CN209224921U - A kind of active Stump-jump wheel group - Google Patents
A kind of active Stump-jump wheel group Download PDFInfo
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- CN209224921U CN209224921U CN201822033769.XU CN201822033769U CN209224921U CN 209224921 U CN209224921 U CN 209224921U CN 201822033769 U CN201822033769 U CN 201822033769U CN 209224921 U CN209224921 U CN 209224921U
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- lead screw
- shell
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- stump
- wheel group
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Abstract
The utility model embodiment discloses a kind of active Stump-jump wheel group, including shell, the hub unit that driving mechanism inside the shell is set and is arranged in below shell, the driving mechanism includes the lead screw being rotatablely connected along the vertical direction inside the shell, the lead screw movable part being slidably connected on lead screw and the motor that the top of shell is set and is connect with lead screw, the hub unit includes driving wheel and connection on the drive wheel for the gear set of driving wheel rotation, gear cap is coated on the outside of the gear set, the top rotation connection of the gear cap is placed in the right side of lead screw inside the shell, and integrally formed with the first limited post on the outer wall of gear cap top left side, connecting shaft is rotatably connected in first limited post, and connecting shaft is connect with lead screw movable part.The utility model is controlled the unlatching of motor by the control part of running gear, makes driving wheel active obstacle based on intelligentized control method, and have flexibility, to improve wheel efficiency of the running gear under complex environment.
Description
Technical field
The utility model embodiment is related to running gear technical field, and in particular to a kind of active Stump-jump wheel group.
Background technique
It is continuous with the running gear equipment of wheel (such as clean robot, service robot and intelligent robotic toy have)
More new development, so that running gear will work in a variety of different environment, this just needs the walking mechanism of running gear can
Various Complex landform is adapted to, however the wheel bad adaptability of many running gears, walking mechanism, when encountering small stair and cable etc.
When barrier, obstacle climbing ability is limited, needs very big driving force, and is difficult to steadily clear the jumps.Due to obstacle detouring, climb building etc.
The road surface handling capacity and obstacle detouring level of mobile platform determine its working environment to a certain extent, therefore grind to Stump-jump wheel
Study carefully with certain meaning.
Research about mobile platforms such as barrier-surpassing robot, building search and rescue robots at present, there are mainly two types of: it is caterpillar
Walking mechanism and the Climbing building device for using triangle wheel.The mobile platform of two kinds of adaptation complicated landforms has the characteristics that its respectively, carries out
The walking mechanism of belt has preferable road surface handling capacity but flexibility is poor, using the Climbing building device of triangle wheel using more
It is convenient, but can not achieve autonomous driving.
Utility model content
For this purpose, the utility model embodiment provides a kind of active Stump-jump wheel group, to solve in the prior art due to Stump-jump wheel
Flexible and active drive cannot be taken into account and cause to walk inefficient problem in complex environment downlink.
To achieve the goals above, the embodiments of the present invention provides the following technical solutions:
In the embodiments of the present invention, a kind of active Stump-jump wheel group is provided, comprising: shell is arranged in shell
Interior driving mechanism and the hub unit being arranged in below shell, the driving mechanism include being rotatably connected on along the vertical direction
Lead screw, the lead screw movable part being slidably connected on lead screw in shell and the electricity that the top of shell is set and is connect with lead screw
Machine, the hub unit include driving wheel and connection on the drive wheel for the gear set of driving wheel rotation, the gear set it is outer
Side is coated with gear cap, and the top rotation connection of the gear cap is placed in the right side of lead screw inside the shell, and in gear caping
Integrally formed with the first limited post on outer wall on the left of portion, connecting shaft, and connecting shaft are rotatably connected in first limited post
It is connect with lead screw movable part.
By using above-mentioned technical proposal, the hub unit of existing running gear is improved, shell is set, wheel hub is made
It is rotatablely connected inside the shell, and is arranged inside the shell by lead screw, the silk being slidably connected on lead screw at the top of gear cap on component
Thick stick movable part and the top of shell is set and the driving mechanism of the compositions such as motor for connecting with lead screw, using being rotatably connected on
Connecting shaft in gear cap top exterior walls makes lead screw movable part connect setting with gear cap, by the control of the external running gear of motor
System part, and the unlatching of the control part control direct current variable frequency motor by running gear, when control section detects running gear
When there is barrier in front, the control section control motor of running gear is opened, and the output shaft of motor rotates clockwise and drives silk
Thick stick rotates clockwise, thus move lead screw movable part vertically downwards, the company concurrently being connect with lead screw movable part
Spindle also moves down, due at the top of the gear cap on hub unit side outer wall and connecting shaft be rotatablely connected, the other side with
Rotation connection inside the shell, when connecting shaft moves down, drives hub unit to carry out around the side being rotatably connected in shell
Circular motion makes hub unit be lifted up and clear the jumps, and when motor rotates backward, hub unit is returned downward to just
Beginning position makes driving wheel active obstacle based on intelligentized control method, and has flexibility, to improve running gear in complex environment
Under wheel efficiency.
Further, the perpendicular antetheca in shell of the connecting shaft is arranged, and between connecting shaft and lead screw movable part
Equipped with connector, one end of the connector and the front end of connecting shaft are rotatablely connected, and the other end and lead screw movable part are rotatablely connected.
Further, U-shaped part of the opening towards gear set, the company are connected on the front side outer wall of the lead screw movable part
Fitting is connected with down-feed screw setting in the recess portion that one end of lead screw movable part is placed in U-shaped part, and in the recess portion of U-shaped part
Gag lever post, the gag lever post and connector are rotatablely connected.
Further, the connector is cam member.
Further, the connector is damping spring.
Further, the shell is made of left shell and right shell body splicing, and the bottom surface of right shell body is formed with for gear
The opening of merging is covered, the upper end of the lead screw is rotatably connected on the upper wall of left shell, and the lower end of lead screw is rotatably connected on a left side
On the bottom wall of shell, and the lead screw fixing piece for being fixed in lead screw lower end is installed on the lower surface of left shell bottom wall.
Further, the wheel hub shaft of vertical right housing front wall setting, the gear caping are connected in the right shell body
Integrally formed with the second limited post being rotatablely connected for wheel hub shaft on outer wall on the right side of portion.
Further, the left shell and right shell body are detachably connected.
Embodiment according to the present utility model, a kind of active Stump-jump wheel group of the utility model have the advantages that by
The control part of running gear controls the unlatching of direct current variable frequency motor, when control section detects in front of running gear there is barrier
When, the control section control motor of running gear is opened, and the output shaft of motor rotates clockwise and lead screw is driven to rotate clockwise,
To making lead screw movable part move vertically downwards, the connecting shaft concurrently connecting with lead screw movable part is also to moving down
Dynamic, since the side outer wall at the top of the gear cap on hub unit is rotatablely connected with connecting shaft, the other side and rotation connection are outside
In shell, when connecting shaft moves down, drives hub unit to carry out circular motion around the side being rotatably connected in shell, make to take turns
Hub assembly is lifted up and clears the jumps, and when motor rotates backward, hub unit returns downward to initial position, is based on intelligence
Energyization control makes driving wheel active obstacle, and has flexibility, to improve wheel efficiency of the running gear under complex environment.
Detailed description of the invention
It, below will be to reality in order to illustrate more clearly of the embodiments of the present invention or technical solution in the prior art
It applies mode or attached drawing needed to be used in the description of the prior art is briefly described.It should be evident that attached in being described below
Figure is only exemplary, for those of ordinary skill in the art, without creative efforts, can be with
It is extended according to the attached drawing of offer and obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the utility model enforceable qualifications, therefore does not have technology
On essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the utility model institute energy
Under the effect of generation and the purpose that can reach, it should all still fall in the revealed technology contents of the utility model and obtain the model that can cover
In enclosing.
Fig. 1 is a kind of overall structure diagram for active Stump-jump wheel group that the embodiments of the present invention 1 provide；
Fig. 2 is a kind of structural blast schematic diagram for active Stump-jump wheel group that the embodiments of the present invention 1 provide；
Fig. 3 is a kind of overall structure diagram for active Stump-jump wheel group that the embodiments of the present invention 2 provide.
In figure: 1, shell；11, left shell；12, left shell；2, driving mechanism；21, lead screw；22, lead screw movable part；23,
Motor；3, hub unit；31, driving wheel；32, gear set；321, gear cap；3211, the first limited post；3212, the second limit
Column；4, connecting shaft；5, connector；6, U-shaped part；61, gag lever post；7, lead screw fixing piece；8, wheel hub shaft.
Specific embodiment
The embodiments of the present invention is illustrated by particular specific embodiment below, those skilled in the art can be by this
Content disclosed by specification understands other advantages and effect of the utility model easily, it is clear that described embodiment is
The utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the utility model protection
Range.
The term on cited such as "upper", "lower", " left side ", the right side in this specification ", " centre ", is merely convenient to describe
Be illustrated, rather than to limit the enforceable range of the utility model, relativeness is altered or modified, without substantive change
Under technology contents, when being also considered as the enforceable scope of the utility model.
Embodiment 1
As depicted in figs. 1 and 2, the utility model embodiment provides a kind of active Stump-jump wheel group, including shell 1, setting
In the driving mechanism 2 in shell 1 and the hub unit 3 being arranged in below shell 1.Shell 1 is by left shell 11 and right shell body 12
Splicing composition, and left shell 11 and right shell body 12 are detachably connected.Driving mechanism 2 includes being rotatably connected on shell along the vertical direction
Lead screw 21, lead screw movable part 22 and motor 23, the upper end of lead screw 21 in 1 are rotatably connected on the upper wall of left shell 11, and
The lower end of lead screw 21 is rotatably connected on the bottom wall of left shell 11, and wherein the lower end of lead screw 21 is pierced by the bottom wall of left shell 11,
And the lead screw fixing piece 7 for being fixed in 21 lower end of lead screw is installed on the lower surface of 11 bottom wall of left shell, it is fixed using lead screw
Part 7 limits lead screw 21, and shaking by a relatively large margin or the shell 1 that falls off occur when lead screw 21 being avoided to rotate；Lead screw movable part
22 are threaded on the bar wall of lead screw 21, and motor 23 is selected as direct current variable frequency motor, is fixed on the upper wall of left shell 11,
And the output shaft of motor 23 passes through the upper wall of left shell 11 and affixed with lead screw 21 straight down, by the external running gear of motor 23
Control part, can by running gear control part control motor 23 unlatching.
Hub unit 3 include driving wheel 31 and with 31 meshed gears group 32 of driving wheel, wherein gear set 32 far from drive
The gear of driving wheel 31 and the power drive portion of running gear connect, to control driving by the power drive portion of running gear
The rotation of wheel 31.It is coated with gear cap 321 in the outside of gear set 32, is formed in the bottom surface of right shell body 12 for gear cap 321
The opening of merging, wherein integrally formed with the first limited post 3211 on the outer wall of 321 top left side of gear cap, in the first limited post
Connecting shaft 4 is rotatably connected in 3211, and the perpendicular antetheca in shell 1 of connecting shaft 4 is arranged, and before lead screw movable part 22
It is connected with U-shaped part 6 of the opening towards gear set 32 on the outer wall of side, and is connected with the setting of down-feed screw 21 in the recess portion of U-shaped part 6
Gag lever post 61, between connecting shaft 4 and U-shaped part 6 be equipped with connector 5, wherein connector 5 be arranged in lead screw 21 front side it is convex
Gear member, and one end of connector 5 is placed in the recess portion of U-shaped part 6 and is rotatably connected on gag lever post 61, the other end of connector 5
It is rotatablely connected with the front end of connecting shaft 4；Integrally formed with the second limited post 3212 on the outer wall of 321 top right side of gear cap,
The wheel hub shaft 8 of vertical 12 antetheca of right shell body setting, and one end of wheel hub shaft 8 are rotatably connected in the second limited post 3212
It is fixed on the antetheca of right shell body 12, the other end is fixed on the rear wall of right shell body 12.
A kind of active Stump-jump wheel group of the embodiments of the present invention controls motor 23 by the control part of running gear
Unlatching, when control section, which detects in front of running gear, barrier, the control section control motor 23 of running gear is opened
It opens, the output shaft of motor 23 rotates clockwise and lead screw 21 is driven to rotate clockwise, to make lead screw movable part 22 along vertical side
To moving down, the connecting shaft 4 concurrently connecting with lead screw movable part 22 is also moved down, due to the tooth on hub unit 3
The side outer wall and connecting shaft 4 at 321 top of wheel cap are rotatablely connected, and the other side is rotated with the wheel hub shaft 8 being fixed in right casing
Connection drives hub unit 3 to carry out circular motion around wheel hub shaft 8 when connecting shaft 4 moves down, and keeps hub unit 3 upward
It lifts and clears the jumps, when motor 23 rotates backward, hub unit 3 returns downward to initial position, based on intelligent control
System makes 31 driving wheel active obstacles, and has flexibility, to improve wheel efficiency of the running gear under complex environment.
Embodiment 2
The difference is that, as shown in figure 3, connector 5 is damping spring, and one end of damping spring 5 is solid with embodiment
It connects on the front end of connecting shaft 4, the other end is fixed on the gag lever post 61 in U-shaped 6 recess portion of part, can be improved using damping spring
Stationarity when running gear obstacle detouring.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (8)
1. a kind of active Stump-jump wheel group, it is characterised in that: the active Stump-jump wheel group includes shell (1), setting in shell (1)
Driving mechanism (2) and hub unit (3) below shell (1) is set, the driving mechanism (2) includes along the vertical direction
The lead screw (21) that is rotatably connected in shell (1), the lead screw movable part (22) being slidably connected on lead screw (21) and setting exist
The top of shell (1) and the motor (23) connecting with lead screw (21), the hub unit (3) include driving wheel (31) and are connected to
Gear cap is coated with for the gear set (32) of driving wheel (31) rotation on driving wheel (31), on the outside of the gear set (32)
(321), the right side that lead screw (21) are placed in shell (1) is rotatably connected at the top of the gear cap (321), and in gear cap
(321) integrally formed with the first limited post (3211) on the outer wall of top left side, the interior rotation of first limited post (3211) connects
It is connected to connecting shaft (4), and connecting shaft (4) is connect with lead screw movable part (22).
2. a kind of active Stump-jump wheel group according to claim 1, it is characterised in that: the connecting shaft (4) is perpendicular in outer
The antetheca of shell (1) is arranged, and is equipped with connector (5) between connecting shaft (4) and lead screw movable part (22), the connector (5)
One end and the front end of connecting shaft (4) be rotatablely connected, the other end and lead screw movable part (22) are rotatablely connected.
3. a kind of active Stump-jump wheel group according to claim 2, it is characterised in that: the front side of the lead screw movable part (22)
Be connected on outer wall opening towards gear set (32) U-shaped part (6), the connector (5) close to lead screw movable part (22) one
End is placed in the recess portion of U-shaped part (6), and the gag lever post (61) of down-feed screw (21) setting is connected in the recess portion of U-shaped part (6),
The gag lever post (61) and connector (5) are rotatablely connected.
4. a kind of active Stump-jump wheel group according to claim 3, it is characterised in that: the connector (5) is cam member.
5. a kind of active Stump-jump wheel group according to claim 3, it is characterised in that: the connector (5) is damping spring.
6. a kind of active Stump-jump wheel group according to claim 1, it is characterised in that: the shell (1) is by left shell (11)
Splice with right shell body (12) and form, and the bottom surface of right shell body (12) is formed with the opening for gear cap (321) merging, the lead screw
(21) upper end is rotatably connected on the upper wall of left shell (11), and the lower end of lead screw (21) is rotatably connected on left shell (11)
On bottom wall, and the lead screw fixing piece (7) for being fixed in lead screw (21) lower end is installed on the lower surface of left shell (11) bottom wall.
7. a kind of active Stump-jump wheel group according to claim 6, it is characterised in that: be connected in the right shell body (12) vertical
The wheel hub shaft (8) of straight right shell body (12) antetheca setting, integrally formed with confession on the outer wall of gear cap (321) top right side
The second limited post (3212) of wheel hub shaft (8) rotation connection.
8. a kind of active Stump-jump wheel group according to claim 6, it is characterised in that: the left shell (11) and right shell body
(12) it is detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822033769.XU CN209224921U (en) | 2018-12-05 | 2018-12-05 | A kind of active Stump-jump wheel group |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822033769.XU CN209224921U (en) | 2018-12-05 | 2018-12-05 | A kind of active Stump-jump wheel group |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209224921U true CN209224921U (en) | 2019-08-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822033769.XU Active CN209224921U (en) | 2018-12-05 | 2018-12-05 | A kind of active Stump-jump wheel group |
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| CN (1) | CN209224921U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435677A (en) * | 2018-12-05 | 2019-03-08 | 深圳市远弗科技有限公司 | A kind of active Stump-jump wheel group |
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2018
- 2018-12-05 CN CN201822033769.XU patent/CN209224921U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435677A (en) * | 2018-12-05 | 2019-03-08 | 深圳市远弗科技有限公司 | A kind of active Stump-jump wheel group |
| CN109435677B (en) * | 2018-12-05 | 2023-09-19 | 深圳市远弗科技有限公司 | Initiative obstacle crossing wheel set |
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