CN205022365U - Controllable differential balancing unit of bevel gear formula and have its moving platform - Google Patents
Controllable differential balancing unit of bevel gear formula and have its moving platform Download PDFInfo
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- CN205022365U CN205022365U CN201520731560.4U CN201520731560U CN205022365U CN 205022365 U CN205022365 U CN 205022365U CN 201520731560 U CN201520731560 U CN 201520731560U CN 205022365 U CN205022365 U CN 205022365U
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- bevel gear
- gear
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- balance device
- housing
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Abstract
The utility model discloses a controllable differential balancing unit of bevel gear formula, it includes bevel gear device, base, rotation drive unit, locking unit, the bevel gear device includes that casing, planet bevel gear, two ally oneself with bevel gear outward, in the casing planet bevel gear and two ally oneself with the meshing of bevel gear quadrature outward, it can drive to rotate drive unit the casing is relative the base rotates, locking unit with the bevel gear device links to each other and locking and release ally oneself with outward bevel gear with planet bevel gear's meshing transmission. The utility model discloses the moving platform who has the above -mentioned controllable differential balancing unit of bevel gear formula has still been provided, the base links to each other two with moving platform's main automobile body it is continuous with two walking portions of moving platform to ally oneself with bevel gear outward. The utility model discloses the messenger that makes moving platform realize differential balance function can control and to the initiative adjusting of the main automobile body angle of pitch, make it have better topography adaptability and stability.
Description
Technical field
The utility model relates to mobile technology field, particularly relates to a kind of controlled bevel gear type differential balance device and has its mobile platform, can be used for mobile robot.
Background technology
Mobile platform adopts differential balance device to connect its main car body and two, left and right running part, and mobile platform can be made to have the performance of good passive adaptation landform.As patent rocker type four-wheel robot (Authorization Notice No.: CN101549715B) proposes a kind of robot, this robot is made up of main box, differential balance device, left and right two rocking bar and wheel, and differential balance device is connected to main box and two, the left and right rocking bar be connected with wheel.Adopt this technical scheme wheel when robot ride is in irregular landform that left rocker and main box can be driven to do the swing be associated, the weight of main box is distributed to each wheel comparatively uniformly, therefore described robot has the performance of higher adaptation unfairness landform simultaneously.
But, because the existence of differential balance device (device), again because described differential balance device (device) cannot lock, mobile platform motion is made to produce instability when the mobile platform that have employed differential balance device (device) runs time difference dynamic poise device in some irregular landform, as patent rocker type four-wheel robot (Authorization Notice No.: CN101549715B) turn in irregular landform time, certain wheel lift may be made, and then cause and topple.In addition, after existing differential balance device (device) connects main car body and left and right running part, namely the initial angle of main car body and left and right running part is determined and cannot regulate, and therefore, the pitch angle of main car body cannot carry out active adjustment.
In order to make the mobile platform (as mobile robot) that have employed differential balance device have better stability and landform comformability, designing a kind of motion and the controlled bevel gear type differential balance device of function and using its mobile platform very necessary.
In state natural sciences fund youth fund (approval number: under support 51205391), the present inventor team is studied further, for overcoming above-mentioned problem, exploring a kind of controlled bevel gear type differential balance device and there is the mobile platform of this controlled bevel gear type differential balance device.
Utility model content
An object of the present utility model is intended to solve in prior art the technical matters existed, and proposes a kind of controlled bevel gear type differential balance device and has its mobile platform; Can carry out lock and discharge to described controlled bevel gear type differential balance device according to the needs used, thus realization has the enable control of the differential balance effect of its mobile platform; By also can realize the active adjustment to the mobile platform pitch angle with it to the adjustment of this controlled bevel gear type differential balance device.
According to the controlled bevel gear type differential balance device of the utility model embodiment, it comprises: bevel gearing, base, rotating drive unit and lock cell.Described bevel gearing comprises: housing; Two outreach finishing bevel gear cuter, outreach finishing bevel gear cuter and be located at symmetrically in described housing and be all connected pivotly with described housing, and the number of teeth outreaching finishing bevel gear cuter described in two is identical described in two; Bevel planet gear, described bevel planet gear is at least one, and described bevel planet gear to be located in described housing and to be connected pivotly with described housing, and described bevel planet gear with outreach all orthogonal engagement of finishing bevel gear cuter described in two.Described base is connected pivotly with described housing, forms revolute pair, outreaches the axis collinear of finishing bevel gear cuter described in described revolute pair and two; Described rotating drive unit is all connected with the described housing of described bevel gearing with described base, and can drive the relatively described base rotation of described housing; Described lock cell is connected with described bevel gearing and locks and outreach described in discharging the engaged transmission of finishing bevel gear cuter and described bevel planet gear.
As optionally, according to embodiment of the present utility model, described rotating drive unit adopts gear type rotating drive unit, and it comprises: the first gear, described first gear is connected with described housing, and the axis of described first gear and the described axis collinear outreaching finishing bevel gear cuter; Second gear, described second gear is connected pivotly with described base, and described second gear and described first gear engage each other; Gear drive, described gear drive is connected with described second gear, and drives described second pinion rotation.
As further optional, according to embodiment of the present utility model, described first gear and described second gear of described gear type rotating drive unit are cylindrical wheel or cone gear; Described gear drive is motor or the electric motor units through slowing down, in some other embodiment, also can select HM Hydraulic Motor or air motor.
Optional as another, according to other embodiments of the present utility model, described rotating drive unit adopts Worm-gear type rotating drive unit, and it comprises: worm gear, described worm gear is connected with described housing, and the axis of described worm gear and the described axis collinear outreaching finishing bevel gear cuter; Worm screw, described worm screw is connected pivotly with described base, and described worm screw and described worm gear engage each other; Worm drive, described worm drive is connected with described worm screw, and drives described worm screw to rotate.
Optional as other, according to other embodiments of the present utility model, described rotating drive unit adopts straight spur unit, described straight spur unit comprises: the first attaching parts, described first attaching parts and described housing are hinged, and the hinged center of described first attaching parts and described housing and the described axis not conllinear outreaching finishing bevel gear cuter; Second attaching parts, described second attaching parts and described base are hinged, and described second attaching parts is connected movably with described first attaching parts.
As further optional, according to concrete enforcement, described straight spur unit is electric pushrod or oil cylinder or cylinder.
As optionally, according to embodiment of the present utility model, described lock cell adopts disengaging type lock cell, and described disengaging type lock cell comprises a power-transfer clutch, and described power-transfer clutch is connected with the described finishing bevel gear cuter that outreaches with described housing.
In concrete enforcement, described power-transfer clutch included by described disengaging type lock cell is magnetic clutch or dental clutch or friction clutch, maybe can realize the drg of clutch function, described drg comprises: plate disc brake, drum brake mechanism, magnet stopper.
In addition, the utility model also proposed a kind of mobile platform, and it comprises above-mentioned controlled bevel gear type differential balance device, and also comprises: main car body, described main car body comprises main car frame, and the described base of described controlled bevel gear type differential balance device is connected with described main car frame; Running part, described running part is two, and be located at the both sides of described main car body respectively, described running part comprises running part frame, two described running part framves are connected pivotly with described main car frame respectively, and two described running part framves respectively with outreach finishing bevel gear cuter described in two of described controlled bevel gear type differential balance device and be connected.
According to embodiment of the present utility model, the described running part in described mobile platform is running on wheels portion or crawler-type traveling portion.
By technique scheme, outreach described in two of described bevel gearing the relatively described housing of finishing bevel gear cuter do corner identical, turn to contrary motion, there is differential balance effect; Any one outreaching in finishing bevel gear cuter and bevel planet gear described in described housing and two locks together by described lock cell, and namely outreach finishing bevel gear cuter and described pedestal described in two and be locked as one, described like this bevel gearing loses differential balance effect.Described in described rotating drive unit drives, the relatively described base rotation of the described housing of bevel gearing, can change the angle of described housing and described base like this.The enable control of differential balance effect of the present utility model can be realized by described lock cell, the angle of the relatively described base of described bevel gearing can be changed by rotating drive unit.According to mobile platform of the present utility model, because employ above-mentioned controlled bevel gear type differential balance device, make the enable controlled of the differential balance effect of described mobile platform, also can realize the active adjustment of the pitch angle of described mobile platform main car body.Like this, when described controlled bevel gear type differential balance device has differential balance effect, described mobile platform adaptation to the ground passively can be made, there is good terrain trafficability; When described controlled bevel gear type differential balance device loses differential balance effect, described main car body and two described running parts of described like this mobile platform are fixed as one, when described mobile platform carries out turning to the especially operation such as pivot stud, there will not be described running part the rotating relative to described main car body of bringing under the effect of running part propulsive effort, can steering stability be added.When described mobile platform is walked in some comparatively complex-terrain, two described running parts can be prevented relative to the excessive swing of institute's main car body, and then prevent toppling of mobile platform, improve the stability of mobile platform.Because the pitch angle of the main car body of described mobile platform can carry out active adjustment as required, mobile platform is made to have good comformability.
According to some embodiments, described rotating drive unit adopts gear type rotating drive unit, described first gear is connected with described housing, be connected as adopted threaded connector, described second gear is connected pivotly with described base, described first gear and described second gears meshing, described gear drive drives described second gear, thus achieves the adjustment of the angle of described base and described housing.Specifically, adopt described first gear and described second gear that cylindrical wheel can be adopted also can to adopt finishing bevel gear cuter, can select according to the needs of concrete arrangement space.
According to other embodiments, described rotating drive unit adopts Worm-gear type rotating drive unit, connection mode is with gear type rotating drive unit, the angular adjustment between described base and described housing is achieved by Worm Wheel System, because have employed Worm Wheel System, this transmission has good self-locking property.
Optional as other, according to other embodiments of the present utility model, described rotating drive unit adopts straight spur unit,
Described straight spur unit and described housing and described base are hinged, and the distance changing two hinge centers can realize the adjustment of described housing and described base angle.This scheme can be selected when angle regulates orientation little, because described straight spur unit adopts hinge mode to connect, installs more for convenience.According to concrete enforcement and operating needs, described straight spur unit is electric pushrod or oil cylinder or cylinder.
As optionally, according to embodiment of the present utility model, described lock cell adopts disengaging type lock cell, and described disengaging type lock cell comprises a power-transfer clutch, and described power-transfer clutch is connected with the described finishing bevel gear cuter that outreaches with described housing.By this technical scheme, when described power-transfer clutch in conjunction with time achieve described housing and the described locking outreaching finishing bevel gear cuter; When described disengaging of clutch by the described housing of release and the described locking outreaching finishing bevel gear cuter.In concrete enforcement, as adopt magnetic clutch to realize by energising or power-off as described in outreach finishing bevel gear cuter relative to as described in the control that can rotate of housing.
According to the mobile platform of the utility model embodiment, owing to using the cause of above-mentioned controlled bevel gear type differential balance device, can carry out locking because outreaching finishing bevel gear cuter described in described controlled bevel gear type differential balance device relative to rotating of described housing and discharge, thus the control that the described controlled bevel gear type differential balance device realizing described mobile platform is enable; The angle of the relatively described base of the adjustable described housing of this controlled bevel gear type differential balance device, thus realize the active adjustment can with the pitch angle of the described main car body of its mobile platform.And then, make described mobile platform have better stability and landform comformability.
According to specific embodiment of the utility model, described running part in described mobile platform can be chosen as the one in running on wheels portion, crawler-type traveling portion, therefore form wheel moving platform and crawler-type mobile platform, like this, the utility model has wider range of use.
Adopt the technical solution of the utility model will obtain following beneficial effect: (1), because of the existence of described rotating drive unit and described lock cell, can realize enable control and the adjustment of angle between described base and described housing of described controlled bevel gear type differential balance device differential balance effect; (2) mobile platform that have employed described controlled bevel gear type differential balance device is provided with the enable control of differential balance function, makes it have better Stability and adaptability in some occasions; (3) mobile platform that have employed described controlled bevel gear type differential balance device can carry out active adjustment to described main car body pitch angle by regulating angle between described base and described housing, the purposes of mobile platform can be widened like this, also mobile platform can be made to have better landform comformability, also can utilize the method active adjustment mobile platform center-of-gravity position, make described mobile platform have better stability; (4) the utility model is utilized can to design the mobile platform of various ways, applied range of the present utility model.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the controlled bevel gear type differential balance device according to the utility model embodiment;
Fig. 2 is the schematic diagram of the controlled bevel gear type differential balance device according to another embodiment of the utility model;
Fig. 3 is the schematic diagram of the controlled bevel gear type differential balance device according to the another embodiment of the utility model;
Fig. 4 is the schematic diagram according to the utility model controlled bevel gear type differential balance device of an embodiment again;
Fig. 5 is the front view of the controlled bevel gear type differential balance device according to principle design embodiment illustrated in fig. 1;
Fig. 6 is the bevel gearing diagrammatic perspective view of bevel gear type differential balance device controlled shown in Fig. 5;
Fig. 7 is the diagrammatic perspective view of bevel gear type differential balance device controlled shown in Fig. 5;
Fig. 8 is another diagrammatic perspective view of bevel gear type differential balance device controlled shown in Fig. 5;
Fig. 9 is the base of bevel gear type differential balance device controlled shown in Fig. 5 and housing angle constitution diagram when regulating;
Figure 10 is another constitution diagram of bevel gear type differential balance device controlled shown in Fig. 5;
Figure 11 is the diagrammatic perspective view of the controlled bevel gear type differential balance device according to principle design embodiment illustrated in fig. 4;
Figure 12 is another diagrammatic perspective view of bevel gear type differential balance device controlled shown in Figure 11;
Figure 13 is the diagrammatic perspective view of the controlled bevel gear type differential balance device according to the another new embodiment of the utility model;
Figure 14 is another diagrammatic perspective view of bevel gear type differential balance device controlled shown in Figure 13;
Figure 15 is the schematic diagram of the mobile platform with bevel gear type differential balance device controlled shown in Fig. 1;
Figure 16 is the schematic diagram of the mobile platform with bevel gear type differential balance device controlled shown in Fig. 4;
Figure 17 is the diagrammatic perspective view of the mobile platform with bevel gear type differential balance device controlled shown in Fig. 5;
Figure 18 is the diagrammatic perspective view after mobile platform shown in Figure 17 removes controlled bevel gear type differential balance device;
Figure 19 is the constitution diagram of mobile platform shown in Figure 17 when complex-terrain runs;
Figure 20 is the front view of mobile platform shown in Figure 19;
Front view when Figure 21 is the main car body horizontality of mobile platform shown in Figure 17;
Figure 22 is the front view of the main car body of mobile platform shown in Figure 17 when having a fixed angle of altitude state;
Front view when Figure 23 is the main car body of mobile platform shown in Figure 17 vertical state;
Front view when Figure 24 is the main car body 180 degree upset of mobile platform shown in Figure 17;
Diagrammatic perspective view when Figure 25 is the main car body vertical ground work of mobile platform shown in Figure 17;
Figure 26 is the diagrammatic perspective view of the crawler-type mobile platform with bevel gear type differential balance device controlled shown in Figure 11;
Figure 27 is the front view of the platform of crawler-type mobile shown in Figure 26;
Figure 28 is the platform of crawler-type mobile shown in Figure 26 state stereogram on the slope;
Figure 29 be the platform of crawler-type mobile shown in Figure 28 on the slope time front view;
Figure 30 is the block diagram of the platform of crawler-type mobile shown in Figure 26 another state on the slope;
Figure 31 be the platform of crawler-type mobile shown in Figure 30 on the slope time front view;
Reference numeral:
1000 controlled bevel gear type differential balance devices
1 bevel gearing;
11 housings;
111 main casings; 112 first end seats; 113 second end seats; 114 side seats;
12 first outreach finishing bevel gear cuter; 13 second outreach finishing bevel gear cuter; 14 bevel planet gears; 15 subpanel 16 clutch shaft bearings;
2 bases;
21 base plates; 22 support side plate; 23 second bearings;
3 rotating drive unit;
301 first gears; 302 second gears; 303 gear drive
The wheeled rotating drive unit of 31 Cylinder Gear;
311 first cylindrical wheels; 312 second cylindrical wheels; 313 cylindrical wheel actuators;
32 bevel gear type rotating drive unit;
321 first finishing bevel gear cuters; 322 second finishing bevel gear cuters; 323 bevel drives;
33 Worm-gear type rotating drive unit;
331 worm gears; 332 worm screws; 333 worm drive;
34 straight spur unit;
341 first attaching partss; 342 second attaching partss;
4 lock cells;
41 power-transfer clutchs
411 first half-clutch devices; 412 second half-clutch devices;
5 main car bodies;
51 main car frames; 52 axle beds;
6 running parts
61 running on wheels portions;
611 running on wheels portion framves; 612 rotating shafts; 613 vehicle wheel components;
62 crawler-type traveling portions;
621 crawler belts are for running part frame; 622 track unit; 623 track drive unit;
7 coupler;
Detailed description of the invention
Be described below in detail embodiment of the present utility model, and further illustrate the utility model, the embodiment described by reference to accompanying drawing is exemplary, only for explaining the utility model, and can not be interpreted as restriction of the present utility model.
Below in conjunction with Fig. 1 to Figure 31 detailed description according to the controlled bevel gear type differential balance device of the utility model embodiment and the mobile platform with it, this controlled bevel gear type differential balance device can be used for mobile platform, and then can be used for designing mobile robot, but be not limited thereto, such as can be applicable to the design etc. of electric wheelchair.
As shown in Fig. 1, Fig. 5 to 10, the controlled bevel gear type differential balance device 1000 according to the utility model embodiment comprises: bevel gearing 1, base 2, rotating drive unit 3 and lock cell 4.
Specifically, as shown in Fig. 1,5,6,7,8, bevel gearing 1 comprises: housing 11, bevel planet gear 14, two outreach finishing bevel gear cuter.Outreach finishing bevel gear cuter described in two to be designated as first respectively and to outreach finishing bevel gear cuter 12 and second and outreach finishing bevel gear cuter 13, outreach finishing bevel gear cuter described in two to be located at symmetrically in housing 11 and to be all connected pivotly with housing 11, and the number of teeth outreaching finishing bevel gear cuter described in two is identical, in the present embodiment, described in outreach finishing bevel gear cuter and be designed to gear wheel shaft.Bevel planet gear 14 is at least one, and bevel planet gear 14 to be located in housing 11 and to be connected pivotly with housing 11, and bevel planet gear 14 with outreach all orthogonal engagement of finishing bevel gear cuter described in two.Base 2 is connected pivotly with housing 11, forms revolute pair, outreaches the axis collinear of finishing bevel gear cuter described in described revolute pair and two; Rotating drive unit 3 is all connected with the housing 11 of bevel gearing 1 with base 2, and can rotate by drive shell 11 respect thereto 2; Lock cell 4 is connected with bevel gearing 1 and locks and outreach described in discharging the engaged transmission of finishing bevel gear cuter and bevel planet gear 14.
In concrete enforcement, as described in Figure 6, the housing 11 of bevel gearing 1 comprises: main casing 111, side seat 114, first end seat 112, second end seat 113; First outreaches finishing bevel gear cuter 12 is assemblied in first end seat 112, in order to reduce friction, outreaching between finishing bevel gear cuter 12 and first end seat 112 be provided with clutch shaft bearing 16 first; First end seat 112 is connected with main casing 111, and be threaded connection part in the present embodiment and connect, equally, second outreaches finishing bevel gear cuter 13 is assemblied in the second end seat 113, in order to reduce friction, outreaching between finishing bevel gear cuter 13 and the second end seat 113 be provided with clutch shaft bearing 16 second; Second end seat 113 is connected with main casing 111; In the present embodiment, bevel planet gear 14 is two, and two bevel planet gears 14 are coaxially arranged symmetrically, and is subject to the supporting of side seat 114, and after side seat 114 is connected with main casing 111, two bevel planet gears 14 all outreach the orthogonal engagement of finishing bevel gear cuter with two.As shown in Figure 5, bevel gearing 1 also comprises a subpanel 15, and after bevel gearing 1 is connected with base 2, subpanel 15 is connected with in the second end seat 113 with first end seat 112 again, and in the present embodiment, subpanel 15 is connected with the second end seat 113.In concrete enforcement, as shown in Figure 5, base 2 comprises base plate 21, two support side plate 22; Base plate 21 and two support side plate 22 form framed structure, and two support side plate 22 are provided with the mounting hole of coaxial line; Described housing 11 is supported in the mounting hole of stay bearing plate 22 of base 2 by first end seat 112 and the second end seat 113, and between first end seat 112 and support side plate 22, and institute the second end seat 113 and and support side plate 22 between be equipped with the second bearing 23 to reduce friction force.
As optionally, rotate driver element 3 in the present embodiment and adopt gear type rotating drive unit, it comprises: the first gear 301, first gear 301 is connected with housing 11, and outreaches the axis collinear of finishing bevel gear cuter described in the axis of the first gear 301 and two; Second gear 302, second gear 302 is connected pivotly with base 2, and the second gear 302 engages each other with described first gear 301; Gear drive 303, gear drive 303 is connected with the second gear 302, and drive the second gear 302 to rotate, thus drive the first gear 301 to rotate, achieve housing 11 respect thereto 2 to rotate, can change the angle of housing 11 and base 2 like this, state as shown in Figure 9, there is certain angle in housing 11 respect thereto 2.Under the state that this exists angle, if lock cell 4 does not lock described the carrying out outreaching finishing bevel gear cuter, still can play differential balance effect, outreach the rotation that finishing bevel gear cuter can realize turning to contrary corner size identical described in two, as shown in Figure 10.
As further optional, according to the present embodiment, as shown in Fig. 1, Fig. 7, Fig. 8, described gear type rotating drive unit have employed the wheeled rotating drive unit 31 of Cylinder Gear, comprise the first cylindrical wheel 311, second cylindrical wheel 312 and cylindrical wheel actuator 313, described first gear is the first cylindrical wheel 311, and described second gear is the second cylindrical wheel 312, and cylindrical wheel actuator 313 is motor or the electric motor units through slowing down.
According to some other embodiment, as the embodiment in Fig. 2 and Fig. 3, rotating drive unit 3 have employed bevel gear type rotating drive unit 32, comprise the first finishing bevel gear cuter 321, second finishing bevel gear cuter 322 and bevel drives 323, described first gear is the first finishing bevel gear cuter 321, and described second gear is the second finishing bevel gear cuter 322; Bevel drives 323 is optional motor or the electric motor units through slowing down also, or selects HM Hydraulic Motor and air pressure motor.
As optionally, according to other embodiment of the present utility model, as is illustrated by figs. 11 and 12, rotating drive unit 3 have employed Worm-gear type rotating drive unit 33, Worm-gear type rotating drive unit 33 comprises: worm gear 331, worm gear 331 is connected with housing 11, and the axis of worm gear 331 and the described axis collinear outreaching finishing bevel gear cuter; Worm screw 332, worm screw 332 is connected pivotly with base 2, and worm screw 332 and worm gear 331 engage each other; Worm drive 333, worm drive 333 is connected with worm screw 332, and drives worm screw 332 to rotate.Because have employed Worm Wheel System, described rotating drive unit has good self-locking property.
According to other embodiments of the present utility model, as Figure 13 and Figure 14 is optional as other, rotating drive unit adopts straight spur unit 34, straight spur unit 34 comprises: the first attaching parts 341, first attaching parts 341 is hinged with housing 11, and the hinged center of the first attaching parts 341 and housing 11 and the described axis not conllinear outreaching finishing bevel gear cuter; Second attaching parts 342, second attaching parts 342 is hinged with base 2, and the second attaching parts 342 is connected movably with the first attaching parts 341.During concrete enforcement, straight spur unit 34 is electric pushrod or oil cylinder or cylinder, and in the embodiment shown in Figure 13 and Figure 14, straight spur unit 34 have employed electric pushrod.This scheme is selected when angle regulates orientation little, because straight spur unit 34 adopts hinge mode and base 2 and housing 11, so installation is comparatively convenient.Figure 13 be housing 11 parallel with base 2 time state; There is angle in Figure 14 middle shell 11 and base 2, when housing is fixed relatively, base 2 there occurs the rotation of certain angle.
According to embodiments more of the present utility model, lock cell 4 can connect first and outreach finishing bevel gear cuter 12 and housing 11, as shown in Figure 2 embodiment; Also can connect described second and outreach finishing bevel gear cuter 13 and housing 11, as shown in Figure 1 and Figure 4 embodiment; Also bevel planet gear 14 and housing 11, as shown in Figure 3 embodiment can be connected.These three kinds of schemes all can reach the object outreaching gear and housing 11 described in locking.
As optionally, in the embodiment of Fig. 5, lock cell 4 adopts disengaging type lock cell, and described disengaging type lock cell comprises a power-transfer clutch 41, and power-transfer clutch 41 comprises the first half-clutch device 411 and the second half-clutch device 412.Described first half-clutch device 411 is connected with described subpanel 15, described second half-clutch device is connected by feather key with the second axle outreaching finishing bevel gear cuter 13, and the second half-clutch device 412 realizes relative second by described feather key outreaches finishing bevel gear cuter 13 and connect movably.According to other embodiments, second outreaches between finishing bevel gear cuter 13 and the second half-clutch device 412 and also can select splined.Power-transfer clutch 41 shown in Fig. 5 is magnetic clutch.In concrete enforcement, the second half-clutch device 412 can be made as adopted magnetic clutch to outreach finishing bevel gear cuter 13 axial motion along second and combine with the first half-clutch device 411 or be separated by energising or power-off, thus outreach the control that can rotate of finishing bevel gear cuter relative to housing 11 described in realizing, namely achieve the enable control of differential balance effect of the present utility model.
As optionally, in concrete enforcement, lock cell 4 also can adopt other forms of dental clutch or friction clutch, or adopts the drg that can realize clutch function, and described drg comprises: plate disc brake, drum brake mechanism, magnet stopper.These schemes also can reach and lock object accordingly.
The utility model also proposed the mobile platform utilizing above-mentioned controlled bevel gear type differential balance device, utilize the schematic diagram of the wheel moving platform of bevel gear type differential balance device 1000 controlled shown in Fig. 1 as shown in figure 15, its constructional drawing is as shown in Figure 17 to Figure 25; Utilize the schematic diagram of the crawler-type mobile platform of bevel gear type differential balance device 1000 controlled shown in Fig. 4 as shown in figure 16, its constructional drawing is as shown in Figure 26 to Figure 31.Utilize described wheel moving platform and crawler-type mobile platform can design mobile robot or other mobile conveyor.
For described wheel moving platform, as shown in Figure 15, Figure 17 to Figure 25, it comprises above-mentioned controlled bevel gear type differential balance device 1000, and also comprises: main car body 5, main car body 5 comprises main car frame 51, and the base 2 of described controlled bevel gear type differential balance device is connected with main car frame 51; Running part 6, running part 6 is two, and be located at the both sides of main car body 5 respectively, running part 6 comprises running part frame, two described running part framves are connected pivotly with main car frame 51 respectively, and two described running part framves respectively with outreach finishing bevel gear cuter described in two of described controlled bevel gear type differential balance device and be connected.Can be running on wheels portion 61 according to this enforcement running part 6, running on wheels portion 61 comprises a running on wheels portion frame 611 and two vehicle wheel components 613, and vehicle wheel component 613 is connected with the two ends of running on wheels portion frame 611.Specifically vehicle wheel component 613 comprises wheel and wheel actuator, and described wheel actuator drives described vehicle wheel rotation.
Specifically, as shown in figure 17, main car frame 51 also comprises the left and right sides that two axle beds, 52, two axle beds 52 are coaxially located at main car frame 51; Described running on wheels portion 61 also comprises rotating shaft 612, rotating shaft 612 is connected with the middle part of described running part frame, the present embodiment is threaded connection part and is connected, and described like this running part frame and rotating shaft 612 connect as one, and rotating shaft 612 is supported in axle bed 52 coaxially.As shown in figure 18, described controlled bevel gear type differential balance device is located in main car body 5, and be connected with main car frame 51, described two are outreached finishing bevel gear cuter and are connected respectively with two rotating shafts 612 by coupler 7, described like this running part frame and describedly outreach finishing bevel gear cuter synchronous axial system.
By above-mentioned technical scheme and structure, outreach described in two of bevel gearing 1 finishing bevel gear cuter relative to housing 11 do corner identical, turn to contrary motion, there is differential balance effect; Any one outreaching in finishing bevel gear cuter and bevel planet gear 14 described in housing 11 and two locks together by lock cell 4, and namely outreach finishing bevel gear cuter and described pedestal described in two and be locked as one, such bevel gearing 1 loses differential balance effect.According to mobile platform of the present utility model, because employ above-mentioned controlled bevel gear type differential balance device, make the enable controlled of the differential balance effect of described mobile platform.
Like this, act on when described controlled bevel gear type differential balance device has differential balance 1000, described mobile platform adaptation to the ground passively can be made, there is good terrain trafficability.When described wheel moving platform has differential balance effect, the weight of the main car body 5 of mobile platform is applied to the running part of both sides by the controlled bevel gear type differential balance device 1000 that the utility model proposes, described running part is according to the fluctuating of landform, and relative main car body 5 swings.The running part of both sides is made to adapt to irregular landform passively, as shown in Figure 19 and Figure 20.When described controlled bevel gear type differential balance device 1000 loses differential balance effect, main car body 5 and two described running parts of described like this mobile platform are fixed as one, when described mobile platform carries out turning to the especially operation such as pivot stud, there will not be described running part the rotating relative to main car body 5 of bringing under the effect of running part propulsive effort, can steering stability be added.When described mobile platform is walked in some comparatively complex-terrain, two described running parts can be prevented relative to the excessive swing of institute's main car body 5, and then prevent toppling of mobile platform, improve the stability of mobile platform.
Rotating drive unit 3 drives housing 11 respect thereto 2 of bevel gearing 1 to rotate, and can change the angle of housing 11 and base 2 like this.According to mobile platform of the present utility model, because employ above-mentioned controlled bevel gear type differential balance device, described running part frame with outreach finishing bevel gear cuter described in described controlled bevel gear type differential balance device and be connected, and base 2 is connected with main car frame 51, the active adjustment of the pitch angle of described mobile platform main car body 5 therefore can be realized.Figure 21 to Figure 25 illustrates the adjustment being realized the angle of the relative running part of main car body 5 by the angle between adjusting base 2 with housing 11, because of described running part and earth surface, does not twist, so the pitch angle of main car body 5 there occurs change.Rotating drive unit 3 is gear type rotating drive unit, the relative housing 11 of base 2 can be driven to do the adjustment of complete cycle, therefore main car body 5 can be adjusted to arbitrarily angled, as horizontality (shown in Figure 21), a certain elevation angle state (shown in Figure 22), vertically state (shown in Figure 23,25), and turn over turnback (shown in Figure 24).There are some purposes of mobile platform described in this pitch angle active adjustment multifunction, also can expand the range of observation of the instrument that mobile platform configures.Such as the fixing camera of side's installation on a mobile platform, by regulating the attitude of main car body 5, carries out the detection of in perpendicular 360 degree to mobile platform position.For another example, the main car body 5 of mobile platform can install driling rig, be adjusted to a certain angle (90 degree than as shown in Figure 25) when main car body 5 and make mobile platform lose differential balance effect by lock cell 4, this time can carry out boring with sampling operation.In main car body 5 pitch angle control process, the center of gravity of mobile platform also will along with changing, the center of gravity of the method active adjustment mobile platform can be utilized, to reach the travelling performances such as better obstacle performance and stability of motion, thus mobile platform is made to have better landform comformability.
For described crawler-type mobile platform, as shown in Figure 26 to 31.This crawler-type mobile platform to embodiment illustrated in fig. 18 in mobile platform similar, controlled bevel gear type differential balance device is connected to main car body 5 and crawler-type traveling portion 62.The present embodiment have employed bevel gear type differential balance device controlled shown in Figure 11, and described controlled bevel gear type differential balance device have employed Worm-gear type rotating drive unit 33.
Specifically, as shown in figure 26, main car frame 51 also comprises the left and right sides that two axle beds, 52, two axle beds 52 are coaxially located at main car frame 51.Crawler-type traveling portion 62 comprises: crawler-type traveling portion frame 621; Rotating shaft 612, rotating shaft 612 is connected as one with the middle part of crawler-type traveling portion frame 621, and rotating shaft 612 is supported in axle bed 52 coaxially; Track unit 622, track unit 622 is two, is all connected to form one with crawler-type traveling portion frame 621; Track drive unit 623, track drive unit 623 is connected with crawler-type traveling portion frame 621, and power is passed to two track unit 622 by flexible drives.Track drive unit 623 can select reducing motor, also can select HM Hydraulic Motor or air pressure motor etc., employ reducing motor in the present embodiment.Described controlled bevel gear type differential balance device is located in main car body 5, and is connected with main car frame 51, and described two are outreached finishing bevel gear cuter and are connected respectively with two rotating shafts 612 by coupler 7, described like this running part frame and describedly outreach finishing bevel gear cuter synchronous axial system.
By adopting above-mentioned technical scheme, controlled bevel gear type differential balance device is employed according to the crawler-type mobile platform of the present embodiment, like this, when the housing 11 of bevel gearing 1 is braked in a certain value with the angle of base 2 by the rotating drive unit of controlled bevel gear type differential balance device, controlled bevel gear type differential balance device only plays differential balance effect, like this when described crawler-type mobile flat form is on the rugged ground of difference, track unit 622 touches the ground of fluctuating, there is shake and produce certain pitch angle in crawler-type traveling portion, by controlled bevel gear type differential balance device by the shake of present for the rock body in the crawler-type traveling portion of both sides main car body 5, because the effect of differential balance, the pitch angle of main car body 5 is approximately the linear averaging of the pitch angle in crawler-type traveling portion, both sides.Figure 26 presents state when described crawler-type mobile platform travels on rolling topography, and Figure 27 more clearly show that the relation of two crawler-type traveling portions and main car body 5 pitch angle.
When the lock cell 4 of controlled bevel gear type differential balance device outreaches after finishing bevel gear cuter and housing 11 lock by described, because base 2 is connected with main car frame 51, the described finishing bevel gear cuter that outreaches is connected with described running part, when housing 11 outreaches after finishing bevel gear cuter locks with described, two described running part framves and bevel gearing 1 are connected as a single entity, base 2 and the angle of housing 11 can be changed by this rotating drive unit, just change the pitch angle of main car body 5 opposing tracks formula running part.Even if lock cell 4 does not outreach finishing bevel gear cuter and housing 11 locks by described, when relative two the described running parts of this rotating drive unit drives main car body 5 carry out pitch angle adjustment, two described crawler travel portions, because not rotating with earth surface running part, also can regulate the pitch angle of the main car body 5 of mobile platform.Such as in Figure 28 and Figure 29, although described crawler-type mobile platform on the slope, its main car body 5 is also adjusted to horizontality, the elevation angle of main car body 5 can be driven to increase by rotating drive unit; In Figure 30 and Figure 31, the front end of the main car body 5 of described crawler-type mobile platform is lifted with horizontal surface shape at a certain angle.By technique scheme, crawler-type mobile platform is made to have better Stability and adaptability in some occasions; The adjustment of main car body 5 pitch angle of described mobile platform also achieves the adjustment of center-of-gravity position to a certain extent, makes described mobile platform have better stability.
When the lock cell 4 of controlled bevel gear type differential balance device outreaches after finishing bevel gear cuter and housing 11 lock by described, like this, two described running part framves and bevel gearing 1 are connected as a single entity, the crawler-type traveling portion of the both sides of described crawler-type mobile platform and main car body 5 will be fixed to one, avoid the problem lifted that running part when mobile platform turns to is not controlled, further increase the stability of mobile platform, also improve its comformability to landform.
Although illustrate and described embodiment of the present utility model, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present utility model and aim, scope of the present utility model is by claim and equivalents thereof.
Claims (10)
1. a controlled bevel gear type differential balance device, is characterized in that, comprising:
Bevel gearing, described bevel gearing comprises:
Housing;
Two outreach finishing bevel gear cuter, and outreach finishing bevel gear cuter described in two and to be located at symmetrically in described housing and to be all connected pivotly with described housing, the number of teeth outreaching finishing bevel gear cuter described in two is identical;
Bevel planet gear, described bevel planet gear is at least one, and described bevel planet gear to be located in described housing and to be connected pivotly with described housing, and described bevel planet gear with outreach all orthogonal engagement of finishing bevel gear cuter described in two;
Base, described base is connected pivotly with described housing, forms revolute pair, outreaches the axis collinear of finishing bevel gear cuter described in described revolute pair and two;
Rotating drive unit, described rotating drive unit is all connected with the described housing of described bevel gearing with described base, and can drive the relatively described base rotation of described housing;
Lock cell, described lock cell is connected with described bevel gearing and locks and outreach described in discharging the engaged transmission of finishing bevel gear cuter and described bevel planet gear.
2. controlled bevel gear type differential balance device according to claim 1, is characterized in that, described rotating drive unit adopts gear type rotating drive unit, and it comprises:
First gear, described first gear is connected with described housing, and the axis of described first gear and the described axis collinear outreaching finishing bevel gear cuter;
Second gear, described second gear is connected pivotly with described base, and described second gear and described first gear engage each other;
Gear drive, described gear drive is connected with described second gear, and drives described second pinion rotation.
3. controlled bevel gear type differential balance device according to claim 2, is characterized in that, described first gear and described second gear of described gear type rotating drive unit are cylindrical wheel or cone gear.
4. controlled bevel gear type differential balance device according to claim 1, is characterized in that, described rotating drive unit adopts Worm-gear type driver element, and it comprises:
Worm gear, described worm gear is connected with described housing, and the axis of described worm gear and the described axis collinear outreaching finishing bevel gear cuter;
Worm screw, described worm screw is connected pivotly with described base, and described worm screw and described worm gear engage each other;
Worm drive, described worm drive is connected with described worm screw, and drives described worm screw to rotate.
5. controlled bevel gear type differential balance device according to claim 1, is characterized in that, described rotating drive unit adopts straight spur unit, and described straight spur unit comprises:
First attaching parts, described first attaching parts and described housing are hinged, and the hinged center of described first attaching parts and described housing and the described axis not conllinear outreaching finishing bevel gear cuter;
Second attaching parts, described second attaching parts and described base are hinged, and described second attaching parts is connected movably with described first attaching parts.
6. controlled bevel gear type differential balance device according to claim 5, is characterized in that, described straight spur unit is electric pushrod or oil cylinder or cylinder.
7. controlled bevel gear type differential balance device according to claim 1, it is characterized in that, described lock cell adopts disengaging type lock cell, and described disengaging type lock cell comprises a power-transfer clutch, and described power-transfer clutch is connected with the described finishing bevel gear cuter that outreaches with described housing.
8. controlled bevel gear type differential balance device according to claim 7, is characterized in that: the described power-transfer clutch included by described disengaging type lock cell is magnetic clutch or dental clutch or friction clutch, or
Can realize the drg of clutch function, described drg comprises: plate disc brake, drum brake mechanism, magnet stopper.
9. a mobile platform, is characterized in that, comprise the controlled bevel gear type differential balance device according to any one of claim 1-8, described mobile platform also comprises:
Main car body, described main car body comprises main car frame, and the described base of described controlled bevel gear type differential balance device is connected with described main car frame;
Running part, described running part is two, and be located at the both sides of described main car body respectively, described running part comprises running part frame, two described running part framves are connected pivotly with described main car frame respectively, and two described running part framves respectively with outreach finishing bevel gear cuter described in two of described controlled bevel gear type differential balance device and be connected.
10. mobile platform according to claim 9, is characterized in that: the described running part in described mobile platform is running on wheels portion or crawler-type traveling portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520731560.4U CN205022365U (en) | 2015-09-21 | 2015-09-21 | Controllable differential balancing unit of bevel gear formula and have its moving platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520731560.4U CN205022365U (en) | 2015-09-21 | 2015-09-21 | Controllable differential balancing unit of bevel gear formula and have its moving platform |
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| CN205022365U true CN205022365U (en) | 2016-02-10 |
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| CN201520731560.4U Withdrawn - After Issue CN205022365U (en) | 2015-09-21 | 2015-09-21 | Controllable differential balancing unit of bevel gear formula and have its moving platform |
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| Country | Link |
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| CN (1) | CN205022365U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150834A (en) * | 2015-09-21 | 2015-12-16 | 中国矿业大学 | Controllable bevel gear type differential motion balancing device and moving platform with same |
| CN108189021A (en) * | 2018-02-28 | 2018-06-22 | 西安理工大学 | A kind of single waist driving mechanism for driving robot of dodging |
-
2015
- 2015-09-21 CN CN201520731560.4U patent/CN205022365U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150834A (en) * | 2015-09-21 | 2015-12-16 | 中国矿业大学 | Controllable bevel gear type differential motion balancing device and moving platform with same |
| CN105150834B (en) * | 2015-09-21 | 2017-07-07 | 中国矿业大学 | Controllable bevel gear type differential balance device and the mobile platform with it |
| CN108189021A (en) * | 2018-02-28 | 2018-06-22 | 西安理工大学 | A kind of single waist driving mechanism for driving robot of dodging |
| CN108189021B (en) * | 2018-02-28 | 2021-05-25 | 西安理工大学 | Waist driving mechanism of single-drive dodging robot |
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