CN219427923U - Single motor vector wheel - Google Patents

Abstract

The utility model relates to a single-motor vector wheel which comprises a driving motor, wheels, a locking structure, an upper gear disc, a lower gear disc, a rotary bevel gear and a fixed bevel gear, wherein the driving motor is arranged at the top of the upper gear disc and is connected with the upper gear disc and is used for driving the upper gear disc to rotate, the lower gear disc is arranged below the upper gear disc, the top of the rotary bevel gear and the top of the fixed bevel gear are both meshed with the bottom of the upper gear disc, the bottom of the rotary bevel gear and the bottom of the fixed bevel gear are both meshed with the top of the lower gear disc, the middle of the rotary bevel gear is connected with the middle of the fixed bevel gear through an axle, the wheels are arranged at the middle of the axle, and the locking structure is clamped with the lower gear disc during steering. In the scheme, a single motor is adopted for driving, so that the driving control and the steering control of the wheels are realized, the development cost of the whole machine is reduced, meanwhile, the locking structure is arranged, the walking and steering functions of the wheels are realized, and the practicability is improved.

Description

Single motor vector wheel

Technical Field

The utility model relates to the field of robots, in particular to a single-motor vector wheel.

Background

In modern factories, a robot is generally adopted to transfer and process workpieces, wheels of a trolley used by a chassis of the robot in the prior art can only walk and cannot turn, and if turning is needed, a connecting shaft of two front wheels or a connecting shaft of two rear wheels needs to be controlled, so that the purpose of steering is achieved. At present, in the application field of robots, the wheel control is realized in a double-motor control mode, one motor controls the driving of the wheel, and the other motor controls the steering of the wheel. This makes it necessary to assemble eight control motors on one four-wheeled mobile robot, which makes the whole machine very large in quality and high in cost.

Disclosure of Invention

The utility model provides a single-motor vector wheel, which aims to solve the problems that the existing robot cannot turn when walking and needs multiple motors to drive.

The utility model provides a single-motor vector wheel which comprises a driving motor, wheels, a locking structure, an upper gear disc, a lower gear disc, a rotary bevel gear and a fixed bevel gear, wherein the driving motor is arranged at the top of the upper gear disc and is connected with the upper gear disc and is used for driving the upper gear disc to rotate, the lower gear disc is arranged below the upper gear disc, the top of the rotary bevel gear and the top of the fixed bevel gear are both meshed with the bottom of the upper gear disc, the bottom of the rotary bevel gear and the bottom of the fixed bevel gear are both meshed with the top of the lower gear disc, the middle of the rotary bevel gear is connected with the middle of the fixed bevel gear through an axle, the wheels are arranged at the middle of the axle, and the locking structure is clamped with the lower gear disc during steering.

As a further improvement of the utility model, the middle part of the upper gear disc and the middle part of the lower gear disc are respectively provided with a cavity for placing the wheels.

As a further improvement of the utility model, the bottom of the upper gear disc is provided with a first conical tooth in a circumferential shape, the top of the rotary bevel gear is meshed with the first conical tooth, and the top of the fixed bevel gear is meshed with the first conical tooth.

As a further improvement of the utility model, the top of the lower gear disc is provided with a second conical tooth in a circumferential shape, the bottom of the rotary bevel gear is meshed with the second conical tooth, and the bottom of the fixed bevel gear is meshed with the second conical tooth.

As a further improvement of the utility model, one end of the axle is connected with the middle part of the fixed bevel gear, the other end of the axle is connected with the inner ring of the bearing, and the bearing is arranged at the middle part of the rotary bevel gear.

As a further improvement of the utility model, the locking structure adopts a telescopic caliper, one end of the telescopic caliper is connected to the vehicle body, the other end of the telescopic caliper is arranged in the cavity of the lower gear disc, and in a locking state, the other end of the telescopic caliper is clamped on the second bevel gear.

As a further improvement of the utility model, the locking structure also comprises a clamping caliper, wherein the locking structure adopts the clamping caliper, one end of the clamping caliper is connected to the vehicle body, the other end of the clamping caliper is provided with two clamping jaws which are separately arranged, the two clamping jaws are arranged outside the lower gear disc, and in a locking state, the clamping jaws are clamped with the outer ring of the lower gear disc.

The beneficial effects of the utility model are as follows: according to the scheme, a single motor is adopted for driving, driving control and steering control of wheels are achieved, the traditional mode that double motors are used for controlling driving and steering respectively is replaced, the quality of the whole machine is reduced, meanwhile, the development cost of the whole machine is greatly reduced, meanwhile, a locking structure is arranged, the running and steering functions of the wheels are achieved, free omnidirectional movement of a robot is achieved, and practicability is improved.

Drawings

FIG. 1 is an overall view of the present utility model;

fig. 2 is a front view of the present utility model.

Detailed Description

Reference numerals: the driving device comprises a 1-driving motor, a 2-upper gear disc, a 3-lower gear disc, 4-second bevel gears, 5-wheels, 6-fixed bevel gears, 7-rotating bevel gears, 8-first bevel gears and 9-axles.

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "bottom" and "top", "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.

As shown in fig. 1-2, the utility model provides a single-motor vector wheel, which comprises a driving motor 1, wheels 5, a locking structure, an upper gear disc 2, a lower gear disc 3, a rotary bevel gear 7 and a fixed bevel gear 6, wherein the driving motor 1 is arranged at the top of the upper gear disc 2 and is connected with the upper gear disc 2 for driving the upper gear disc 2 to rotate, the lower gear disc 3 is arranged below the upper gear disc 2, the top of the rotary bevel gear 7 and the top of the fixed bevel gear 6 are both meshed with the bottom of the upper gear disc 2, the bottom of the rotary bevel gear 7 and the bottom of the fixed bevel gear 6 are both meshed with the top of the lower gear disc 3, the middle of the rotary bevel gear 7 and the middle of the fixed bevel gear 6 are connected through an axle 9, the wheels 5 are arranged at the middle of the axle 9, and the locking structure is clamped with the lower gear disc 3 during steering.

As an embodiment of the present utility model, the middle part of the upper gear plate 2 and the middle part of the lower gear plate 3 are provided with cavities for placing the wheels 5.

As another embodiment of the present utility model, a first conical tooth 8 is provided at the bottom of the upper gear plate 2, the top of the rotary bevel gear 7 is engaged with the first conical tooth 8, and the top of the fixed bevel gear 6 is engaged with the first conical tooth 8.

As another embodiment of the present utility model, the top of the lower gear plate 3 is provided with a second conical tooth 4 having a circumferential shape, the bottom of the rotary bevel gear 7 is engaged with the second conical tooth 4, and the bottom of the fixed bevel gear 6 is engaged with the second conical tooth 4.

As another embodiment of the present utility model, one end of the axle 9 is connected to the middle of the fixed bevel gear 6, and the other end of the axle 9 is connected to the inner ring of a bearing provided in the middle of the rotating bevel gear 7.

As another embodiment of the present utility model, the locking structure adopts a telescopic caliper, one end of the telescopic caliper is connected to the vehicle body, the other end of the telescopic caliper is disposed in the cavity of the lower gear disc 3, and in the locked state, the other end of the telescopic caliper is clamped on the second conical tooth 4.

As another embodiment of the present utility model, the locking structure adopts a clamping caliper, one end of the clamping caliper is connected to the vehicle body, the other end of the clamping caliper is provided with two jaws which are separately arranged, the two jaws are arranged outside the lower gear disc 3, and in a locking state, the jaws are clamped with the outer ring of the lower gear disc 3.

The utility model provides a single-motor vector wheel, and provides a vector wheel structure for controlling driving and steering by a single motor at the same time. The structure omits a motor, not only reduces the whole mass of the whole vector wheel mechanism, but also greatly reduces the production and processing cost. By installing the simple vector wheel structure on any object, the free omnidirectional movement of the object can be rapidly realized.

When the vehicle runs in a straight line, the driving motor 1 is started to enable the upper gear plate 2 to rotate, the first bevel gears 8 are circumferentially arranged at the bottom of the upper gear plate 2, and the rotary bevel gears 7 and the fixed bevel gears 6 meshed with the first bevel gears 8 rotate together with the lower gear plate 3. Since the fixed bevel gear 6 is connected with the axle 9 through a key, and the rotating bevel gear 7 is connected with the axle 9 through the bearing, the inner ring of the bearing rotates during the running process of the wheel 5, and the outer ring of the rotating bevel gear 7 reversely rotates with the fixed bevel gear 6 under the driving of the upper gear disc 2. The bevel gear connected left and right of the wheel 5 shaft can rotate along the gear disc only by reverse rotation, but the reverse rotation of the two sides of the wheel 5 shaft can not realize the driving of the wheel 5 along one direction, so one end is connected through the bearing, so that the bevel gear can rotate freely in a follow-up way, and the bevel gear is not influenced to rotate along the gear disc while the support of the two ends is realized.

When the vehicle runs in a steering way, the lower gear disc 3 is required to be locked by the locking structure, the locking structure is arranged on a vehicle body or a robot, the locking structure can adopt two structures, one structure is the telescopic caliper, and when the vehicle runs in a straight line, the other end of the telescopic caliper is placed in a cavity in the middle of the lower gear disc 3, and before the vehicle turns, the telescopic caliper is retracted and clamped on the second bevel gear 4; the other is the clamping caliper, and before steering, the two clamping jaws lock the outer ring of the lower gear disc 3 so that the outer ring is not linked by the driving motor 1. When the lower gear plate 3 is locked, the driving motor 1 drives the upper gear plate 2 to rotate, the rotating bevel gear 7 and the fixed bevel gear 6 synchronously rotate in one direction, so that the steering of the wheels 5 is realized, and the rotating direction of the wheels 5 can be controlled by controlling the forward rotation and the reverse rotation of the driving motor 1. After steering, the locking structure is unlocked, and then the straight running can be restored. The whole structure only needs a motor to finish driving and steering of the wheel 5, is light in weight and low in cost, and can realize rapid omnidirectional movement of an object by being arranged below the object which needs to be moved at will.

The foregoing is a further detailed description of the utility model in connection with the preferred embodiments, and it is not intended that the utility model be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the utility model, and these should be considered to be within the scope of the utility model.

Claims (7)

1. The utility model provides a single motor vector wheel, its characterized in that, includes driving motor, wheel, locking structure, goes up the toothed disc, down toothed disc, rotatory bevel gear and fixed bevel gear, driving motor locates go up the top of toothed disc and with go up the toothed disc and be connected, be used for the drive go up the toothed disc and rotate, down the toothed disc sets up go up the below of toothed disc, rotatory bevel gear's top with fixed bevel gear's top all mesh in go up the bottom of toothed disc, rotatory bevel gear's bottom with fixed bevel gear's bottom all mesh in down the top of toothed disc, rotatory bevel gear's middle part with fixed bevel gear's middle part passes through the axletree and connects, the wheel is located the middle part of axletree, during the turning to, locking structure joint in down the toothed disc.

2. The single motor vector wheel of claim 1, wherein the middle of the upper gear plate and the middle of the lower gear plate are each provided with a cavity for placement of the wheel.

3. The single motor vector wheel according to claim 1, wherein a first conical tooth is arranged at the bottom of the upper gear plate in a circumferential shape, the top of the rotary bevel gear is meshed with the first conical tooth, and the top of the fixed bevel gear is meshed with the first conical tooth.

4. A single motor vector wheel according to claim 3, wherein the top of the lower gear plate is provided with a second conical tooth in a circumferential shape, the bottom of the rotary bevel gear is engaged with the second conical tooth, and the bottom of the fixed bevel gear is engaged with the second conical tooth.

5. The single motor vector wheel of claim 1, wherein one end of the axle is connected to the middle of the fixed bevel gear, the other end of the axle is connected to the inner ring of a bearing provided in the middle of the rotating bevel gear.

6. The single-motor vector wheel according to claim 4, wherein the locking structure is a telescopic caliper, one end of the telescopic caliper is connected to the vehicle body, the other end of the telescopic caliper is arranged in the cavity of the lower gear disc, and in a locking state, the other end of the telescopic caliper is clamped on the second bevel gear.

7. A single motor vector wheel according to claim 3, wherein the locking structure is a clamping caliper, one end of the clamping caliper is connected to the vehicle body, two jaws are separately arranged at the other end of the clamping caliper, the two jaws are arranged outside the lower gear disc, and in a locking state, the jaws are clamped with the outer ring of the lower gear disc.