CN204488926U - Diagonal angle differential steering four-wheeled - Google Patents
Diagonal angle differential steering four-wheeled Download PDFInfo
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- CN204488926U CN204488926U CN201520160698.3U CN201520160698U CN204488926U CN 204488926 U CN204488926 U CN 204488926U CN 201520160698 U CN201520160698 U CN 201520160698U CN 204488926 U CN204488926 U CN 204488926U
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Abstract
The utility model discloses a kind of diagonal angle differential steering four-wheeled, comprise four wheels and two two output shaft electric machines, each pair of output shaft electric machine controls two wheels, is connected between each wheel with corresponding two output shaft electric machines by power-transfer clutch.The utility model overcomes the deficiencies in the prior art, and provide a kind of simple for structure reliable, efficiency is high, earth's surface comformability is good, it is simple to control, low energy consumption, applied range, the pattern that can walk switches, to adapt to different complex-terrains.The mobile device that can need at uneven terrain and smooth ground running for mobile robot, barrier-exceeding vehicle etc.
Description
Technical field
The utility model relates to a kind of four-wheeled, particularly a kind of diagonal angle differential steering four-wheeled.
Background technology
Along with the fast development of the various fields such as China's nuclear power industry, rescue of exploring, military surveillance, fire-fighting are explosive, space flight and aviation, can walk in smooth ground free walker in the urgent need to one, freely can walk in lowered in field environment and complex-terrain (as on-the-spot in seismic ruins, mine disaster) again and the mobile robot of obstacle detouring.The traveling gear of existing mobile robot is broadly divided into: wheeled, crawler type, polypody, hybrid (as hybrid in wheel leg, wheel is carried out hybrid) and special shape (as polygon rolling type, snakelike sliding type).Wherein, polypody and special shape belong to bionical class traveling gear mostly, there is very strong obstacle climbing ability and landform comformability, but the complicated in mechanical structure of this two classes traveling gear, control that difficulty is large, manoevreability is relatively poor, be in the primary stage of research and development application at present.Crawler belt has been proved to be a kind of traveling gear that can adapt to complex-terrain and harsh environment through the development of more than 100 years, but its shortcoming also clearly: heavy, need Great Power Driver, therefore, for portable or improper concerning crawler belt power has the mobile robot of strict restriction.Wheel just occurred before more than 3,000 years, be considered to the traveling gear that energy rotation is most effective, wheel has light succinct, high speed, high efficiency and control is simple etc. that advantage makes it lasting, and the traveling gear that the general-purpose tugboat (three horn rings) occurred in recent years, various Stump-jump wheel and wheel mix with other form makes wheel start to depart from rigid planar ground and come into complex-terrain.
About general being distributed with of dynamic wheel: one-sided power, front and back power, unified power etc.The traveling gear of one-sided power controls but be difficult to realize the left and right of wheel synchronous than being easier to realize differential steering.Before and after the traveling gear of traveling gear and one-sided power of power just the opposite, the traveling gear of front and back power easily realizes wheel left and right synchro control, and but difficulty realizes the control that body turns to.Unified power mode, in course changing control, is all generally assist realization with third party's physical construction, relatively complicated.
Utility model content
Given this, one of the purpose of this utility model is to provide a kind of diagonal angle differential steering four-wheeled, can carry out pattern switching, to adapt to different complex-terrains.
The purpose of this utility model is realized by following technical scheme, a kind of diagonal angle differential steering four-wheeled, comprise four wheels and two two output shaft electric machines, each pair of output shaft electric machine controls two wheels, is connected between each wheel with corresponding two output shaft electric machines by power-transfer clutch.
Preferably, four wheels adopt same structure, described wheel is two eccentric Variable Eccentricity Stump-jump wheels, comprise and be all eccentric interiorly to take turns and foreign steamer, described interior wheel is rotatingly arranged in foreign steamer, described interior external annular surface of taking turns is provided with several the first inhibiting device, the inner ring surface of described foreign steamer be provided with coordinate with the first inhibiting device second limit device.
Further, described first inhibiting device is depressed part, and described second inhibiting device is the pars contractilis that can stretch into depressed part.
Further, described interior take turns with foreign steamer on be provided with drive hole.
Owing to have employed technique scheme, the utility model has following advantage:
1, the utility model power-transfer clutch of mainly comprising two output shaft electric machine and being connected with Motor Shaft, the disconnection of power-transfer clutch just can control the stressed of corresponding wheel and not stress with being connected.
2, dynamic and unpowered by wheel with 4 wheels, and the incompatible Servo Control realizing vehicle body of the respective sets in the direction of power.
3, the utility model can carry out pattern switching, to adapt to different complex-terrains.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model is described in further detail, wherein:
Fig. 1 is the structure diagram of diagonal angle described in the utility model differential steering four-wheeled;
Power-transfer clutch and the first mode of operation of motor when Fig. 2 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the second mode of operation when Fig. 3 is four-wheeled described in the utility model motion;
Power-transfer clutch and the third mode of operation of motor when Fig. 4 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the 4th kind of mode of operation when Fig. 5 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the 5th kind of mode of operation when Fig. 6 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the 6th kind of mode of operation when Fig. 7 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the 7th kind of mode of operation when Fig. 8 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the 8th kind of mode of operation when Fig. 9 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the 9th kind of mode of operation when Figure 10 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the tenth kind of mode of operation when Figure 11 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the 11 kind of mode of operation when Figure 12 is four-wheeled described in the utility model motion;
Power-transfer clutch and motor the 12 kind of mode of operation when Figure 13 is four-wheeled described in the utility model motion;
Figure 14 is car wheel structure sketch.
Detailed description of the invention
Below with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail; Should be appreciated that preferred embodiment only in order to the utility model is described, instead of in order to limit protection domain of the present utility model.
The utility model discloses a kind of diagonal angle differential steering four-wheeled, as shown in Figure 1, this diagonal angle differential steering four-wheeled mainly comprises the two output shaft electric machines (the first motor 5, second motor 6) of four wheels (i.e. the first wheel 1, second wheel 2, the 3rd wheel 3, the 4th wheel 4) and two and four power-transfer clutchs (first clutch 7, second clutch 8, the 3rd power-transfer clutch 9, four clutches 10).Each wheel is connected by a power-transfer clutch with motor shaft, so just can realize the "Off" between motor shaft and corresponding wheel and " conjunction "."Off" just represents between this wheel and motor and disconnects, that is: motor is inoperative to this wheel." conjunction " just represents wheel and is connected with corresponding motor axle, that is: motor works to this wheel, in sum: key of the present utility model is the torque transfer of propulsion source to road wheel.
Described diagonal angle differential steering four-wheeled only has two motors to drive, and each motor before and after being, first motor 5 drives two wheels above, and the second motor 6 drives two wheels below, so just makes the cornering mode of vehicle body turning meeting and classics different.
In the present embodiment, wheel adopts two eccentric Variable Eccentricity Stump-jump wheel, is described for the 3rd wheel 3.
As shown in figure 14, two eccentric Variable Eccentricity Stump-jump wheel comprises being all eccentricly interiorly takes turns 32 and foreign steamer 31, described interior wheel is rotatingly arranged in foreign steamer, described interior external annular surface 321 of taking turns is provided with several the first inhibiting device 361, the inner ring surface 311 of described foreign steamer be provided with coordinate with the first inhibiting device second limit device 362.
Described first inhibiting device is depressed part, and described second inhibiting device is the pars contractilis that can stretch into depressed part.In the present embodiment, the flexible of pars contractilis can pass through external control.
Described interior take turns with foreign steamer on be provided with drive hole 37.
Adopt two eccentric Variable Eccentricity Stump-jump wheel, the robot that can improve eccentric wheel foot structure is in the low inferior position of regular landform sport efficiency and don't lose obstacle climbing ability, makes adaptive capacity to environment higher; Adopt two eccentric Variable Eccentricity Stump-jump wheel walking, not only can improve eccentric wheel structure power consumption concuss when walking, and the reliability of walking can be ensured, and ensure that the integraty of advance, retrogressing, left and right turn function; Adopt two eccentric Variable Eccentricity Stump-jump wheel, eccentric wheel foot barrier-surpassing robot can be done and use, the common center of circle can be done again and take turns sufficient mobile robot use, can realize freely switching between eccentric wheel foot and common center of circle wheel foot.According to the size of heavy burden and the height of obstacle, the Stump-jump wheel eccentric throw of different size can be selected easily; Adopt individual drive mode, controllability is good, the step pitch of dynamic adjustment robot and speed.Physical construction is simple, realization is easy, it is convenient to control.
The utility model can according to the maximum height of obstacle in obstacle detouring environment, the size of adjustment Stump-jump wheel eccentric throw, namely two eccentric Variable Eccentricity Stump-jump wheel 3 is the Stump-jump wheel of adjustable eccentric distance, namely to be matched incompatible change eccentric throw by pars contractilis and diverse location depressed part, the flexible of pars contractilis can by extraneous remote control.Eccentric throw is defined as the distance between axle drive shaft 33 axle center of motor 34 and foreign steamer 31 center (center of circle) of two eccentric Variable Eccentricity Stump-jump wheel 3.
The mode of turning about the utility model diagonal angle differential steering car is just many, common turning mode mainly contains following several (suppose that motor rotates forward and just there will be wheel towards forward, motor reversal just there will be wheel and turns backwards): left-handed turning mode, right-hand turning mode and mode switching manner.
Left-handed turning mode:
As shown in Figure 2: when the first motor 5 rotates forward and the second motor 6 reverses, first clutch 7 is connected with four clutches 10, and second clutch 8 and the 3rd power-transfer clutch 9 disconnect, and so just can realize vehicle body left-handed turning.
In like manner as shown in Figure 3: when the first motor 5 reverses and the second motor 6 rotates forward, first clutch 7 and four clutches 10 disconnect, and second clutch 8 is connected with the 3rd power-transfer clutch 9, so just can realize vehicle body left-handed turning.
Except above-mentioned diagonal angle left-handed turning, also has a kind of mode of homonymy left-handed turning, as shown in Figure 4: when the first motor 5 and the second motor 6 all rotate forward, second clutch 8 and four clutches 10 disconnect, first clutch 7 is connected with the 3rd power-transfer clutch 9, and such vehicle body also can left-handed turning.In like manner, as shown in figure 12, when the first motor 5 and the second motor 6 all reverse, second clutch 8 is connected with four clutches 10, and first clutch 7 and the 3rd power-transfer clutch 9 disconnect, and such vehicle body also can left-handed turning.
Except the situation that above-mentioned car body comprises 4 power-transfer clutchs, two power-transfer clutchs can also be only included, as shown in Figure 5, when only including first clutch 7 and four clutches 10, when the first motor 5 reverses and the second motor 6 rotates forward, first clutch 7 and four clutches 10 disconnect, and so just can realize vehicle body left-handed turning.In like manner, when vehicle body only includes second clutch 8 and the 3rd power-transfer clutch 9 time, as shown in Figure 6: when the first motor 5 rotates forward and the second motor 6 reverses, second clutch 8 and the 3rd power-transfer clutch 9 disconnect, and so just can realize vehicle body left-handed turning.
Steering mode to the right:
As shown in Figure 7: when the first motor 5 rotates forward and the second motor 6 reverses, second clutch 8 is connected with the 3rd power-transfer clutch 9, and first clutch 7 and four clutches 10 disconnect, and at this moment vehicle body will right-hand turning.
In like manner as shown in Figure 8: when the first motor 5 reverses and the second motor 6 rotates forward, first clutch 7 is connected with four clutches 10, and second clutch 8 and the 3rd power-transfer clutch 9 disconnect, and at this moment vehicle body will right-hand turning.
Except above-mentioned diagonal angle right-hand turning, also has the right-handed mode of a kind of homonymy, as shown in Figure 9: when the first motor 5 and the second motor 6 all rotate forward, second clutch 8 is all connected with four clutches 10, first clutch 7 and the 3rd power-transfer clutch 9 all disconnect, and at this moment vehicle body will right-hand turning.In like manner, as shown in figure 13, when the first motor 5 and the second motor 6 all reverse, second clutch 8 and four clutches 10 all disconnect, and first clutch 7 is all connected with the 3rd power-transfer clutch 9, and at this moment vehicle body will right-hand turning.
Except the situation that above-mentioned car body comprises 4 power-transfer clutchs, two power-transfer clutchs can also be only included, as shown in Figure 10, when only including first clutch 7 and four clutches 10, when the first motor 5 rotates forward and the second motor 6 reverses, first clutch 7 and four clutches 10 disconnect, and at this moment vehicle body will right-hand turning.In like manner, when vehicle body only includes second clutch 8 and the 3rd power-transfer clutch 9 time, as shown in figure 11: when the first motor 5 reverses and the second motor 6 rotates forward, second clutch 8 and the 3rd power-transfer clutch 9 disconnect, and at this moment vehicle body will right-hand turning.
Pattern switches:
When this structure is left or can run into the landform of various complexity when bending to right, so in some comparatively complicated landform, conventional wheeled construction usually can run into wheel and be stuck, situation about cannot move.So just can well avoid this situation with the vehicle body of this structure.Example: when the first wheel 1 and the 4th wheel 4 all jammed time, if at this moment the first motor 5 second motor 6 that reverses rotates forward, and second clutch 8 is connected with the 3rd power-transfer clutch 9, and first clutch 7 and four clutches 10 disconnect.Original this situation wants left-handed turning, but because the first wheel 1 and the 4th wheel 4 are stuck inoperative, first clutch 7 and four clutches 10 disconnect also cause the 3rd wheel 3 and the second wheel 2 inoperative, like this, will there is whole vehicle body slack, left-handed turning also have failed.
Due to the structure of this band power-transfer clutch that the utility model adopts, so in above-mentioned situation, just can control the first motor 5 to rotate forward the second motor 6 and reverse, corresponding first clutch 7 is connected with four clutches 10, second clutch 8 and the 3rd power-transfer clutch 9 disconnect, because the second wheel 2 and the 3rd wheel 3 are not blocked by complicated ground, so the second wheel 2 and the 3rd wheel 3 just can play a role, just turning left of whole vehicle body can be realized.
The utility model overcomes the deficiencies in the prior art, and provide a kind of simple for structure reliable, efficiency is high, earth's surface comformability is good, it is simple to control, low energy consumption, applied range, the pattern that can walk switches, to adapt to different complex-terrains.The mobile device that can need at uneven terrain and smooth ground running for mobile robot, barrier-exceeding vehicle etc.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, obviously, those skilled in the art can carry out various change and modification to the utility model and not depart from spirit and scope of the present utility model.Like this, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technologies thereof, then the utility model is also intended to comprise these change and modification.
Claims (4)
1. a diagonal angle differential steering four-wheeled, it is characterized in that: comprise four wheels (1,2,3,4) and two two output shaft electric machines (5,6), each pair of output shaft electric machine controls two wheels, is connected between each wheel with corresponding two output shaft electric machines by power-transfer clutch (7,8,9,10).
2. diagonal angle according to claim 1 differential steering four-wheeled, it is characterized in that: four wheels adopt same structure, described wheel is two eccentric Variable Eccentricity Stump-jump wheels, comprise being all and eccentricly interiorly take turns (32) and foreign steamer (31), described interior wheel is rotatingly arranged in foreign steamer, described interior external annular surface (321) of taking turns is provided with several the first inhibiting device (361), the inner ring surface (311) of described foreign steamer be provided with coordinate with the first inhibiting device second limit device (362).
3. diagonal angle according to claim 2 differential steering four-wheeled, it is characterized in that: described first inhibiting device is depressed part, described second inhibiting device is the pars contractilis that can stretch into depressed part.
4. diagonal angle according to claim 3 differential steering four-wheeled, is characterized in that: described interior take turns with foreign steamer on be provided with drive hole (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520160698.3U CN204488926U (en) | 2015-03-20 | 2015-03-20 | Diagonal angle differential steering four-wheeled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520160698.3U CN204488926U (en) | 2015-03-20 | 2015-03-20 | Diagonal angle differential steering four-wheeled |
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| Publication Number | Publication Date |
|---|---|
| CN204488926U true CN204488926U (en) | 2015-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520160698.3U Expired - Fee Related CN204488926U (en) | 2015-03-20 | 2015-03-20 | Diagonal angle differential steering four-wheeled |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104691611A (en) * | 2015-03-20 | 2015-06-10 | 西南大学 | Diagonal differential steering four-wheeler and control method |
| CN105882746A (en) * | 2016-05-27 | 2016-08-24 | 西南大学 | Double-drive six-wheeled cart and steering control method thereof |
| CN105923045A (en) * | 2016-05-24 | 2016-09-07 | 滨海县恒丰粮食机械有限公司 | Grain scraper traveling mechanism capable of achieving automatic steering |
| CN107117226A (en) * | 2017-05-09 | 2017-09-01 | 陈素珍 | A kind of lithium battery car of town road with LED |
| CN107640240A (en) * | 2017-10-24 | 2018-01-30 | 遵义师范学院 | Barrier-surpassing robot |
| CN115285244A (en) * | 2022-09-05 | 2022-11-04 | 西南大学 | Six-wheel foot robot with half-locking left phase difference and half-locking right phase difference |
-
2015
- 2015-03-20 CN CN201520160698.3U patent/CN204488926U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104691611A (en) * | 2015-03-20 | 2015-06-10 | 西南大学 | Diagonal differential steering four-wheeler and control method |
| CN104691611B (en) * | 2015-03-20 | 2017-03-15 | 西南大学 | Diagonal differential steering four-wheel wagon and control method |
| CN105923045A (en) * | 2016-05-24 | 2016-09-07 | 滨海县恒丰粮食机械有限公司 | Grain scraper traveling mechanism capable of achieving automatic steering |
| CN105923045B (en) * | 2016-05-24 | 2018-08-21 | 滨海县恒丰粮食机械有限公司 | A kind of grain scraper walking mechanism of achievable auto-steering |
| CN105882746A (en) * | 2016-05-27 | 2016-08-24 | 西南大学 | Double-drive six-wheeled cart and steering control method thereof |
| CN107117226A (en) * | 2017-05-09 | 2017-09-01 | 陈素珍 | A kind of lithium battery car of town road with LED |
| CN107640240A (en) * | 2017-10-24 | 2018-01-30 | 遵义师范学院 | Barrier-surpassing robot |
| CN115285244A (en) * | 2022-09-05 | 2022-11-04 | 西南大学 | Six-wheel foot robot with half-locking left phase difference and half-locking right phase difference |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150722 Termination date: 20170320 |