CN212604469U - Independently driven wheel assembly - Google Patents

Abstract

The utility model discloses an independent driven wheel subassembly, including two wheels, two rotating electrical machines, luffing mechanism, steering mechanism and steering drive device, steering mechanism, luffing mechanism, steering drive device sets gradually between two wheels, be provided with the rotating electrical machines in the wheel hub of wheel, steering mechanism is equipped with two links that turn to the wheel extension, luffing mechanism is equipped with two swing links to the wheel extension, the drive end that turns to drive device is connected with steering mechanism, luffing mechanism is connected to the rotating electrical machines with turning to link and the swing link of one side jointly. The utility model adopts independent drive for each wheel, realizes the steering of the wheel by using the steering mechanism, and can greatly reduce the turning radius so as to improve the flexible maneuvering characteristic; moreover, the vertical swing mechanism can be used for realizing the real-time adjustment of the height of the carriage plate on the uneven ground, so that the wheels are always in contact with the ground, and the motion stability is ensured.

Description

Independently driven wheel assembly

Technical Field

The utility model relates to a wheel structure, concretely relates to independent driven wheel assembly.

Background

The wheel type traveling mechanism has small running resistance, small noise, good steering performance and high maneuverability, so the wheel type traveling mechanism is widely applied to various high-maneuverability mobile platforms, including various automobiles and military special vehicles (such as wheel type combat vehicles, missile carrying vehicles and the like). The passing performance and the mobility of the mobile platform are directly influenced by the quality of the wheel type walking mechanism. In order to improve the maneuverability of wheeled mobile platforms, the turning radius of the mobile platform is generally reduced as much as possible.

At present, a scheme that a gear train moving platform improves flexible maneuvering characteristics by reducing turning radius mainly adopts a ball wheel and a Minna mother wheel.

(1) Technical scheme of ball wheel structure

For example, patent application No. 201110421107.X, "a motion platform based on omnidirectional drive of ball wheels", relates to an intelligent motion platform capable of autonomously moving, in particular to a mechanism for realizing the overall omnidirectional motion of the platform by controlling the motion of three ball wheels, and belongs to the technical field of motor drive, sensor ranging, wireless communication and automatic control; the system specifically comprises three sets of same ball wheel driving mechanical structures, three motor drivers, an environment sensing system and a platform control system; the platform main control module processes to obtain a control instruction and sends the control instruction to the motor driver control module, and the ball wheel rolls under the control of the driving motor to realize the motion of the platform. The invention is based on the omnidirectional principle of sphere rolling, can realize two working modes of manual control and autonomous operation, and single-platform operation and multi-platform operation modes, and has the characteristics of small volume, good balance, outstanding motion behavior expressive force, quick maneuverability and omnidirectional motility. Similarly, the patent with the application number of 201280035387.3, an omnidirectional moving platform, and the like.

The spherical wheel is generally controlled in a magnetic or other mode, so that the wheel can move in all directions in the XY directions. However, the spherical wheel is difficult to control, is rarely adopted in practical use, and is mostly present in concept products such as an audi spherical tire mechanism and the like at present.

(2) Technical scheme of Mikana mother wheel structure

The patent with the application number of 201611060832.8 discloses an omnidirectional mobile platform, which comprises a vehicle body frame, a swinging assembly, a swinging axle and a shock absorber, wherein the swinging assembly is fixed at the bottom of the vehicle body frame, and the swinging axle can be vertically swung relative to the bottom of the vehicle body frame through the swinging assembly and is arranged on the vehicle body frame; the swing axle comprises a middle part connected with the swing assembly and swing arms positioned on two sides of the middle part, the middle part is connected with the swing assembly, and wheels are mounted at the end parts, far away from the middle part, of the swing arms; one end of the shock absorber is connected with the vehicle body frame, and the other end of the shock absorber is connected with the swing arm. The mobile platform can also enable the omnidirectional mobile platform to work stably under the condition that the ground is uneven, and meanwhile, the service life is long. Similarly, the patent with application number 201620216799.2 discloses an independent suspension mechanism for omnidirectional moving platforms.

The Michelson master wheel is relatively simple in design and control, and is widely applied to omnidirectional mobile products. But because its contact point with the ground is discontinuous and has only one controllable freedom of movement, the device can cause slippage and noise in operation, and the movement efficiency is low. Because the two wheels of the orthogonal wheel are in alternate contact with the ground in the movement process, the pressure change born by each wheel is large in the movement process, so that the friction force in contact with the ground is influenced, the rotating speed of the wheels is influenced, and the stability of the movement speed of the vehicle body cannot be ensured; in addition, a gap exists between rollers of the Mecanum wheel, vibration or slipping is easy to generate, energy loss is serious, a vehicle body is unstable, position accuracy cannot be guaranteed, and the wheel has high requirements on machining design, so that the use cost is high.

Disclosure of Invention

An object of the utility model is to overcome prior art's is not enough, provides an independent drive's wheel subassembly, through reducing turning radius to improve nimble mobility, and control is simple, and the motion stationarity is high.

The technical scheme of the utility model as follows:

the utility model provides an independent driven wheel subassembly, includes two wheels, two rotating electrical machines, luffing mechanism, steering mechanism and turns to drive arrangement, steering mechanism, luffing mechanism, turn to drive arrangement set gradually between two wheels, be provided with the rotating electrical machines in the wheel hub of wheel, the motor shaft and the wheel rotation of rotating electrical machines are connected, steering mechanism be equipped with two to the link that turns to of wheel extension, luffing mechanism be equipped with two to the swing link that the wheel extends, turn to drive arrangement's drive end with steering mechanism connects, steering mechanism, luffing mechanism turn to the link with one side and swing link and be connected to jointly the rotating electrical machines.

Further, steering mechanism includes the speed reducer and matches two telescoping devices and the piece that turns to that sets up in the speed reducer both sides, the one end of telescoping device with the speed reducer is connected, the other end pivotally connected with of telescoping device turns to the piece, turn to the piece with the rotating electrical machines is connected.

Furthermore, the driving end of the steering driving device is connected with the speed reducer through a coupler.

Further, the steering driving device is a servo motor.

Further, luffing mechanism includes fixing base, swing arm, first axis of rotation and two second axis of rotation, steering mechanism, steering drive device set up relatively both sides around the fixing base, be equipped with the rotation groove on the fixing base, the middle part of swing arm is equipped with first rotation hole, the both sides face is equipped with the intercommunication around the fixing base the second in rotation groove rotates the hole, the second rotates the hole corresponding with first rotation hole, second rotate and to be equipped with first axis of rotation in the hole, make the swing arm rotates to be connected in rotating the inslot, the both ends of swing arm through the second axis of rotation with turn to the piece and rotate and be connected.

Further, luffing motion mechanism includes fixing base, swing arm, two first rotation axes and two second axis of rotation, it is in to turn to drive arrangement, steering mechanism set up relatively both sides around the fixing base, be equipped with the rotation groove on the fixing base, the middle part both sides of swing arm are commensurately equipped with two first rotation holes, the both sides face is equipped with the intercommunication respectively around the fixing base two second rotation holes in rotation groove, the second rotates the hole corresponding with first rotation hole, it is equipped with first rotation axis to insert in first rotation hole, the second rotation hole, makes the swing arm rotates to be connected at and rotates the inslot, the both ends of swing arm through the second axis of rotation with turn to the piece and rotate and connect.

Further, the swing arm is an arcuate swing arm.

Furthermore, a fixing frame is arranged on the steering driving device.

Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model adopts independent drive for each wheel, realizes the steering of the wheel by using the steering mechanism, and can greatly reduce the turning radius so as to improve the flexible maneuvering characteristic; moreover, the vertical swing mechanism can be used for realizing the real-time adjustment of the height of the carriage plate on the uneven ground, so that the wheels are always in contact with the ground, and the motion stability is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an independently driven wheel assembly according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of an independently driven wheel assembly according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail 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 order to explain the technical solution of the present invention, the following description is made by using specific examples.

Example one

Referring to fig. 1, the present embodiment provides an independently driven wheel assembly, which includes two wheels 1, two rotating electric machines 2, an up-down swinging mechanism 3, a steering mechanism 4 and a steering driving device 5, wherein the steering mechanism 4, the up-down swinging mechanism 3 and the steering driving device 5 are sequentially disposed between the two wheels 1, the rotating electric machines 2 are disposed in hubs of the wheels 1, a motor shaft of the rotating electric machines 2 is rotatably connected to the wheels 1, the wheel 1 is driven to rotate by the rotating motor 2, the steering mechanism 4 is provided with two steering connecting ends extending to the wheel 1, the up-down swinging mechanism 3 is provided with two swinging connecting ends extending to the wheel 1, the driving end of the steering driving device 5 is connected with the steering mechanism 4, the steering mechanism 4 is driven by the steering driving device 5 to steer the wheels 1, and the steering mechanism 4 and the steering connecting end and the swinging connecting end on the same side of the up-down swinging mechanism 3 are connected to the rotating motor 2 together.

Each wheel 1 adopts an independent driving mode, the steering mechanism 4 can be used for realizing the steering of the wheel, and the up-down swinging mechanism 3 can be used for realizing the real-time adjustment of the height of the chassis on the uneven ground.

Specifically, steering mechanism 4 includes speed reducer 41 and matches two telescoping device 42 and the piece 43 that turns to that sets up in speed reducer 41 both sides, and the one end and the speed reducer 41 of telescoping device 42 are connected, and the other end pivotally connected with of telescoping device 42 turns to the piece 43, turns to the piece 43 and is connected with rotating electrical machines 2, turn to drive arrangement 5 and be servo motor, turn to the drive end of drive arrangement 5 and pass through shaft coupling 6 and be connected with speed reducer 41. The steering principle is as follows: after the steering driving device 5 is started, the telescopic device 42 is driven to stretch through the coupler 6 and the speed reducer 41, and then the steering of the wheel 1 is realized through the steering block 43.

Further, the up-down swinging mechanism 3 includes a fixed seat 31, a swinging arm 32, a first rotating shaft 33 and two second rotating shafts 34, the steering mechanism 4 and the steering driving device 5 are oppositely arranged on the front side and the rear side of the fixed seat 31, a fixed frame 7 is arranged on the steering driving device 5 and fixed by the fixed frame 7, a rotating groove is arranged on the fixed seat 31, a first rotating hole is arranged in the middle of the swinging arm 32, second rotating holes communicated with the rotating groove are arranged on the front side and the rear side of the fixed seat 31, the second rotating holes correspond to the first rotating holes, the first rotating shaft 33 is inserted into the first rotating holes and the second rotating holes, the swinging arm 32 is rotatably connected in the rotating groove, two ends of the swinging arm 32 are rotatably connected with the steering block 43 through the second rotating shafts 34, and the swinging arm 32 is an. The application principle is as follows: for uneven ground, the swing arm 32 can swing up and down along the high and low positions of the ground, so that the height of the chassis is adjusted, and the wheel 1 is always in contact with the ground.

Example two

Referring to fig. 2, the difference between the independently driven wheel assembly of the present embodiment and the first embodiment is that the up-down swinging mechanism is different, specifically, the luffing motion mechanism 3 includes fixing base 31, the swing arm 32, two first axis of rotation 33 and two second axis of rotation 34, turn to drive arrangement 5, steering mechanism 4 sets up both sides around fixing base 31 relatively, turn to and be provided with mount 7 on the drive arrangement 5, be equipped with the rotation groove on the fixing base 31, the middle part both sides of swing arm 32 are commensurately equipped with two first rotation holes, the front and back both sides face of fixing base 31 is equipped with two second rotation holes that communicate the rotation groove respectively, the second rotates the hole corresponding with first rotation hole, insert in the second rotation hole and be equipped with first rotation axis 33, make swing arm 32 rotate and connect in the rotation groove, the both ends of swing arm 32 are connected with turning to piece 43 through second axis of rotation 34 and rotation.

In the first embodiment, the swing arm 32 is rotatably connected to the fixed base 31 by only one first rotating shaft 33, which improves the flexibility of the wheel 1, and in the second embodiment, the swing arm 32 is rotatably connected to the fixed base 31 by two first rotating shafts 33, which improves the stability of the wheel 1. In practical applications, the independently driven wheel assembly provided in the first embodiment can be applied to a front wheel, and the independently driven wheel assembly provided in the second embodiment can be applied to a rear wheel.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. An independently driven wheel assembly characterized by: including two wheels, two rotating electrical machines, luffing motion, steering mechanism and turn to drive arrangement, steering mechanism, luffing motion, turn to drive arrangement set gradually between two wheels, be provided with the rotating electrical machines in the wheel hub of wheel, the motor shaft and the wheel of rotating electrical machines rotate and are connected, steering mechanism be equipped with two to the link that turns to of wheel extension, luffing motion be equipped with two to the swing link that the wheel extends, turn to drive arrangement's drive end with steering mechanism connects, steering mechanism, luffing motion turn to the link with one side and swing link and be connected to jointly the rotating electrical machines.

2. An independently driven wheel assembly as claimed in claim 1, wherein: steering mechanism includes the speed reducer and matches two telescoping device and the piece that turns to that set up in the speed reducer both sides, the one end of telescoping device with the speed reducer is connected, the other end pivotally connected with of telescoping device turns to the piece, turn to the piece with the rotating electrical machines is connected.

3. An independently driven wheel assembly as claimed in claim 2, wherein: and the driving end of the steering driving device is connected with the speed reducer through a coupler.

4. An independently driven wheel assembly as claimed in claim 3, wherein: the steering driving device is a servo motor.

5. An independently driven wheel assembly as claimed in claim 2, wherein: the luffing motion includes fixing base, swing arm, first axis of rotation and two second axis of rotation, steering mechanism, steering drive set up relatively both sides around the fixing base, be equipped with on the fixing base and rotate the groove, the middle part of swing arm is equipped with first rotation hole, both sides face is equipped with the intercommunication around the fixing base the second rotation hole in rotation groove, the second rotates the hole corresponding with first rotation hole, it is equipped with first axis of rotation to insert in first rotation hole, the second rotates the hole, makes the swing arm rotates to be connected in rotating the inslot, the both ends of swing arm pass through the second axis of rotation with turn to the piece and rotate and connect.

6. An independently driven wheel assembly as claimed in claim 2, wherein: the luffing motion includes fixing base, swing arm, two first rotation axis and two second axis of rotation, it sets up relatively to turn to drive arrangement, steering mechanism both sides around the fixing base, be equipped with the rotation groove on the fixing base, the middle part both sides of swing arm are commensurately equipped with two first rotation holes, the front and back both sides face of fixing base is equipped with the intercommunication respectively two second rotation holes in rotation groove, the second rotates the hole corresponding with first rotation hole, it is equipped with first rotation axis to insert in first rotation hole, the second rotation hole, makes the swing arm rotates to be connected at and rotates the inslot, the both ends of swing arm pass through the second axis of rotation with turn to the piece and rotate and connect.

7. An independently driven wheel assembly as claimed in claim 5 or 6, wherein: the swing arm is an arcuate swing arm.

8. An independently driven wheel assembly as claimed in claim 5 or 6, wherein: the steering driving device is provided with a fixing frame.

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