CN205818794U - Wheel and there is the vehicle of this wheel - Google Patents
Wheel and there is the vehicle of this wheel Download PDFInfo
- Publication number
- CN205818794U CN205818794U CN201620597272.9U CN201620597272U CN205818794U CN 205818794 U CN205818794 U CN 205818794U CN 201620597272 U CN201620597272 U CN 201620597272U CN 205818794 U CN205818794 U CN 205818794U
- Authority
- CN
- China
- Prior art keywords
- wheel
- transmission
- pivot center
- support plate
- wheel carrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000005540 biological transmission Effects 0.000 claims description 117
- 208000032369 Primary transmission Diseases 0.000 claims description 13
- 238000013519 translation Methods 0.000 claims description 12
- 208000032370 Secondary transmission Diseases 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 14
- 230000001360 synchronised effect Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 241000209140 Triticum Species 0.000 description 2
- 235000021307 Triticum Nutrition 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The utility model discloses a kind of wheel and have the vehicle of this wheel, described wheel includes: wheel carrier, and described wheel carrier is rotatable around wheel carrier pivot center, and described wheel carrier includes three submounts, three described submounts being provided at circumferentially spaced along described wheel；Three Mecanum wheels, three described Mecanum wheels are rotatably arranged on three described submounts around respective pivot center correspondingly, and three summits being projected as equilateral triangle that the pivot center of three described Mecanum wheels is in the plane being perpendicular to described wheel carrier pivot center, the described wheel carrier pivot center center being projected as this described equilateral triangle on the plane.According to the vehicle of this utility model embodiment, it is suitable for out-of-flatness landform and Omni-mobile can be realized, turning flexibly and simple in construction.
Description
Technical field
This utility model relates to wheel technical field, in particular to a kind of wheel and the vehicle with this wheel.
Background technology
The vehicle with Mecanum wheel can make full use of the characteristic of Mecanum wheel, it is achieved Omni-mobile, the most in fact
Now move ahead, traversing, diagonal, the move mode such as rotation and combinations thereof.In correlation technique, there is the vehicle of Mecanum wheel, over the ground
Shape planarization requires too high, it is impossible to adapts to out-of-flatness landform, such as, has stepped landform, there is room for improvement.
Utility model content
One of technical problem that this utility model is intended to solve in correlation technique the most to a certain extent.To this end, this reality
It is to propose a kind of wheel being suitable for out-of-flatness landform by a novel purpose.
Another purpose of the present utility model is to propose a kind of vehicle with this wheel.
Wheel according to first aspect of the present utility model includes: wheel carrier, and described wheel carrier is rotatable around wheel carrier pivot center,
Described wheel carrier includes three submounts, three described submounts being provided at circumferentially spaced along described wheel；Three Mecanum wheels,
Three described Mecanum wheels are rotatably arranged on three described submounts around respective pivot center correspondingly, and three
The pivot center of individual described Mecanum wheel is projected as equilateral triangle in the plane being perpendicular to described wheel carrier pivot center
Three summits, the described wheel carrier pivot center center being projected as this described equilateral triangle on the plane.
According to wheel of the present utility model, Omni-mobile can be realized and there is the ability of leaping over obstacles, turning flexibly and energy
Enough it is well adapted for out-of-flatness landform, stair and Gao Po can be crossed over, applied widely.
Described wheel also includes: power shaft, and the central axis of described power shaft overlaps with described wheel carrier pivot center, described
Wheel carrier is rotatably supported on described power shaft；Three output shafts, described in the central axis of three described output shafts and three
The pivot center of Mecanum wheel overlaps correspondingly, three described Mecanum wheels correspondingly with three described outputs
Axle is connected；Three transmission components, three described transmission components and three described output shaft one_to_one corresponding, each described transmission component
It is both connected between described power shaft and corresponding described output shaft.
Each described transmission component is primary transmission assembly or Multi-stage transmission assembly, primary transmission assembly or Multi-stage transmission
Any one-level in assembly is V belt translation or Chain conveyer or one-stage gear transmission.
Each described transmission component is secondary transmission assembly and includes first order transmission group and second level transmission group；Described
First order transmission group includes intermediate propeller shaft, intermeshing first gear and the second gear, and each described intermediate propeller shaft is equal
Being rotatably supported on the described submounts of correspondence, described first gear is sheathed to be fixed on described power shaft, and described second
Gear is sheathed to be fixed on described intermediate propeller shaft, and three described first transmission components share first gear；Described
Secondary transmission group includes the first belt wheel, the second belt wheel and the transmission being connected between described first belt wheel and described second belt wheel
Band, described first belt wheel is sheathed to be fixed on described intermediate propeller shaft, and described second belt wheel is sheathed to be fixed on described output shaft.
Described second level transmission group also includes that tightening regulator, described tightening regulator are fixed on described submounts
And for regulating the rate of tension of described transmission band.
Described first belt wheel and described second belt wheel are respectively provided with engaging tooth, and described transmission band has teeth groove, described engaging tooth
Be suitable to engage with described teeth groove.
Each described submounts all includes the first support plate and the second support plate being oppositely arranged, and the two ends of described power shaft are respectively
Being bearing on described first support plate and described second support plate, the two ends of described output shaft are bearing in described first support plate and institute respectively
State on the second support plate, described transmission component between described first support plate and described second support plate, described Mecanum position of wheel
The side away from described second support plate in described first support plate.
The pivot center of each described Mecanum wheel is all parallel with described wheel carrier pivot center.
Vehicle according to this utility model second aspect includes: the wheel described in vehicle frame and first aspect, described wheel around
The wheel carrier pivot center of described wheel is rotatably arranged on described vehicle frame.
According to vehicle of the present utility model, simple in construction, Omni-mobile can be realized and there is the ability of leaping over obstacles, turning
Flexibly and out-of-flatness landform can be well adapted for, stair and Gao Po can be crossed over, applied widely.
Described wheel is movably arranged on described vehicle frame along direction before and after described vehicle frame and can be fixed on moving range
Interior any position, thus the versatility of vehicle is more preferable.
Accompanying drawing explanation
Fig. 1 is the result schematic diagram at a visual angle of the wheel according to this utility model embodiment；
Fig. 2 is the result schematic diagram at another visual angle of the wheel according to this utility model embodiment；
Fig. 3 is the structural representation of the vehicle according to this utility model embodiment.
Reference:
Vehicle 1000, wheel 100, wheel carrier 1, submounts the 11, first support plate the 111, second support plate 112, connecting plate 113, wheat
Ke Namu wheel 2, power shaft 3, output shaft 4, transmission component 5, intermediate propeller shaft the 51, first gear the 52, second gear 53, transmission band
56, tightening regulator 57, shaft coupling 61, bearing of input shaft 62, vehicle frame the 7, first connector the 81, second connector 82, first
Guide rail the 83, second guide rail the 84, first buffer structure the 91, second buffer structure 92, spring cushion 910, wheel carrier pivot center L1,
The pivot center L2 of Mecanum wheel.
Detailed description of the invention
Of the present utility model embodiment is described below in detail, and the example of described embodiment is shown in the drawings.Below by
The embodiment being described with reference to the drawings is exemplary, it is intended to be used for explaining this utility model, and it is not intended that new to this practicality
The restriction of type.
Referring to Fig. 1-Fig. 3, the wheel 100 according to this utility model embodiment is described.As shown in Figure 1-Figure 3, according to this
The wheel 100 of utility model embodiment includes wheel carrier 1 and three Mecanum wheels 2.
As depicted in figs. 1 and 2, wheel carrier 1 is rotatable around wheel carrier pivot center L1, and wheel carrier 1 includes three submounts 11, three
Submounts 11 is provided at circumferentially spaced along wheel 100, and i.e. three submounts 11 are around the wheel carrier spaced apart setting of pivot center L1.
Three Mecanum wheels 2 are rotatably arranged at three submounts 11 around respective pivot center L2 correspondingly
On, the most each Mecanum wheel 2 is respectively provided with the pivot center L2 corresponding with this Mecanum wheel 2, three Mecanum wheels 2 and three
Individual submounts 11 one_to_one corresponding, a Mecanum wheel 2 is rotatably arranged at correspondence around the pivot center L2 of this Mecanum wheel 2
A submounts 11 on.
The pivot center L2 of three Mecanum wheels 2 being projected as in the plane being perpendicular to wheel carrier pivot center L1 is equilateral
Three summits of triangle, the wheel carrier pivot center L1 center being projected as this equilateral triangle on this plane.
It is to say, in the plane being perpendicular to wheel carrier pivot center L1, the throwing on this plane of three Mecanum wheels 2
Shadow is three summits of the equilateral triangle with the wheel carrier pivot center L1 center that is projected as on this plane.Thus, wheel 100
Overall with wheel carrier pivot center L1 rotation, and stability of rotation, the constitutional balance of wheel 100 is good.
Preferably, as depicted in figs. 1 and 2, one end of three submounts 11 intersects at a point, and the other end is free end, wheat
Ke Namu wheel 2 is rotatably arranged at the free end of the submounts 11 of correspondence, and further, three submounts 11 are along wheel 100
Circumference uniform intervals is arranged.When thus the simple in construction of wheel carrier 1, structural strength are high, easy to manufacture and rotate more steadily, balance
Can be more preferably.
As depicted in figs. 1 and 2, it is respectively provided with interval, and each Mecanum wheel 2 between two submounts 11 of arbitrary neighborhood
It is rotatably arranged on the submounts 11 of correspondence, thus between two Mecanum wheels 2 of arbitrary neighborhood, also there is interval.
Wheel 100 according to this utility model embodiment, props up by arranging multiple circumferentially-spaced three sons along wheel 100
Frame 11 so that this wheel 100 can move in out-of-flatness landform, such as, with speeling stairway, step etc., and can prop up at three sons
It is provided with Mecanum wheel 2 on frame 11, thus utilizes the Omni-mobile feature of Mecanum wheel 2 to realize Omni-mobile, thus should
Wheel 100 combines wheel carrier 1 and can turn over stair climbing, step, the ability crossing out-of-flatness landform and Mecanum wheel 2 and can keep car
1000 self attitude are constant and carry out the ability of multi-direction movement, and turn flexibly, solve Mecanum wheel 2 and equal landform
Whole property requires the problem that too high defect and wheel carrier 1 are not easy to turn round so that the vehicle 1000 with this wheel 100 can be on ground
Shape narrow local is freely advanced and has certain obstacle climbing ability (such as crossing over step, Gao Po etc.), and suitable to different terrain
Should be able to power good so that there is this wheel 100 and to have vehicle 1000 use occasion of this wheel 100 more extensive, such as should
Wheel 100 can with AT STATION, the ground such as airport carries out patrolling and on the vehicle 1000 of the function such as explosive.
Some concrete enforcements of the wheel 100 according to this utility model embodiment are described in detail referring to Fig. 1-Fig. 3
Example.As depicted in figs. 1 and 2,1, three Mecanum wheels 2 of wheel carrier, input are included according to the wheel 100 of this utility model embodiment
3, three output shafts 4 of axle and three transmission components 5.
As depicted in figs. 1 and 2, wheel carrier 1 is rotatable around wheel carrier pivot center L1, and the central axis of power shaft 3 turns with wheel carrier
Moving axis line L1 overlaps, and wheel carrier 1 is rotatably supported on power shaft 3, i.e. wheel carrier 1 is rotatable around power shaft 3, thus realizes obstacle
Cross.
As depicted in figs. 1 and 2, wheel carrier 1 includes three submounts 11, circumferentially-spaced around power shaft 3 of three submounts 11
Arrange.Specifically, as depicted in figs. 1 and 2, wheel carrier 1 is bearing on power shaft 3 by bearing of input shaft 62, alternatively, and this input
Axle bearing 62 is flange bearing, thus installs facility.
Three Mecanum wheels 2 are rotatably arranged at three submounts 11 around respective pivot center L2 correspondingly
On, the pivot center L2 of the central axis of three output shafts 4 and three Mecanum wheels 2 overlaps correspondingly, the most each defeated
The central axis of shaft 4 overlaps with the pivot center L2 of corresponding Mecanum wheel 2, and three Mecanum wheels 2 are correspondingly
Being connected with three output shafts 4, each Mecanum wheel 2 all rotates with corresponding output shaft 4.
As depicted in figs. 1 and 2, each Mecanum wheel 2 is all connected, thus with corresponding output shaft 4 by shaft coupling 61
Stable connection, shock-absorbing capacity are good, simple in construction and easy for installation.
Three transmission components 5 and three output shaft 4 one_to_one corresponding, a corresponding output shaft 4 of transmission component 5, each
Transmission component 5 is both connected between power shaft 3 and corresponding output shaft 4, and transmission component 5 is for passing the power on power shaft 3
Pass output shaft 4, thus drive the Mecanum wheel 2 being connected with output shaft 4 to rotate.
Specifically, power shaft 3 can be driven by motor and rotate, and such as, power shaft 3 can be connected with motor output shaft.
Further, as depicted in figs. 1 and 2, each submounts 11 all includes the first support plate 111 and second being oppositely arranged
Support plate 112, the two ends of power shaft 3 are bearing on the first support plate 111 and the second support plate 112 respectively, i.e. an end bearing of power shaft 3
On the first support plate 111, the other end of power shaft 3 is bearing on the second support plate 112；The two ends of output shaft 4 are bearing in respectively
On one support plate 111 and the second support plate 112, i.e. one end of output shaft 4 is bearing on the first support plate 111, and the other end of output shaft 4 props up
Hold on the second support plate 112；Transmission component 5 between the first support plate 111 and the second support plate 112, the thus structure of wheel 100
Compact, volume is little, it is simple to local use narrow, Mecanum wheel 2 be positioned at the first support plate 111 away from the second support plate 112
Side, i.e. Mecanum wheel 2 are positioned at the side of wheel carrier 1, and so, the installing/dismounting of wheel 100 is more convenient, and Mike is changed in maintenance
Na Mu takes turns 2 more convenient, promotes the obstacle crossing ability of wheel 100 the most further, and the structure making wheel 100 is simpler.
When wheel 100 works, the transmission component 5 that rotates through of power shaft 3 passes to output shaft 4, and output shaft 4 drives therewith
The Mecanum wheel 2 being connected rotates, thus realizes the Omni-mobile of wheel 100, and owing to wheel carrier 1 uses three spaced apart sons
Support 11, thus wheel 100 can also cross over the landform such as out-of-flatness landform, such as speeling stairway, step, Gao Po.
Thus, according to the wheel 100 of this utility model embodiment, by arranging power shaft 3, output shaft 4 and transmission group
Part 5, wherein output shaft 4 is located on submounts 11, and transmission component 5 is arranged between power shaft 3 and output shaft 4, thus by letter
Single structure achieves the omnidirectional moving of wheel 100 and by the ability of out-of-flatness landform.
In some optional embodiments, each transmission component 5 can be all primary transmission assembly or Multi-stage transmission assembly,
The i.e. power of power shaft 3 can be by primary transmission component passes to output shaft 4, and the power of power shaft 3 can also be by multistage
Transmission component passes to output shaft 4.
Alternatively, any one-level in primary transmission assembly or Multi-stage transmission assembly is V belt translation or Chain conveyer or
Level gear drive.Such as, in some optional embodiments, each transmission component 5 is primary transmission assembly, and this one-level passes
Dynamic assembly includes intermeshing first gear 52 and the second gear 53, and the first gear 52 can sheathed be fixed on power shaft 3,
So that the first gear 52 is with power shaft 3 synchronous axial system, the second gear 53 can sheathed be fixed on output shaft 4, so that the second tooth
Wheel 53 is with output shaft 4 synchronous axial system, and three transmission components 5 share first gear 52, thus three transmission components 5 are constituted
One planet circular system, shared first gear 52 becomes the sun gear of planet circular system, and three the second gears 53 are planet
The planetary gear of train.Such transmission component 5 has compact conformation, volume is little, quality is little, bearing capacity is big, transmission power model
Enclose and transmission range is big, running noises is little, efficiency is high and the advantage such as life-span length.
In other optional embodiments, each transmission component 5 is primary transmission assembly, and this primary transmission assembly
Including the first belt wheel, the second belt wheel and the transmission band 56 being connected between the first belt wheel and the second belt wheel, the first belt wheel is sheathed solid
Being scheduled on power shaft 3 with power shaft 3 synchronous axial system, the second belt wheel is sheathed to be fixed on output shaft 4 to synchronize to turn with output shaft 4
Dynamic, thus the buffering shock attenuation result of transmission component 5 is good, simple in construction, with low cost.
Preferably, in the embodiment of V belt translation selected by this primary transmission assembly, this V belt translation is toothed belt transmission, thus
This transmission component 5 ensure that gear ratio accurately, and applicable higher rotation speed, gear ratio is big, transmission efficiency is high, rotational noise
Little, wearability good and is not required to oil lubrication, shelf life is long.
In other optional embodiment, each transmission component 5 is primary transmission assembly, and this primary transmission assembly
Including the first sprocket wheel, the second sprocket wheel and the chain being connected between the first sprocket wheel and the second sprocket wheel, the first sprocket wheel is sheathed to be fixed on
With with power shaft 3 synchronous axial system on power shaft 3, the second sprocket wheel is sheathed to be fixed on output shaft 4 with output shaft 4 synchronous axial system,
Thus manufacture and installation accuracy requirement is relatively low, drive mechanism is simple.
As a example by each transmission component 5 is secondary transmission assembly, secondary transmission assembly can include first order transmission group and
Any one in second level transmission group, first order transmission group and second level transmission group is V belt translation or Chain conveyer or one-level tooth
Wheel transmission, say, that first order transmission group can use a kind of transmission shape in V belt translation, Chain conveyer or one-stage gear transmission
Formula, second level transmission group can also use a kind of type of belt drive in V belt translation, Chain conveyer or one-stage gear transmission, thus two grades
Transmission component has six kinds of groups and type of belt drive.
When first order transmission group and second level transmission group all use one-stage gear transmission, gear ratio is accurate, stable, efficiency
Height, functional reliability are high, service life is long；When first order transmission group and second level transmission group all use V belt translation, buffering is inhaled
Shake effective, simple in construction, with low cost；When first order transmission group and second level transmission group all use Chain conveyer, manufacture and
Installation accuracy requirement is relatively low, drive mechanism is simple；When first order transmission group uses different type of belt drive with second level transmission group
Time, the advantage taking into account two kinds of type of belt drive.
It is understood that each transmission component 5 is N level transmission component, embodiment during N ＞ 2, it is referred to each biography
Dynamic assembly 5 is that the description of the embodiment of secondary transmission assembly understands, then this describes the most in detail.Wherein, the progression of transmission component 5
Select, can speed ratio, the concrete form of landform to be climbed determine according to actual needs.
A preferred reality of the transmission component 5 according to this utility model embodiment is described in detail referring to Fig. 1-Fig. 3
Executing example, each transmission component 5 is secondary transmission assembly, and this secondary transmission assembly all includes that first order transmission group and the second level pass
Dynamic group.
As depicted in figs. 1 and 2, first order transmission group includes intermediate propeller shaft 51, intermeshing first gear 52 and
Two gears 53, each intermediate propeller shaft 51 is all rotatably supported on the submounts 11 of correspondence, and the first gear 52 is sheathed fixing
On power shaft 3, so that the first gear 52 can be with power shaft 3 synchronous axial system, the second gear 53 is sheathed is fixed on intermediate transmission
On axle 51, so that the second gear 53 is with intermediate propeller shaft 51 synchronous axial system, and three first order transmission groups share first tooth
Wheel 52, thus three first order transmission groups constitute planet circular systems, sharing first gear 52 becomes sun gear, three the
Two gears 53 are planetary gear.
As depicted in figs. 1 and 2, second level transmission group includes the first belt wheel, the second belt wheel and is connected to the first belt wheel and
Transmission band 56 between two belt wheels, the first belt wheel is sheathed to be fixed on intermediate propeller shaft 51, and the second belt wheel is sheathed is fixed on output
On axle 4, the first belt wheel and the second gear 53 axially setting gradually along intermediate propeller shaft 51 on intermediate propeller shaft 51.
It is to say, power shaft 3 and each intermediate propeller shaft 51 use gear drive, and three first order transmission groups are constituted
One planet circular system, intermediate propeller shaft 51 uses V belt translation with corresponding output shaft 4, thus power shaft 3 and intermediate propeller shaft 51
Between transmission efficiency high, simple in construction, more stable property and reliability are high, between intermediate propeller shaft 51 and corresponding output shaft 4
Transmission, shock attenuation result is good for buffering, simple in construction, with low cost, use above-mentioned secondary transmission assembly, combine gear drive and
The advantage of V belt translation, and facility is installed.
Further, second level transmission group can also include that tightening regulator 57, tightening regulator 57 can be fixed
For regulating the rate of tension of transmission band 56 on submounts 11, thus further ensure that the transmission stability of transmission component 5.Tool
Body ground, tightening regulator 57 can be fixed on submounts 11 by threaded fastener, and wheel carrier 1 also includes connecting plate 113, even
Fishplate bar 113 is all connected with the first support plate 111 and the second support plate 112, and tightening regulator 57 is fixed on connecting plate 113, thus
Connecting plate 113 is possible not only to strengthen the bonding strength of submounts 11, it is also possible to as the installation carrier of tightening regulator 57, make
The more compact structure of wheel carrier 1.
In specific embodiment as depicted in figs. 1 and 2, first order transmission group uses gear drive, second level transmission
Group uses V belt translation, and at power shaft 3 radially, second level transmission group is positioned at the outside of first order transmission group, thus tensioning
The regulation of adjusting means 57 and easier for installation.
Preferably, the first belt wheel and the second belt wheel are respectively provided with engaging tooth, and transmission band 56 has teeth groove, and engaging tooth is suitable to and tooth
Groove engages, by the engaging tooth of the teeth groove of transmission band 56 and the engagement of the engaging tooth of the first belt wheel and teeth groove and the second belt wheel
Engagement transmitting movement and power, i.e. second level transmission group be toothed belt transmission, thus between transmission band 56 and the first belt wheel and
Slide without relative between transmission band 56 with the second belt wheel, it is possible to ensure gear ratio accurately, and applicable higher rotation speed, gear ratio
Greatly, transmission efficiency is high, rotational noise is little, wearability good and is not required to oil lubrication, and shelf life is long.
In a preferred embodiment of the present utility model, the pivot center L2 of each Mecanum wheel 2 is all and wheel carrier
Pivot center L1 is parallel, and thus the constitutional balance of wheel 100 is more preferable, structural reliability is higher.
In short, according to the wheel 100 of this utility model embodiment, by including the wheel of three support plates of spaced apart setting
Frame 1, and three Mecanum wheels 2 on three submounts 11 the most correspondingly are set, take into account leap out-of-flatness
Landform and the advantage of Omni-mobile, simple in construction, size are little, particularly can apply to narrow occasion, applied widely.
Vehicle 1000 according to this utility model embodiment is briefly described below, and this vehicle 1000 includes vehicle frame 7 and above-mentioned
The wheel 100 of embodiment, wheel 100 is rotatably arranged on vehicle frame 7 around the wheel carrier pivot center L1 of wheel 100, thus drives
Vehicle 1000 moves, and makes vehicle 1000 have the ability of leaping over obstacles, and can realize Omni-mobile, makes the applicable model of vehicle 1000
Enclose wider.
Alternatively, wheel 100 can also be movably arranged on vehicle frame 7 along direction before and after vehicle frame 7, and vehicle frame 7 can be consolidated
Any position being scheduled in moving range, say, that before and after vehicle frame 7 on direction, the position of wheel 100 relative frame 7
Putting adjustable, such that it is able to adapt to different landform, the most different shoulder heights or width, the universal performance of vehicle 1000 is more
Good.
Preferably, wheel 100 is movably arranged on vehicle frame 7 by guide rail, thus simple in construction, precision is high and is prone to control
System.
As it is shown on figure 3, in a specific embodiment, after vehicle 1000 includes 7, two front vehicle wheels of vehicle frame 100, two
Wheel the 100, first connector 81 and the second connector the 82, first buffer structure 91 and the second buffer structure 92, the first connector
81 are connected with vehicle frame 7, and two front vehicle wheels 100 can be separately mounted to the left and right sides of the first connector 81, the second connector 82
Being connected with vehicle frame 7, two rear wheels 100 can be separately mounted to the left and right sides of the second connector 82, the first connector 81 with
Second connector 82 along the spaced apart setting in direction before and after vehicle 1000, the first buffer structure 91 be connected to the first connector 81 with
For absorbing and buffer the vibration that two front vehicle wheel 100 transmission come between vehicle frame 7, the second buffer structure 92 is connected to the second connection
For absorbing and buffer the vibration that two rear wheel 100 transmission come between part 82 and vehicle frame 7.The thus buffer shock-absorbing of vehicle 1000
Effective.
Alternatively, the first buffer structure 91 and the second buffer structure 92 can be all spring cushion 910, thus vibration damping effect
The best, simple in construction and low cost of manufacture.
Vehicle frame 7 can be frame structure, is welded by shaped steel, simple in construction, assembling facility.
First connector 81 can be movably arranged on vehicle frame 7 along direction before and after vehicle frame 7, and the second connector 82 is permissible
Before and after vehicle frame 7, direction is movably arranged on vehicle frame 7, as it is shown on figure 3, the first connector 81 can pass through the first guide rail 83
Being movably arranged on vehicle frame 7, the second connector 82 can be movably arranged on vehicle frame 7 by the second guide rail 84, thus logical
Cross the first connector 81 and two wheels of mobile drive 100 of the second connector 82 and two rear wheel 100 relative frame 7 along front
Rear is to movement, and to adapt to different landform, the versatility of vehicle 1000 is good, easy-to-use.
Specifically, as it is shown on figure 3, the first guide rail 83 and the second guide rail 84 all include standing part and movable part, mobile
Part relatively fixed part may move, and standing part is fixedly linked with vehicle frame 7, movable part and the first corresponding connector 81 or
Second connector 82 is connected, and the first buffer structure 91 can include the two groups of spring cushions 910 being symmetrical set, and often group is all
Including two the most spaced apart spring cushions 910, each spring damper 100 is all from the (left and right, middle part of vehicle frame 7
Middle part on direction) extend to both sides downwards.Thus the simple in construction of vehicle 1000, versatility are good, and easy to adjust and vibration damping delays
Rush effective.
It is, of course, understood that the quantity of the wheel 100 of vehicle 1000 is not limited to four, can be according to concrete
Depending on the use environment of vehicle 1000, such as some vehicle 1000 can only include two wheels 100.
In short, according to the vehicle 1000 of this utility model embodiment, by arranging above-mentioned wheel 100, it is achieved that cross over
Obstacle ability and the combination of Omni-mobile ability, and simple in construction, low cost, applied widely.
In description of the present utility model, it is to be understood that term " on ", D score, "front", "rear", "left", "right",
Orientation or the position relationship of the instruction such as " interior ", " outward ", " axially ", " radially ", " circumferential " are based on orientation shown in the drawings or position
Put relation, be for only for ease of and describe this utility model and simplify description rather than instruction or the device of hint indication or element
Must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In description of the present utility model, " multiple " are meant that at least two, such as two
Individual, three etc., unless otherwise expressly limited specifically.
In this utility model, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", " Gu
Fixed " etc. term should be interpreted broadly, connect for example, it may be fixing, it is also possible to be to removably connect, or integral；Can be
Be mechanically connected, it is also possible to be electrical connection or each other can communication；Can be to be joined directly together, it is also possible to by the indirect phase of intermediary
Even, can be connection or the interaction relationship of two elements of two element internals, unless otherwise clear and definite restriction.For this
For the those of ordinary skill in field, above-mentioned term concrete meaning in this utility model can be understood as the case may be.
In this utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score
Can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, first is special
Levy second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only
Represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " permissible
Be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or spy
Point is contained at least one embodiment of the present utility model or example.In this manual, the schematic table to above-mentioned term
State and be necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature are permissible
One or more embodiment in office or example combine in an appropriate manner.Additionally, in the case of the most conflicting, this area
Technical staff the feature of the different embodiments described in this specification or example and different embodiment or example can be entered
Row combines and combination.
Although above it has been shown and described that embodiment of the present utility model, it is to be understood that above-described embodiment is
Exemplary, it is impossible to it is interpreted as that those of ordinary skill in the art is in scope of the present utility model to restriction of the present utility model
In above-described embodiment can be changed, revise, replace and modification.
Claims (10)
1. a wheel, it is characterised in that including:
Wheel carrier, described wheel carrier is rotatable around wheel carrier pivot center, and described wheel carrier includes three submounts, three described submounts edges
Being provided at circumferentially spaced of described wheel；
Three Mecanum wheels, three described Mecanum wheels are rotatably arranged at three around respective pivot center correspondingly
On individual described submounts, and the pivot center of three described Mecanum wheels is in the plane being perpendicular to described wheel carrier pivot center
Three summits being projected as equilateral triangle, described wheel carrier pivot center on the plane be projected as described equilateral triangle
The center of shape.
Wheel the most according to claim 1, it is characterised in that also include:
Power shaft, the central axis of described power shaft overlaps with described wheel carrier pivot center, and described wheel carrier is rotatably supported in
On described power shaft；
Three output shafts, the pivot center one_to_one corresponding of the central axis of three described output shafts and three described Mecanum wheels
Ground overlaps, and three described Mecanum wheels are connected with three described output shafts correspondingly；
Three transmission components, three described transmission components and three described output shaft one_to_one corresponding, each described transmission component is equal
It is connected between described power shaft and corresponding described output shaft.
Wheel the most according to claim 2, it is characterised in that each described transmission component is primary transmission assembly or many
Level transmission component, any one-level in primary transmission assembly or Multi-stage transmission assembly is V belt translation or Chain conveyer or one-level tooth
Wheel transmission.
Wheel the most according to claim 2, it is characterised in that each described transmission component be secondary transmission assembly and
Including first order transmission group and second level transmission group；
Described first order transmission group includes intermediate propeller shaft, intermeshing first gear and the second gear, each described centre
Power transmission shaft is all rotatably supported on the described submounts of correspondence, and described first gear is sheathed to be fixed on described power shaft,
Described second gear is sheathed to be fixed on described intermediate propeller shaft, and three described first order transmission groups share first tooth
Wheel；
Described second level transmission group include the first belt wheel, the second belt wheel and be connected to described first belt wheel and described second belt wheel it
Between transmission band, described first belt wheel is sheathed to be fixed on described intermediate propeller shaft, described second belt wheel is sheathed be fixed on described
On output shaft.
Wheel the most according to claim 4, it is characterised in that described second level transmission group also includes tightening regulator,
Described tightening regulator is fixed on described submounts and for regulating the rate of tension of described transmission band.
Wheel the most according to claim 4, it is characterised in that described first belt wheel and described second belt wheel are respectively provided with engagement
Tooth, described transmission band has teeth groove, and described engaging tooth is suitable to engage with described teeth groove.
Wheel the most according to claim 2, it is characterised in that each described submounts all includes first be oppositely arranged
Plate and the second support plate, the two ends of described power shaft are bearing on described first support plate and described second support plate respectively, described output
The two ends of axle are bearing on described first support plate and described second support plate respectively, described transmission component be positioned at described first support plate with
Between described second support plate, described Mecanum wheel is positioned at the side away from described second support plate of described first support plate.
8. according to the wheel according to any one of claim 1-7, it is characterised in that the rotary shaft of each described Mecanum wheel
Line is all parallel with described wheel carrier pivot center.
9. a vehicle, it is characterised in that including:
Vehicle frame；
According to the wheel according to any one of claim 1-8, described wheel is rotatable around the wheel carrier pivot center of described wheel
Be located on described vehicle frame.
Vehicle the most according to claim 9, it is characterised in that described wheel may move along direction before and after described vehicle frame
Be located on described vehicle frame and any position in moving range can be fixed on.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620597272.9U CN205818794U (en) | 2016-06-17 | 2016-06-17 | Wheel and there is the vehicle of this wheel |
| PCT/CN2017/071451 WO2017215267A1 (en) | 2016-06-17 | 2017-01-17 | Wheel and vehicle having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620597272.9U CN205818794U (en) | 2016-06-17 | 2016-06-17 | Wheel and there is the vehicle of this wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205818794U true CN205818794U (en) | 2016-12-21 |
Family
ID=58146131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620597272.9U Expired - Fee Related CN205818794U (en) | 2016-06-17 | 2016-06-17 | Wheel and there is the vehicle of this wheel |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN205818794U (en) |
| WO (1) | WO2017215267A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215267A1 (en) * | 2016-06-17 | 2017-12-21 | 中国矿业大学(北京) | Wheel and vehicle having same |
| CN108964599A (en) * | 2018-07-02 | 2018-12-07 | 安徽工程大学 | A kind of stable mobile chassis of big inclined-plane photovoltaic panel |
| CN109397982A (en) * | 2018-12-08 | 2019-03-01 | 新乡北方车辆仪表有限公司 | A kind of multifunctional turnover runner based on built-up gear system |
| CN109505927A (en) * | 2018-12-28 | 2019-03-22 | 内蒙古工业大学 | A kind of motor-driven carrier realizing Weight upstairs climbing ladder and carrying |
| CN110271621A (en) * | 2019-08-07 | 2019-09-24 | 国网安徽省电力有限公司电力科学研究院 | A kind of obstacle detouring rod rising device and its step on bar method |
| CN112428747A (en) * | 2020-10-17 | 2021-03-02 | 兰州理工大学 | Radial telescopic wheel mechanism adaptable to stairs with different heights |
| CN112891080A (en) * | 2019-12-03 | 2021-06-04 | 张润海 | Barrier-free star wheel of electric wheelchair |
| CN113184071A (en) * | 2021-04-29 | 2021-07-30 | 徐工集团工程机械股份有限公司 | Running gear, robot and vehicle |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108739741B (en) * | 2018-06-06 | 2023-10-17 | 宜宾学院 | Novel multi-terrain pesticide spraying machine |
| CN109079745A (en) * | 2018-10-29 | 2018-12-25 | 河北工业大学 | The deformable wheat wheel movement chassis of service robot |
| CN113101587B (en) * | 2020-12-21 | 2022-04-15 | 沃优集团有限公司 | Security protection inspection robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201132553Y (en) * | 2007-11-08 | 2008-10-15 | 武汉递进科技开发有限责任公司 | Star wheel planet wheel type stair-climbing wheel |
| DE102008019688A1 (en) * | 2008-04-14 | 2009-10-15 | Markus Dobler | Vehicle, particularly wheelchair, for closed overriding of stairs, is fitted on axles, where rotating bearing elements are provided with two axle journals, and wheels are arranged on axle journals |
| CN103569181A (en) * | 2013-08-02 | 2014-02-12 | 李军委 | Planetary multi-wheel carrier stair climbing vehicle |
| CN105383582B (en) * | 2015-12-14 | 2018-06-01 | 中国人民解放军装甲兵工程学院 | The unmanned 4 wheel driven platform of swing arm |
| CN205818794U (en) * | 2016-06-17 | 2016-12-21 | 中国矿业大学(北京) | Wheel and there is the vehicle of this wheel |
-
2016
- 2016-06-17 CN CN201620597272.9U patent/CN205818794U/en not_active Expired - Fee Related
-
2017
- 2017-01-17 WO PCT/CN2017/071451 patent/WO2017215267A1/en active Application Filing
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215267A1 (en) * | 2016-06-17 | 2017-12-21 | 中国矿业大学(北京) | Wheel and vehicle having same |
| CN108964599A (en) * | 2018-07-02 | 2018-12-07 | 安徽工程大学 | A kind of stable mobile chassis of big inclined-plane photovoltaic panel |
| CN109397982A (en) * | 2018-12-08 | 2019-03-01 | 新乡北方车辆仪表有限公司 | A kind of multifunctional turnover runner based on built-up gear system |
| CN109397982B (en) * | 2018-12-08 | 2023-09-22 | 新乡北方车辆仪表有限公司 | Multifunctional turning wheel based on combined gear train |
| CN109505927A (en) * | 2018-12-28 | 2019-03-22 | 内蒙古工业大学 | A kind of motor-driven carrier realizing Weight upstairs climbing ladder and carrying |
| CN109505927B (en) * | 2018-12-28 | 2023-08-04 | 内蒙古工业大学 | Electric trolley for carrying heavy objects upstairs |
| CN110271621A (en) * | 2019-08-07 | 2019-09-24 | 国网安徽省电力有限公司电力科学研究院 | A kind of obstacle detouring rod rising device and its step on bar method |
| CN110271621B (en) * | 2019-08-07 | 2021-10-01 | 国网安徽省电力有限公司电力科学研究院 | Obstacle-crossing pole climbing device and pole climbing method thereof |
| CN112891080A (en) * | 2019-12-03 | 2021-06-04 | 张润海 | Barrier-free star wheel of electric wheelchair |
| CN112428747A (en) * | 2020-10-17 | 2021-03-02 | 兰州理工大学 | Radial telescopic wheel mechanism adaptable to stairs with different heights |
| CN113184071A (en) * | 2021-04-29 | 2021-07-30 | 徐工集团工程机械股份有限公司 | Running gear, robot and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017215267A1 (en) | 2017-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205818794U (en) | Wheel and there is the vehicle of this wheel | |
| JP6470798B2 (en) | System for motorizing wheels connected to a suspension system | |
| CN101370678B (en) | In-wheel motor system | |
| ES2421295T3 (en) | Functional test bench for vehicles | |
| CN205098267U (en) | Shock attenuation walking steering mechanism | |
| CN105383582B (en) | The unmanned 4 wheel driven platform of swing arm | |
| CN102791575A (en) | System for electric motorisation of a wheel | |
| CN105946451A (en) | Omni-directional mobile platform and steering wheels and drive wheels of omni-directional mobile platform | |
| CN111497931B (en) | Guide vehicle | |
| CN110239339A (en) | One kind being based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis | |
| CN112208673A (en) | Omnidirectional movement robot | |
| US6327922B1 (en) | Gyroscopic continuously variable transmission | |
| CN202175123U (en) | Track structure | |
| US8876648B2 (en) | Planetary belt transmission | |
| CN102745073A (en) | Integrated single swinging arm suspension synchronous belt reduction type hub electric-drive system with tension device | |
| CN102730093A (en) | Transmission mechanism of robot | |
| CN103741916B (en) | A kind of mobile curtain driving mechanism and using method thereof | |
| CN206049224U (en) | Omni-mobile platform and its steering wheel and driving wheel | |
| CN205298416U (en) | Super large velocity ratio spiral bevel gear speed reducer | |
| CN204459011U (en) | A kind of compound full-depth tooth drives eccentric active-tooth transmission | |
| CN208931482U (en) | A kind of robot suspension arrangement | |
| CN208376857U (en) | A kind of self-navigation steering wheel arrangement that agricultural machine is driven based on sprocket wheel | |
| CN206841161U (en) | Transmission assembly of vehicle and vehicle | |
| WO2020007317A1 (en) | Vehicle transmission apparatus, vehicle drive system, and vehicle | |
| RU2780879C1 (en) | Electric scooter |
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: 20161221 Termination date: 20170617 |