CN208036468U - The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly - Google Patents
The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly Download PDFInfo
- Publication number
- CN208036468U CN208036468U CN201820129208.7U CN201820129208U CN208036468U CN 208036468 U CN208036468 U CN 208036468U CN 201820129208 U CN201820129208 U CN 201820129208U CN 208036468 U CN208036468 U CN 208036468U
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- China
- Prior art keywords
- wheel
- shift fork
- bearing
- protruding shaft
- wheel assembly
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- 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.)
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Abstract
The utility model discloses a kind of wheel assemblies that can be cleared the jumps, including steering engine support base, steering engine, turntable, a pair of of oscillating bearing and symmetrically arranged two wheels and two groups of wheel driving devices, every group of wheel driving device to respectively include：Motor, connecting flange, engaged clutch driving link, engaged clutch driven member, triangle fork, rolling bearing, bearing holder (housing, cover), U-shaped shift fork, supporting rack, the first shift fork axle, supporting rack bearing, universal joint and the second shift fork axle.The invention also discloses a kind of car-like robots being equipped with the wheel assembly.The car-like robots can realize automatic sensing and cross front obstacle, reduce the influence that road conditions run car-like robots, can be travelled in the road conditions environment of various complexity.The wheel assembly and car-like robots are simple in structure, reliable for operation.
Description
Technical field
The utility model is related to field in intelligent robotics more particularly to a kind of wheel assemblies and tool that can be cleared the jumps
There are the car-like robots of the wheel assembly.
Background technology
Common wheel is only capable of crossing short barrier, and when having short, the barriers such as higher protrusion, wheel is obstructed,
It can stagnate, lead to not normally travel.Now it is necessary to by external force be lifted or draw wheel could pass through, it is not only time-consuming but also
Arduously.
Utility model content
To solve problems of the prior art, a purpose of the utility model, which is to provide one kind, can get over too short platform
The wheel assembly of equal barriers.
The another object of the utility model is to provide a kind of car-like robots with above-mentioned wheel assembly.
For this purpose, the technical solution of the utility model is as follows：
A kind of wheel assembly that can be cleared the jumps, including steering engine support base, steering engine, turntable, a pair of of oscillating bearing with
And symmetrically arranged two wheels and two groups of wheel driving devices, every group of wheel driving device respectively include：Motor, connection method
Orchid, engaged clutch driving link, engaged clutch driven member, triangle fork, rolling bearing, bearing holder (housing, cover), U-shaped shift fork, support
Frame, the first shift fork axle, supporting rack bearing, universal joint and the second shift fork axle, the motor is mounted on the inside of wheel, for driving
Wheel rotates；The connecting flange is mounted on the outside of wheel, and is fixedly connected with wheel by multiple screws, on the outside of connecting flange
It is provided with a flange protruding shaft；The engaged clutch driving link be sleeved in the flange protruding shaft of connecting flange and by screw with
Connecting flange is fixedly connected, and engaged clutch driven member is arranged on the outside of engaged clutch driving link and to be sleeved on flange convex
On axis, and it can slide axially；One first protruding shaft and one second convex is sequentially coaxially provided on the outside of engaged clutch driven member
Axis, the outer diameter of second protruding shaft are less than the outer diameter of the first protruding shaft；The triangle fork is sleeved in first protruding shaft and passes through
Multiple screws are fixedly connected with engaged clutch driven member；The rolling bearing is packed in the second protruding shaft, the bearing holder (housing, cover)
It is sleeved on the outer ring of bearing, threaded hole is provided on bearing holder (housing, cover)；Elongated slot, the U-shaped shift fork are provided on the U-shaped shift fork
It is bolted with bearing holder (housing, cover) and can relatively move and rotate；The U-shaped shift fork is fixedly connected with one end of the first shift fork axle,
The other end of first shift fork axle is fixedly connected with the universal joint, and the other end of universal joint is fixed with second shift fork axle to be connected
It connects；One end of support frame as described above is fixed on supporting rack bearing, and the other end of supporting rack is provided with a U-shaped opening slot and one vertically
In the threaded hole of U-shaped opening slot, shift fork axle middle is provided with a through-hole；The middle part of the shift fork axle passes through the U-shaped opening
Slot, and it is hinged by screw and support frame as described above, form revolute pair；The pair of oscillating bearing 4 is opposite to be mounted on the turntable
On, turntable is mounted on the steering engine；The steering engine is used to control the swing of shift fork.
The wheel assembly further includes the sensor for perceiving front obstacle and the perception according to the sensor
The control system that steering engine described in output control acts.
Preferably, the output shaft of the motor has hexagonal cross-section, and it is concentric to be formed with hexagon on the inside of the wheel
Blind hole, the output shaft are inserted into the concentric blind hole of hexagon and so that the two is fixedly mounted with by a screw.
Preferably, the elongated slot on the shift fork is double round end slots.
A kind of car-like robots being equipped with above-mentioned wheel assembly, including bottom plate and be symmetricly set at left and right sides of bottom plate
A pair of first auxiliary wheel, a pair of second auxiliary wheel, steering engine support base, motor and the supporting rack bearing of the wheel assembly are fixedly mounted with
On the bottom plate.
Preferably, first auxiliary wheel, the second auxiliary wheel are identical with the diameter of wheel.
The utility model has the advantages that：
The wheel assembly of the utility model can assist its loading device to get over the barriers such as too short platform, protrusion under the control of steering engine
Hinder object.The car-like robots of the utility model wheel assembly are installed under the control of sensor appropriate and control system, energy
It enough realizes automatic sensing and crosses front obstacle, reduce the influence that road conditions run car-like robots, it can be various multiple
It is travelled in miscellaneous road conditions environment.The wheel assembly and car-like robots of the utility model are simple in structure, reliable for operation, by using
The good sensor of signal acquisition may insure the engagement and disengagement of engaged clutch.
Description of the drawings
Fig. 1 is the decomposition texture schematic diagram of the utility model wheel assembly one embodiment；
Fig. 2 is the structural schematic diagram for the car-like robots for being equipped with the utility model wheel assembly.
In figure：
1. 6. wheel of steering engine support base 2. steering engine, 3. turntable, 4. oscillating bearing, 5. motor, 7. screw
8. connecting flange 8-1:Connecting flange protruding shaft 9. engaged clutch driving link, 10. engaged clutch are driven
Part
10-1:First protruding shaft 10-2:Second protruding shaft, 11. triangle pitches 12. rolling bearing, 13. bearing holder (housing, cover) 13-1:Screw thread
Hole
14.U type shift forks 14-1:15. supporting rack 15-1 of double round end straight slots:16. first shift fork axle of U-shaped opening
16-1：17. supporting rack bearing of through-hole, 18. 19. second shift fork axle of universal joint, 20. bottom plate
21. 22. first auxiliary wheel of screw, 23. second auxiliary wheel.
Specific implementation mode
The structure of car-like robots to the wheel assembly of the utility model and with the wheel assembly below in conjunction with the accompanying drawings
It is described in detail.
The utility model is solves the problems, such as that existing car-like robots can not effectively pass over short, the barriers such as protrusion, reality
Turning Novel wheel installation with novel one kind, attach it on car-like robots, car-like robots can be helped to go up on the stage and obstacle detouring.
One embodiment of the utility model shown in Figure 1.A kind of wheel assembly that can be cleared the jumps, including
Steering engine support base 1, steering engine 2, turntable 3, a pair of of oscillating bearing 4 and symmetrically arranged two wheels 6 and two groups of wheel driving dresses
It sets.Two groups of wheel driving devices are symmetrical arranged, and every group of wheel driving device respectively includes：Motor 5, connecting flange 8, engagement
Formula clutch driving link 9, engaged clutch driven member 10, triangle fork 11, rolling bearing 12, bearing holder (housing, cover) 13, U-shaped shift fork 14,
Supporting rack 15, the first shift fork axle 16, supporting rack bearing 17, universal joint 18, the second shift fork axle 19.
Since two groups of wheel driving devices are symmetrical arranged, only the structure of one of which wheel driving device is said below
It is bright.
The motor 5 is mounted on the inside of wheel 6, is rotated for driving wheel 6.Connecting flange 8 is mounted on outside wheel 6
Side, and be fixedly connected with wheel 6 by multiple screws 7,8 outside of connecting flange is provided with a flange protruding shaft 8-1.It is described engagement type
Clutch driving link 9 is sleeved on the flange protruding shaft 8-1 of connecting flange 8 and is fixedly connected by screw with connecting flange 8, engagement
The setting of formula clutch driven member 10 is in 9 outside of engaged clutch driving link and is sleeved on flange protruding shaft 8-1, and can be along axis
To sliding.The outside of engaged clutch driven member 10 is sequentially coaxially provided with the first protruding shaft 10-1 and the second protruding shaft 10-2, and second
The outer diameter of protruding shaft 10-2 is less than the outer diameter of the first protruding shaft 10-1.The triangle fork 11 is sleeved on the first protruding shaft 10-1 and by more
A screw is fixedly connected with engaged clutch driven member 10.Rolling bearing 12 be sleeved on the second protruding shaft 10-2 and with its interference
Cooperation, the bearing holder (housing, cover) 13 are sleeved on the outer ring of bearing 12, and threaded hole 13-1 is provided on bearing holder (housing, cover).The U-shaped shift fork 14
On be provided with elongated slot, such as double round end straight slot 14-1.Screw is passed through into double round end straight slots and is threaded into the 13-1 of hole, is made U-shaped
Shift fork 14 can be relatively moved and be rotated with bearing holder (housing, cover) 13, and U-shaped shift fork 14 and one end of the first shift fork axle 16 are matched by axis hole interference
The modes such as conjunction are fixedly connected, and the other end of the first shift fork axle 16 is interference fitted the modes such as cooperation with the universal joint 18 using axis hole
It is fixedly connected.The other end of universal joint 18 is fixedly connected with second shift fork axle 19 also by modes such as axis hole interference fits.
One end of support frame as described above 15 is fixed on supporting rack bearing 17, and the other end of supporting rack 15 is provided with a U-shaped and opens
For mouth slot 15-1 and one perpendicular to the threaded hole of U-shaped opening slot, 16 middle of shift fork axle is provided with a through-hole 16-1.Shift fork axle 16
Middle part pass through the U-shaped opening slot 15-1, and it is hinged by screw and support frame as described above 15, form revolute pair.
A pair of of oscillating bearing 4 is opposite to be mounted on the turntable 3, and turntable 3 is mounted on the steering engine 2.The steering engine 2 is used
In the swing for controlling the U-shaped shift fork 14, i.e. steering engine 2 drives turntable 3 to rotate, make oscillating bearing 4 drive the first shift fork axle 16,
Universal joint 18 and the movement of the second shift fork axle 19, and then realize that shift fork drives the movement of engaged clutch driven member 10.
It is automatically controlled to realize, it further includes sensor for perceiving front obstacle and according to institute that institute's wheel assembly, which is stated,
The sensing results for stating sensor control the control system of the action of the steering engine 2.
Referring to Fig. 2, a kind of car-like robots being equipped with above-mentioned wheel assembly, including bottom plate 20 and it is symmetricly set on bottom plate
The first auxiliary wheel of a pair 22 of 20 left and right sides, a pair of second auxiliary wheel 23.Steering engine support base 1, the motor of the wheel assembly
5 (not showing in Fig. 2) and supporting rack bearing 17 are fixedly connected by multiple screws 21 with bottom plate 20.
Preferably, a pair of first auxiliary wheel 22, a pair of second auxiliary wheel 23 are identical with the diameter of wheel 6.
The wheel assembly of the utility model and the operation principle of car-like robots are as follows：
After sensor perceives front obstacle, signal is sent out to control system, control system controls steering engine and drives turntable
Rotation makes shift fork be moved to wheel side, and driving link and the driven member engagement of engaged clutch make triangle fork together with wheel
Rotation, wheel is raised, to clear the jumps.After clearing the jumps, servos control shift fork is moved to far from wheel side, is nibbled
The driving link and driven member of type clutch separate, and front-wheel is not raised, normal operation.
In the utility model, connecting flange 8, engaged clutch driving link 9 and engaged clutch driven member 10 it is interior
Hole should have certain cooperation precision, to ensure that mechanism can go slick.
Claims (6)
1. a kind of wheel assembly that can be cleared the jumps, it is characterised in that：Including steering engine support base (1), steering engine (2), turntable
(3), a pair of of oscillating bearing (4) and symmetrically arranged two wheels (6) and two groups of wheel driving devices,
Every group of wheel driving device respectively includes：It is motor (5), connecting flange (8), engaged clutch driving link (9), engagement type
Clutch driven member (10), triangle fork (11), rolling bearing (12), bearing holder (housing, cover) (13), U-shaped shift fork (14), supporting rack (15), the
One shift fork axle (16), supporting rack bearing (17), universal joint (18) and the second shift fork axle (19),
The motor (5) is mounted on the inside of wheel (6), is rotated for driving wheel (6)；
The connecting flange (8) is mounted on the outside of wheel (6), and is fixedly connected with wheel (6) by multiple screws (7), connects
It is provided with a flange protruding shaft (8-1) on the outside of flange (8)；
The engaged clutch driving link (9) is sleeved in the flange protruding shaft (8-1) of connecting flange (8) and by screw and company
Acting flange (8) is fixedly connected, and engaged clutch driven member (10) setting is on the outside of engaged clutch driving link (9) and is set with
In flange protruding shaft (8-1), and it can slide axially；
It is sequentially coaxially provided with one first protruding shaft (10-1) and one second protruding shaft (10- on the outside of engaged clutch driven member (10)
2), the outer diameter of second protruding shaft (10-2) is less than the outer diameter of the first protruding shaft (10-1)；
The triangle fork (11) is sleeved on first protruding shaft (10-1) and driven by multiple screws and engaged clutch
Part (10) is fixedly connected；
The rolling bearing (12) is packed in the second protruding shaft (10-2), and the bearing holder (housing, cover) (13) is sleeved on the outer ring of bearing (12)
On, threaded hole (13-1) is provided on bearing holder (housing, cover) (13)；Elongated slot, the U-shaped shift fork are provided on the U-shaped shift fork (14)
(14) it is bolted with bearing holder (housing, cover) (13) and can relatively move and rotate；
The U-shaped shift fork (14) is fixedly connected with one end of the first shift fork axle (16), the other end of the first shift fork axle (16) and institute
It states universal joint (18) to be fixedly connected, the other end of universal joint (18) is fixedly connected with second shift fork axle (19)；
One end of support frame as described above (15) is fixed on supporting rack bearing (17), and the other end of supporting rack (15) is provided with a U-shaped
Open slot (15-1) and one perpendicular to U-shaped opening slot threaded hole, shift fork axle (16) middle is provided with a through-hole (16-1)；Institute
The middle part for stating shift fork axle (16) passes through the U-shaped opening slot (15-1), and hinged by screw and support frame as described above (15), is formed
Revolute pair；
The pair of oscillating bearing (4) is opposite to be mounted on the turntable (3), and turntable (3) is mounted on the steering engine (2)；Institute
State swing of the steering engine (2) for controlling the U-shaped shift fork (14).
2. wheel assembly according to claim 1, it is characterised in that：It further include the sensor for perceiving front obstacle
And the control system of steering engine (2) action is controlled according to the sensing results of the sensor.
3. wheel assembly according to claim 2, it is characterised in that：The output shaft of the motor (5) is cut with hexagon
Face, wheel (6) inside are formed with the concentric blind hole of hexagon, and the output shaft is inserted into the concentric blind hole of hexagon and leads to
Crossing a screw makes the two be fixedly mounted with.
4. wheel assembly according to claim 3, it is characterised in that：Elongated slot on the shift fork (14) is double round end slots.
5. a kind of car-like robots being equipped with any one of claim 1-4 wheel assemblies, it is characterised in that：The bottom of including
Plate (20) and the first auxiliary wheel of a pair (22) being symmetricly set at left and right sides of bottom plate (20), a pair of second auxiliary wheel (23), institute
The steering engine support base (1), motor (5) and supporting rack bearing (17) for stating wheel assembly are packed on the bottom plate (20).
6. car-like robots according to claim 5, it is characterised in that：First auxiliary wheel (22), the second auxiliary wheel
(23) identical with the diameter of the wheel (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820129208.7U CN208036468U (en) | 2018-01-25 | 2018-01-25 | The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820129208.7U CN208036468U (en) | 2018-01-25 | 2018-01-25 | The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208036468U true CN208036468U (en) | 2018-11-02 |
Family
ID=63954426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820129208.7U Expired - Fee Related CN208036468U (en) | 2018-01-25 | 2018-01-25 | The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208036468U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032921A (en) * | 2018-01-25 | 2018-05-15 | 天津职业技术师范大学 | A kind of wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
-
2018
- 2018-01-25 CN CN201820129208.7U patent/CN208036468U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032921A (en) * | 2018-01-25 | 2018-05-15 | 天津职业技术师范大学 | A kind of wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
| CN108032921B (en) * | 2018-01-25 | 2024-03-15 | 天津职业技术师范大学 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181102 Termination date: 20220125 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |