CN209833760U - Omnidirectional steering system for wheeled platform - Google Patents
Omnidirectional steering system for wheeled platform Download PDFInfo
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- CN209833760U CN209833760U CN201920588223.2U CN201920588223U CN209833760U CN 209833760 U CN209833760 U CN 209833760U CN 201920588223 U CN201920588223 U CN 201920588223U CN 209833760 U CN209833760 U CN 209833760U
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Abstract
The utility model discloses an omnidirectional steering system for wheeled platform, it includes the frame, power take off, left wheel device and right wheel device, power take off is including turning to the motor, reversing mechanism, left side drive assembly and right side drive assembly, it is used for driving reversing mechanism to turn to the motor, left side drive assembly and right side drive assembly locate the reversing mechanism both sides respectively and by its drive rotation, left side drive assembly and right side drive assembly are used for driving left wheel device and right wheel device respectively and carry out the syntropy, synchronous rotation, left side wheel device and right wheel device all include a plurality of wheel subassembly and wheel syntropy mechanism, all realize the syntropy through wheel syntropy mechanism between the wheel subassembly of left side wheel device and between the wheel subassembly of right wheel device, synchronous rotation. The utility model discloses not only make wheeled platform can go towards arbitrary direction, mobility is good, turning radius is little, also little to the loss of wheel, with low costs moreover, can adapt to various road conditions.
Description
Technical Field
The utility model relates to a turning to technical field of wheeled platform, concretely relates to an omnidirectional steering system for wheeled platform.
Background
At present, the steering system of the traditional wheeled platform mainly comprises the following three types:
the first is front wheel steering, such as an automobile, which relies on front wheel steering to complete turning of the automobile, and the like, and has the disadvantages of large turning radius and large turning area.
The second one is differential steering, such as a tank, the wheels of the tank are in the traveling direction, the turning and turning of the vehicle are completed by depending on the traveling direction and speed difference of the wheels on the left side and the right side, the turning radius is smaller, the defect is that the wheels are in the traveling direction all the time, and when the vehicle turns or turns, the wheels on the two sides are hard turns, so that tires are rather worn.
The third type is a Mecanum wheel universal system, each wheel is provided with a small wheel which is long and inclined, the moving in any direction can be realized by means of different forward and backward signals for each wheel, and the defects that the Mecanum wheel is a high-precision wheel, the cost is high, the requirement on the flatness of two pairs of ground is very high, and the Mecanum wheel universal system cannot be used in road conditions such as common roads, mud fields, grasslands and the like.
Furthermore, although there are some prior art improvements to the steering system of wheeled platforms to overcome the disadvantages of the above three steering systems, most of these steering systems suffer from the disadvantage of unreasonable spatial layout, which is not practical for compact wheeled platforms. Such as: the vehicle comprises a 360-degree omni-directional steering trolley (with the patent number of CN201510322772.1) and a universal vehicle (with the patent number of CN201510687608.0), wherein straight gears are used for transmitting the four wheels from the middle in a star-shaped arrangement mode, the four wheels are required to be circularly arranged around the center, the wheel distances of the four wheels are required to be consistent, and the middle gear transmission part occupies the whole space in the middle of the four wheels.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an omnidirectional steering system for wheeled platform, it can be marchd towards arbitrary direction, and turning radius is little, little to the loss of wheel, can adapt to various road conditions.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an omnidirectional steering system for wheeled platform, includes frame, power take off device, left wheel device and right wheel device, power take off device is including turning to motor, reversing mechanism, left drive assembly and right drive assembly, turn to the motor and locate on the frame, be used for the drive reversing mechanism, left side drive assembly and right drive assembly locate respectively reversing mechanism both sides are rotatory by its drive, left side drive assembly and right drive assembly are used for the drive respectively left side wheel device and right wheel device carry out syntropy, synchronous rotation, left side wheel device and right wheel device rotate set up in on the frame, it all includes a plurality of wheel subassembly and wheel syntropy mechanism, between the wheel subassembly of left side wheel device and all pass through between the wheel subassembly of right wheel device the syntropy mechanism of wheel realizes syntropy, synchronous rotation.
Preferably, the reversing mechanism comprises a first driving gear and a group of first driven gears meshed with the first driving gear, the first driving gear and the first driven gears are both bevel gears, and the center lines of the first driven gears and the first driving gear are perpendicular to each other.
Preferably, the left driving assembly and the right driving assembly both comprise a first transmission shaft and a second driving gear, the first driven gear and the second driving gear are respectively installed at two ends of the first transmission shaft, and the second driving gear is respectively used for driving the wheel assemblies of the left wheel device and the right wheel device to rotate in the same direction and synchronously.
Preferably, the wheel assembly comprises a wheel carrier, a wheel and a second driven bevel gear, the wheel carrier is rotatably arranged on the frame, the wheel is rotatably arranged at the lower end of the wheel carrier, the second driven bevel gear is arranged at the upper end of the wheel carrier and is meshed with the second driving gear, the second driving gear is a bevel gear, the center lines of the second driven bevel gear and the second driving gear are mutually vertical, and the second driven bevel gear drives the adjacent wheel assemblies to rotate in the same direction and synchronously through a wheel co-directional mechanism.
Preferably, the wheel-sharing mechanism includes a second transmission shaft, a third transmission shaft and a sharing gear set, a third driven bevel gear and a fourth driven bevel gear are respectively installed at one end of the second transmission shaft and one end of the third transmission shaft, the third driven bevel gear is meshed with the second driven bevel gear, the center lines of the third driven bevel gear, the second driven bevel gear and the second driving gear are perpendicular to each other, the fourth driven bevel gear is meshed with the second driven bevel gear of the adjacent wheel assembly, and the sharing gear set is installed between the second transmission shaft and the third transmission shaft, so that the second transmission shaft and the third transmission shaft have opposite steering directions.
Preferably, the common-direction gear set comprises a third driving bevel gear, a fifth driven bevel gear and a reversing bevel gear, the third driving bevel gear is mounted at the end of the second transmission shaft, the fifth driven bevel gear is mounted at the end of the third transmission shaft, the reversing bevel gear is arranged between the third driving bevel gear and the fifth driven bevel gear and respectively meshed with the third driving bevel gear and the fifth driven bevel gear, and the reversing bevel gear is arranged on the frame through a mounting seat.
Preferably, the wheel is driven by an in-wheel motor.
Preferably, the first transmission shaft, the second transmission shaft and the third transmission shaft are supported by a set of bearing seats and bearings mounted on the bearing seats.
Preferably, the number of the wheel assemblies of the left wheel device and the right wheel device is n (n is larger than or equal to 2), and the number of the wheel co-directional mechanisms is n-1.
Preferably, the bicycle frame further comprises a chassis and an upper cover, the bicycle frame is fixedly arranged on the chassis, handles are arranged on the front side and the rear side of the chassis, and the chassis is sealed by the upper cover from the upper side.
After the technical scheme is adopted, compared with the background art, the utility model, have following advantage:
1. the utility model discloses a left wheel device and right wheel device are rotatory by left drive assembly and right drive assembly drive respectively, make left wheel and right wheel syntropy, rotate in step, be provided with wheel syntropy mechanism between the wheel subassembly with one side, make the left wheel or the right wheel with one side realize syntropy, rotate in step through wheel syntropy mechanism, so not only make wheeled platform can advance towards arbitrary direction, mobility is good, turning radius is little, the loss to the wheel is also little, moreover, the cost is low, can adapt to various road conditions.
2. The utility model discloses a spatial layout is reasonable, and only occupies local space, and this has the practicality to the compact wheeled platform in space, simultaneously, around in the a steering system, the wheel base between the wheel can be adjusted according to the demand about, makes it can apply to on various types of wheeled platform, has wide market prospect.
3. The utility model discloses a power take-off and between left wheel device and the right wheel device, between wheel subassembly and the wheel syntropy mechanism all adopt bevel gear to drive, have improved the precision and the reliability that a steering system turned to.
Drawings
Fig. 1 is a perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention with the upper cover removed;
FIG. 3 is a top view of the present invention with the upper cover and the chassis removed;
fig. 4 is a schematic structural view of the power output apparatus;
FIG. 5 is one of the schematic structural views of the wheel assembly;
FIG. 6 is a second schematic structural view of the wheel assembly;
FIG. 7 is a schematic structural view of a wheel-steering mechanism;
FIG. 8 is a schematic view of the right turn operation of the present invention;
fig. 9 is a schematic view of the left turn operation of the present invention.
Description of reference numerals:
1. a frame;
2. the power output device comprises a power output device, 21 steering motors, 22 a reversing mechanism, 221 a first driving gear, 222 a first driven gear, 23 a left driving assembly, 24 a right driving assembly, 251 a first transmission shaft, 252 a second driving gear;
31. the left wheel device, 32, the right wheel device, 33, the wheel assembly, 331, the wheel carrier, 332, the wheel, 333, the second driven bevel gear, 34, the wheel common direction mechanism, 341, the second transmission shaft, 342, the third transmission shaft, 343, the common direction gear set, 3431, the third driving bevel gear, 3432, the fifth driven bevel gear, 3433, the reversing bevel gear, 3434, the mounting seat, 344, the third driven bevel gear, 345, the fourth driven bevel gear;
4. chassis, 41. handle;
5. an upper cover;
6. and a bearing seat.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are all based on the orientation or position relationship shown in the drawings, and are only for convenience of description and simplification of the present invention, but do not indicate or imply that the system or element of the present invention must have a specific orientation, and thus, should not be construed as limiting the present invention.
Examples
Cooperation figure 1 and fig. 2 show, the utility model discloses an omnidirectional steering system for wheeled platform, including frame 1, power take off 2, left wheel device 31 and right wheel device 32, still include chassis 4 and upper cover 5, frame 1 sets firmly on chassis 4, and both sides are equipped with handle 41 around chassis 4, and upper cover 5 seals chassis 4 from the top.
As shown in fig. 2 and fig. 3, the power output device 2 includes a steering motor 21, a reversing mechanism 22, a left driving assembly 23 and a right driving assembly 24, the steering motor 21 is disposed on the frame 1 and is used for driving the reversing mechanism 22, the left driving assembly 23 and the right driving assembly 24 are respectively disposed on two sides of the reversing mechanism 22 and are driven to rotate by the reversing mechanism 22, and the left driving assembly 23 and the right driving assembly 24 are respectively used for driving the left wheel device 31 and the right wheel device 32 to rotate in the same direction and synchronously.
As shown in fig. 3 to 5, the reversing mechanism 22 includes a first driving gear 221 and a set of first driven gears 222 engaged with the first driving gear 221, the first driving gear 221 and the first driven gears 222 are both bevel gears, and the center lines of the first driven gears 222 and the first driving gear 221 are perpendicular to each other. The left driving assembly 23 and the right driving assembly 24 each include a first transmission shaft 251 and a second driving gear 252, the first driven gear 222 and the second driving gear 252 are respectively installed at two ends of the first transmission shaft 251, and the second driving gear 252 is respectively used for driving the wheel assemblies 33 of the left wheel device 31 and the right wheel device 32 to rotate in the same direction and synchronously.
As shown in fig. 2 and fig. 3, the left wheel device 31 and the right wheel device 32 are rotatably disposed on the frame, and each of the left wheel device 31 and the right wheel device 32 includes a plurality of wheel assemblies 33 and a wheel sharing mechanism 34, and the wheel assemblies of the left wheel device 31 and the wheel assemblies of the right wheel device 32 are rotated in the same direction and synchronously by the wheel sharing mechanism 34. The number of the wheel assemblies 33 of the left wheel device 31 and the right wheel device 32 is n (n is greater than or equal to 2), the number of the wheel co-directional mechanisms is n-1, that is, when the number of the wheel assemblies 33 on the same side is three or more, the wheel co-directional mechanisms 34 are arranged between the adjacent wheel assemblies 33 on the same side, so as to realize the co-directional and synchronous rotation of the wheel assemblies 33 on the same side, in this embodiment, the number of the wheel assemblies 33 is two, and one wheel co-directional mechanism 34 is arranged between the two wheel assemblies.
As shown in fig. 3 to 6, the wheel assembly 33 includes a wheel frame 331, a wheel 332, and a second driven bevel gear 333, the wheel frame 331 is rotatably disposed on the frame 1, the wheel 332 is rotatably disposed at a lower end of the wheel frame 331, and in this embodiment, the wheel 332 is driven by a wheel hub motor. The second driven bevel gear 333 is disposed at the upper end of the wheel frame 331 and engaged with the second driving gear 252, the second driving gear 252 is a bevel gear, the center lines of the second driven bevel gear 333 and the second driving gear 252 are perpendicular to each other, and the second driven bevel gear 333 drives the adjacent wheel assemblies 33 to rotate in the same direction and synchronously through the wheel common mechanism 34.
As shown in fig. 3 to 7, the wheel common direction mechanism 34 includes a second transmission shaft 341, a third transmission shaft 342, and a common direction gear set 343, one end of the second transmission shaft 341 and one end of the third transmission shaft 342 are respectively installed with a third driven bevel gear 344 and a fourth driven bevel gear 345, the third driven bevel gear 344 is engaged with the second driven bevel gear 333, the center lines of the third driven bevel gear 344, the second driven bevel gear 333 and the second driving gear 252 are perpendicular to each other, the fourth driven bevel gear 345 is engaged with the second driven bevel gear 333 of the adjacent wheel assembly 33, and the common direction gear set 343 is disposed between the second transmission shaft 341 and the third transmission shaft 342 to realize opposite rotation directions.
The first transmission shaft 251, the second transmission shaft 341 and the third transmission shaft 342 are supported by a set of bearing seats 6 and bearings mounted on the bearing seats 6, and in this embodiment, the lengths of the first transmission shaft 251, the second transmission shaft 341 and the third transmission shaft 342 can be adjusted to adapt to the sizes of a chassis and a frame, so that the space layout of the wheeled platform is reasonable and compact, and the wheeled platform is more practical.
The common gear set 343 includes a third driving bevel gear 3431, a fifth driven bevel gear 3432 and a reverse bevel gear 3433, the third driving bevel gear 3431 is mounted on the end of the second transmission shaft 341, the fifth driven bevel gear 3432 is mounted on the end of the third transmission shaft 342, the reverse bevel gear 3433 is disposed between the third driving bevel gear 3431 and the fifth driven bevel gear 3432 and respectively engaged with them, and the reverse bevel gear 3433 is disposed on the frame via a mounting seat 3434.
As shown in fig. 3, fig. 8 and fig. 9, the working principle of the present invention is as follows:
when the vehicle turns to the right, the steering motor 21 rotates forward to drive the first driving gear 221 to rotate, the first driving gear 221 drives the first driven gears 222 on the left and right sides to transmit, according to the transmission rule of the gears, the traveling directions of all the gears all travel toward the meshing direction, that is, the rotating directions of the two adjacent gears are opposite, that is, the rotating directions of the left driving assembly 23 and the right driving assembly 24 are opposite, the left driving assembly 23 and the right driving assembly 24 are respectively meshed with the bevel gears of the wheel assembly 33, at this time, the bevel gears on the wheel assembly 33 turn to the right, that is, the wheels turn to the right. After the other wheel assembly 33 adjacent to the left passes through the wheel steering mechanism 34, the bevel gear on the wheel assembly 33 turns to the right, i.e. the other wheel adjacent to the left also turns to the right. In the same way, the wheels on the right side also turn right, so that the four groups of wheels turn right in the same direction.
When turning left, the steering motor 21 rotates reversely to drive the first driving gear 221 to rotate, the first driving gear 221 drives the first driven gears 222 on the left and right sides to transmit, according to the transmission rule of the gears, the traveling directions of all the gears all travel toward the meshing direction, that is, the rotating directions of the two adjacent gears are opposite, that is, the rotating directions of the left driving assembly 23 and the right driving assembly 24 are opposite, the left driving assembly 23 and the right driving assembly 24 are respectively meshed with the bevel gears of the wheel assembly 33, at this time, the bevel gears on the wheel assembly 33 turn left, that is, the wheels turn left. After the other wheel assembly 33 adjacent to the left passes through the wheel steering mechanism 34, the bevel gear on the wheel assembly 33 turns left, i.e. the other wheel adjacent to the left also turns left. In the same way, the wheels on the right side also turn left, so that the four groups of wheels turn uniformly to the left.
In addition, the steering angle of the wheels is determined by the steering motor 21, that is, the steering motor 21 works to control the actual turning angle of the wheels, that is, the wheels can be turned in all directions by setting the steering motor 21 to rotate in the forward and reverse directions.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An omni-directional steering system for a wheeled platform, characterized by: including frame, power take-off, left wheel device and right wheel device, power take-off is including turning to motor, reversing mechanism, left drive assembly and right drive assembly, it locates on the frame to turn to the motor, is used for the drive reversing mechanism, left side drive assembly and right drive assembly locate respectively reversing mechanism both sides are rotatory by its drive, left side drive assembly and right drive assembly are used for the drive respectively left wheel device and right wheel device carry out syntropy, synchronous rotation, left wheel device and right wheel device rotate set up in on the frame, it all includes a plurality of wheel subassembly and wheel syntropy mechanism, between the wheel subassembly of left wheel device with all pass through between the wheel subassembly of right wheel device the wheel syntropy mechanism realizes syntropy, synchronous rotation.
2. An omni directional steering system for a wheeled platform as claimed in claim 1 wherein: the reversing mechanism comprises a first driving gear and a group of first driven gears meshed with the first driving gear, the first driving gear and the first driven gears are both bevel gears, and the center lines of the first driven gears and the first driving gear are perpendicular to each other.
3. An omni directional steering system for a wheeled platform as claimed in claim 2 wherein: the left driving assembly and the right driving assembly respectively comprise a first transmission shaft and a second driving gear, the first driven gear and the second driving gear are respectively installed at two ends of the first transmission shaft, and the second driving gear is respectively used for driving the wheel assemblies of the left wheel device and the right wheel device to rotate in the same direction and synchronously.
4. An omni directional steering system for a wheeled platform as claimed in claim 3 wherein: the wheel assembly comprises a wheel carrier, a wheel and a second driven bevel gear, the wheel carrier is rotatably arranged on the frame, the wheel is rotatably arranged at the lower end of the wheel carrier, the second driven bevel gear is arranged at the upper end of the wheel carrier and meshed with a second driving gear, the second driving gear is a bevel gear, the center lines of the second driven bevel gear and the second driving gear are mutually vertical, and the second driven bevel gear drives the adjacent wheel assemblies to rotate in the same direction and synchronously through a wheel co-directional mechanism.
5. An omni directional steering system for a wheeled platform according to claim 4 wherein: the wheel is to the mechanism altogether including second transmission shaft, third transmission shaft and gear train altogether, third driven bevel gear and fourth driven bevel gear are installed respectively to the one end of second transmission shaft and third transmission shaft, third driven bevel gear meshes with second driven bevel gear mutually, just the central line two liang of verticality of third driven bevel gear, second driven bevel gear and second driving gear, fourth driven bevel gear meshes with adjacent second driven bevel gear of wheel subassembly mutually, the gear train altogether is located between second transmission shaft and the third transmission shaft to realize that both have opposite and turn to.
6. An omni directional steering system for a wheeled platform as claimed in claim 5 wherein: the common-direction gear set comprises a third driving bevel gear, a fifth driven bevel gear and a reversing bevel gear, the third driving bevel gear is mounted at the end part of the second transmission shaft, the fifth driven bevel gear is mounted at the end part of the third transmission shaft, the reversing bevel gear is arranged between the third driving bevel gear and the fifth driven bevel gear and is respectively meshed with the third driving bevel gear and the fifth driven bevel gear, and the reversing bevel gear is arranged on the frame through a mounting seat.
7. An omni directional steering system for a wheeled platform as claimed in claim 6 wherein: the wheel is driven by a hub motor.
8. An omni directional steering system for a wheeled platform as claimed in claim 6 wherein: the first transmission shaft, the second transmission shaft and the third transmission shaft are supported by a group of bearing blocks and bearings arranged on the bearing blocks.
9. An omni directional steering system for a wheeled platform as claimed in any one of claims 1 to 8 wherein: the number of the wheel assemblies of the left wheel device and the right wheel device is n (n is more than or equal to 2), and the number of the wheel co-directional mechanisms is n-1.
10. An omni directional steering system for a wheeled platform as claimed in claim 9 wherein: the frame is fixedly arranged on the chassis, handles are arranged on the front side and the rear side of the chassis, and the chassis is sealed by the upper cover from the upper side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920588223.2U CN209833760U (en) | 2019-04-26 | 2019-04-26 | Omnidirectional steering system for wheeled platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920588223.2U CN209833760U (en) | 2019-04-26 | 2019-04-26 | Omnidirectional steering system for wheeled platform |
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| Publication Number | Publication Date |
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| CN209833760U true CN209833760U (en) | 2019-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920588223.2U Active CN209833760U (en) | 2019-04-26 | 2019-04-26 | Omnidirectional steering system for wheeled platform |
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| CN (1) | CN209833760U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478021A (en) * | 2020-11-26 | 2021-03-12 | 湖北文理学院 | Mobile robot chassis |
| CN113104108A (en) * | 2021-04-22 | 2021-07-13 | 伊犁师范大学 | Automatic steering device of agricultural machine |
| CN113734683A (en) * | 2021-09-18 | 2021-12-03 | 上海应用技术大学 | Automatic submerged in-situ reversing guide vehicle |
| CN114475742A (en) * | 2022-04-18 | 2022-05-13 | 常州欧爱欧履带有限公司 | Transfer equipment is used in processing of track frame |
-
2019
- 2019-04-26 CN CN201920588223.2U patent/CN209833760U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478021A (en) * | 2020-11-26 | 2021-03-12 | 湖北文理学院 | Mobile robot chassis |
| CN113104108A (en) * | 2021-04-22 | 2021-07-13 | 伊犁师范大学 | Automatic steering device of agricultural machine |
| CN113734683A (en) * | 2021-09-18 | 2021-12-03 | 上海应用技术大学 | Automatic submerged in-situ reversing guide vehicle |
| CN113734683B (en) * | 2021-09-18 | 2023-03-10 | 上海应用技术大学 | Automatic submerged in-situ reversing guide vehicle |
| CN114475742A (en) * | 2022-04-18 | 2022-05-13 | 常州欧爱欧履带有限公司 | Transfer equipment is used in processing of track frame |
| CN114475742B (en) * | 2022-04-18 | 2022-12-23 | 常州欧爱欧履带有限公司 | Transfer equipment is used in processing of track frame |
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Effective date of registration: 20220824 Address after: Room 904, South Building, building 2, Wanxiang international business center, 1694 Gangzhong Road, Xiamen District, China (Fujian) pilot Free Trade Zone, Xiamen City, Fujian Province, 361000 Patentee after: Xiamen Huibo Loongson Electronic Technology Co.,Ltd. Address before: Room 10, Unit A, 8th Floor, Building D, Xiamen International Shipping Center, No. 97, Xiangyu Road, Huli District, Xiamen City, Fujian Province, 361000 Patentee before: YIZU (XIAMEN) TECHNOLOGY Co.,Ltd. |