WO2018113395A1 - Vehicle wheel and transport vehicle - Google Patents
Vehicle wheel and transport vehicle Download PDFInfo
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- WO2018113395A1 WO2018113395A1 PCT/CN2017/105902 CN2017105902W WO2018113395A1 WO 2018113395 A1 WO2018113395 A1 WO 2018113395A1 CN 2017105902 W CN2017105902 W CN 2017105902W WO 2018113395 A1 WO2018113395 A1 WO 2018113395A1
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- wheel
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- support ring
- wheels
- rotation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- the present disclosure relates to the field of transport vehicles, and in particular to a wheel and a transport vehicle.
- a related art is provided with a wheel on the transport vehicle, the wheel including a hub and a plurality of freely rotatable sub-wheels disposed on the hub, the rotation of the sub-wheels relative to the hub
- the center line is slanted so that the wheel can be moved laterally as the wheel rolls, and the combined use and control of the plurality of wheels can cause the vehicle body to move and rotate in any direction within the plane of motion.
- the inventors have recognized that the above-described conventional wheel has a certain inclination angle of its sub-wheel with respect to the center of rotation, and its application flexibility is poor, especially when the road condition changes, for example, when walking on uneven road surface. It is difficult to ensure that the sub-wheels maintain good contact with the ground, and the phenomenon of bumps is often serious, and the walking stability is poor.
- one technical problem to be solved by the present disclosure is that the current wheel with the inclined sub-wheel has poor application flexibility and is difficult to adapt to changing road conditions.
- the present disclosure provides a wheel.
- the wheel comprises a hub and a plurality of sub-wheels disposed on the hub.
- the plurality of sub-wheels can rotate along the center line of rotation of the hub around the hub to realize the walking of the wheel, and each of the sub-wheels can rotate about its central axis, and
- the wheel further includes a posture adjustment mechanism capable of synchronously adjusting an angle between a central axis of each of the sub-wheels and a center line of rotation of the hub.
- the pose adjustment mechanism is configured to adjust the arcuate coincidence degree of the adjacent sub-wheels to vary within a range of 1-1.2 by synchronously adjusting the angle between the center axis of each of the sub-wheels and the center line of the hub rotation.
- the posture adjustment mechanism can synchronously adjust the angle between the central axis of each of the sub-wheels and the center line of rotation of the hub to vary from 0° to 50°.
- the posture adjustment mechanism can synchronously adjust between the central axis of each of the sub-wheels and the center line of the hub rotation
- the angle of the change varies from 40° to 50°.
- the hub includes a first support ring and a second support ring whose center axis coincides with the rotation center line, the first ends of each of the sub-wheels are hinged with the first support ring, and the second ends of the respective sub-wheels are both second and second
- the support ring is hinged, and the posture adjustment mechanism is drivingly coupled to at least one of the first support ring and the second support ring and can rotate the second support ring and the first support ring relative to the rotation center line to adjust the center of each of the sub-wheels The angle between the axis and the centerline of the hub rotation.
- the posture adjustment mechanism includes a gear mechanism, and the second support ring is a ring gear, and the posture adjustment mechanism drives the second support ring to rotate around the rotation center with respect to the first support ring by the engagement of the gear mechanism and the second support ring.
- the line turns.
- the gear mechanism includes a center wheel and a planet gear that cooperate with the second support ring to form a differential gear train.
- the center wheel and the second support ring are concentrically disposed, and the planet gear is meshed between the center wheel and the second support ring to The central wheel is enabled to rotate the second support ring relative to the first support ring about the centerline of rotation by the planet wheels.
- the posture adjustment mechanism further comprises adjusting the power source, and adjusting the power source and the gear mechanism driving connection for driving the gear mechanism to rotate.
- the wheel further includes a traveling power source, and the traveling power source is drivingly coupled to the first support ring for driving the first support ring to rotate about the rotation center line to realize the walking of the wheel.
- the wheel further includes a plurality of self-aligning bearings, wherein the plurality of self-aligning bearings are in one-to-one correspondence with the plurality of sub-wheels, and each of the self-aligning bearings is disposed between the first end of the corresponding sub-wheel and the first support ring; And/or, the wheel further includes a plurality of ball joints, wherein the plurality of ball joints are disposed in one-to-one correspondence with the plurality of sub-wheels, and each of the ball joints is disposed between the second end of the corresponding sub-wheel and the second support ring.
- Another aspect of the present disclosure also provides a transport vehicle including the wheel of the present disclosure.
- the present disclosure provides a posture adjustment mechanism on the wheel, so that the wheel can adjust the inclination angle of each sub-wheel by using the posture adjustment mechanism, so that the inclination angle of the sub-wheel is adapted to the road condition, which is favorable for ensuring good contact between the sub-wheel and the ground moment. Therefore, the application flexibility of the wheel can be effectively improved, and the running stability of the wheel can be improved.
- Fig. 1 is a perspective structural view showing a wheel of an embodiment of the present disclosure.
- FIG. 2 is a schematic view showing the principle of movement of a transport vehicle according to an embodiment of the present disclosure.
- orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom”, etc. indicate the orientation.
- positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the disclosure and the simplification of the description, which does not indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the disclosure; the orientations “inside and outside” refer to the inside and outside of the contour of the components themselves.
- Figure 1 illustrates one embodiment of a wheel of the present disclosure.
- a wheel 1 provided by the present disclosure includes a hub and a plurality of sub-wheels 13 disposed on the hub.
- the plurality of sub-wheels 13 can rotate along the center line of rotation of the hub around the hub, thereby realizing the walking of the wheel 1, and each child
- the wheel 13 is rotatable about its own central axis, and the wheel 1 further includes a posture adjustment mechanism capable of synchronously adjusting the angle between the central axis of each of the sub-wheels 13 and the centerline of rotation of the hub.
- the angle between the central axis of the sub-wheel 13 and the center line of rotation of the hub (hereinafter simply referred to as the inclination angle of the sub-wheel 13) can affect the degree of coincidence of the arc of the adjacent sub-wheels 13, and the degree of coincidence of the arc affects the rotation of the wheel 1.
- the contact of the neutron wheel 13 with the ground In the prior art, the tilt angle of the sub-wheel 13 cannot be changed, resulting in the adjacent sub-wheel 13
- the degree of coincidence of the camber cannot be adjusted according to the actual road conditions, so there is no guarantee that the sub-wheels 13 of the wheel 1 can still maintain good contact with the ground when the road conditions change.
- the present disclosure provides a posture adjustment mechanism, so that the wheel 1 can flexibly adjust the inclination angle of each sub-wheel 13 according to the actual road condition, thereby ensuring that the inclination angle of the sub-wheel 13 is adapted to the road condition, and is beneficial to realize the moment of the wheel 1 and the ground. Good contact, therefore, can effectively reduce bumps, improve the running stability of the wheel 1, and make the wheel 1 of the present disclosure adapt to more road conditions, effectively improving the application flexibility of the wheel 1.
- the hub may include a first support ring 11 and a second support ring 12 whose center axis coincides with the center line of rotation, and the first ends of each of the sub-wheels 13 are hinged to the first support ring 11, each of the sub-wheels 13 The second ends are both hinged to the second support ring 12, and the attitude adjustment mechanism is drivingly coupled to at least one of the first support ring 11 and the second support ring 12 and is capable of winding the second support ring 12 and the first support ring 11
- the rotation center line is relatively rotated to achieve simultaneous adjustment of the angle between the center axis of each of the sub-wheels 13 and the center line of rotation of the hub.
- the posture adjustment mechanism generates relative rotation about the center line of rotation by driving the first support ring 11 and the second support ring 12 respectively hinged at both ends of each of the sub-wheels 13, so that the opposite ends of each of the sub-wheels 13 can be made to be opposite.
- the offset is such that the central axis of each of the sub-wheels 13 is offset with respect to the center line of rotation, so that the inclination angle of each of the sub-wheels 13 can be changed synchronously to adapt to the actual road conditions, thereby improving the application flexibility of the wheel 1 and Smooth walking.
- the posture adjustment mechanism of the present disclosure may be drivingly coupled to the first support ring 11 or to the second support ring 12, and The first support ring 11 and the second support ring 12 can be driven simultaneously.
- the posture adjustment mechanism is preferably disposed to be drivingly coupled to one of the first support ring 11 and the second support ring 12 so as to drive only one of the first support ring 11 and the second support ring 12
- the relative rotation of the first support ring 11 and the second support ring 12 is realized, the structure is simpler, and it is more convenient to drive the entire wheel 1 by driving the other of the first support ring 11 and the second support ring 12.
- the wheel 1 includes a hub, a plurality of sub-wheels 13 and a posture adjustment mechanism, wherein the hub includes a first support ring 11 and a second support ring 12, and the posture adjustment mechanism includes a gear mechanism .
- the first support ring 11 and the second support ring 12 are relatively spaced apart, and the central axes of the two are collinear. Moreover, the central axes of the first support ring 11 and the second support ring 12 coincide with the center line of rotation of the hub. When the hub is rotated about the centerline of rotation, the wheel 1 realizes the walking function.
- the wheel 1 may also comprise a walking power source for driving the wheels 1 to travel.
- the traveling power source is the motor 2 shown in FIG. 2, and the motor 2 is driven by the first support ring 11.
- the connection drives the wheel 1 to travel by driving the first support ring 11 to rotate about the center of revolution.
- the driving power source can also use other power equipment as long as the driving power of the wheel 1 can be provided.
- all the sub-wheels 13 are connected between the first support ring 11 and the second support ring 12, so that when the hub rotates around the center line of rotation, each of the sub-wheels 13 can also It is then rotated about the centerline of rotation so that each sub-wheel 13 is able to achieve cyclical contact with the ground.
- each of the sub-wheels 13 is simultaneously hinged with the first support ring 11 and the second support ring 12, so that during the running of the wheel 1, each of the sub-wheels 13 can also rotate about its own central axis, so that the sub-wheels When the angle between the central axis of the 13 and the center line of rotation is not zero, that is, when the sub-wheel 13 is inclined, the wheel 1 can be subjected to lateral friction applied by the ground, thereby generating a motion such as steering.
- a self-aligning bearing 15 is disposed between the first end of each of the sub-wheels 13 and the first support ring 11, and the first end of each of the sub-wheels 13 passes through
- the corresponding aligning bearing 15 realizes the hinge with the first support ring 11;
- a ball joint 16 is disposed between the second end of each of the sub-wheels 13 and the second support ring 12, and the second end of each of the sub-wheels 13 passes through The corresponding ball joint 16 achieves articulation with the second support ring 12.
- each of the sub-wheels 13 be more flexibly rotated about its own central axis, but also the posture adjustment mechanism can be adjusted to adjust the tilt angle of the sub-wheels 13, which will be below Further explanation.
- the pose adjustment mechanism is drivingly coupled to the second support ring 12 and drives the second support ring 12 to rotate relative to the first support ring 11, that is, in this embodiment, the second support ring 12 is not only to be
- the first support ring 11 rotates around the center line of rotation under the driving of the traveling power source (which can be regarded as a revolution), and also rotates around its central axis under the driving action of the posture adjustment mechanism (can be regarded as rotation) , the rotation relative to the first support ring 11 is generated.
- the second support ring 12 of the embodiment is a ring gear, and the second support ring 12 is engaged with the gear mechanism of the posture adjustment mechanism, so that the posture adjustment mechanism can pass the gear mechanism and the second support.
- the engagement of the ring 12 drives the second support ring 12 to rotate relative to the first support ring 11, the structure is simple and compact, and the tilt angle of the sub-wheel 13 can be adjusted more precisely.
- first ends of the respective sub-wheels 13 are both hinged with the first support ring 11, and the second ends of the respective sub-wheels 13 are hinged with the second support ring 12, when the second support ring 12 is opposite to the first support ring
- the second end of each of the sub-wheels 13 can be offset with respect to the first end thereof by the second support ring 12, so that the central axes of the respective sub-wheels 13 are generated with respect to the center line of rotation.
- the wheel 1 when the wheel 1 is traveling on the uneven road surface, the wheel 1 can synchronously adjust the inclination angle of each of the sub-wheels 13 by using the posture adjustment mechanism according to the actual road condition, so that the inclination angle of each of the sub-wheels 13 and the actual road surface are
- the situation is adapted to ensure that the sub-wheel 13 is always in good contact with the ground during the entire driving process, so that it is advantageous to reduce the running jolt and improve the running stability of the wheel 1.
- a ball joint 16 is provided between the second end of the sub-wheel 13 and the second support ring 12, and the second end of the sub-wheel 13 can be made more Rotational freedom, therefore, when the posture adjustment mechanism changes the inclination angle of the sub-wheel 13, the second end of the sub-wheel 13 can be more flexibly rotated with the second support ring 12 relative to the first support ring 11, further improving The flexibility and reliability of the posture adjustment; in addition, a self-aligning bearing 15 is disposed between the first end of the sub-wheel 13 and the first support ring 11, and the self-aligning bearing 15 can be better adapted to the second end of the sub-wheel 13 With respect to the offset occurring at the first end of the sub-wheel 13, the adjustment of the tilt angle of the sub-wheel 13 by the pose adjustment mechanism can be more conveniently realized.
- the gear mechanism of this embodiment includes a center wheel 141 and a planetary gear 142 that cooperate with the second support ring 12 to form a differential gear train, wherein the center wheel 141 is concentric with the second support ring 12 It is provided that the planet gear 142 is meshed between the center wheel 141 and the second support ring 12.
- the center wheel 141 can rotate the second support ring 12 relative to the first support ring 11 about the center of rotation by the planetary gears 142, thereby realizing the adjustment of the position of each of the sub-wheels 13.
- the center wheel 141 and the planetary gear 142 and the second support ring 12 to form a differential gear train, the positional adjustment of each of the sub-wheels 13 can be realized, and the structure of the wheel 1 can be made simpler and more compact. Further, based on this, when the motor 2 for driving the rotation of the first support ring 11 is disposed, it is convenient to connect the output shaft of the motor 2 to the first support ring 11 through the center hole of the center wheel 141.
- the attitude adjustment mechanism can also include an adjustment power source (not shown) that is drivingly coupled to the gear mechanism for powering the rotation of the gear mechanism.
- the adjustment power source may be a motor that is drivingly coupled to the center wheel 141 of the embodiment, and the motor is used to drive the center wheel 141 to rotate, thereby achieving adjustment of the inclination angle of each of the sub-wheels 13 (i.e., the position of each sub-wheel 13).
- the posture adjustment mechanism is preferably arranged to be able to adjust the adjacent sub-wheels 13 by synchronously adjusting the inclination angles of the respective sub-wheels 13.
- the degree of coincidence of the camber varies from 1-1.2.
- the camber coincidence degree of the adjacent sub-wheels 13 in the range of 1-1.2, it is also possible to cause the two-wheel contact (i.e., the two sub-wheels 13 to simultaneously contact the ground) during the rotation of the wheel 1.
- the camber degree of the adjacent sub-wheels 13 is 1, in which case, during the rotation of the wheel 1, it can be realized.
- the single and double wheels are in contact with the road surface, specifically: in the interval of 0°-15°, the two sub-wheels 13 are in contact with the ground at the same time; in the interval of 15°-55°, the single sub-wheel 13 is in contact with the ground; at 55°- In the 70° interval, the two sub-wheels 13 are in contact with the ground, that is, the rotation process of “two-wheel contact-one-wheel contact-two-wheel contact” is realized.
- the contact area of the two sub-wheels 13 when contacting the ground at the same time is relatively large with respect to the case where the single sub-wheel 13 is always in contact with the ground, this can not only further reduce the vertical fluctuation, improve the running smoothness, but also reduce the ground pair.
- the wear of the wheel 13 extends the service life of the sub-wheel 13, improves the operational reliability of the wheel 1, and effectively increases the load capacity of the sub-wheel 13 and enhances the load-bearing capacity of the wheel 1, so that the transport vehicle having the wheel 1 can be loaded. Use in heavier conditions facilitates cargo handling for larger loads based on fewer transport vehicles.
- the posture adjustment mechanism is preferably configured to be capable of synchronously adjusting the angle between the central axis of each of the sub-wheels 13 and the center line of rotation of the hub to vary from 0° to 50°, for example, the angle may be zero. °, 42°, 45° and 47°.
- the attitude adjusting mechanism adjusts the angle between the central axis of each of the sub-wheels 13 and the center line of the hub rotation to be 0°, the sub-wheel 13 is in a non-tilted state, and the wheel 1 is not subjected to lateral division during walking.
- the wheel 1 is in a straight state; and when the attitude adjusting mechanism adjusts the angle between the central axis of each of the sub-wheels 13 and the center line of rotation of the hub is not 0°, for example, preferably, the posture adjustment mechanism synchronously adjusts each
- the angle between the central axis of the sub-wheel 13 and the center line of rotation of the hub changes within a range of 40°-50°
- the sub-wheel 13 is in an inclined state, and the wheel 1 is subjected to a lateral component during walking, enabling steering.
- the movement, through the combined use and control of each wheel 1, can complete the functions of lateral movement or original turning, so that the transport vehicle can work more flexibly and increase the applicable range of the transport vehicle.
- Figure 2 shows a schematic diagram of the principle of motion of a transport vehicle comprising four of the disclosed wheels 1.
- the transport vehicle includes four wheels 1 arranged on both sides of the vehicle body, each of which includes a motor 2, and each motor 2 is used to drive the corresponding wheel 1 movement through four motors 2
- a plurality of operation modes of straight-line, lateral movement, and in-situ turning can be realized.
- W1, W2, W3 and W4 are the angular velocity of each wheel 1, W5 truck is turning on the spot rate, R is the radius of the wheel hub 1, V x, V y respectively truck along the x-axis and y-axis
- the traveling speeds, L1 and L2 are the distances of the respective wheels 1 from the center of the turn in the x-axis direction and the y-axis direction, respectively.
- another aspect of the present disclosure also provides a transport vehicle, such as an AGV transport vehicle, that includes the wheel 1 of the present disclosure.
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Abstract
A vehicle wheel (1) and a transport vehicle. The vehicle wheel (1) comprises a wheel hub and a plurality of sub wheels (13) disposed on the wheel hub. The plurality of sub wheels (13) is capable of rotating around the center line of gyration of the wheel hub along with the wheel hub, so as to make the vehicle wheel (1) move. Each sub wheel (13) can rotate around its own central axis. The vehicle wheel (1) further comprises a position adjustment mechanism. The position adjustment mechanism can synchronously adjust the angles between the central axes of the sub wheels (13) and the center line of gyration of the wheel hub. By providing a position adjustment mechanism on the vehicle wheel (1), the vehicle wheel (1) can adjust the inclination angles of the sub wheels (13) by using the position adjustment mechanism, so that the inclination angles of the sub wheels (13) can be adapted to the road condition, thereby ensuring that the sub wheels (13) are in good contact with the ground at any moment. Therefore, the vehicle wheel (1) can be applied more flexibly and move more stably.
Description
相关申请Related application
本申请是以中国申请号为201611198556.1，申请日为2016年12月22日的申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。The present application is based on the application of the Chinese Application No. 201611198556.1, the filing date of which is the entire filing date of
本公开涉及运输车技术领域，特别涉及一种车轮和运输车。The present disclosure relates to the field of transport vehicles, and in particular to a wheel and a transport vehicle.
为了实现运输车更灵活的行走和转向，相关技术中在运输车上设置一种车轮，该车轮包括轮毂和设置于轮毂上的若干个可以自由转动的子轮，这些子轮相对于轮毂的回转中心线倾斜设置，这样在车轮滚动时，子轮能够产生侧向运动，进而通过多个车轮的组合使用和控制，可以使车体产生运动平面内的任意方向的移动和转动。In order to achieve a more flexible walking and steering of the transport vehicle, a related art is provided with a wheel on the transport vehicle, the wheel including a hub and a plurality of freely rotatable sub-wheels disposed on the hub, the rotation of the sub-wheels relative to the hub The center line is slanted so that the wheel can be moved laterally as the wheel rolls, and the combined use and control of the plurality of wheels can cause the vehicle body to move and rotate in any direction within the plane of motion.
发明内容Summary of the invention
然而，发明人认识到，上述现有的车轮，其子轮相对于回转中心的倾斜角度是一定的，其应用灵活性较差，尤其当路况发生改变时，例如在凹凸不平的路面上行走时，较难保证子轮与地面保持良好接触，经常出现颠簸较为严重的现象，行走平稳性较差。However, the inventors have recognized that the above-described conventional wheel has a certain inclination angle of its sub-wheel with respect to the center of rotation, and its application flexibility is poor, especially when the road condition changes, for example, when walking on uneven road surface. It is difficult to ensure that the sub-wheels maintain good contact with the ground, and the phenomenon of bumps is often serious, and the walking stability is poor.
基于此，本公开所要解决的一个技术问题是：目前具有倾斜子轮的车轮，应用灵活性较差，较难适应变化的路况。Based on this, one technical problem to be solved by the present disclosure is that the current wheel with the inclined sub-wheel has poor application flexibility and is difficult to adapt to changing road conditions.
为了解决上述技术问题，本公开提供了一种车轮。该车轮包括轮毂和设置于轮毂上的数个子轮，数个子轮能够随着轮毂绕轮毂的回转中心线转动，实现车轮的行走，且各个子轮能够绕着自身的中心轴线转动，而且，该车轮还包括位姿调整机构，位姿调整机构能够同步调整各个子轮的中心轴线与轮毂回转中心线之间的夹角。In order to solve the above technical problems, the present disclosure provides a wheel. The wheel comprises a hub and a plurality of sub-wheels disposed on the hub. The plurality of sub-wheels can rotate along the center line of rotation of the hub around the hub to realize the walking of the wheel, and each of the sub-wheels can rotate about its central axis, and The wheel further includes a posture adjustment mechanism capable of synchronously adjusting an angle between a central axis of each of the sub-wheels and a center line of rotation of the hub.
可选地，位姿调整机构设置为能够通过同步调整各个子轮的中心轴线与轮毂回转中心线之间的夹角来调整相邻子轮的弧面重合度在1-1.2范围内变化。Optionally, the pose adjustment mechanism is configured to adjust the arcuate coincidence degree of the adjacent sub-wheels to vary within a range of 1-1.2 by synchronously adjusting the angle between the center axis of each of the sub-wheels and the center line of the hub rotation.
可选地，位姿调整机构能够同步调整各个子轮的中心轴线与轮毂回转中心线之间的夹角在0°-50°范围内变化。Alternatively, the posture adjustment mechanism can synchronously adjust the angle between the central axis of each of the sub-wheels and the center line of rotation of the hub to vary from 0° to 50°.
可选地，位姿调整机构能够同步调整各个子轮的中心轴线与轮毂回转中心线之间
的夹角在40°-50°范围内变化。Optionally, the posture adjustment mechanism can synchronously adjust between the central axis of each of the sub-wheels and the center line of the hub rotation
The angle of the change varies from 40° to 50°.
可选地，轮毂包括中心轴线与回转中心线重合的第一支承圈和第二支承圈，各个子轮的第一端均与第一支承圈铰接，各个子轮的第二端均与第二支承圈铰接，位姿调整机构与第一支承圈和第二支承圈中的至少一个驱动连接并能够使第二支承圈与第一支承圈绕回转中心线相对转动，以调整各个子轮的中心轴线与轮毂回转中心线之间的夹角。Optionally, the hub includes a first support ring and a second support ring whose center axis coincides with the rotation center line, the first ends of each of the sub-wheels are hinged with the first support ring, and the second ends of the respective sub-wheels are both second and second The support ring is hinged, and the posture adjustment mechanism is drivingly coupled to at least one of the first support ring and the second support ring and can rotate the second support ring and the first support ring relative to the rotation center line to adjust the center of each of the sub-wheels The angle between the axis and the centerline of the hub rotation.
可选地，位姿调整机构包括齿轮机构，第二支承圈为齿圈，位姿调整机构通过齿轮机构与第二支承圈的啮合来驱动第二支承圈相对于第一支承圈绕着回转中心线转动。Optionally, the posture adjustment mechanism includes a gear mechanism, and the second support ring is a ring gear, and the posture adjustment mechanism drives the second support ring to rotate around the rotation center with respect to the first support ring by the engagement of the gear mechanism and the second support ring. The line turns.
可选地，齿轮机构包括与第二支承圈配合形成差动轮系的中心轮和行星轮，中心轮与第二支承圈同心设置，行星轮啮合于中心轮与第二支承圈之间，以使中心轮能够通过行星轮带动第二支承圈相对于第一支承圈绕着回转中心线转动。Optionally, the gear mechanism includes a center wheel and a planet gear that cooperate with the second support ring to form a differential gear train. The center wheel and the second support ring are concentrically disposed, and the planet gear is meshed between the center wheel and the second support ring to The central wheel is enabled to rotate the second support ring relative to the first support ring about the centerline of rotation by the planet wheels.
可选地，位姿调整机构还包括调整动力源，调整动力源与齿轮机构驱动连接，用于驱动齿轮机构转动。Optionally, the posture adjustment mechanism further comprises adjusting the power source, and adjusting the power source and the gear mechanism driving connection for driving the gear mechanism to rotate.
可选地，车轮还包括行走动力源，行走动力源与第一支承圈驱动连接，用于驱动第一支承圈绕着回转中心线转动，以实现车轮的行走。Optionally, the wheel further includes a traveling power source, and the traveling power source is drivingly coupled to the first support ring for driving the first support ring to rotate about the rotation center line to realize the walking of the wheel.
可选地，车轮还包括数个调心轴承，数个调心轴承与数个子轮一一对应，且每个调心轴承设置于对应的子轮的第一端与第一支承圈之间；和/或，车轮还包括数个球铰，数个球铰与数个子轮一一对应设置，且每个球铰设置于对应的子轮的第二端与第二支承圈之间。Optionally, the wheel further includes a plurality of self-aligning bearings, wherein the plurality of self-aligning bearings are in one-to-one correspondence with the plurality of sub-wheels, and each of the self-aligning bearings is disposed between the first end of the corresponding sub-wheel and the first support ring; And/or, the wheel further includes a plurality of ball joints, wherein the plurality of ball joints are disposed in one-to-one correspondence with the plurality of sub-wheels, and each of the ball joints is disposed between the second end of the corresponding sub-wheel and the second support ring.
本公开另一方面还提供了一种运输车，其包括本公开的车轮。Another aspect of the present disclosure also provides a transport vehicle including the wheel of the present disclosure.
本公开通过在车轮上设置位姿调整机构，使得车轮可以利用位姿调整机构调整各个子轮的倾斜角度，使子轮的倾斜角度与路况相适应，有利于保证子轮与地面时刻保持良好接触，因此，能够有效提高车轮的应用灵活性，提高车轮的行走平稳性。The present disclosure provides a posture adjustment mechanism on the wheel, so that the wheel can adjust the inclination angle of each sub-wheel by using the posture adjustment mechanism, so that the inclination angle of the sub-wheel is adapted to the road condition, which is favorable for ensuring good contact between the sub-wheel and the ground moment. Therefore, the application flexibility of the wheel can be effectively improved, and the running stability of the wheel can be improved.
通过以下参照附图对本公开的示例性实施例进行详细描述，本公开的其它特征及其优点将会变得清楚。Other features and advantages of the present disclosure will become apparent from the Detailed Description of the Drawing.
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅
是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings to be used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only
It is a certain embodiment of the present disclosure, and other drawings can be obtained from those skilled in the art without any inventive labor.
图1示出本公开一实施例的车轮的立体结构图。Fig. 1 is a perspective structural view showing a wheel of an embodiment of the present disclosure.
图2示出本公开一实施例的运输车的运动原理示意图。2 is a schematic view showing the principle of movement of a transport vehicle according to an embodiment of the present disclosure.
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有开展创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。The technical solutions in the embodiments of the present disclosure are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present disclosure. It is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of the at least one exemplary embodiment is merely illustrative and is in no way All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without departing from the inventive scope are the scope of the disclosure.
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and apparatus should be considered as part of the authorization specification.
在本公开的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。In the description of the present disclosure, it is to be understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom", etc. indicate the orientation. Or the positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the disclosure and the simplification of the description, which does not indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the disclosure; the orientations "inside and outside" refer to the inside and outside of the contour of the components themselves.
在本公开的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本公开保护范围的限制。In the description of the present disclosure, it is to be understood that the terms "first", "second" and the like are used to define the components only for the purpose of facilitating the distinction between the corresponding components. If not stated otherwise, the above words are not special. The meaning is therefore not to be construed as limiting the scope of the disclosure.
图1示出了本公开车轮的一个实施例。参照图1，本公开所提供的车轮1，包括轮毂和设置于轮毂上的数个子轮13，数个子轮13能够随着轮毂绕轮毂的回转中心线转动，实现车轮1的行走，且各个子轮13能够绕着自身的中心轴线转动，并且，该车轮1还包括位姿调整机构，该位姿调整机构能够同步调整各个子轮13的中心轴线与轮毂回转中心线之间的夹角。Figure 1 illustrates one embodiment of a wheel of the present disclosure. Referring to Fig. 1, a wheel 1 provided by the present disclosure includes a hub and a plurality of sub-wheels 13 disposed on the hub. The plurality of sub-wheels 13 can rotate along the center line of rotation of the hub around the hub, thereby realizing the walking of the wheel 1, and each child The wheel 13 is rotatable about its own central axis, and the wheel 1 further includes a posture adjustment mechanism capable of synchronously adjusting the angle between the central axis of each of the sub-wheels 13 and the centerline of rotation of the hub.
子轮13的中心轴线与轮毂回转中心线之间的夹角(以下简称为子轮13的倾斜角度)能够影响相邻子轮13的弧面重合度，而弧面重合度影响车轮1转动过程中子轮13与地面的接触情况。现有技术中，子轮13的倾斜角度不能变化，导致相邻子轮13
的弧面重合度无法根据实际路况作出调整，所以，无法保证在路况发生变化时车轮1的子轮13仍能够与地面保持良好接触。The angle between the central axis of the sub-wheel 13 and the center line of rotation of the hub (hereinafter simply referred to as the inclination angle of the sub-wheel 13) can affect the degree of coincidence of the arc of the adjacent sub-wheels 13, and the degree of coincidence of the arc affects the rotation of the wheel 1. The contact of the neutron wheel 13 with the ground. In the prior art, the tilt angle of the sub-wheel 13 cannot be changed, resulting in the adjacent sub-wheel 13
The degree of coincidence of the camber cannot be adjusted according to the actual road conditions, so there is no guarantee that the sub-wheels 13 of the wheel 1 can still maintain good contact with the ground when the road conditions change.
而本公开通过设置位姿调整机构，使得车轮1可以依据实际路况灵活调整各个子轮13的倾斜角度，从而能够保证子轮13的倾斜角度与路况相适应，有利于实现车轮1与地面的时刻良好接触，因此，能够有效减少颠簸，提高车轮1的行走平稳性，并使得本公开的车轮1可以适应更多的路况，有效提高车轮1的应用灵活性。The present disclosure provides a posture adjustment mechanism, so that the wheel 1 can flexibly adjust the inclination angle of each sub-wheel 13 according to the actual road condition, thereby ensuring that the inclination angle of the sub-wheel 13 is adapted to the road condition, and is beneficial to realize the moment of the wheel 1 and the ground. Good contact, therefore, can effectively reduce bumps, improve the running stability of the wheel 1, and make the wheel 1 of the present disclosure adapt to more road conditions, effectively improving the application flexibility of the wheel 1.
在本公开中，轮毂可以包括中心轴线与回转中心线重合的第一支承圈11和第二支承圈12，各个子轮13的第一端均与第一支承圈11铰接，各个子轮13的第二端均与第二支承圈12铰接，且位姿调整机构与第一支承圈11和第二支承圈12中的至少一个驱动连接并能够使第二支承圈12与第一支承圈11绕回转中心线相对转动，实现对各个子轮13的中心轴线与轮毂回转中心线之间夹角的同步调整。基于此，位姿调整机构通过驱动与各个子轮13两端分别铰接的第一支承圈11和第二支承圈12产生绕回转中心线的相对转动，可以使得各个子轮13的两端产生相对偏移，从而使得各个子轮13的中心轴线相对于回转中心线发生偏移，进而能够同步改变各个子轮13的倾斜角度，使之与实际路况相适应，有利于提高车轮1应用灵活性以及行走平稳性。In the present disclosure, the hub may include a first support ring 11 and a second support ring 12 whose center axis coincides with the center line of rotation, and the first ends of each of the sub-wheels 13 are hinged to the first support ring 11, each of the sub-wheels 13 The second ends are both hinged to the second support ring 12, and the attitude adjustment mechanism is drivingly coupled to at least one of the first support ring 11 and the second support ring 12 and is capable of winding the second support ring 12 and the first support ring 11 The rotation center line is relatively rotated to achieve simultaneous adjustment of the angle between the center axis of each of the sub-wheels 13 and the center line of rotation of the hub. Based on this, the posture adjustment mechanism generates relative rotation about the center line of rotation by driving the first support ring 11 and the second support ring 12 respectively hinged at both ends of each of the sub-wheels 13, so that the opposite ends of each of the sub-wheels 13 can be made to be opposite. The offset is such that the central axis of each of the sub-wheels 13 is offset with respect to the center line of rotation, so that the inclination angle of each of the sub-wheels 13 can be changed synchronously to adapt to the actual road conditions, thereby improving the application flexibility of the wheel 1 and Smooth walking.
为了使第一支承圈11与第二支承圈12产生绕回转中心线的相对转动，本公开的位姿调整机构可以与第一支承圈11驱动连接，或者与第二支承圈12驱动连接，还可以与第一支承圈11和第二支承圈12同时驱动连接。其中，为了简化结构，位姿调整机构优选设置为与第一支承圈11和第二支承圈12中的一个驱动连接，这样只需通过驱动第一支承圈11和第二支承圈12中的一个来实现第一支承圈11与第二支承圈12的相对转动，结构更加简单，也更便于通过驱动第一支承圈11和第二支承圈12中的另一个来实现整个车轮1的行走。In order to cause the first support ring 11 and the second support ring 12 to generate relative rotation about the center line of rotation, the posture adjustment mechanism of the present disclosure may be drivingly coupled to the first support ring 11 or to the second support ring 12, and The first support ring 11 and the second support ring 12 can be driven simultaneously. Wherein, in order to simplify the structure, the posture adjustment mechanism is preferably disposed to be drivingly coupled to one of the first support ring 11 and the second support ring 12 so as to drive only one of the first support ring 11 and the second support ring 12 The relative rotation of the first support ring 11 and the second support ring 12 is realized, the structure is simpler, and it is more convenient to drive the entire wheel 1 by driving the other of the first support ring 11 and the second support ring 12.
下面结合图1所示的实施例来对本公开进行进一步地说明。The present disclosure will be further described below in conjunction with the embodiment shown in FIG.
如图1所示，在该实施例中，车轮1包括轮毂、数个子轮13和位姿调整机构，其中，轮毂包括第一支承圈11和第二支承圈12，位姿调整机构包括齿轮机构。As shown in FIG. 1, in this embodiment, the wheel 1 includes a hub, a plurality of sub-wheels 13 and a posture adjustment mechanism, wherein the hub includes a first support ring 11 and a second support ring 12, and the posture adjustment mechanism includes a gear mechanism .
由图1可知，在该实施例中，第一支承圈11与第二支承圈12相对间隔设置，二者的中心轴线共线。而且，第一支承圈11与第二支承圈12的中心轴线与轮毂的回转中心线重合。当轮毂绕着回转中心线转动时，车轮1即实现行走功能。As can be seen from Fig. 1, in this embodiment, the first support ring 11 and the second support ring 12 are relatively spaced apart, and the central axes of the two are collinear. Moreover, the central axes of the first support ring 11 and the second support ring 12 coincide with the center line of rotation of the hub. When the hub is rotated about the centerline of rotation, the wheel 1 realizes the walking function.
为了实现整个车轮1的转动，车轮1还可以包括用于驱动车轮1行走的行走动力源。在该实施例中，行走动力源为图2所示的电机2，该电机2与第一支承圈11驱动
连接，通过驱动第一支承圈11绕着回转中心线转动来驱动车轮1行走。当然，行走动力源也可以采用其他动力设备，只要能够为车轮1提供行走动力即可。In order to achieve the rotation of the entire wheel 1, the wheel 1 may also comprise a walking power source for driving the wheels 1 to travel. In this embodiment, the traveling power source is the motor 2 shown in FIG. 2, and the motor 2 is driven by the first support ring 11.
The connection drives the wheel 1 to travel by driving the first support ring 11 to rotate about the center of revolution. Of course, the driving power source can also use other power equipment as long as the driving power of the wheel 1 can be provided.
如图1所示，在该实施例中，所有子轮13均连接于第一支承圈11与第二支承圈12之间，这样当轮毂绕回转中心线转动时，各个子轮13也均能够随之绕着回转中心线转动，使每个子轮13能够实现与地面的循环接触。而且，各个子轮13均同时与第一支承圈11和第二支承圈12铰接，这样，在车轮1行走过程中，各个子轮13均还能绕着自身的中心轴线转动，从而当子轮13的中心轴线与回转中心线间的夹角不为0时，也即当子轮13斜置时，车轮1能够受到地面施加的侧向摩擦力，进而产生转向等运动。As shown in FIG. 1, in this embodiment, all the sub-wheels 13 are connected between the first support ring 11 and the second support ring 12, so that when the hub rotates around the center line of rotation, each of the sub-wheels 13 can also It is then rotated about the centerline of rotation so that each sub-wheel 13 is able to achieve cyclical contact with the ground. Moreover, each of the sub-wheels 13 is simultaneously hinged with the first support ring 11 and the second support ring 12, so that during the running of the wheel 1, each of the sub-wheels 13 can also rotate about its own central axis, so that the sub-wheels When the angle between the central axis of the 13 and the center line of rotation is not zero, that is, when the sub-wheel 13 is inclined, the wheel 1 can be subjected to lateral friction applied by the ground, thereby generating a motion such as steering.
具体地，如图1所示，在该实施例中，每个子轮13的第一端与第一支承圈11之间均设有调心轴承15，每个子轮13的第一端均通过与其对应的调心轴承15实现与第一支承圈11的铰接；每个子轮13的第二端与第二支承圈12之间均设有球铰16，每个子轮13的第二端均通过与其对应的球铰16实现与第二支承圈12的铰接。Specifically, as shown in FIG. 1, in this embodiment, a self-aligning bearing 15 is disposed between the first end of each of the sub-wheels 13 and the first support ring 11, and the first end of each of the sub-wheels 13 passes through The corresponding aligning bearing 15 realizes the hinge with the first support ring 11; a ball joint 16 is disposed between the second end of each of the sub-wheels 13 and the second support ring 12, and the second end of each of the sub-wheels 13 passes through The corresponding ball joint 16 achieves articulation with the second support ring 12.
通过设置调心轴承15和球铰16，不仅使得各个子轮13能够更灵活地绕着自身中心轴线转动，还更便于位姿调整机构对子轮13的倾斜角度进行调整，这一点将在下面进一步说明。By providing the self-aligning bearing 15 and the ball joint 16, not only can each of the sub-wheels 13 be more flexibly rotated about its own central axis, but also the posture adjustment mechanism can be adjusted to adjust the tilt angle of the sub-wheels 13, which will be below Further explanation.
在该实施例中，位姿调整机构与第二支承圈12驱动连接并驱动第二支承圈12相对于第一支承圈11转动，也即在该实施例中，第二支承圈12不仅要随着第一支承圈11一起在行走动力源的驱动下绕回转中心线转动(可以看作公转)，还要在位姿调整机构的驱动作用下绕着自身的中心轴线转动(可以看作自转)，产生相对于第一支承圈11的转动。In this embodiment, the pose adjustment mechanism is drivingly coupled to the second support ring 12 and drives the second support ring 12 to rotate relative to the first support ring 11, that is, in this embodiment, the second support ring 12 is not only to be The first support ring 11 rotates around the center line of rotation under the driving of the traveling power source (which can be regarded as a revolution), and also rotates around its central axis under the driving action of the posture adjustment mechanism (can be regarded as rotation) , the rotation relative to the first support ring 11 is generated.
具体地，由图1可知，该实施例的第二支承圈12为齿圈，该第二支承圈12与位姿调整机构的齿轮机构啮合，使得位姿调整机构能够通过齿轮机构与第二支承圈12的啮合来驱动第二支承圈12相对于第一支承圈11进行转动，结构简单紧凑，且可以实现对子轮13倾斜角度更精确地调整。Specifically, as can be seen from FIG. 1, the second support ring 12 of the embodiment is a ring gear, and the second support ring 12 is engaged with the gear mechanism of the posture adjustment mechanism, so that the posture adjustment mechanism can pass the gear mechanism and the second support. The engagement of the ring 12 drives the second support ring 12 to rotate relative to the first support ring 11, the structure is simple and compact, and the tilt angle of the sub-wheel 13 can be adjusted more precisely.
由于各个子轮13的第一端均与第一支承圈11铰接，且各个子轮13的第二端均与第二支承圈12铰接，因此，当第二支承圈12相对于第一支承圈11转动时，在第二支承圈12的带动下，每个子轮13的第二端均能够相对于自身的第一端发生偏移，使得各个子轮13的中心轴线均相对于回转中心线发生偏移，同步改变各个子轮13的中心轴线相对于回转中心线的夹角，即调整各个子轮13的倾斜角度，也即调整各个
子轮13的位姿，有效提高车轮1的应用灵活性，扩大其应用范围。而且，基于此，当车轮1行走于凹凸不平的路面上时，车轮1可以根据实际路况利用其位姿调整机构同步调整各个子轮13的倾斜角度，使各个子轮13的倾斜角度与实际路面情况相适应，从而有利于保证整个行驶过程中总有子轮13与地面保持良好接触，所以，有利于减少行驶颠簸，提高车轮1的行走平稳性。Since the first ends of the respective sub-wheels 13 are both hinged with the first support ring 11, and the second ends of the respective sub-wheels 13 are hinged with the second support ring 12, when the second support ring 12 is opposite to the first support ring When the 11 is rotated, the second end of each of the sub-wheels 13 can be offset with respect to the first end thereof by the second support ring 12, so that the central axes of the respective sub-wheels 13 are generated with respect to the center line of rotation. Offset, synchronously changing the angle of the central axis of each of the sub-wheels 13 with respect to the center line of rotation, that is, adjusting the inclination angle of each of the sub-wheels 13, that is, adjusting each
The posture of the sub-wheel 13 effectively improves the application flexibility of the wheel 1 and expands its application range. Moreover, based on this, when the wheel 1 is traveling on the uneven road surface, the wheel 1 can synchronously adjust the inclination angle of each of the sub-wheels 13 by using the posture adjustment mechanism according to the actual road condition, so that the inclination angle of each of the sub-wheels 13 and the actual road surface are The situation is adapted to ensure that the sub-wheel 13 is always in good contact with the ground during the entire driving process, so that it is advantageous to reduce the running jolt and improve the running stability of the wheel 1.
而且，如前所述，在该实施例中，子轮13的第二端与第二支承圈12之间设有球铰16，由于球铰16可以使得子轮13的第二端具有更多的旋转自由度，因此，在位姿调整机构改变子轮13的倾斜角度时，子轮13的第二端可以更灵活地随着第二支承圈12相对于第一支承圈11转动，进一步提高位姿调整的灵活性和可靠性；另外，子轮13的第一端与第一支承圈11之间设有调心轴承15，调心轴承15可以更好地适应子轮13的第二端相对于子轮13的第一端所发生的偏移，从而可以更方便地实现位姿调整机构对子轮13倾斜角度的调整。Moreover, as previously mentioned, in this embodiment, a ball joint 16 is provided between the second end of the sub-wheel 13 and the second support ring 12, and the second end of the sub-wheel 13 can be made more Rotational freedom, therefore, when the posture adjustment mechanism changes the inclination angle of the sub-wheel 13, the second end of the sub-wheel 13 can be more flexibly rotated with the second support ring 12 relative to the first support ring 11, further improving The flexibility and reliability of the posture adjustment; in addition, a self-aligning bearing 15 is disposed between the first end of the sub-wheel 13 and the first support ring 11, and the self-aligning bearing 15 can be better adapted to the second end of the sub-wheel 13 With respect to the offset occurring at the first end of the sub-wheel 13, the adjustment of the tilt angle of the sub-wheel 13 by the pose adjustment mechanism can be more conveniently realized.
更具体地，如图1所示，该实施例的齿轮机构包括与第二支承圈12配合形成差动轮系的中心轮141和行星轮142，其中，中心轮141与第二支承圈12同心设置，行星轮142啮合于中心轮141与第二支承圈12之间。这样当中心轮141转动时，中心轮141能够通过行星轮142带动第二支承圈12相对于第一支承圈11绕着回转中心线转动，实现对各子轮13位姿的调整。通过设置中心轮141和行星轮142与第二支承圈12形成差动轮系，来实现对各子轮13位姿的调整，可以使得车轮1的结构更加简单紧凑。另外，基于此，在布置前述用于驱动第一支承圈11转动的电机2时，便于使电机2的输出轴穿过中心轮141的中心孔而与第一支承圈11连接。More specifically, as shown in FIG. 1, the gear mechanism of this embodiment includes a center wheel 141 and a planetary gear 142 that cooperate with the second support ring 12 to form a differential gear train, wherein the center wheel 141 is concentric with the second support ring 12 It is provided that the planet gear 142 is meshed between the center wheel 141 and the second support ring 12. Thus, when the center wheel 141 is rotated, the center wheel 141 can rotate the second support ring 12 relative to the first support ring 11 about the center of rotation by the planetary gears 142, thereby realizing the adjustment of the position of each of the sub-wheels 13. By providing the center wheel 141 and the planetary gear 142 and the second support ring 12 to form a differential gear train, the positional adjustment of each of the sub-wheels 13 can be realized, and the structure of the wheel 1 can be made simpler and more compact. Further, based on this, when the motor 2 for driving the rotation of the first support ring 11 is disposed, it is convenient to connect the output shaft of the motor 2 to the first support ring 11 through the center hole of the center wheel 141.
为了驱动该实施例的齿轮机构转动，位姿调整机构还可以包括调整动力源(图中未示出)，该调整动力源与齿轮机构驱动连接，用于为齿轮机构的转动提供动力。例如，调整动力源可以为与该实施例的中心轮141驱动连接的电机，利用该电机驱动中心轮141转动，实现对各子轮13倾斜角度(即各子轮13位姿)的调整。To drive the rotation of the gear mechanism of this embodiment, the attitude adjustment mechanism can also include an adjustment power source (not shown) that is drivingly coupled to the gear mechanism for powering the rotation of the gear mechanism. For example, the adjustment power source may be a motor that is drivingly coupled to the center wheel 141 of the embodiment, and the motor is used to drive the center wheel 141 to rotate, thereby achieving adjustment of the inclination angle of each of the sub-wheels 13 (i.e., the position of each sub-wheel 13).
在该实施例中，为了更好地保持子轮13与地面的接触，进一步提高行走平稳性，位姿调整机构优选设置为能够通过同步调整各个子轮13的倾斜角度来调整相邻子轮13的弧面重合度在1-1.2范围内变化。In this embodiment, in order to better maintain the contact of the sub-wheel 13 with the ground to further improve the running smoothness, the posture adjustment mechanism is preferably arranged to be able to adjust the adjacent sub-wheels 13 by synchronously adjusting the inclination angles of the respective sub-wheels 13. The degree of coincidence of the camber varies from 1-1.2.
使相邻子轮13的弧面重合度保持在1-1.2范围内，能够保证在车轮1转动过程中始终有子轮13与地面保持接触，防止出现车轮1架空、抓地不牢及丢转等问题，进一步提高车轮1的运行平稳性。
Keeping the camber degree of the adjacent sub-wheels 13 in the range of 1-1.2 can ensure that the sub-wheel 13 is always in contact with the ground during the rotation of the wheel 1, preventing the wheel 1 from being overhead, gripping and losing. Such problems further improve the smooth running of the wheel 1.
而且，使相邻子轮13的弧面重合度保持在1-1.2范围内，还可以使车轮1转动过程中存在双轮接触(即两个子轮13同时与地面接触)的情形。例如，当车轮1包括9个子轮13且调整每个子轮13倾斜角度为45°时，相邻子轮13的弧面重合度为1，这种情况下，在车轮1转动过程中，可以实现单双轮与路面交替接触，具体为：在0°-15°区间内，两个子轮13同时与地面接触；在15°-55°区间内，单个子轮13与地面接触；在55°-70°区间内，两个子轮13与地面接触，也即实现“双轮接触——单轮接触——双轮接触”的转动过程。Moreover, by keeping the camber coincidence degree of the adjacent sub-wheels 13 in the range of 1-1.2, it is also possible to cause the two-wheel contact (i.e., the two sub-wheels 13 to simultaneously contact the ground) during the rotation of the wheel 1. For example, when the wheel 1 includes 9 sub-wheels 13 and the inclination angle of each sub-wheel 13 is adjusted to 45°, the camber degree of the adjacent sub-wheels 13 is 1, in which case, during the rotation of the wheel 1, it can be realized. The single and double wheels are in contact with the road surface, specifically: in the interval of 0°-15°, the two sub-wheels 13 are in contact with the ground at the same time; in the interval of 15°-55°, the single sub-wheel 13 is in contact with the ground; at 55°- In the 70° interval, the two sub-wheels 13 are in contact with the ground, that is, the rotation process of “two-wheel contact-one-wheel contact-two-wheel contact” is realized.
由于相对于始终单个子轮13与地面接触的情况，两个子轮13同时与地面接触时的接触面积较大，这不仅可以进一步减少竖向波动，提高运行平稳性；还可以减少地面对子轮13的磨损，延长子轮13的使用寿命，提高车轮1的工作可靠性，并有效提高子轮13的负载能力，增强车轮1的负重能力，从而使得具有该车轮1的运输车可以在负载较重的情况下使用，有利于基于较少的运输车实现较大载荷的货物搬运。Since the contact area of the two sub-wheels 13 when contacting the ground at the same time is relatively large with respect to the case where the single sub-wheel 13 is always in contact with the ground, this can not only further reduce the vertical fluctuation, improve the running smoothness, but also reduce the ground pair. The wear of the wheel 13 extends the service life of the sub-wheel 13, improves the operational reliability of the wheel 1, and effectively increases the load capacity of the sub-wheel 13 and enhances the load-bearing capacity of the wheel 1, so that the transport vehicle having the wheel 1 can be loaded. Use in heavier conditions facilitates cargo handling for larger loads based on fewer transport vehicles.
在该实施例中，位姿调整机构优选设置为能够同步调整各个子轮13的中心轴线与轮毂回转中心线之间的夹角在0°-50°范围内变化，例如，夹角可以为0°、42°、45°和47°。其中，当位姿调整机构调整各个子轮13的中心轴线与轮毂回转中心线之间的夹角为0°时，子轮13处于非倾斜状态，车轮1在行走过程中并未受到侧向分力，车轮1处于直行状态；而当位姿调整机构调整各个子轮13的中心轴线与轮毂回转中心线之间的夹角不为0°时，例如，优选地，位姿调整机构同步调整各个子轮13的中心轴线与轮毂回转中心线之间的夹角在40°-50°范围内变化时，子轮13处于斜置状态，车轮1在行走过程中受到侧向分力，能够实现转向运动，再通过对各个车轮1的组合使用和控制，可以完成侧向移动或原定转弯等功能，使运输车能够更灵活地工作，增大运输车的适用范围。In this embodiment, the posture adjustment mechanism is preferably configured to be capable of synchronously adjusting the angle between the central axis of each of the sub-wheels 13 and the center line of rotation of the hub to vary from 0° to 50°, for example, the angle may be zero. °, 42°, 45° and 47°. Wherein, when the attitude adjusting mechanism adjusts the angle between the central axis of each of the sub-wheels 13 and the center line of the hub rotation to be 0°, the sub-wheel 13 is in a non-tilted state, and the wheel 1 is not subjected to lateral division during walking. Force, the wheel 1 is in a straight state; and when the attitude adjusting mechanism adjusts the angle between the central axis of each of the sub-wheels 13 and the center line of rotation of the hub is not 0°, for example, preferably, the posture adjustment mechanism synchronously adjusts each When the angle between the central axis of the sub-wheel 13 and the center line of rotation of the hub changes within a range of 40°-50°, the sub-wheel 13 is in an inclined state, and the wheel 1 is subjected to a lateral component during walking, enabling steering. The movement, through the combined use and control of each wheel 1, can complete the functions of lateral movement or original turning, so that the transport vehicle can work more flexibly and increase the applicable range of the transport vehicle.
图2示出了包括四个本公开车轮1的运输车的运动原理示意图。如图2所示，该运输车包括布置于车体两侧的四个车轮1，每个车轮1均包括一个电机2，每个电机2用于驱动对应的车轮1运动，通过四个电机2控制四个车轮1各自的运动状态，可以实现直行、侧向移动及原地转弯多种运行模式。Figure 2 shows a schematic diagram of the principle of motion of a transport vehicle comprising four of the disclosed wheels 1. As shown in FIG. 2, the transport vehicle includes four wheels 1 arranged on both sides of the vehicle body, each of which includes a motor 2, and each motor 2 is used to drive the corresponding wheel 1 movement through four motors 2 By controlling the respective motion states of the four wheels 1, a plurality of operation modes of straight-line, lateral movement, and in-situ turning can be realized.
例如，当运输车需要沿图2所示的x方向直线行驶时，也即需要直线行驶时，可以控制四个车轮1满足如下条件：W1＝W2＝W3＝W4，且Vx＝R·W1，Vy＝0；For example, when the transport vehicle needs to travel straight in the x direction shown in FIG. 2, that is, when straight traveling is required, the four wheels 1 can be controlled to satisfy the following conditions: W1=W2=W3=W4, and Vx=R·W1, Vy=0;
当运输车需要沿图2所示的y方向直线行驶时，也即需要侧向平移时，可以控制四个车轮1满足如下条件：W1＝-W2＝-W3＝W4，且Vx＝0，Vy＝-R·W1；
When the transport vehicle needs to travel straight in the y direction shown in FIG. 2, that is, when lateral shifting is required, the four wheels 1 can be controlled to satisfy the following conditions: W1=-W2=-W3=W4, and Vx=0, Vy =-R·W1;
当直线需要原地转弯时，可以控制四个车轮1满足如下条件：W1＝-W2＝W3＝-W4，且Vx＝0，Vy＝0，W5＝-W1·R/(L1+L2)；When the straight line needs to turn in place, the four wheels 1 can be controlled to satisfy the following conditions: W1=-W2=W3=-W4, and V x =0, V y =0, W5=-W1·R/(L1+L2 );
其中，W1、W2、W3和W4分别为各车轮1的角速度，W5为运输车的原地转弯速度，R为车轮1的轮毂半径，Vx、Vy分别为运输车沿x轴和y轴的行驶速度，L1和L2则分别为各车轮1在x轴方向和y轴方向距转弯中心的距离。Wherein, W1, W2, W3 and W4 are the angular velocity of each wheel 1, W5 truck is turning on the spot rate, R is the radius of the wheel hub 1, V x, V y respectively truck along the x-axis and y-axis The traveling speeds, L1 and L2, are the distances of the respective wheels 1 from the center of the turn in the x-axis direction and the y-axis direction, respectively.
可见，将本公开的车轮1应用于运输车上，可以丰富运输车的功能，实现更灵活、更多样的运输模式，有效扩大运输车的适用范围。所以，本公开另一方面还提供了一种运输车，例如AGV运输车，其包括本公开的车轮1。It can be seen that applying the wheel 1 of the present disclosure to a transport vehicle can enrich the function of the transport vehicle, realize a more flexible and more diverse transport mode, and effectively expand the applicable range of the transport vehicle. Therefore, another aspect of the present disclosure also provides a transport vehicle, such as an AGV transport vehicle, that includes the wheel 1 of the present disclosure.
以上所述仅为本公开的示例性实施例，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。
The above description is only exemplary embodiments of the present disclosure, and is not intended to limit the disclosure, and any modifications, equivalents, improvements, etc., made within the spirit and principles of the present disclosure should be included in the protection of the present disclosure. Within the scope.
Claims (11)
- 一种车轮(1)，包括轮毂和设置于所述轮毂上的数个子轮(13)，所述数个子轮(13)能够随着所述轮毂绕所述轮毂的回转中心线转动，实现所述车轮(1)的行走，且各个所述子轮(13)能够绕着自身的中心轴线转动，其中，所述车轮(1)还包括位姿调整机构，所述位姿调整机构能够同步调整各个所述子轮(13)的中心轴线与所述轮毂回转中心线之间的夹角。A wheel (1) comprising a hub and a plurality of sub-wheels (13) disposed on the hub, the plurality of sub-wheels (13) being rotatable with the hub about a centerline of rotation of the hub The wheel (1) travels, and each of the sub-wheels (13) is rotatable about its own central axis, wherein the wheel (1) further includes a posture adjustment mechanism, and the posture adjustment mechanism can be adjusted simultaneously An angle between a central axis of each of the sub-wheels (13) and a centerline of rotation of the hub.
- 根据权利要求1所述的车轮(1)，其中，所述位姿调整机构设置为能够通过同步调整各个所述子轮(13)的中心轴线与所述轮毂回转中心线之间的夹角来调整相邻所述子轮(13)的弧面重合度在1-1.2范围内变化。The wheel (1) according to claim 1, wherein the posture adjustment mechanism is provided to be capable of adjusting an angle between a central axis of each of the sub-wheels (13) and a center line of the hub rotation by synchronously The degree of coincidence of the curvature of the adjacent sub-wheels (13) is adjusted to vary within the range of 1-1.2.
- 根据权利要求1所述的车轮(1)，其中，所述位姿调整机构能够同步调整各个所述子轮(13)的中心轴线与所述轮毂回转中心线之间的夹角在0°-50°范围内变化。The wheel (1) according to claim 1, wherein the posture adjustment mechanism is capable of synchronously adjusting an angle between a central axis of each of the sub-wheels (13) and a center line of the hub rotation at 0° - Change within 50°.
- 根据权利要求3所述的车轮(1)，其中，所述位姿调整机构能够同步调整各个所述子轮(13)的中心轴线与所述轮毂回转中心线之间的夹角在40°-50°范围内变化。The wheel (1) according to claim 3, wherein the posture adjustment mechanism is capable of synchronously adjusting an angle between a central axis of each of the sub-wheels (13) and a center line of rotation of the hub at 40° - Change within 50°.
- 根据权利要求1所述的车轮(1)，其中，所述轮毂包括中心轴线与所述回转中心线重合的第一支承圈(11)和第二支承圈(12)，各个所述子轮(13)的第一端均与所述第一支承圈(11)铰接，各个所述子轮(13)的第二端均与所述第二支承圈(12)铰接，所述位姿调整机构与所述第一支承圈(11)和所述第二支承圈(12)中的至少一个驱动连接并能够使所述第二支承圈(12)与所述第一支承圈(11)绕所述回转中心线相对转动，以调整各个所述子轮(13)的中心轴线与所述轮毂回转中心线之间的夹角。The wheel (1) according to claim 1, wherein the hub includes a first support ring (11) and a second support ring (12) having a central axis coinciding with the center line of rotation, each of the sub-wheels ( 13) each of which is hinged to the first support ring (11), and the second end of each of the sub-wheels (13) is hinged with the second support ring (12), the posture adjustment mechanism Drivingly coupled to at least one of the first support ring (11) and the second support ring (12) and capable of winding the second support ring (12) and the first support ring (11) The center line of rotation is relatively rotated to adjust the angle between the central axis of each of the sub-wheels (13) and the center line of rotation of the hub.
- 根据权利要求5所述的车轮(1)，其中，所述位姿调整机构包括齿轮机构，所述第二支承圈(12)为齿圈，所述位姿调整机构通过所述齿轮机构与所述第二支承 圈(12)的啮合来驱动所述第二支承圈(12)相对于所述第一支承圈(11)绕着所述回转中心线转动。The wheel (1) according to claim 5, wherein the posture adjustment mechanism includes a gear mechanism, the second support ring (12) is a ring gear, and the posture adjustment mechanism passes through the gear mechanism Second support Engagement of the ring (12) drives the second support ring (12) to rotate about the centerline of rotation relative to the first support ring (11).
- 根据权利要求6所述的车轮(1)，其中，所述齿轮机构包括与所述第二支承圈(12)配合形成差动轮系的中心轮(141)和行星轮(142)，所述中心轮(141)与所述第二支承圈(12)同心设置，所述行星轮(142)啮合于所述中心轮(141)与所述第二支承圈(12)之间，以使所述中心轮(141)能够通过所述行星轮(142)带动所述第二支承圈(12)相对于所述第一支承圈(11)绕着所述回转中心线转动。The wheel (1) according to claim 6, wherein the gear mechanism includes a center wheel (141) and a planet gear (142) that cooperate with the second support ring (12) to form a differential gear train, The center wheel (141) is concentrically disposed with the second support ring (12), and the planet gear (142) is meshed between the center wheel (141) and the second support ring (12) to The center wheel (141) can drive the second support ring (12) to rotate about the rotation center line relative to the first support ring (11) by the planetary gear (142).
- 根据权利要求6所述的车轮(1)，其中，所述位姿调整机构还包括调整动力源，所述调整动力源与所述齿轮机构驱动连接，用于驱动所述齿轮机构转动。The wheel (1) according to claim 6, wherein the posture adjustment mechanism further comprises an adjustment power source, the adjustment power source being drivingly coupled to the gear mechanism for driving the gear mechanism to rotate.
- 根据权利要求6所述的车轮(1)，其中，所述车轮(1)还包括行走动力源，所述行走动力源与所述第一支承圈(11)驱动连接，用于驱动所述第一支承圈(11)绕着所述回转中心线转动，以实现所述车轮(1)的行走。The wheel (1) according to claim 6, wherein the wheel (1) further comprises a traveling power source, the driving power source being drivingly coupled to the first support ring (11) for driving the first A support ring (11) is rotated about the center of revolution to achieve travel of the wheel (1).
- 根据权利要求5所述的车轮(1)，其中，所述车轮(1)还包括数个调心轴承(15)，所述数个调心轴承(15)与所述数个子轮(13)一一对应，且每个所述调心轴承(15)设置于对应的所述子轮(13)的第一端与所述第一支承圈(11)之间；和/或，所述车轮(1)还包括数个球铰(16)，所述数个球铰(16)与所述数个子轮(13)一一对应设置，且每个球铰(16)设置于对应的所述子轮(13)的第二端与所述第二支承圈(12)之间。The wheel (1) according to claim 5, wherein the wheel (1) further comprises a plurality of self-aligning bearings (15), the plurality of self-aligning bearings (15) and the plurality of sub-wheels (13) One-to-one correspondence, and each of the self-aligning bearings (15) is disposed between a first end of the corresponding sub-wheel (13) and the first support ring (11); and/or the wheel (1) further comprising a plurality of ball joints (16), the plurality of ball joints (16) being disposed in one-to-one correspondence with the plurality of sub-wheels (13), and each ball joint (16) being disposed in the corresponding one The second end of the sub-wheel (13) is between the second support ring (12).
- 一种运输车，其中，包括如权利要求1所述的车轮(1)。 A transport vehicle comprising the wheel (1) according to claim 1.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611198556.1A CN108215654B (en) | 2016-12-22 | 2016-12-22 | Wheel and transport vehicle |
| CN201611198556.1 | 2016-12-22 |
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| WO2018113395A1 true WO2018113395A1 (en) | 2018-06-28 |
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| PCT/CN2017/105902 WO2018113395A1 (en) | 2016-12-22 | 2017-10-12 | Vehicle wheel and transport vehicle |
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| CN (1) | CN108215654B (en) |
| WO (1) | WO2018113395A1 (en) |
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|---|---|---|---|---|
| CN109159623A (en) * | 2018-09-06 | 2019-01-08 | 孙伟平 | A kind of Mecanum wheel |
| CN109080375A (en) * | 2018-09-06 | 2018-12-25 | 孙伟平 | A kind of intelligence Mecanum wheel |
| CN109017144A (en) * | 2018-09-06 | 2018-12-18 | 孙伟平 | A kind of Mecanum wheel that angle can be adjusted intelligently |
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| CN101856945A (en) * | 2010-06-14 | 2010-10-13 | 中国海洋大学 | Omnidirectional wheel with simplified manufacturing technique |
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| KR101467081B1 (en) * | 2013-03-07 | 2014-12-01 | 경북대학교 산학협력단 | mecanum wheel |
| CN205523387U (en) * | 2016-01-25 | 2016-08-31 | 上海智远弘业机器人有限公司 | Mecanum wheel of multirow running roller structure |
| CN106091814A (en) * | 2016-08-23 | 2016-11-09 | 南京理工大学 | Projectile robot of a kind of Mecanum wheel omnidirectional |
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- 2016-12-22 CN CN201611198556.1A patent/CN108215654B/en active Active
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| CN1073636A (en) * | 1991-12-24 | 1993-06-30 | 黄建军 | Multi-directional moving vehicle and wheels thereof |
| KR100906575B1 (en) * | 2008-01-25 | 2009-07-09 | 경북대학교 산학협력단 | Variable omni-directional wheel and device using the same |
| US20150158332A1 (en) * | 2012-05-03 | 2015-06-11 | Helical Robotics, Llc | Mechanum wheel |
| CN103569230A (en) * | 2012-07-25 | 2014-02-12 | 成都联腾动力控制技术有限公司 | Omni-directionally moving platform |
| CN105667632A (en) * | 2016-01-04 | 2016-06-15 | 江苏科技大学 | Omnidirectional mobile platform for Mecanum wheels |
| CN206485129U (en) * | 2016-12-22 | 2017-09-12 | 北京京东尚科信息技术有限公司 | Wheel and transport vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108215654A (en) | 2018-06-29 |
| CN108215654B (en) | 2023-11-03 |
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