CN206306731U - Can omnibearing movable omni-directional wheel - Google Patents
Can omnibearing movable omni-directional wheel Download PDFInfo
- Publication number
- CN206306731U CN206306731U CN201621430747.1U CN201621430747U CN206306731U CN 206306731 U CN206306731 U CN 206306731U CN 201621430747 U CN201621430747 U CN 201621430747U CN 206306731 U CN206306731 U CN 206306731U
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- China
- Prior art keywords
- wheel
- section
- worm
- wheel hub
- hub
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Abstract
The utility model discloses it is a kind of can omnibearing movable omni-directional wheel,A left side for rotation before and after including being coaxially fixedly mounted with,Right wheel hub,The section wheel of left-right rotation is evenly distributed on each wheel hub,It is left,Section wheel on right wheel hub is staggeredly located,Also it is included in a left side,Right wheel hub both sides are symmetrical arranged to drive the left side that each section wheel is rotated on correspondence wheel hub,Right section actuation,Section actuation includes Worm Wheel System pair and Bevel Gear Transmission pair,The secondary worm gear of Worm Wheel System is coaxially disposed with wheel hub,The secondary double-thread worm circumference uniform distribution of Worm Wheel System and with each section wheel contraposition on corresponding wheel hub,Connected by corresponding transmission mechanism between each section wheel rotating shaft and contraposition worm screw rotating shaft,The secondary driven bevel gear wheel of Bevel Gear Transmission is coaxially connected with worm gear,The secondary bevel pinion of Bevel Gear Transmission is axially symmetrical arranged and the output shaft with the section wheel drive motor corresponding end for setting between the two is connected respectively.The utility model can realize the omnibearing movable of omni-directional wheel by wheel hub with the resultant motion of section wheel.
Description
Technical field
The utility model is related to road walking mechanism, specially it is a kind of can omnibearing movable omni-directional wheel.
Background technology
Wheel type traveling mechanism is common road walking mechanism, can be used in the transport facilitys such as bicycle, automobile
Use.
Omni-directional wheel is the primary element of wheel type traveling mechanism, is coordinated by mutual driving, it can realize it is forward and backward, left,
Right all-around mobile, with simple structure, rotate flexible the features such as, be widely used in handcart, transfer conveyer, shipping
The aspects such as car, luggage case.
Most of existing omni-directional wheel is to install motor on the axle sleeve of omni-directional wheel, using the bull wheel of front and rear rotation as
Driving wheel, and the trifle wheel that left and right on omni-directional wheel rolls is used as driven pulley.Due to not accounting for installing driving machine on section wheel
Structure, such design limits the locomotivity of omni-directional wheel.
The such as patent application of Application No. 201120121753.X《Omni-directional wheel》, for single wheel, it can be real
The scroll forward and backward of existing wheel, but the left and right autonomous of wheel cannot be realized.
Utility model content
In view of the shortcomings of the prior art, technical problem to be solved in the utility model is to propose a kind of achievable wheel
Left and right autonomous can omnibearing movable omni-directional wheel.
Can solve the problem that above-mentioned technical problem can omnibearing movable omni-directional wheel, its technical scheme includes before and after coaxial being fixedly mounted with
The left and right wheel hub for rotating, is evenly distributed in the section wheel of left-right rotation on each wheel hub, the section wheel on left and right wheel hub is staggeredly located, institute
The difference is that be also included in left and right wheel hub both sides to be symmetrical arranged to drive the left and right section wheel driving of each section wheel rotation on correspondence wheel hub
Motivation structure, the section actuation includes Worm Wheel System pair and Bevel Gear Transmission pair, the Worm Wheel System pair
Worm gear is coaxially disposed with wheel hub, the secondary double-thread worm circumference uniform distribution of Worm Wheel System and right with each section wheel on corresponding wheel hub
, connected by corresponding transmission mechanism between the rotating shaft of each section wheel and the rotating shaft of contraposition worm screw, the Bevel Gear Transmission pair
Driven bevel gear wheel is coaxially connected with worm gear, and two secondary bevel pinions of Bevel Gear Transmission are axially (the secondary axial direction of Bevel Gear Transmission)
Be symmetrical arranged, wherein, a bevel pinion with section wheel drive motor output shaft be fixedly connected (bevel pinion as actively
Wheel), another bevel pinion be installed in the form of dallying section wheel drive motor output shaft on (bevel pinion in section wheel driving
Dallied on the output shaft of dynamic motor, one is to produce interference with another when preventing from driving, and two is to prevent additional power
Square).
Integrated design scheme of the present utility model is：Also include covering respectively the left and right wheel of left and right section actuation
Cover, the wheel cover is installed on correspondence wheel hub side on the worm screw support frame of circumference uniform distribution, and the worm screw is in corresponding worm screw branch
Install in support, the section wheel drive motor is installed on motor cabinet, the motor cabinet by can axial limiting rotating mechanism in
Installed on the inner face of correspondence wheel cover and (will not entered without shadow to one moment of reaction of wheel cover when section wheel drive motor works
Ring the forward and backward rolling of omni-directional wheel), left and right axle sleeve is respectively equipped with the outer face of left and right wheel cover.
Further it is designed as：Left and right worm gear on the power transmission shaft through left and right wheel hub install, with realize start one
Section wheel drive motor can just drive the section wheel on left and right wheel hub.
A kind of organization plan of the transmission mechanism takes turns rotating shaft and the belt in corresponding worm screw rotating shaft using section is stretched in.
The beneficial effects of the utility model：
1st, the utility model can omnibearing movable omni-directional wheel can be produced in the case where section wheel drive motor drives one make it is complete
The synthesis energy of vertical shift (fore-and-aft direction) velocity produced with wheel hub to the velocity for taking turns traversing (left and right directions), the vector
Enough make omni-directional wheel omnibearing movable.
2nd, in the utility model structure, wheel hub, Worm Wheel System are secondary, Bevel Gear Transmission is secondary uses left and right symmetrical point
Cloth, can reduce the generation of additional unbalanced moments.
3rd, in the utility model structure, arranged on left and right sides is respectively arranged with section wheel drive motor, and is only needed during omni-directional wheel real work
A section wheel drive motor is wanted, the effect of redundancy backup can be reached, improve the reliability of system.
4th, in the utility model structure, the arranged on left and right sides of omni-directional wheel is respectively arranged with axle sleeve, and left and right axle sleeve can connect installation
Hub driven motor, and actually drive and only need to a hub driven motor, can also reach the effect of redundancy；If considering in axle sleeve
Wheel fork is installed, then omni-directional wheel can be used as the road wheel of wheelbarrow on end.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of implementation method of the utility model.
Fig. 2 is the front view of Fig. 1 implementation methods.
Fig. 3 is the side view (removing wheel cover) in Fig. 2.
Fig. 4 is the structure chart of worm gear in Fig. 1, Fig. 2, Fig. 3.
Figure number is identified：1st, wheel hub；2nd, section wheel；3rd, worm gear；4th, double-thread worm；5th, driven bevel gear wheel；6th, bevel pinion；7、
Section wheel drive motor；8th, belt；9th, power transmission shaft；10th, worm screw support frame；11st, wheel cover；12nd, motor cabinet；13rd, axle sleeve；14th, rotating shaft；
15th, bearing bracket.
Specific embodiment
Illustrated embodiment is described further to the technical solution of the utility model below in conjunction with the accompanying drawings.
The utility model can the omni-directional wheel of omnibearing movable include wheel hub 1, section wheel 2, section actuation, wheel cover 11 etc. zero
Part.
Two wheel hubs 1 (forward and backward rolling) are left and right coaxial connected, multiple section wheels 2 are evenly distributed on each wheel hub 1 (left and right
The short roller of rotation), the section wheel 2 on left and right wheel hub 1 is misplaced relatively, and circumference uniform distribution is transversely provided with the lateral surface edge of each wheel hub 1
Multiple worm screw support frames 10, left and right wheel cover 11 respectively on the left and right end face of worm screw support frame 10 install connection, such as Fig. 1, figure
2nd, shown in Fig. 3.
Respectively at being set in left and right wheel cover 11, each section actuation is passed left and right section actuation including worm and gear
Dynamic pair (double-thread worm 4 and worm gear 3) and Bevel Gear Transmission pair (driven bevel gear wheel 5 and two bevel pinions 6) and section wheel driving
Dynamic motor 7.Left and right worm gear 3 is placed on the outside of left and right wheel hub 1 and is installed by power transmission shaft 9 and be coaxially in left and right worm screw branch
In the circumference that support 10 is formed, the power transmission shaft 9 coaxially crosses left and right wheel hub 1, and power transmission shaft 9 crosses position by left and right rolling
Dynamic bearing is connected installation (wheel hub 1 rotates non-interference respectively with worm gear 3), the double-thread worm 4 of side with left and right wheel hub 1 respectively
Circumference uniform distribution is relative with the section wheel 2 of homonymy and installs in the corresponding support frame of worm screw two-by-two 10, the rotating shaft of each section wheel 2 with it is corresponding
Belt 8 between the rotating shaft of worm screw 4 by being tensioned is connected；Lateral surface of the left and right driven bevel gear wheel 5 respectively at left and right worm gear 3
Upper coaxial connected, two bevel pinions 6 are in the axially symmetric setting of driven bevel gear wheel 5；Left and right section wheel drive motor 7 passes through
Left and right motor cabinet 12 and turn left and right mechanism and be respectively arranged on the inner face of left and right wheel cover 11 and be respectively placed in left and right
Between two bevel pinions 6, two bevel pinions 6 are respectively arranged on the output shaft at the two ends of section wheel drive motor 7, wherein, one
Individual bevel pinion 6 is fixedly connected with the output shaft of section wheel drive motor 7, and another bevel pinion 6 is taken turns by rolling bearing with section
The output shaft connection of motor 7；Coaxial left and right axle sleeve 13 is respectively equipped with the outer face of left and right wheel cover 11 (can be connected respectively
Connect the output shaft of left and right hub driven motor), as shown in Figure 1, Figure 2, Figure 3, Figure 4.
The rotating mechanism includes the rotating shaft 14 that be connected with motor cabinet 12, the rotating shaft 14 be arranged on corresponding wheel cover 11
Bearing block be co-axially mounted, the bearing block be arranged on bearing bracket 15 on, rotating shaft 14 is provided with the shaft shoulder, by the shaft shoulder limit
The axial motion of section wheel drive motor 7, so as to realize：11 1 reactions of wheel cover will not be given when saving wheel drive motor 7 and working
Torque, and then the scroll forward and backward of omni-directional wheel is not interfered with, as shown in Figure 2.
The method of operation of the present utility model：
1st, hub driven motor is operated alone, by left and right axle sleeve 13 drive left and right wheel hub 1 to rotate and realize advance and
Retreat.
2nd, section wheel drive motor 7 is operated alone, and the transmission of, worm transmission pair and belt 8 secondary by Bevel Gear Transmission drives
Each section is taken turns 2 synchronous axial systems and realizes left and right movement.
3rd, hub driven motor and section wheel drive motor 7 drive simultaneously, and moving forward and backward for wheel hub 1 is left and right with section wheel 2
Movement can synthesize the omnibearing movable of omni-directional wheel.
Claims (4)
1. can omnibearing movable omni-directional wheel, including before and after being coaxially fixedly mounted with rotation left and right wheel hub (1), circumference on each wheel hub (1)
The section wheel (2) of left-right rotation is evenly equipped with, the section wheel (2) on left and right wheel hub (1) is staggeredly located, it is characterised in that：Also it is included in
Left and right wheel hub (1) both sides are symmetrical arranged to drive the left and right section actuation that each section wheel (2) rotates in correspondence wheel hub (1),
The section actuation includes Worm Wheel System pair and Bevel Gear Transmission pair, the secondary worm gear (3) of the Worm Wheel System
Be coaxially disposed with wheel hub (1), secondary double-thread worm (4) circumference uniform distribution of Worm Wheel System and with each section on corresponding wheel hub (1)
Wheel (2) contraposition, is connected, the cone between the rotating shaft and the rotating shaft of contraposition worm screw (4) of each section wheel (2) by corresponding transmission mechanism
The driven bevel gear wheel (5) of gear driving pair is coaxial with worm gear (3) to be connected, two secondary bevel pinion (6) axles of Bevel Gear Transmission
To being symmetrical arranged and the output shaft with section wheel drive motor (7) corresponding end for setting between the two is connected respectively, wherein, one is small
Bevel gear (6) is fixedly connected with the output shaft of section wheel drive motor (7), and another bevel pinion (6) is installed in the form of dallying
In on the output shaft of section wheel drive motor (7).
2. it is according to claim 1 can omnibearing movable omni-directional wheel, it is characterised in that：It is also left and right including covering respectively
The left and right wheel cover (11) of actuation is saved, the wheel cover (11) is installed on the worm screw of circumference uniform distribution on correspondence wheel hub (1) side
On support frame (10), in being installed in correspondence worm screw support frame (10), section wheel drive motor (7) is installed on the worm screw (4)
Motor cabinet (12), the motor cabinet (12) by can axial limiting rotational structure in correspondence wheel cover (11) inner face on pacify
Dress, left and right axle sleeve (13) is respectively equipped with the outer face of left and right wheel cover (11).
3. it is according to claim 2 can omnibearing movable omni-directional wheel, it is characterised in that：Left and right worm gear (3) is in running through
Installed on the power transmission shaft (9) of left and right wheel hub (1).
4. according to any one in claims 1 to 3 can omnibearing movable omni-directional wheel, it is characterised in that：The biography
Motivation structure takes turns (2) rotating shaft and the belt (8) in corresponding worm screw (4) rotating shaft to be stretched in section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621430747.1U CN206306731U (en) | 2016-12-23 | 2016-12-23 | Can omnibearing movable omni-directional wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621430747.1U CN206306731U (en) | 2016-12-23 | 2016-12-23 | Can omnibearing movable omni-directional wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206306731U true CN206306731U (en) | 2017-07-07 |
Family
ID=59247023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621430747.1U Withdrawn - After Issue CN206306731U (en) | 2016-12-23 | 2016-12-23 | Can omnibearing movable omni-directional wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206306731U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427398A (en) * | 2016-12-23 | 2017-02-22 | 桂林电子科技大学 | All-directional universal wheel |
-
2016
- 2016-12-23 CN CN201621430747.1U patent/CN206306731U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427398A (en) * | 2016-12-23 | 2017-02-22 | 桂林电子科技大学 | All-directional universal wheel |
| CN106427398B (en) * | 2016-12-23 | 2018-06-08 | 桂林电子科技大学 | Can omnibearing movable omni-directional wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170707 Effective date of abandoning: 20180608 |