CN201881894U - Four-wheel differential drive type travel mechanism - Google Patents
Four-wheel differential drive type travel mechanism Download PDFInfo
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- CN201881894U CN201881894U CN2010206642199U CN201020664219U CN201881894U CN 201881894 U CN201881894 U CN 201881894U CN 2010206642199 U CN2010206642199 U CN 2010206642199U CN 201020664219 U CN201020664219 U CN 201020664219U CN 201881894 U CN201881894 U CN 201881894U
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- travel mechanism
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
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Abstract
The utility model is mainly applied to robot travel mechanisms and intelligent vehicle chassis systems, and discloses a four-wheel differential drive type travel mechanism which comprises two signal-side travel devices and a mechanism frame, wherein each signal-side travel device comprises a solid wheel/an inflation wheel taken as a driving wheel and a synthetic omnibearing wheel; the solid wheel/ the inflation wheel and the synthetic omnibearing wheel compose a group of front and rear wheels which are provided with a reducing motor and in transmission connection with each other through a transmission mechanism; and the two signal-side travel devices are arranged at two sides of the mechanism frame respectively. Compared with the prior art, the four-wheel differential drive type travel mechanism is simple in structure, high in travel speed, good in maneuverability, reliable in performance and small in running resistance.
Description
Technical field
The utility model is mainly used in robot moving mechanism and intelligent vehicle chassis system.
Background technology
The travel mechanism of existing robots and dilly mainly comprises crawler type travel mechanism, legs and feet formula travel mechanism, wheel formula travel mechanism etc.
Crawler type travel mechanism generally is made of crawler belt, the framework that travels that supports sprocket wheel, the roller of crawler belt and carry these parts.Though there is certain advantage in crawler type travel mechanism when rough complex road surface travels and crosses over the gully, but its complex structure, quality are heavy and the buffer action as the tire not, easily make parts wear, so its manoevreability is poor, general moving velocity is lower.The resistance to motion of crawler belt comprises the resistance of the mutual action generation of crawler belt and track, internal mechanical resistance two parts composition of driving crawler belt simultaneously, because the caterpillar belt structure complexity, inner drive disk assembly is many, causes the internal mechanical resistance to increase.And these resistances also change the difficulty that increases design and use along with the variation of track tension.
Common legs and feet formula travel mechanism is a biped travel mechanism, and this kind travel mechanism complex structure, control difficulty, speed is low, stationarity is relatively poor, and technology neither be overripened simultaneously, is difficult to obtain to use widely.
The travel mechanism of wheel formula is common that four rubber that are similar to automobile are wheeled, two castors, two rubber of wheelchair single castor two rubber wheeled and intelligent transport trolley are wheeled, or the like.The wheeled rectangular layout of four rubber of automobile, front-wheel or back-wheel drive are realized the turning of mechanism by foresteerage gear, there is the steering hardware complexity in this kind mechanism, the shortcoming that turn radius is bigger; The mode of next two kinds of castor rubber wheels combination, rubber wheel is a drive wheel, rotates the purpose that reaches turning by the rubber wheel differential about mechanism, because castor just plays a supportive role, can't play directional tagging to motion of mechanism, reduce the stationarity of mechanism kinematic.
In addition, also have a kind of all-directional wheel formula travel mechanism that is usually used in the education and scientific research aspect, this kind mechanism is made up of the synthesis type all-directional wheel of four individual drive, the rectangular layout of wheel, and the wheel rotating shaft overlaps with the diagonal line of rectangle.It all is individual drive that this omni-directional moving mechanism requires four wheels, the motion control complexity, and synthesis type directional wheel complex structure, cost is higher, be difficult to arrange the suspension shock mitigation system, because the angle between the hand of rotation of the moving direction of mechanism and the trundle on the synthesis type directional wheel is bigger, can cause extra moving resistance simultaneously.
The utility model content
In order to overcome the defective of prior art, the utility model discloses a kind of simple in structure, moving velocity is fast, manoevreability good, dependable performance, four-wheel differentia drive-type travel mechanism that resistance to motion is little.
A kind of four-wheel differentia drive-type travel mechanism, comprise two one-sided mobile devices, each one-sided mobile device comprises a solid wheel/inflated wheel and the synthesis type directional wheel as drive wheel, and described solid wheel/inflated wheel and described synthesis type directional wheel are formed one group of front and back wheel, and on this group front and back wheel, a reducing motor being set, front and back wheel is in transmission connection by a transmission device in addition.
Preferably, also comprise an institutional framework, described two one-sided mobile devices are arranged at the both sides of described institutional framework respectively.
A kind of four-wheel differentia drive-type travel mechanism, comprise: two one-sided mobile devices, each one-sided mobile device comprises a solid wheel/inflated wheel and a synthesis type directional wheel as drive wheel, a solid wheel/inflated wheel and a synthesis type directional wheel are formed one group of front and back wheel, and a reducing motor is set in each group on front and back wheel, and this is stated on the output shaft of reducing motor a belt wheel is set; This is stated belt wheel and is in transmission connection by a transmission device and front and back wheel respectively.
Preferably, also comprise an institutional framework, described two one-sided mobile devices are arranged at the both sides of described institutional framework respectively.
Compared with prior art, the beneficial effects of the utility model are as follows:
First, it is good that the wheel formula travel mechanism manoevreability that travels has been inherited by this mechanism, advantages such as kinematic velocity is fast, because with two synthesis type directional wheels and solid wheel (or inflated wheel) combination, can utilize solid wheel (or inflated wheel) grab ground ability strong, the advantage that driveability is good can utilize synthesis type directional wheel self degree of freedom many again, play the effect that reduces the friction force that wheel is subjected to along the motion of translation of axletree parallel direction, simultaneously to a certain extent can cost-cutting.
The second, two one-sided mobile device is arranged at the institutional framework both sides respectively, and the rectangular institutional framework both sides that are arranged in of its corresponding four-wheel are so it can arrange four-wheel land system and damping easily.Four-wheel differentia drive-type travel mechanism drives by two solid wheels as drive wheel (or inflated wheel) differential of arranging about mechanism to reach the purpose that mechanism turns, control is simple, and by preceding described because the existence of synthesis type directional wheel, the friction drag of turning has reduced, and makes the turning performance of mechanism strengthen greatly.
The 3rd, before and after homonymy, increased tape handler between the two-wheeled, make mechanism be evolved into four wheel drive, further improved the manoevreability and the reliability of mechanism kinematic, improved the performance that mechanism travels and crosses over aspects such as step at complex road condition simultaneously greatly by two-wheel drive.
Description of drawings
Fig. 1 is the exploded drawings of the utility model embodiment 1;
Fig. 2 is the assembly drawing of the utility model embodiment 1;
Fig. 3 is the exploded drawings of the utility model embodiment 2;
Fig. 4 is the assembly drawing of the utility model embodiment 2.
The specific embodiment
The below is described further the utility model with specific embodiment in conjunction with the accompanying drawings:
Embodiment 1
A kind of four-wheel differentia drive-type travel mechanism, comprise two one-sided mobile devices, each one-sided mobile device comprises a solid wheel/inflated wheel and the synthesis type directional wheel as drive wheel, and described solid wheel/inflated wheel and described synthesis type directional wheel are formed one group of front and back wheel, and on this group front and back wheel, a reducing motor being set, front and back wheel is in transmission connection by a transmission device in addition.In the following embodiments, our transmission device adopts belt.
As Fig. 1, Fig. 2, a kind of four-wheel differentia drive-type travel mechanism comprises two one-sided mobile devices 100 and institutional framework 8, and institutional framework 8 is rectangular, and two one-sided mobile devices 100 are arranged at the both sides of described institutional framework respectively; Each one-sided mobile device 100 comprises: the first round 1, second takes turns 5, wheel shaft 7, first belt wheel 2, second belt wheel 6, belt 4, reducing motor 3; The first round 1 is linked together by the bolt and first belt wheel 2, and first belt wheel 2 passes through Bolt Connection together with the mouth of reducing motor 3, and the mounting flange of reducing motor 3 is linked together by bolt and institutional framework 8.Second takes turns 5 is linked together by the bolt and second belt wheel 6, and second belt wheel 6 and second is taken turns 5 and done and as a wholely be assembled together by bearing and wheel shaft 7, and wheel shaft 7 is linked together by bolt and institutional framework 8.Belt 4 connects first belt wheel 2 and back second belt wheel 6 constitutes strap drive.And two first round, two second are taken turns the rectangular institutional framework both sides that are arranged in.
In the present embodiment, the first round 1 is a front-wheel, and this is stated front-wheel 1 and is solid wheel/inflated wheel; Second takes turns and is trailing wheel, and this states trailing wheel 5 and be the synthesis type directional wheel, and only for for example, the utility model is not made qualification to this.
In the present embodiment, reducing motor 3 is used the perpendicular type reductor on a selective basis and is added group of motors and close, and only for for example, in the specific implementation, it also can choose disc type low speed high torque motor, and the utility model is not made qualification to this.
Belt 4 connects first belt wheel 2 and second belt wheel 6 constitutes strap drive, and its strap drive mode adopts synchronous band mode according to qualifications, and only for giving an example, the utility model is not made qualification to this.It also can adopt asynchronous band mode, and add the band tightening device in the specific implementation, or also can adopt asynchronous band mode, and makes the first round 1 and second adjustable center distance of taking turns between 5.
When this utility model was used, the reducing motor 3 in each one-sided mobile device 100 provided propulsion source for this device; Reducing motor 3 begins to rotate, and its output shaft drives first belt wheel 2 that connects with it and rotates; First belt wheel 2 drives second belt wheel 6 by belt 4 and rotates; First belt wheel 4 and second belt wheel 6 drive the first round 1, second again respectively and take turns 5 and rotate.The first round 1 is solid wheel/inflated wheel; Second takes turns 5 is the synthesis type directional wheel, and the solid wheel/inflated wheel as the first round 1 is used as drive wheel, both combinations, can utilize the ground ability of grabbing of solid wheel/inflated wheel strong, the advantage that driveability is good, can utilize synthesis type directional wheel self degree of freedom many again, play the effect that reduces the friction force that wheel is subjected to along the motion of translation of axletree parallel direction, simultaneously to a certain extent can cost-cutting.Another one-sided mobile device also is identical principle.And two first round, two second are taken turns the rectangular institutional framework both sides that are arranged in, and make convenient four-wheel land system and the damping arranged of the utility model.
When turning, the utility model is by controlling two rotating speed differences as the solid wheel/inflated wheel of drive wheel of arranging about it, utilize speed discrepancy to reach the purpose that mechanism turns, and by preceding described because the existence of synthesis type directional wheel, the friction drag of turning has reduced, and makes the turning performance of mechanism strengthen greatly.
Each side belt 4 connects first belt wheel 2 and second belt wheel 6 constitutes tape handler, make mechanism be evolved into four wheel drive by two-wheel drive, further improve the manoevreability and the reliability of mechanism kinematic, improved the performance that mechanism travels and crosses over aspects such as step at complex road condition simultaneously greatly.
Series of advantages such as four-wheel differentia drive-type travel mechanism has that moving velocity is fast, manoevreability good, simple in structure, dependable performance, resistance to motion are little.Simultaneously because mechanism is simple, also greatly reduce for the requirement of structure design and motion control aspect.
Embodiment 2
A kind of four-wheel differentia drive-type travel mechanism, it is characterized in that: comprising: two one-sided mobile devices, each one-sided mobile device comprises a solid wheel/inflated wheel and a synthesis type directional wheel as drive wheel, a solid wheel/inflated wheel and a synthesis type directional wheel are formed one group of front and back wheel, and a reducing motor is set in each group on front and back wheel, and this is stated on the output shaft of reducing motor a belt wheel is set; This is stated belt wheel and is in transmission connection by a transmission device and front and back wheel respectively.In the following embodiments, our transmission device adopts belt.
As Fig. 3, Fig. 4, a kind of four-wheel differentia drive-type travel mechanism comprises two one-sided mobile devices 200 and institutional framework 209; Each one-sided mobile device 200 comprises: the first round 201, second is taken turns 208, first wheel shaft 211, second wheel shaft 210, first belt wheel 202, second belt wheel 207, first belt 203, second belt 205, reducing motor 206, electrical machine belt pulley 204; The described first round 201 is linked together with described first belt wheel 202, and described first belt wheel 202 is made as a whole and described first wheel shaft 211 with the first round 201 and is linked together, and described first wheel shaft 211 is connected with described institutional framework 209; Described second takes turns 208 is linked together with described second belt wheel 207, and described second takes turns 208 does as a whole and described second wheel shaft 210 with described second belt wheel 207 and connect, and described second wheel shaft 210 and described institutional framework 209 are linked together; Described reducing motor 206 is linked together with described institutional framework 209; The mouth of described reducing motor 206 connects electrical machine belt pulley 204; Described first belt 203 connects described first belt wheel 202 and described electrical machine belt pulley 204; Described second belt 205 connects described second belt wheel 207 and described electrical machine belt pulley 204.And electrical machine belt pulley 204 is between first belt wheel 201, second belt wheel 208.And two first round, two second are taken turns the rectangular institutional framework both sides that are arranged in.
In the present embodiment, the first round 201 is a front-wheel, and this to state front-wheel be solid wheel/inflated wheel; Second takes turns 208 for trailing wheel, and this states trailing wheel 5 and be the synthesis type directional wheel, and only for for example, the utility model is not made qualification to this.
When this utility model was used, the reducing motor 203 in each one-sided mobile device 200 provided propulsion source for this device; Reducing motor 203 begins to rotate, and the electrical machine belt pulley 204 that connects on its output shaft drives first belt wheel 202, second belt wheel 207 by first belt 203, second belt 205 respectively.First belt wheel 202, second belt wheel 207 are with the logical first round 201, second to take turns 208 again respectively, make this mechanism kinematic.
In the present embodiment, electrical machine belt pulley 204 is between first belt wheel 202, second belt wheel 207, and only for giving an example, electrical machine belt pulley 204 is in concrete enforcement, and it also can be in other position, and the utility model is not made qualification to this.
The utility model preferred embodiment just is used for helping to set forth the utility model.Preferred embodiment does not have all details of detailed descriptionthe, does not limit this utility model yet and only is the described specific embodiment.Obviously, according to the content of this specification sheets, can make many modifications and variations.These embodiment are chosen and specifically described to this specification sheets, is in order to explain principle of the present utility model and practical application better, thereby the technical field technical personnel can utilize the utility model well under making.The utility model only is subjected to the restriction of claims and four corner and equivalent.More than disclosed only be several specific embodiments of the application, but the application is not limited thereto, any those skilled in the art can think variation, all should drop in the application's the protection domain.
Claims (4)
1. four-wheel differentia drive-type travel mechanism, it is characterized in that: comprise two one-sided mobile devices, each one-sided mobile device comprises a solid wheel/inflated wheel and the synthesis type directional wheel as drive wheel, and described solid wheel/inflated wheel and described synthesis type directional wheel are formed one group of front and back wheel, and on this group front and back wheel, a reducing motor being set, front and back wheel is in transmission connection by a transmission device in addition.
2. four-wheel differentia drive-type according to claim 1 travel mechanism, it is characterized in that: also comprise an institutional framework, described two one-sided mobile devices are arranged at the both sides of described institutional framework respectively.
3. four-wheel differentia drive-type travel mechanism, it is characterized in that: comprising: two one-sided mobile devices, each one-sided mobile device comprises a solid wheel/inflated wheel and a synthesis type directional wheel as drive wheel, a solid wheel/inflated wheel and a synthesis type directional wheel are formed one group of front and back wheel, and a reducing motor is set in each group on front and back wheel, and this is stated on the output shaft of reducing motor a belt wheel is set; This is stated belt wheel and is in transmission connection by a transmission device and front and back wheel respectively.
4. four-wheel differentia drive-type according to claim 3 travel mechanism, it is characterized in that: also comprise an institutional framework, described two one-sided mobile devices are arranged at the both sides of described institutional framework respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206642199U CN201881894U (en) | 2010-12-15 | 2010-12-15 | Four-wheel differential drive type travel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206642199U CN201881894U (en) | 2010-12-15 | 2010-12-15 | Four-wheel differential drive type travel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201881894U true CN201881894U (en) | 2011-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206642199U Expired - Fee Related CN201881894U (en) | 2010-12-15 | 2010-12-15 | Four-wheel differential drive type travel mechanism |
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| Country | Link |
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| CN (1) | CN201881894U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966492A (en) * | 2016-05-27 | 2016-09-28 | 西南大学 | All-wheel same-phase driving trolley and turning control method thereof |
| CN107054464A (en) * | 2017-05-10 | 2017-08-18 | 北京蓝卡科技股份有限公司 | A kind of three-wheel differential steering gear and vehicle |
| USD804766S1 (en) | 2009-10-23 | 2017-12-05 | Rotacaster Wheel Ltd | Wheel |
| CN108407610A (en) * | 2017-08-14 | 2018-08-17 | 四川阿泰因机器人智能装备有限公司 | A kind of four-wheel drive robot chassis of chain drive |
| US10479136B2 (en) | 2015-01-06 | 2019-11-19 | Rotacaster Wheel Limited | Wheel frame component |
| CN111846027A (en) * | 2020-08-07 | 2020-10-30 | 广东电科院能源技术有限责任公司 | Robot chassis structure |
| CN113879416A (en) * | 2021-11-04 | 2022-01-04 | 上海意延机电工程有限公司 | Tractor |
-
2010
- 2010-12-15 CN CN2010206642199U patent/CN201881894U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USD804766S1 (en) | 2009-10-23 | 2017-12-05 | Rotacaster Wheel Ltd | Wheel |
| US10479136B2 (en) | 2015-01-06 | 2019-11-19 | Rotacaster Wheel Limited | Wheel frame component |
| CN105966492A (en) * | 2016-05-27 | 2016-09-28 | 西南大学 | All-wheel same-phase driving trolley and turning control method thereof |
| CN107054464A (en) * | 2017-05-10 | 2017-08-18 | 北京蓝卡科技股份有限公司 | A kind of three-wheel differential steering gear and vehicle |
| CN107054464B (en) * | 2017-05-10 | 2023-09-12 | 北京蓝卡科技股份有限公司 | Three-wheel differential steering mechanism and vehicle |
| CN108407610A (en) * | 2017-08-14 | 2018-08-17 | 四川阿泰因机器人智能装备有限公司 | A kind of four-wheel drive robot chassis of chain drive |
| CN111846027A (en) * | 2020-08-07 | 2020-10-30 | 广东电科院能源技术有限责任公司 | Robot chassis structure |
| CN113879416A (en) * | 2021-11-04 | 2022-01-04 | 上海意延机电工程有限公司 | Tractor |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110629 Termination date: 20151215 |
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| EXPY | Termination of patent right or utility model |