CN206307196U - Can omnibearing movable single wheel mechanism of car - Google Patents
Can omnibearing movable single wheel mechanism of car Download PDFInfo
- Publication number
- CN206307196U CN206307196U CN201621430748.6U CN201621430748U CN206307196U CN 206307196 U CN206307196 U CN 206307196U CN 201621430748 U CN201621430748 U CN 201621430748U CN 206307196 U CN206307196 U CN 206307196U
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- wheel
- wheel hub
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- car
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Abstract
The utility model discloses it is a kind of can omnibearing movable single wheel mechanism of car, including omni-directional wheel, omni-directional wheel includes left and right wheel hub, and each wheel hub is provided with section wheel, wheel carrier lower fork is installed on the left and right wheel disc that left and right wheel hub is fixedly mounted with；The outer transmission component for saving wheel is located in the wheel carrier lower fork above left and right wheel hub, including being installed on upper wheel fork friction driving roller, friction section wheel is evenly distributed on its wheel body, connected by elastic press mounting structure between the upper wheel fork and wheel carrier lower fork and friction section wheel is pressed on the section wheel of left or right wheel hub, save the left and right large helical gear that the interior transmission component of wheel is included in left and right wheel disc, each large helical gear is engaged with circumference uniform distribution and with the bevel pinion of each section wheel contraposition, and each bevel pinion is connected with contraposition section wheel by transmission belt.Omni-directional wheel of the present utility model is synthesized in traversing velocity with velocity is moved forward and backward, and can be converted into a vector that can make single wheel mechanism of car omnibearing movable.
Description
Technical field
The utility model is related to road walking mechanism, specially it is a kind of can omnibearing movable single wheel mechanism of car.
Background technology
Wheel type traveling mechanism is the widely used road walking mechanism of people, can operate with the traffic such as bicycle, automobile fortune
Defeated instrument.Wheelbarrow as the one kind in wheel type traveling mechanism, the spy with single wheel ground connection, static instability and dynamic stability
Point, is a kind of light compact, environmental protection and energy saving preferable walking-replacing tool.
Most of existing single wheel mechanism of car is all based on standing upside down and swings what principle was designed, and single wheel mechanism of car can be real
Now move forward and backward, but lateral transverse motion cannot be realized, which has limited the application scenario of single wheel mechanism of car；In addition, in tradition
Wheelbarrow designs in, in order to realize lateral stabilization, its scheme generally need addition it is extra similar to balance or swing rod etc.
Counterweight adjusting mechanism, its design result can make system bulk become big, and it is unfavorable the mankind to be ridden or is carried.
Such as number of patent application is 201310648831.5《It is capable of achieving the wheelbarrow robot of self-balancing》Patent application,
Devising thereon needs the swing rod of turnover, and this wheelbarrow mechanism structure is complicated, and the volumetric spaces shared by transverse direction are big, and lack
The ability of transverse shifting, turning avoidance also underaction.
Utility model content
In view of the shortcomings of the prior art, the utility model proposes it is a kind of can omnibearing movable single wheel mechanism of car.
The utility model can omnibearing movable single wheel mechanism of car, its technical scheme include be installed on the only of wheel carrier lower fork
Wheel, except that the single wheel is omni-directional wheel, the left and right wheel hub that the omni-directional wheel is rotated before and after including coaxially being fixedly mounted with, each wheel
The section wheel of left-right rotation is evenly distributed on hub, the section wheel on left and right wheel hub is staggeredly located, and is coaxially fixed with left and right wheel hub
Left and right wheel disc, left and right wheel disc is by being installed on the left and right fork of wheel carrier lower fork in the left and right support shaft dallied on left and right wheel disc
On mouth, the wheel hub motor for being driven to be installed on wheel carrier lower fork side of the wheel hub.The driving of the section wheel includes wheel hub unofficial biography
Transmission component in dynamic component and wheel hub, the outer transmission component of the wheel hub is in the wheel carrier lower fork above left and right wheel hub, including peace
Loaded on upper wheel fork and the friction driving roller that turns left and right, rotation before and after being evenly distributed on the wheel body of the friction driving roller
Friction section wheel, the upper wheel fork is installed on wheel carrier lower fork and friction section wheel is pressed on into left or right wheel hub by elastic press mounting structure
Section wheel on, the stepper motor for being driven to be installed on wheel fork side of the friction driving roller；Transmission component in the wheel hub
Including the left and right large helical gear in left and right wheel disc, left and right large helical gear is installed on the power transmission shaft through left and right wheel hub
On, each large helical gear is engaged with circumference uniform distribution and with the bevel pinion of each section wheel contraposition, and rotating shaft and the contraposition of each bevel pinion are saved
The rotating shaft of wheel is connected by transmission belt or the driving cog of engagement.
The axle sleeve that the wheel hub motor is conventionally connected using the connection of deceleration gear transmission with corresponding wheel disc, the axle sleeve
Idle running is installed in correspondence support shaft；And the stepper motor is conventionally directly driven by the way of direct-connected friction driving roller.
The wheel hub motor conventionally uses pancake motor.
The elastic press mounting structure is：Plug at the top of the upper wheel fork is plugged in the sleeve at the top of wheel carrier lower fork, institute
State and be pressed with spring between the limiting plate in plug and sleeve.
Further design, is provided with car body mounting seat on the sleeve.
Further design, offers inner recess on the lateral surface of the wheel hub, circumference uniform distribution is provided with the inner recess
Multiple bevel pinion support frames, the wheel disc be installed on correspondence wheel hub outer ledge on, a part wheel hub in transmission group
Part is located in the inner recess opened up on correspondence wheel hub side, and the bevel pinion is in peace in the corresponding support frame of bevel pinion two-by-two
Dress.
To simplify structure, left and right support shaft is a bearing with the power transmission shaft of centre.
The beneficial effects of the utility model：
1st, the utility model can be in the wheelbarrow mechanism structure of omnibearing movable, and its double omni-directional wheel is in single omni-directional wheel
Friction drive it is lower can produce one and make the traversing velocity of single wheel mechanism of car, the vector with by the motor-driven omnidirectional of pancake
The velocity that moves forward and backward of wheel is synthesized, and may finally be converted into an arrow that can make single wheel mechanism of car omnibearing movable
Amount.
2nd, in the utility model structure, single omni-directional wheel can be made fully to be connect with double omni-directional wheel using pressure mounting of the spring structure
Touch, so as to improve the reliability of system mechanics transmission.
3rd, in the utility model structure, offered on the wheel hub side of double omni-directional wheel and the secondary indent of Helical gear Transmission is installed
Mouthful, can so increase the installing space of large helical gear transmission, make mechanism compacter.
Brief description of the drawings
Fig. 1 is a kind of front view of implementation method of the utility model.
Fig. 2 is the left view of Fig. 1 implementation methods.
Fig. 3 is the shaft side figure of omni-directional wheel in Fig. 1, Fig. 2.
Fig. 4 is the A direction views (hiding wheel disc) in Fig. 3.
Figure number is identified：1st, wheel carrier lower fork；1-1, sleeve；1-2, limiting plate；2nd, wheel hub；3rd, section wheel；4th, wheel disc；5th, pancake electricity
Machine；6th, upper wheel fork；6-1, plug；7th, wheel body；8th, stepper motor；9th, large helical gear；10th, bevel pinion；11st, transmission belt；12nd, drop
Fast gear driving pair；13rd, spring；14th, bevel pinion support frame；15th, omni-directional wheel；16th, car body mounting seat；17th, friction section wheel；
18th, axle sleeve；19th, support shaft.
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 omnibearing movable single wheel mechanism of car include wheel carrier lower fork 1, upper wheel fork 6, double omni-directional wheel
Stepper motor 8 of 15 (as single wheels), friction driving roller, the pancake motor 5 for driving omni-directional wheel 15 and driving friction driving roller etc.
Parts.
The omni-directional wheel 15 includes the left and right wheel hub 2 being coaxially fixedly mounted with, and the section of left-right rotation is evenly distributed on each wheel hub 2
Wheel 3, the section wheel 3 on left and right wheel hub 2 is staggeredly located, and the multiple small oblique of circumference uniform distribution is provided with the inner recess of the lateral surface of each wheel hub 2
Gear support frame 14, left and right wheel disc 4 is respectively arranged in the outer ledge of left and right wheel hub 2, and the outer end of left and right wheel disc 4 is coaxially empty
Turn that left and right support shaft 19 is installed, as shown in Figure 1, Figure 3.
The omni-directional wheel 15 is in wheel carrier lower fork 1 and by left and right support shaft 19 in the left and right prong of wheel carrier lower fork 1
Interior installation, in being installed on the side of wheel carrier lower fork 1, the output shaft of pancake motor 5 is driven the pancake motor 5 by deceleration gear
Secondary 12 connect the coaxial axle sleeve 18 being fixedly mounted with respective side wheel disc 4, the axle sleeve 18 dally (rolling bearing structure) be installed on correspondence
Support shaft 19 on, as shown in Figure 1 and Figure 2.
The friction driving roller (single omni-directional wheel) includes the wheel body 7 of left-right rotation, before being evenly distributed on the wheel body 7
The friction section wheel 17 for rotating afterwards, friction driving roller in the upper wheel fork 6 and pass through the rotating shaft of the both sides of wheel body 7 in before upper wheel fork 6,
The intraoral installation of back vent, the stepper motor 8 is in installation on the side of upper wheel fork 6, the output shaft of stepper motor 8 and the wheel of respective side
The rotating shaft of body 7 is connected；The upper wheel fork 6 is placed in the wheel carrier lower fork 1 of the top of omni-directional wheel 15 together with friction driving roller, and upper wheel fork 6 is pushed up
The plug 6-1 in portion is plugged in the sleeve 1-1 (car body mounting seat 16 is provided with sleeve 1-1) at the top of wheel carrier lower fork 1, spring 13
It is fitted between the limiting plate 1-2 in plug 6-1 and sleeve 1-1, in the presence of spring 13, the friction section wheel of friction driving roller
17 are pressed on the section wheel 3 of left or right wheel hub 2 downwards, as shown in Figure 1.
Left and right Helical gear Transmission pair, institute are respectively equipped between left wheel disk 4 and left wheel hub 2, between right wheel disk 4 and right wheel hub 2
State the secondary bevel pinion 10 engaged with large helical gear 9 including large helical gear 9 and circumference uniform distribution of Helical gear Transmission, each bevel pinion 10
Position it is corresponding with the position of each section wheel 3 on respective side wheel hub 2, the secondary half of Helical gear Transmission is partially disposed in homonymy wheel hub 2
In the inner recess opened up on lateral surface, by the power transmission shaft (transmission through left and right wheel hub 2 between left and right large helical gear 9
Axle can be single axle, also can be connected to become a bearing with left and right support shaft) it is connected, the power transmission shaft through position is by rolling
Dynamic bearing is installed with wheel hub 2, and each bevel pinion 10 is installed between the support frame of bevel pinion two-by-two 14 of contraposition, each bevel pinion
Connected by the transmission belt 11 being tensioned between 10 rotating shaft and the rotating shaft of contraposition section wheel 3, as shown in Figure 3, Figure 4.
The method of operation of the present utility model：
1st, pancake motor 5 is operated alone, and drives left and right wheel hub 2 to rotate and reality by deceleration gear transmission 12 and wheel disc 4
Now move forward and backward.
2nd, stepper motor 8 is operated alone, and is led to by a section wheel 3, the section wheel 3 on friction driving roller, left or right wheel hub 2
Cross transmission belt 11 drive corresponding bevel pinion 10, the bevel pinion 10 to drive left and right large helical gear 9 to rotate simultaneously, it is left and right big
Helical gear 9 drives the synchronous axial system of section wheel 3 on left and right wheel hub 2 and realizes left and right movement.
3rd, pancake motor 5 and stepper motor 8 drive simultaneously, the left and right shifting moved forward and backward with section wheel 3 of left and right wheel hub 2
The dynamic omnibearing movable that can synthesize single wheel mechanism of car.
Claims (7)
1. can omnibearing movable single wheel mechanism of car, including the single wheel for being installed on wheel carrier lower fork (1), it is characterised in that：It is described only
It is omni-directional wheel (15) to take turns, and the omni-directional wheel (15) is round on each wheel hub (2) including being coaxially fixedly mounted with the front and rear left and right wheel hub (2) for rotating
It is evenly equipped with the section wheel (3) of left-right rotation week, the section wheel (3) on left and right wheel hub (2) is staggeredly located, coaxial with left and right wheel hub (2)
Left and right wheel disc (4) is fixed with, left and right wheel disc (4) is installed by the left and right support shaft (19) dallied on left and right wheel disc (4)
In on the left and right prong of wheel carrier lower fork (1), the wheel hub motor for being driven to be installed on wheel carrier lower fork side of the wheel hub (2)；Institute
Stating the driving of section wheel (3) includes transmission component in the outer transmission component of wheel hub and wheel hub, and the outer transmission component of the wheel hub is located at left and right
In wheel carrier lower fork (1) above wheel hub (2), including wheel fork (6) and the friction driving roller for turning left and right are installed on, it is described to rub
Friction section wheel (17) of rotation before and after being evenly distributed on the wheel body (7) for wiping driving wheel, the upper wheel fork (6) is press-fited by elasticity
Structure is installed on wheel carrier lower fork (1) and friction section wheel (17) is pressed on the section wheel (3) of left or right wheel hub (2), the friction
The stepper motor (8) for being driven to be installed on wheel fork (6) side of driving wheel, in the wheel hub transmission component include located at it is left,
Left and right large helical gear (9) in right wheel disk (4), left and right large helical gear (9) is installed on the power transmission shaft through left and right wheel hub (2)
On, the bevel pinion (10) that each large helical gear (9) aligns with circumference uniform distribution and with each section wheel (3) is engaged, each bevel pinion (10)
Rotating shaft with contraposition section wheel rotating shaft by transmission belt (11) or engage driving cog be connected.
2. it is according to claim 1 can omnibearing movable single wheel mechanism of car, it is characterised in that：The wheel hub motor passes through
Deceleration gear transmission (12) connects the axle sleeve (18) being connected with corresponding wheel disc (4), and axle sleeve (18) idle running is installed on correspondence
In support shaft (19)；The direct-connected friction driving roller of the stepper motor (8).
3. it is according to claim 2 can omnibearing movable single wheel mechanism of car, it is characterised in that：The wheel hub motor is used
Pancake motor (5).
4. according to any one in claims 1 to 3 can omnibearing movable single wheel mechanism of car, it is characterised in that it is described
Elastic press mounting structure is：Plug (6-1) at the top of the upper wheel fork (6) is plugged in the sleeve (1-1) at the top of wheel carrier lower fork (1)
It is interior, it is pressed with spring (13) between the limiting plate (1-2) in the plug (6-1) and sleeve (1-1).
5. it is according to claim 4 can omnibearing movable single wheel mechanism of car, it is characterised in that：On the sleeve (1-1)
It is provided with car body mounting seat (16).
6. according to any one in claims 1 to 3 can omnibearing movable single wheel mechanism of car, it is characterised in that：Institute
Inner recess is offered on the lateral surface for stating wheel hub (2), multiple bevel pinion support frames of circumference uniform distribution are provided with the inner recess
(14), the wheel disc (4) is installed on the outer ledge of correspondence wheel hub (2), and transmission component is located at correspondence in the wheel hub of a part
In the inner recess opened up on wheel hub (2) side, the bevel pinion (10) is in the corresponding support frame of bevel pinion two-by-two (14)
Install.
7. according to any one in claims 1 to 3 can omnibearing movable single wheel mechanism of car, it is characterised in that：Left,
Right support axle (19) is a bearing with the power transmission shaft of centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621430748.6U CN206307196U (en) | 2016-12-23 | 2016-12-23 | Can omnibearing movable single wheel mechanism of car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621430748.6U CN206307196U (en) | 2016-12-23 | 2016-12-23 | Can omnibearing movable single wheel mechanism of car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206307196U true CN206307196U (en) | 2017-07-07 |
Family
ID=59246955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621430748.6U Withdrawn - After Issue CN206307196U (en) | 2016-12-23 | 2016-12-23 | Can omnibearing movable single wheel mechanism of car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206307196U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515942A (en) * | 2016-12-23 | 2017-03-22 | 桂林电子科技大学 | Wheelbarrow mechanism capable of moving in all directions |
| CN107600269A (en) * | 2017-09-30 | 2018-01-19 | 桂林电子科技大学 | The traversing wheel side-sway balance car of car body |
| WO2019019362A1 (en) * | 2017-07-28 | 2019-01-31 | 广州视源电子科技股份有限公司 | Vehicle and omnidirectional wheel thereof |
-
2016
- 2016-12-23 CN CN201621430748.6U patent/CN206307196U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515942A (en) * | 2016-12-23 | 2017-03-22 | 桂林电子科技大学 | Wheelbarrow mechanism capable of moving in all directions |
| CN106515942B (en) * | 2016-12-23 | 2022-01-07 | 桂林电子科技大学 | Wheelbarrow mechanism capable of moving in all directions |
| WO2019019362A1 (en) * | 2017-07-28 | 2019-01-31 | 广州视源电子科技股份有限公司 | Vehicle and omnidirectional wheel thereof |
| CN107600269A (en) * | 2017-09-30 | 2018-01-19 | 桂林电子科技大学 | The traversing wheel side-sway balance car of car body |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170707 Effective date of abandoning: 20220107 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170707 Effective date of abandoning: 20220107 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |