CN204847205U - Omnidirectional movement commodity circulation conveying platform - Google Patents
Omnidirectional movement commodity circulation conveying platform Download PDFInfo
- Publication number
- CN204847205U CN204847205U CN201520532746.7U CN201520532746U CN204847205U CN 204847205 U CN204847205 U CN 204847205U CN 201520532746 U CN201520532746 U CN 201520532746U CN 204847205 U CN204847205 U CN 204847205U
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- China
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- chassis frame
- mecanum
- pressure cylinder
- mecanum wheels
- conveying platform
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Abstract
The utility model discloses an omnidirectional movement commodity circulation conveying platform, including two sets of mecanum wheel and chassis frame, two mecanum wheel of preceding mecanum wheel group prop up the supporting beam frame through preceding activity and link together, and two mecanum wheel of back mecanum wheel group prop up the supporting beam frame through the back activity and link together, and set up the preceding pressure cylinder body that supports between the front end of a chassis frame middle part and the preceding activity supporting beam frame, support the pressure cylinder body between movable supporting beam frame in rear end middle part and back of chassis frame after setting up, set up control system and force pump on the chassis frame, the force pump supports the pressure cylinder body coupling with the preceding support pressure cylinder body after with respectively, and the below of chassis frame sets up a plurality of sensors, and control system is according to a plurality of sensor signal that receive, the action of controlled pressure pump to support the pressure cylinder body before driving and support the action of the pressure cylinder body after with. In order to keep commodity circulation conveying platform all the time at horizontal plateau when removing with static operation.
Description
Technical field
The utility model relates to Mecanum wheel omni-directional mobile robots field, particularly, relates to a kind of Omni-mobile handling and conveying platform.
Background technology
At present, based on the omni-directional mobile robots of Mecanum wheel, in carried and transported goods or processing work industry, run into ground when being movably walking to have when slope injustice or smallclothes obstacle and can not be elevated chassis by self-equalizing, thus be difficult to ensure that robot workplatform is in horizontal plateau all the time.In fact owing to being mostly fixed type chasis design based on Mecanum wheel omni-directional mobile robots, thus the work ground of requirement is very smooth, high at the cost carrying out dropping in batch production construction or transformation process, adds the difficulty running environment for use.In order to address this problem, prior art adopts independent technology of installing a set of hydraulic actuating cylinder and drive system on every single Mecanum wheel, thus adds the weight of complete machine, there is complicated integral structure and is not easy to safeguard and the high problem of cost.
Utility model content
The purpose of this utility model is, for the problems referred to above, proposes a kind of Omni-mobile handling and conveying platform, low with real present cost, keeps handling and conveying platform to be in the advantage of horizontal plateau all the time when movement and stationary deployment.
For achieving the above object, the technical solution adopted in the utility model is:
A kind of Omni-mobile handling and conveying platform, comprise two groups of Mecanum wheels and chassis frame, two groups of Mecanum wheels are respectively front Mecanum wheels and rear Mecanum wheels, described front Mecanum wheels and rear Mecanum wheel group are movably connected in the rear and front end of chassis frame respectively, two Mecanum wheels of front Mecanum wheels are linked together by front kinematic support roof beam structure, two Mecanum wheels of rear Mecanum wheels are linked together by rear kinematic support roof beam structure, and each Mecanum wheel all arranges retarder and servomotor, and between the front center of chassis frame and front kinematic support roof beam structure, front support pressure cylinder is set, in the middle part of the rear end of chassis frame and between rear kinematic support roof beam structure, rear support pressure cylinder is set, described chassis frame arranges force lift, described force lift is connected with front support pressure cylinder and rear support pressure cylinder respectively
Preferably, described front Mecanum wheels also comprise front-wheel chassis connection bracket, described front-wheel chassis connection bracket is flexibly connected by bearing with chassis frame, described rear Mecanum wheels also comprise trailing wheel chassis connection bracket, and described trailing wheel chassis connection bracket is flexibly connected by bearing with chassis frame.
Preferably, also comprise Mecanum wheel backplate, described Mecanum wheel backplate is arranged on Mecanum wheel.
Preferably, the upper end of described chassis frame arranges heavy duty work stage+module fixed parts and underloading workplatform mounting part part.
Preferably, described chassis frame is arranged chassis frame kinematic support roof beam structure.
The technical solution of the utility model has following beneficial effect:
The technical solution of the utility model, by chassis frame is flexibly connected with two groups of Mecanum wheels, at two groups, between Mecanum wheel and chassis frame, pressure cylinder is being set, before and after being controlled by force lift, abutment pressure cylinder body makes chassis frame anterior-posterior balance be elevated, is in horizontal plateau all the time to protect handling and conveying platform when movement and stationary deployment.And the technical solution of the utility model to have structure simple, be convenient to keep in repair and the low advantage of cost.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 and Fig. 2 is the structural representation of the Omni-mobile handling and conveying platform described in the utility model embodiment;
Fig. 3 is the plan structure schematic diagram of the Omni-mobile handling and conveying platform described in the utility model embodiment;
Fig. 4 looks up structural representation for the Omni-mobile handling and conveying platform described in the utility model embodiment;
Fig. 5 is the side-looking structural representation of the Omni-mobile handling and conveying platform described in the utility model embodiment.
By reference to the accompanying drawings, in the utility model embodiment, Reference numeral is as follows:
1-Mecanum wheel; 2-Mecanum wheel backplate; 3-battery, Energy control cabin; 4-force lift and control system cabin; Kinematic support roof beam structure before 5-; 6-movable support frame axle; 7-front support pressure cylinder; 8-servomotor; 9-retarder; 10-heavy duty work stage+module fixed parts; 11-underloading workplatform mounting part part; 12-is connected and fixed bearing axle; 13-rear support pressure cylinder; 14-chassis frame kinematic support roof beam structure; Kinematic support roof beam structure after 15-; 16-sensor; 17-is connected and fixed bearing seat; 18-chassis frame; 19-pressure cylinder piston rod bearing fixed end; 20-pressure cylinder bearing fixed end; 21-movable support frame connecting element; 22-pressure cylinder bearing connecting base plate vehicle frame kinematic support beam fixed mount; 23-chassis frame connects Mecanum wheel lifting bearing retainer; 24-charging inlet; 25-power interface; 26-front-wheel chassis connection bracket; 27-trailing wheel chassis connection bracket.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the utility model, and be not used in restriction the utility model.
As shown in Figures 1 to 5, a kind of Omni-mobile handling and conveying platform, comprise two groups of Mecanum wheels and chassis frame, two groups of Mecanum wheels are respectively front Mecanum wheels and rear Mecanum wheels, front Mecanum wheels and rear Mecanum wheel group are movably connected in the rear and front end of chassis frame 18 respectively, two Mecanum wheels 1 of front Mecanum wheels are linked together by front kinematic support roof beam structure 5, two Mecanum wheels of rear Mecanum wheels connect 15 together by rear kinematic support roof beam structure, and each Mecanum wheel 1 all arranges retarder 9 and servomotor 8, and between the front center of chassis frame 18 and front kinematic support roof beam structure 5, front support pressure cylinder 7 is set, in the middle part of the rear end of chassis frame 18 and between rear kinematic support roof beam structure 15, rear support pressure cylinder 13 is set, chassis frame 18 arranges force lift, force lift is connected with front support pressure cylinder 7 and rear support pressure cylinder 15 respectively.
Wherein, chassis frame 18 also arranges control system, the below of chassis frame arranges multiple sensor 16, control system according to the multiple sensor signals received, control presssure pump action, thus drive front support pressure cylinder and the action of rear support pressure cylinder.
Wherein, front Mecanum wheels also comprise front-wheel chassis connection bracket 26, front-wheel chassis connection bracket 26 is flexibly connected by bearing with chassis frame, and rear Mecanum wheels also comprise trailing wheel chassis connection bracket 27, and trailing wheel chassis connection bracket 27 is flexibly connected by bearing with chassis frame.
Also comprise Mecanum wheel backplate 2, Mecanum wheel backplate 2 is arranged on Mecanum wheel 1.
The upper end of chassis frame 18 arranges heavy duty work stage+module fixed parts 10 and underloading workplatform mounting part part 11.
Chassis frame 18 is arranged chassis frame kinematic support roof beam structure 14.
Pressure cylinder piston rod is connected with chassis frame by bearing, and the cylinder body of pressure cylinder is connected by bearing with kinematic support roof beam structure.
Chassis frame is arranged battery, Energy control cabin 3 and force lift and control system cabin 4, battery and power control circuit are arranged in battery, Energy control cabin 3, force lift and set-up of control system in force lift and control system cabin 4, and battery, Energy control cabin 3 arrange charging inlet 24 and power interface 25.
Chassis frame 18 is arranged chassis frame and connect Mecanum wheel lifting bearing retainer 23, chassis frame connects setting between Mecanum wheel lifting bearing retainer 23 and chassis connection bracket and is connected and fixed bearing seat 17.Chassis frame is arranged pressure cylinder bearing connecting base plate vehicle frame kinematic support beam fixed mount 22, pressure cylinder bearing connecting base plate vehicle frame kinematic support beam fixed mount 22 is connected with pressure cylinder piston rod bearing fixed end 19, and the movable support frame connecting element 21 on kinematic support roof beam structure is connected with pressure cylinder piston rod bearing fixed end 19.
Last it is noted that the foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, although be described in detail the utility model with reference to previous embodiment, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (5)
1. an Omni-mobile handling and conveying platform, it is characterized in that, comprise two groups of Mecanum wheels and chassis frame, two groups of Mecanum wheels are respectively front Mecanum wheels and rear Mecanum wheels, described front Mecanum wheels and rear Mecanum wheel group are movably connected in the rear and front end of chassis frame respectively, two Mecanum wheels of front Mecanum wheels are linked together by front kinematic support roof beam structure, two Mecanum wheels of rear Mecanum wheels are linked together by rear kinematic support roof beam structure, and each Mecanum wheel all arranges retarder and servomotor, and between the front center of chassis frame and front kinematic support roof beam structure, front support pressure cylinder is set, in the middle part of the rear end of chassis frame and between rear kinematic support roof beam structure, rear support pressure cylinder is set, described chassis frame arranges force lift, described force lift is connected with front support pressure cylinder and rear support pressure cylinder respectively.
2. Omni-mobile handling and conveying platform according to claim 1, it is characterized in that, described front Mecanum wheels also comprise front-wheel chassis connection bracket, described front-wheel chassis connection bracket is flexibly connected by bearing with chassis frame, described rear Mecanum wheels also comprise trailing wheel chassis connection bracket, and described trailing wheel chassis connection bracket is flexibly connected by bearing with chassis frame.
3. Omni-mobile handling and conveying platform according to claim 1 and 2, is characterized in that, also comprise Mecanum wheel backplate, and described Mecanum wheel backplate is arranged on Mecanum wheel.
4. Omni-mobile handling and conveying platform according to claim 1 and 2, is characterized in that, the upper end of described chassis frame arranges heavy duty work stage+module fixed parts and underloading workplatform mounting part part.
5. Omni-mobile handling and conveying platform according to claim 1 and 2, is characterized in that, described chassis frame is arranged chassis frame kinematic support roof beam structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520532746.7U CN204847205U (en) | 2015-07-22 | 2015-07-22 | Omnidirectional movement commodity circulation conveying platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520532746.7U CN204847205U (en) | 2015-07-22 | 2015-07-22 | Omnidirectional movement commodity circulation conveying platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204847205U true CN204847205U (en) | 2015-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520532746.7U Active CN204847205U (en) | 2015-07-22 | 2015-07-22 | Omnidirectional movement commodity circulation conveying platform |
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| CN (1) | CN204847205U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108149989A (en) * | 2016-12-05 | 2018-06-12 | 库卡罗伯特有限公司 | Omnidirectional mobile motor vehicle transport platform, auxiliary motor vehicle replenishment station and parking system |
| CN108995739A (en) * | 2018-07-11 | 2018-12-14 | 福建（泉州）哈工大工程技术研究院 | A kind of general omnidirectional's robot developing platform |
-
2015
- 2015-07-22 CN CN201520532746.7U patent/CN204847205U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108149989A (en) * | 2016-12-05 | 2018-06-12 | 库卡罗伯特有限公司 | Omnidirectional mobile motor vehicle transport platform, auxiliary motor vehicle replenishment station and parking system |
| CN108149989B (en) * | 2016-12-05 | 2022-02-22 | 库卡罗伯特有限公司 | Omnidirectional mobile motor vehicle transport platform, auxiliary motor vehicle replenishment station and parking system |
| CN108995739A (en) * | 2018-07-11 | 2018-12-14 | 福建（泉州）哈工大工程技术研究院 | A kind of general omnidirectional's robot developing platform |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |