CN112428747B - Radial telescopic wheel mechanism adaptable to stairs with different heights - Google Patents

Abstract

The invention discloses a radial telescopic wheel mechanism which can adapt to steps of stairs with different heights; the wheel mechanism comprises a vehicle body connecting seat, a driving combined shaft, a radial telescopic quadrangular wheel and a telescopic adjusting assembly; the vehicle body connecting seat is connected to the vehicle frame body; the driving combined shaft comprises a hollow transmission shaft and a solid transmission shaft, the hollow transmission shaft is hinged with the vehicle body connecting seat, and the solid transmission shaft is hinged in the hollow transmission shaft; the radial telescopic quadrangular wheels comprise a quadrangular wheel frame capable of radially stretching and retracting and Mecanum wheels arranged at the end parts of four legs of the quadrangular wheel frame; the four-leg wheel frame is fixedly connected with the hollow transmission shaft, and the Mecanum wheel is in transmission fit with the solid transmission shaft; the telescopic adjusting assembly comprises a braking mechanism arranged between the vehicle body connecting seat and the hollow transmission shaft and a braking adjusting mechanism arranged between the vehicle frame body and the four-leg wheel frame; the stair climbing device can adapt to the change of the height of the steps of the stair, and the safety and the stability of the stair climbing device in use are improved.

Description

A Radial Telescopic Wheel Mechanism That Can Adapt to Stair Steps of Different Heights

technical field

The invention belongs to the technical field of vehicle wheels, and in particular relates to a radially telescopic wheel mechanism that can adapt to stairs of different heights.

Background technique

Stair cleaning robots mostly use triangular wheel frames or quadrangular wheel frames with Mecanum wheels to achieve stair climbing and lateral movement on stair steps; none of the wheel frames using Mecanum wheels in the prior art have the function of radial expansion and contraction. ; When cleaning the stairs, it cannot adapt to the changes of stairs with different heights. After the height of the stairs changes, the robot will easily slip off the stairs and cannot climb, resulting in the unsafe, unstable and design of the stair cleaning robot. function cannot be effectively performed; therefore, it is necessary to improve the existing technology.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a radially telescopic wheel mechanism that can adapt to stair steps of different heights in view of the deficiencies in the prior art, which can adapt to changes in the height of the stair steps and improve the safety of stair climbing equipment in use. and stability.

For achieving the above object, the technical scheme adopted in the present invention is:

A radial telescopic wheel mechanism that can adapt to stair steps of different heights, including:

a vehicle body connecting seat, which is connected to the vehicle frame;

The drive combination shaft includes a hollow transmission shaft and a solid transmission shaft, the hollow transmission shaft is hinged with the vehicle body connecting seat, the solid transmission shaft is hinged in the hollow transmission shaft, and both ends of the solid transmission shaft extend on the hollow transmission shaft outside;

A radially retractable four-cornered wheel, which includes a radially retractable four-caster frame and a Mecanum wheel arranged at the ends of the four feet of the four-caster frame; the four-caster frame is fixedly connected with a hollow transmission shaft, and the The wheels are in driving engagement with a solid drive shaft; and

The telescopic adjustment assembly includes a braking mechanism arranged between a vehicle body connecting seat and a hollow transmission shaft, and a braking adjustment mechanism arranged between a vehicle frame body and a four caster frame.

Further, the four caster frame includes:

a connecting cylinder, which is cylindrical and is connected and fixed with one end of the hollow transmission shaft;

There are four telescopic adjustment rods, which are evenly distributed on the outer circumference of the connecting cylinder, one end of which is connected with the Mecanum wheel and can drive the Mecanum wheel to expand and contract along the radial direction of the connecting cylinder; and

There are four telescopic drive rods, which are evenly distributed on the outer circumference of the connecting cylinder, and are arranged at intervals along the axial direction of the connecting cylinder with the telescopic adjusting rod, and one end of which is connected with the Mecanum wheel and can drive the Mecanum wheel to rotate;

Wherein, one end of the solid drive shaft extends into the interior of the connecting cylinder and is driven and matched with the telescopic drive rod.

Further, the telescopic adjustment rod includes a threaded barrel and a screw rod matched with the threaded barrel; one end of the threaded barrel is hinged on the outer circumference of the connecting barrel, and one end of the screw rod is connected to the Mecanum wheel.

Further, the telescopic drive rod includes a transmission cylinder hinged on the connecting cylinder, a transmission rod slidingly matched with the transmission cylinder, and a connecting plate arranged at one end of the transmission rod; one end of the transmission cylinder extends inside the connecting cylinder and the end is provided with There is a first bevel gear, the solid transmission shaft is provided with a second bevel gear and meshes with the first bevel gear, the inner wall of the transmission cylinder is provided with a guide groove arranged along the axial direction, and the transmission rod is provided with a matching The protruding strip of the guide groove, the Mecanum wheel is provided with a connecting shaft, the connecting plate is bent at 90° and is hinged with the connecting shaft and the transmission rod respectively, and one end of the transmission rod is provided with a third bevel gear, A fourth bevel gear is arranged on the connecting shaft and meshes with the third bevel gear.

Further, the brake adjustment mechanism includes a fixed connecting plate set on the vehicle frame body, a first electromagnetic clutch set on the hollow transmission shaft, a toothed plate set on the hollow drive shaft, and a thread set on each thread The fifth bevel gear on the cylinder; the stator of the first electromagnetic clutch is connected with the fixed connecting plate, the rotor is connected with the toothed plate, and the toothed plate is meshed with the fifth bevel gear.

Further, the braking mechanism includes a second electromagnetic clutch; the stator of the second electromagnetic clutch is connected with the vehicle body connecting seat, and the rotor is connected with the hollow transmission shaft.

Further, the other ends of the hollow transmission shaft and the solid transmission shaft are provided with pulleys or sprockets.

The effective effects of the present invention are:

1. The present invention provides a radially telescopic wheel mechanism that can adapt to stairs of different heights for the existing equipment used for stair climbing; with the use of stair climbing equipment, it can be used safely and stably on steps of different design heights. climbing and lateral movement;

2. In the structural design of the present invention, the hollow drive shaft is used to realize the rotation control of the four-caster frame, so that the climbing function of the stairs can be realized; and the use of the solid drive shaft to realize the rotation control of the Mecanum wheel can be realized on the step surface. This can be used with stair climbing equipment to achieve the function of avoiding obstacles or cleaning the step surface;

3. In the structural design of the present invention, the telescopic adjustment assembly is used to cooperate with the radial telescopic four-corner wheel, which can realize the radial telescopic function of the Mecanum wheel relative to the axis of the four-caster frame, and then can adapt to the height of the steps, and can be adjusted during the telescopic change. During the process, the transmission control of the Mecanum wheel will not be affected;

4. In the structural design of the present invention, after the four-caster frame is stopped, a stable and flexible plane movement control can be realized by controlling the Mecanum wheel.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the side view structure schematic diagram of the four caster frame in the present invention;

FIG. 3 is an enlarged schematic view of the structure at I in FIG. 1 .

Among them: 1- vehicle frame body; 2- vehicle body connection seat; 3- hollow drive shaft; 4- solid drive shaft; 5- four caster frame; 6- Mecanum wheel; 9-screw; 10-transmission cylinder; 11-transmission rod; 12-connecting plate; 13-first bevel gear; 14-second bevel gear; 15-guide groove; 16-protrusion; 17-connecting shaft; 18- The third bevel gear; 19- the fourth bevel gear; 20- the fixed connecting plate; 21- the first electromagnetic clutch; 22- the toothed plate; 23- the fifth bevel gear; 24- the second electromagnetic clutch.

Detailed ways

The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings:

As shown in Figures 1 to 3, a radially telescopic wheel mechanism that can adapt to stairs of different heights; it includes a vehicle body connecting seat 2, a drive combination shaft, a radially telescopic four-corner wheel and a telescopic adjustment assembly; the vehicle body connecting seat 2 is used to connect with the vehicle frame body 1 to provide support for the drive combination shaft; the drive combination shaft is used to drive the radially telescopic four-cornered wheel; the telescopic adjustment assembly is used to regulate the telescopic and rotating functions of the radially telescopic four-cornered wheel.

in:

The vehicle body connecting seat 2 is connected to the floor or the side wall of the vehicle frame body 1 , and the vehicle body connecting seat 2 is a bearing seat and provides support for the hollow transmission shaft 3 .

The drive combination shaft includes a hollow transmission shaft 3 and a solid transmission shaft 4; the hollow transmission shaft 3 is hinged with the vehicle body connecting seat 2, and the hollow transmission shaft 3 can rotate freely; the solid transmission shaft 4 is hinged in the hollow transmission shaft 3, and the solid transmission shaft 4 It can be connected with the hollow drive shaft 3 through sliding bearings to reduce the diameter of the hollow drive shaft 3. The hinged connection between the solid drive shaft 4 and the hollow drive shaft 3 can also be realized by using bearings. The two ends of the solid drive shaft 4 extend Outside the hollow drive shaft 3; the other ends of the hollow drive shaft 3 and the solid drive shaft 4 are provided with pulleys or sprockets, and the hollow drive shaft 3 and the solid drive shaft 4 are independently driven by a motor through belt drive or chain drive. , and the driving of the hollow transmission shaft 3 and the solid transmission shaft 4 by the motor can also be realized by gear transmission in the actual application process.

The radially retractable four-corner wheel includes a radially retractable four-caster frame 5 and a Mecanum wheel 6 arranged at the four foot ends of the four-caster frame 5; the four-caster frame 5 is fixedly connected with the hollow drive shaft 3, and the hollow drive shaft 3. The four caster frame 5 is driven to rotate around the axis line of the hollow transmission shaft 3, and the four caster frame 5 can also be replaced by a triangular wheel frame; The rotation of the wheel 6 is used to realize the multi-angle free movement of the integral radial telescopic four-corner wheel on the flat ground.

Specifically, the four-caster frame 5 includes a connecting cylinder 7 , a telescopic adjusting rod and a telescopic driving rod; the connecting cylinder 7 is cylindrical and is connected and fixed with one end of the hollow transmission shaft 4 . There are four telescopic adjustment rods and are evenly distributed on the outer circumference of the connecting cylinder 7. One end of the telescopic adjustment rod is connected to the Mecanum wheel 6 and can drive the Mecanum wheel to radially expand and contract along the connecting cylinder 7; The adjusting rod includes a threaded barrel 8 and a screw 9 that cooperates with the threaded barrel 8; one end of the threaded barrel 8 is T-shaped, and the connecting barrel 7 is provided with a groove for the T-shaped end of the threaded barrel 8, so that one end of the threaded barrel 8 can be realized. Hinged on the outer circumference of the connecting cylinder 7, the threaded cylinder 8 can freely rotate around its own axis, and other hinged structures are also practical; There are four telescopic drive rods and they are evenly distributed on the outer circumference of the connecting cylinder 7. The telescopic driving rod and the telescopic adjusting rod are axially spaced along the connecting cylinder 7. One end of the telescopic driving rod is connected to the Mecanum wheel 6 and can be Drive the Mecanum wheel 6 to rotate; more specifically, the telescopic drive rod includes a transmission cylinder 10 hinged on the connecting cylinder 7, a transmission rod 11 slidingly matched with the transmission cylinder 10, and a connecting plate 12 provided at one end of the transmission rod 11; One end of the transmission cylinder 10 extends inside the connecting cylinder 7 and the end is provided with a first bevel gear 13, the transmission cylinder 10 is hingedly connected with the connecting cylinder 7, and the transmission cylinder 10 can freely rotate around its own axis; the solid transmission shaft 4 is provided with The second bevel gear 14, the solid transmission shaft 4 extends into the connecting cylinder 7 and the second bevel gear 14 meshes with the first bevel gear 13; the inner wall of the transmission cylinder 10 is provided with a guide groove 15 arranged along the axial direction, and the transmission rod 11 is provided with The protruding strips 16 of the guide grooves 15 are adapted, so that the circumferential stop of the transmission rod 11 relative to the transmission cylinder 10 can be realized without affecting the telescopic action of each other; the Mecanum wheel 6 is fixedly provided with a connecting shaft 17, and the connecting plate 12 It is bent at 90° and is hinged with the connecting shaft 17 and the transmission rod 11 respectively. One end of the transmission rod 11 is provided with a third bevel gear 18 .

The telescopic adjustment assembly includes a braking mechanism arranged between the vehicle body connecting seat 2 and the hollow transmission shaft 4, and a braking adjustment mechanism arranged between the vehicle frame 1 and the four caster frame 5; more specifically, the braking mechanism It includes a second electromagnetic clutch 24 ; the stator of the second electromagnetic clutch 24 is connected with the vehicle body connecting seat 2 , and the rotor is connected with the hollow transmission shaft 3 . More specifically, the brake adjustment mechanism includes a fixed connecting plate 20 disposed on the vehicle frame 1, a first electromagnetic clutch 21 sleeved on the hollow transmission shaft 3, a toothed plate 22 sleeved on the hollow transmission shaft 3, And the fifth bevel gear 23 provided on each threaded barrel 8; the stator of the first electromagnetic clutch 21 is connected with the fixed connecting plate 20, the rotor is connected with the toothed plate 22, and the toothed plate 22 is meshed with the fifth bevel gear 23.

The working principle of the present invention is:

The movement control on the flat field after being matched with the vehicle frame body 1: the four caster frame 5 can keep the two Mecanum wheels 6 supported on the ground, so that the four caster frame 5 is fixed relative to the ground; the solid drive shaft 4 is controlled to rotate, the solid The transmission shaft 4 uses the meshing relationship between the second bevel gear 14 and the first bevel gear 13 to drive the transmission cylinder 10 and the transmission rod 11 to rotate, and the transmission rod 11 can use the meshing relationship between the third bevel gear 18 and the fourth bevel gear 19 to drive the microphone. The nam wheel 6 rotates relative to the four caster frame 5. At this time, the equipment provided with the vehicle frame body 1 can be freely controlled to move; The hollow transmission shaft 3 is fixed relative to the vehicle frame 1 , and then controls the action of the Mecanum wheel 6 .

The action control of the ladder is carried out after matching with the vehicle frame body 1: the hollow transmission shaft 3 is controlled to rotate, and the hollow transmission shaft 3 can drive the entire four caster frame 5 to rotate through the connection with the connecting cylinder 7. During the rotation of the four caster frame 5, the stair Switch on the step surface to realize the stair climbing action; when it is necessary to move laterally on the stair step, the second electromagnetic clutch 24 can be controlled to be powered first, and the stator of the second electromagnetic clutch 24 adsorbs the rotor to realize the hollow transmission shaft 3 relative to the vehicle The frame body 1 is fixed, and then the solid transmission shaft 4 is controlled to rotate, and based on the cooperative application of a plurality of the radially telescopic wheel mechanisms, the lateral movement is realized through the rotation of the Mecanum wheel 6 .

When it is necessary to adjust the radial dimension of the four caster frame 5 to adapt to the height of the stairs: first control the first electromagnetic clutch 21 to be energized, the stator and the rotor of the first electromagnetic clutch 21 are pulled together, and the toothed plate 22 is 1 circle relative to the vehicle frame. Then, the hollow drive shaft 3 is controlled to rotate, and the hollow drive shaft 3 drives the four-caster frame to rotate. Since the toothed plate 22 meshes with the fifth bevel gear 23, the threaded barrel 8 can be rotated relative to the screw 9. , and then realize the telescopic adjustment of the threaded barrel 8 relative to the screw 9, and at the same time the transmission barrel 10 and the transmission rod 11 can adapt to the telescopic change, and realize the synchronous adjustment of the distance between the axis line of the Mecanum wheel 6 relative to the hollow transmission shaft 3; this adjustment process With the corresponding control equipment, automatic adjustment control can be realized.

Claims (3)

1. a radially telescopic wheel mechanism that can be adapted to stairs of different heights, is characterized in that, comprises: a vehicle body connecting seat (2), which is connected to the vehicle frame body (1); A drive combination shaft, which includes a hollow transmission shaft (3) and a solid transmission shaft (4), the hollow transmission shaft (3) is hinged with the vehicle body connecting seat (2), and the solid transmission shaft (4) is hinged on the hollow transmission shaft (4). In the shaft (3), both ends of the solid transmission shaft (4) extend outside the hollow transmission shaft (3); A radially telescopic four-cornered wheel, comprising a radially retractable four-caster frame (5) and a Mecanum wheel (6) provided at the four foot ends of the four-caster frame (5); the four-caster frame (5) It is fixedly connected with the hollow transmission shaft (3), and the Mecanum wheel (6) is in driving cooperation with the solid transmission shaft (4). The connecting cylinder (7) is cylindrical and is connected and fixed with one end of the hollow transmission shaft (3); one end of the solid transmission shaft (4) extends into the connecting cylinder (7) and is driven and matched with the telescopic drive rod There are four telescopic adjustment rods and they are evenly distributed on the outer circumference of the connecting cylinder (7). Action; the telescopic adjustment rod includes a threaded barrel (8) and a screw (9) matched with the threaded barrel (8); one end of the threaded barrel (8) is hinged on the outer circumference of the connecting barrel (7), and the screw (9) One end is connected with the Mecanum wheel (6); there are four telescopic driving rods and are evenly distributed on the outer circumference of the connecting cylinder (7), and the telescopic driving rods and the telescopic adjusting rods are arranged at intervals along the axial direction of the connecting cylinder (7). One end of the telescopic drive rod is connected with the Mecanum wheel (6) and can drive the Mecanum wheel (6) to rotate; the telescopic drive rod comprises a transmission cylinder (10) hinged on the connecting cylinder (7), and A transmission rod (11) slidingly matched with the transmission cylinder (10) and a connecting plate (12) provided at one end of the transmission rod (11); one end of the transmission cylinder (10) extends inside the connection cylinder (7) and the end is provided with A first bevel gear (13), the solid transmission shaft (4) is provided with a second bevel gear (14) and meshes with the first bevel gear (13), and the inner wall of the transmission cylinder (10) is provided with an axial The arranged guide groove (15), the transmission rod (11) is provided with a convex strip (16) adapted to the guide groove (15), and the mecanum wheel (6) is provided with a connecting shaft (17), The connecting plate (12) is bent at 90° and is hinged with the connecting shaft (17) and the transmission rod (11) respectively, and one end of the transmission rod (11) is provided with a third bevel gear (18), and the connecting shaft ( 17) A fourth bevel gear (19) is provided on it and meshes with the third bevel gear (18); A telescopic adjustment assembly comprising a braking mechanism arranged between a vehicle body connecting seat (2) and a hollow transmission shaft (3), a braking mechanism arranged between a vehicle frame body (1) and a four-wheel frame (5) Adjustment mechanism; the brake adjustment mechanism comprises a fixed connecting plate (20) arranged on the vehicle frame body (1), a first electromagnetic clutch (21) sleeved on the hollow transmission shaft (3), a first electromagnetic clutch (21) sleeved on the hollow transmission shaft (3), The toothed plate (22) on the transmission shaft (3), and the fifth bevel gear (23) provided on each threaded barrel (8); the stator of the first electromagnetic clutch (21) and the fixed connection plate (20) ) connection, the rotor is connected with a toothed disc (22), and the toothed disc (22) is meshed with the fifth bevel gear (23). 2. A radially telescopic wheel mechanism adaptable to steps of different heights according to claim 1, wherein the braking mechanism comprises a second electromagnetic clutch (24); the second electromagnetic clutch (24) ) of the stator is connected with the vehicle body connecting seat (2), and the rotor is connected with the hollow transmission shaft (3). 3. A radially telescopic wheel mechanism that can adapt to stairs of different heights as claimed in claim 1, characterized in that the other ends of the hollow drive shaft (3) and the solid drive shaft (4) are provided with belts wheel or sprocket.

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