of each of the sub-wheels 13 and the center line of rotation of the hub.
  • the posture adjustment mechanism generates relative rotation about the center line of rotation by driving the first support ring 11 and the second support ring 12 respectively hinged at both ends of each of the sub-wheels 13, so that the opposite ends of each of the sub-wheels 13 can be made to be opposite.
  • the offset is such that the central axis of each of the sub-wheels 13 is offset with respect to the center line of rotation, so that the inclination angle of each of the sub-wheels 13 can be changed synchronously to adapt to the actual road conditions, thereby improving the application flexibility of the wheel 1 and Smooth walking.
  • the posture adjustment mechanism of the present disclosure may be drivingly coupled to the first support ring 11 or to the second support ring 12, and The first support ring 11 and the second support ring 12 can be driven simultaneously.
  • the posture adjustment mechanism is preferably disposed to be drivingly coupled to one of the first support ring 11 and the second support ring 12 so as to drive only one of the first support ring 11 and the second support ring 12
  • the relative rotation of the first support ring 11 and the second support ring 12 is realized, the structure is simpler, and it is more convenient to drive the entire wheel 1 by driving the other of the first support ring 11 and the second support ring 12.
  • the wheel 1 includes a hub, a plurality of sub-wheels 13 and a posture adjustment mechanism, wherein the hub includes a first support ring 11 and a second support ring 12, and the posture adjustment mechanism includes a gear mechanism .
  • the first support ring 11 and the second support ring 12 are relatively spaced apart, and the central axes of the two are collinear. Moreover, the central axes of the first support ring 11 and the second support ring 12 coincide with the center line of rotation of the hub. When the hub is rotated about the centerline of rotation, the wheel 1 realizes the walking function.
  • the wheel 1 may also comprise a walking power source for driving the wheels 1 to travel.
  • the traveling power source is the motor 2 shown in FIG. 2, and the motor 2 is driven by the first support ring 11.
  • the connection drives the wheel 1 to travel by driving the first support ring 11 to rotate about the center of revolution.
  • the driving power source can also use other power equipment as long as the driving power of the wheel 1 can be provided.
  • all the sub-wheels 13 are connected between the first support ring 11 and the second support ring 12, so that when the hub rotates around the center line of rotation, each of the sub-wheels 13 can also It is then rotated about the centerline of rotation so that each sub-wheel 13 is able to achieve cyclical contact with the ground.
  • each of the sub-wheels 13 is simultaneously hinged with the first support ring 11 and the second support ring 12, so that during the running of the wheel 1, each of the sub-wheels 13 can also rotate about its own central axis, so that the sub-wheels When the angle between the central axis of the 13 and the center line of rotation is not zero, that is, when the sub-wheel 13 is inclined, the wheel 1 can be subjected to lateral friction applied by the ground, thereby generating a motion such as steering.
  • a self-aligning bearing 15 is disposed between the first end of each of the sub-wheels 13 and the first support ring 11, and the first end of each of the sub-wheels 13 passes through
  • the corresponding aligning bearing 15 realizes the hinge with the first support ring 11;
  • a ball joint 16 is disposed between the second end of each of the sub-wheels 13 and the second support ring 12, and the second end of each of the sub-wheels 13 passes through The corresponding ball joint 16 achieves articulation with the second support ring 12.
  • each of the sub-wheels 13 be more flexibly rotated about its own central axis, but also the posture adjustment mechanism can be adjusted to adjust the tilt angle of the sub-wheels 13, which will be below Further explanation.
  • the pose adjustment mechanism is drivingly coupled to the second support ring 12 and drives the second support ring 12 to rotate relative to the first support ring 11, that is, in this embodiment, the second support ring 12 is not only to be
  • the first support ring 11 rotates around the center line of rotation under the driving of the traveling power source (which can be regarded as a revolution), and also rotates around its central axis under the driving action of the posture adjustment mechanism (can be regarded as rotation) , the rotation relative to the first support ring 11 is generated.
  • the second support ring 12 of the embodiment is a ring gear, and the second support ring 12 is engaged with the gear mechanism of the posture adjustment mechanism, so that the posture adjustment mechanism can pass the gear mechanism and the second support.
  • the engagement of the ring 12 drives the second support ring 12 to rotate relative to the first support ring 11, the structure is simple and compact, and the tilt angle of the sub-wheel 13 can be adjusted more precisely.
  • first ends of the respective sub-wheels 13 are both hinged with the first support ring 11, and the second ends of the respective sub-wheels 13 are hinged with the second support ring 12, when the second support ring 12 is opposite to the first support ring
  • the second end of each of the sub-wheels 13 can be offset with respect to the first end thereof by the second support ring 12, so that the central axes of the respective sub-wheels 13 are generated with respect to the center line of rotation.
  • the wheel 1 when the wheel 1 is traveling on the uneven road surface, the wheel 1 can synchronously adjust the inclination angle of each of the sub-wheels 13 by using the posture adjustment mechanism according to the actual road condition, so that the inclination angle of each of the sub-wheels 13 and the actual road surface are
  • the situation is adapted to ensure that the sub-wheel 13 is always in good contact with the ground during the entire driving process, so that it is advantageous to reduce the running jolt and improve the running stability of the wheel 1.
  • a ball joint 16 is provided between the second end of the sub-wheel 13 and the second support ring 12, and the second end of the sub-wheel 13 can be made more Rotational freedom, therefore, when the posture adjustment mechanism changes the inclination angle of the sub-wheel 13, the second end of the sub-wheel 13 can be more flexibly rotated with the second support ring 12 relative to the first support ring 11, further improving The flexibility and reliability of the posture adjustment; in addition, a self-aligning bearing 15 is disposed between the first end of the sub-wheel 13 and the first support ring 11, and the self-aligning bearing 15 can be better adapted to the second end of the sub-wheel 13 With respect to the offset occurring at the first end of the sub-wheel 13, the adjustment of the tilt angle of the sub-wheel 13 by the pose adjustment mechanism can be more conveniently realized.
  • the gear mechanism of this embodiment includes a center wheel 141 and a planetary gear 142 that cooperate with the second support ring 12 to form a differential gear train, wherein the center wheel 141 is concentric with the second support ring 12 It is provided that the planet gear 142 is meshed between the center wheel 141 and the second support ring 12.
  • the center wheel 141 can rotate the second support ring 12 relative to the first support ring 11 about the center of rotation by the planetary gears 142, thereby realizing the adjustment of the position of each of the sub-wheels 13.
  • the center wheel 141 and the planetary gear 142 and the second support ring 12 to form a differential gear train, the positional adjustment of each of the sub-wheels 13 can be realized, and the structure of the wheel 1 can be made simpler and more compact. Further, based on this, when the motor 2 for driving the rotation of the first support ring 11 is disposed, it is convenient to connect the output shaft of the motor 2 to the first support ring 11 through the center hole of the center wheel 141.
  • the attitude adjustment mechanism can also include an adjustment power source (not shown) that is drivingly coupled to the gear mechanism for powering the rotation of the gear mechanism.
  • the adjustment power source may be a motor that is drivingly coupled to the center wheel 141 of the embodiment, and the motor is used to drive the center wheel 141 to rotate, thereby achieving adjustment of the inclination angle of each of the sub-wheels 13 (i.e., the position of each sub-wheel 13).
  • the posture adjustment mechanism is preferably arranged to be able to adjust the adjacent sub-wheels 13 by synchronously adjusting the inclination angles of the respective sub-wheels 13.
  • the degree of coincidence of the camber varies from 1-1.2.
  • the camber coincidence degree of the adjacent sub-wheels 13 in the range of 1-1.2, it is also possible to cause the two-wheel contact (i.e., the two sub-wheels 13 to simultaneously contact the ground) during the rotation of the wheel 1.
  • the camber degree of the adjacent sub-wheels 13 is 1, in which case, during the rotation of the wheel 1, it can be realized.
  • the single and double wheels are in contact with the road surface, specifically: in the interval of 0°-15°, the two sub-wheels 13 are in contact with the ground at the same time; in the interval of 15°-55°, the single sub-wheel 13 is in contact with the ground; at 55°- In the 70° interval, the two sub-wheels 13 are in contact with the ground, that is, the rotation process of “two-wheel contact-one-wheel contact-two-wheel contact” is realized.
  • the contact area of the two sub-wheels 13 when contacting the ground at the same time is relatively large with respect to the case where the single sub-wheel 13 is always in contact with the ground, this can not only further reduce the vertical fluctuation, improve the running smoothness, but also reduce the ground pair.
  • the wear of the wheel 13 extends the service life of the sub-wheel 13, improves the operational reliability of the wheel 1, and effectively increases the load capacity of the sub-wheel 13 and enhances the load-bearing capacity of the wheel 1, so that the transport vehicle having the wheel 1 can be loaded. Use in heavier conditions facilitates cargo handling for larger loads based on fewer transport vehicles.
  • the posture adjustment mechanism is preferably configured to be capable of synchronously adjusting the angle between the central axis of each of the sub-wheels 13 and the center line of rotation of the hub to vary from 0° to 50°, for example, the angle may be zero. °, 42°, 45° and 47°.
  • the attitude adjusting mechanism adjusts the angle between the central axis of each of the sub-wheels 13 and the center line of the hub rotation to be 0°, the sub-wheel 13 is in a non-tilted state, and the wheel 1 is not subjected to lateral division during walking.
  • the wheel 1 is in a straight state; and when the attitude adjusting mechanism adjusts the angle between the central axis of each of the sub-wheels 13 and the center line of rotation of the hub is not 0°, for example, preferably, the posture adjustment mechanism synchronously adjusts each
  • the angle between the central axis of the sub-wheel 13 and the center line of rotation of the hub changes within a range of 40°-50°
  • the sub-wheel 13 is in an inclined state, and the wheel 1 is subjected to a lateral component during walking, enabling steering.
  • the movement, through the combined use and control of each wheel 1, can complete the functions of lateral movement or original turning, so that the transport vehicle can work more flexibly and increase the applicable range of the transport vehicle.
  • Figure 2 shows a schematic diagram of the principle of motion of a transport vehicle comprising four of the disclosed wheels 1.
  • the transport vehicle includes four wheels 1 arranged on both sides of the vehicle body, each of which includes a motor 2, and each motor 2 is used to drive the corresponding wheel 1 movement through four motors 2
  • a plurality of operation modes of straight-line, lateral movement, and in-situ turning can be realized.
  • W1, W2, W3 and W4 are the angular velocity of each wheel 1, W5 truck is turning on the spot rate, R is the radius of the wheel hub 1, V x, V y respectively truck along the x-axis and y-axis
  • the traveling speeds, L1 and L2 are the distances of the respective wheels 1 from the center of the turn in the x-axis direction and the y-axis direction, respectively.
  • another aspect of the present disclosure also provides a transport vehicle, such as an AGV transport vehicle, that includes the wheel 1 of the present disclosure.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne une roue de véhicule (1) et un véhicule de transport. La roue de véhicule (1) comprend un moyeu de roue et une pluralité de sous-roues (13) disposées sur le moyeu de roue. La pluralité de sous-roues (13) est capable de tourner autour de la ligne centrale de giration du moyeu de roue conjointement avec le moyeu de roue, de manière à amener la roue de véhicule (1) à se déplacer. Chaque sous-roue (13) peut tourner autour de son propre axe central. La roue de véhicule (1) comprend en outre un mécanisme de réglage de position. Le mécanisme de réglage de position peut régler de manière synchrone les angles entre les axes centraux des sous-roues (13) et la ligne centrale de giration du moyeu de roue. En réalisant un mécanisme de réglage de position sur la roue de véhicule (1), la roue de véhicule (1) peut régler les angles d'inclinaison des sous-roues (13) en utilisant le mécanisme de réglage de position, de sorte que les angles d'inclinaison des sous-roues (13) peuvent être adaptés à l'état de la route, garantissant ainsi que les sous-roues (13) sont en bon contact avec le sol à n'importe quel moment. Par conséquent, la roue de véhicule (1) peut être appliquée de manière plus souple et plus stable.
PCT/CN2017/105902 2016-12-22 2017-10-12 Roue de véhicule et véhicule de transport WO2018113395A1 (fr)

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Application Number Priority Date Filing Date Title
CN201611198556.1 2016-12-22
CN201611198556.1A CN108215654B (zh) 2016-12-22 2016-12-22 车轮和运输车

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109080375A (zh) * 2018-09-06 2018-12-25 孙伟平 一种智能麦克纳姆轮
CN109017144A (zh) * 2018-09-06 2018-12-18 孙伟平 一种角度可智能调节的麦克纳姆轮
CN109159623A (zh) * 2018-09-06 2019-01-08 孙伟平 一种麦克纳姆轮

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CN103569230A (zh) * 2012-07-25 2014-02-12 成都联腾动力控制技术有限公司 一种全向移动平台
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CN1073636A (zh) * 1991-12-24 1993-06-30 黄建军 多方位运动车辆及其车轮
KR100906575B1 (ko) * 2008-01-25 2009-07-09 경북대학교 산학협력단 가변 옴니휠 및 이를 이용한 운송장치
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CN103569230A (zh) * 2012-07-25 2014-02-12 成都联腾动力控制技术有限公司 一种全向移动平台
CN105667632A (zh) * 2016-01-04 2016-06-15 江苏科技大学 一种Mecanum轮全向移动平台
CN206485129U (zh) * 2016-12-22 2017-09-12 北京京东尚科信息技术有限公司 车轮和运输车

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