CN102616097A - Independent wheel carrier of omni-directional self-propelled scissor aerial work platform - Google Patents
Independent wheel carrier of omni-directional self-propelled scissor aerial work platform Download PDFInfo
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- CN102616097A CN102616097A CN2012101087624A CN201210108762A CN102616097A CN 102616097 A CN102616097 A CN 102616097A CN 2012101087624 A CN2012101087624 A CN 2012101087624A CN 201210108762 A CN201210108762 A CN 201210108762A CN 102616097 A CN102616097 A CN 102616097A
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- wheel carrier
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Abstract
The invention discloses an independent wheel carrier of an omni-directional self-propelled scissor aerial work platform. The wheel carrier comprises a frame, an omni-directional wheel and a power system for driving the omni-directional wheel to rotate, wherein a frame rotary hub is fixed at the bottom of the frame and is connected with a wheel carrier rotary hub through an upper wheel carrier connecting rod and a lower wheel carrier connecting rod; the frame rotary hub, the upper wheel carrier connecting rod, the wheel carrier rotary hub and the lower wheel carrier connecting rod are sequentially articulated to form a parallel four-connecting-rod mechanism; a compensation spring is connected between the upper wheel carrier connecting rod and the frame; and the omni-directional wheel is mounted on the outer side of the wheel carrier rotary hub. When the omni-directional self-propelled scissor aerial work platform moves, the wheel carrier disclosed by the invention can automatically adjust the position of the omni-directional wheel according to the altitude difference between the body and the ground, so that the omni-directional wheel is always kept in contact with the ground.
Description
Technical field
The present invention relates to omnidirectional's self-propelled and cut fork high-altitude operation platform field, specifically is that a kind of omnidirectional's self-propelled that is applicable to is cut the independent wheel carrier of fork high-altitude operation platform.
Background technology
Because cutting the fork high-altitude operation platform, omnidirectional's self-propelled has the advantage that omnidirectional moves; In narrow working space, demonstrate fully its alerting ability; So adopted omnidirectional's car of all kinds of omnidirectionals wheel to obtain popularization in each field gradually in recent years, representative type omnidirectional wheel has Sweden's wheel and double to take turns etc.Generally speaking; Omnidirectional's self-propelled is cut the requirement of fork high-altitude operation platform and on than flat ground surface, is used; Because omnidirectional's self-propelled is cut the accurate motion of fork high-altitude operation platform and leaned on the collaborative work of each omnidirectional's wheel entirely, if there is omnidirectional's wheel not contact with ground because of ground is uneven, it rotatablely moves and can not be delivered on the car body; Omnidirectional's car body just can not move on request, the phenomenon of Control Failure can occur.At present, omnidirectional's self-propelled cut the fork high-altitude operation platform also be used to outdoor.Outside work ground is difficult to guarantee smooth, and the wheel carrier of most omnidirectionals car is fixing with vehicle frame, that is to say, omnidirectional's wheel can the Active Compensation and the ground-surface discrepancy in elevation.Consequently omnidirectional's car is difficult to Be Controlled, this drawbacks limit the penetration and promotion of omnidirectional's wheel technology.Therefore, the omnidirectional's self-propelled that presses for a kind of ability of exploitation automatic compensation ground discrepancy in elevation is cut fork high-altitude operation platform independence wheel carrier.
Summary of the invention
The present invention seeks to: fix as one to present omnidirectional vehicle wheel frame and car body, defective that can not the automatic compensation ground discrepancy in elevation the present invention proposes a kind of omnidirectional self-propelled and cuts and pitch high-altitude operation platform independence wheel carrier.When omnidirectional's self-propelled was cut the motion of fork high-altitude operation platform, this wheel carrier can be adjusted omnidirectional's wheel location voluntarily according to the car body and the ground-surface discrepancy in elevation, and omnidirectional's wheel is contacted with ground constantly.
Technical scheme of the present invention is: a kind of omnidirectional self-propelled is cut fork high-altitude operation platform independence wheel carrier; Comprise vehicle frame, omnidirectional's wheel and the power system that drives omnidirectional's wheel rotation; Said bottom of frame is fixed with vehicle frame changes hub; This vehicle frame changes hub and is connected with wheel carrier commentaries on classics hub through last wheel carrier connecting rod and following wheel carrier connecting rod; And said vehicle frame changes hub, upward wheel carrier connecting rod, wheel carrier change hub and hinged successively formation one parallel four-bar linkage of following wheel carrier connecting rod, are connected with compensator spring between last wheel carrier connecting rod and the vehicle frame, and said omnidirectional wheel is installed in the outside that wheel carrier changes hub.
Said wheel carrier changes the hub outside and is fixed with bearing seat, and the wheel shaft of said omnidirectional wheel is rotatably installed on this bearing seat; Said power system is fixed on the inboard that wheel carrier changes hub, and the mouth of power system connects with the wheel shaft that omnidirectional takes turns.
Said power system is made up of motor and speed reducer.
It is hinged that a said end of going up wheel carrier connecting rod and following wheel carrier connecting rod all changes hub through vehicle frame axle and vehicle frame, and it is hinged that the other end all changes hub through wheel frame axle and wheel carrier.
Said compensator spring is a stage clip.
Said compensator spring one end is fixed in the bottom of vehicle frame, and the other end is fixed in the top of wheel carrier connecting rod.
Said vehicle frame changes hub and vehicle frame is connected as a single entity.
Advantage of the present invention is: the present invention proposes a kind of omnidirectional's self-propelled that is applicable to and cut the independent wheel carrier of fork high-altitude operation platform; It comprises vehicle frame, omnidirectional's wheel and the power system that drives omnidirectional's wheel rotation; Said bottom of frame is fixed with vehicle frame changes hub; This vehicle frame changes hub and is connected with wheel carrier commentaries on classics hub through last wheel carrier connecting rod and following wheel carrier connecting rod; And said vehicle frame changes hub and changes hub and hinged successively formation one parallel four-bar linkage of following wheel carrier connecting rod with last wheel carrier connecting rod, wheel carrier, and goes up between wheel carrier connecting rod and the vehicle frame and be connected with compensator spring, and the outside that is installed in wheel carrier commentaries on classics hub is taken turns by omnidirectional.During work, under the effect of load on the vehicle frame, compensator spring is compressed, and forms the downward power to last wheel carrier connecting rod, makes omnidirectional's wheel tightly press to ground.When a certain omnidirectional wheel is in the ground recess; Compensator spring can discharge the elastic potential energy of its deposit and elongated, can drive after compensator spring is elongated and go up the wheel carrier connecting rod to lower swing, and then drive wheel carrier and change hub and move down; Because the existence of " parallel four-bar linkage "; Wheel carrier changes hub in the process that moves down, and the angle that wheel carrier changes between hub and ground is constant all the time, and the omnidirectional's wheel that is installed in the wheel carrier commentaries on classics hub outside has vertically been pressed to the ground (omnidirectional's wheel remains vertical with ground) of recess; Because omnidirectional's wheel has taken place to have contacting of certain pressure with ground, it rotatablely moves and just can be converted into the promotion to vehicle frame effectively.So, the motion control of omnidirectional's car has obtained recovery.
It is thus clear that this wheel carrier is suitable for outdoor ground, can keep omnidirectional to take turns contact perpendicular to the ground constantly.It is simple in structure, good working effect, and the outdoor handling that makes omnidirectional's self-propelled cut the fork high-altitude operation platform is improved.
Description of drawings
Below in conjunction with accompanying drawing and specific embodiment the present invention is done further introduction:
Fig. 1 is the block diagram of the embodiment of the invention;
Fig. 2 is the lateral plan of the embodiment of the invention when omnidirectional's wheel is in level ground.
Fig. 3 is the lateral plan of the embodiment of the invention when omnidirectional's wheel is in the pit-shaped ground face.
Wherein: the 1-vehicle frame, the 2-vehicle frame changes hub, the last wheel carrier connecting rod of 3-, 4-vehicle frame axle, the 5-wheel carrier changes hub, 6-wheel frame axle, 7-compensator spring, 8-omnidirectional wheel, 9-power system, wheel carrier connecting rod under the 10-.
The specific embodiment
As shown in Figure 1; Omnidirectional's self-propelled of present embodiment is cut fork high-altitude operation platform independence wheel carrier, comprises vehicle frame 1, omnidirectional's wheel 8 and is used to drive the power system 9 (these three parts are existing structures that omnidirectional's self-propelled is cut the fork high-altitude operation platform) that omnidirectional's wheel rotates.
Present embodiment also is fixed with vehicle frame in said vehicle frame 1 bottom change hub 2, changes hub 2 for fear of vehicle frame and take place to become flexible, and guarantees that vehicle frame changes the steadiness of hub 2, and the present embodiment spy changes hub 2 with said vehicle frame and fuses with vehicle frame 1.Said vehicle frame changes hub 2 and is connected with wheel carrier commentaries on classics hub 5 through last wheel carrier connecting rod 3 and following wheel carrier connecting rod 10; And said vehicle frame changes hub 2, goes up wheel carrier connecting rod 3, wheel carrier changes hub 5 and hinged successively formation one parallel four-bar linkage of following wheel carrier connecting rod 10 (vehicle frame changes hub and last wheel carrier rod hinge connection, go up that wheel carrier connecting rod and wheel carrier change that hub is hinged, wheel carrier commentaries on classics hub and following wheel carrier rod hinge connection, following wheel carrier connecting rod hinged with vehicle frame commentaries on classics hub again); Be specially: it is hinged with vehicle frame commentaries on classics hub 2 through vehicle frame axle 4 to go up wheel carrier connecting rod 3 one ends, and it is hinged that the other end changes hub 5 through equal wheel frame axle 6 and wheel carrier; It is hinged that following wheel carrier connecting rod 10 1 ends change hub 2 through another vehicle frame axle 4 and vehicle frame, and it is hinged that the other end changes hub 5 through another wheel frame axle 6 and wheel carrier.
And present embodiment also is connected with compensator spring 7 (being generally stage clip) between wheel carrier connecting rod 3 and the vehicle frame 1 on said, and be specially: these compensator spring 7 one ends are fixed in the bottom of vehicle frame 1, and the other end is fixed in the top of wheel carrier connecting rod 3.
Said omnidirectional wheel 8 is installed in the outside that wheel carrier changes hub 5.Concrete fit is: wheel carrier changes hub 5 outsides and is fixed with bearing seat, and the wheel shaft of omnidirectional's wheel 8 is rotatably installed on this bearing seat.Said power system 9 is fixed on the inboard that wheel carrier changes hub 5, and the mouth of power system 9 and omnidirectional take turns 8 wheel shaft and connect.In this had been implemented, power system 9 was made up of motor and speed reducer.
The principle of work of present embodiment is following:
Like Fig. 2; When omnidirectional's self-propelled is cut the fork high-altitude operation platform when ground grading moves; Retracing spring 7 compressive forces of cutting through omnidirectional's self-propelled on the independent wheel carrier of fork high-altitude operation platform make wheel carrier connecting rod bearing load; This load makes the omnidirectional's wheel that is fixed on the wheel carrier commentaries on classics hub vertically press to ground, and rotatablely moving of omnidirectional's wheel can be converted into the propelling thrust to vehicle frame effectively.At this moment, omnidirectional's self-propelled is cut the motion of fork high-altitude operation platform within range of control, and the flexible performance of its motion is embodied well.Because vehicle frame changes hub 2, upward wheel carrier connecting rod 3, wheel carrier change the existence of the parallel four-bar linkage of hub 5 and 10 formation of following wheel carrier connecting rod; No matter the amount of compression of compensator spring 7 has much; Can both guarantee that omnidirectional's wheel vertically is pressed on the ground, this characteristic has satisfied the condition of omnidirectional's wheel normal operation.
Like Fig. 3; When moving on not whole ground; A certain omnidirectional wheel is in the ground recess, and the compressive force of cutting the compensator spring 7 on the independent wheel carrier of pitching high-altitude operation platform through omnidirectional's self-propelled makes goes up wheel carrier connecting rod 3 bearing loads, and this load has formed the moment of a swing to the wheel carrier connecting rod.Because vehicle frame changes hub 2, upward wheel carrier connecting rod 3, wheel carrier change the existence of the parallel four-bar linkage of hub 5 and 10 formation of following wheel carrier connecting rod; No matter the elongation of compensator spring has much; Can both keep omnidirectional's wheel vertically to press to ground, rotatablely moving of omnidirectional's wheel can be converted into the propelling thrust to vehicle frame effectively.At this moment, the handling of omnidirectional's car still can be guaranteed.
In sum, because the application of special-purpose independent wheel carrier no matter in the smooth-riding surface, still at roughness pavement, can both make omnidirectional's self-propelled cut the fork high-altitude operation platform effectively and keep manipulation force.
Certainly, the foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to let people can understand content of the present invention and implements according to this, can not limit protection scope of the present invention with this.The all spirit of main technical schemes is done according to the present invention equivalent transformation or modification all should be encompassed within protection scope of the present invention.
Claims (7)
1. omnidirectional's self-propelled is cut fork high-altitude operation platform independence wheel carrier; Comprise vehicle frame (1), omnidirectional's wheel (8) and the power system (9) that drives omnidirectional's wheel rotation; It is characterized in that: said vehicle frame (1) bottom is fixed with vehicle frame changes hub (2); This vehicle frame changes hub (2) and is connected with wheel carrier commentaries on classics hub (5) through last wheel carrier connecting rod (3) and following wheel carrier connecting rod (10); And said vehicle frame changes hub (2), upward wheel carrier connecting rod (3), wheel carrier change hub (5) and hinged successively formation one parallel four-bar linkage of following wheel carrier connecting rod (10), are connected with compensator spring (7) between last wheel carrier connecting rod (3) and the vehicle frame (1), and said omnidirectional's wheel (8) is installed in the outside that wheel carrier changes hub (5).
2. omnidirectional according to claim 1 self-propelled is cut fork high-altitude operation platform independence wheel carrier, it is characterized in that: said wheel carrier changes hub (5) outside and is fixed with bearing seat, and the wheel shaft of said omnidirectional's wheel (8) is rotatably installed on this bearing seat; Said power system (9) is fixed on the inboard that wheel carrier changes hub (5), and the mouth of power system (9) connects with the wheel shaft of omnidirectional's wheel (8).
3. omnidirectional according to claim 1 and 2 self-propelled is cut fork high-altitude operation platform independence wheel carrier, and it is characterized in that: said power system (9) is made up of motor and speed reducer.
4. omnidirectional according to claim 1 self-propelled is cut fork high-altitude operation platform independence wheel carrier; It is characterized in that: it is hinged that a said end of going up wheel carrier connecting rod (3) and following wheel carrier connecting rod (10) all changes hub (2) through vehicle frame axle (4) and vehicle frame, and it is hinged that the other end all changes hub (5) through wheel frame axle (6) and wheel carrier.
5. omnidirectional according to claim 1 and 2 self-propelled is cut fork high-altitude operation platform independence wheel carrier, and it is characterized in that: said compensator spring (7) is a stage clip.
6. omnidirectional according to claim 1 and 2 self-propelled is cut fork high-altitude operation platform independence wheel carrier, and it is characterized in that: said compensator spring (7) one ends are fixed in the bottom of vehicle frame (1), and the other end is fixed in the top of wheel carrier connecting rod (3).
7. omnidirectional according to claim 1 and 2 self-propelled is cut fork high-altitude operation platform independence wheel carrier, and it is characterized in that: said vehicle frame changes hub (2) and is connected as a single entity with vehicle frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101087624A CN102616097A (en) | 2012-04-13 | 2012-04-13 | Independent wheel carrier of omni-directional self-propelled scissor aerial work platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101087624A CN102616097A (en) | 2012-04-13 | 2012-04-13 | Independent wheel carrier of omni-directional self-propelled scissor aerial work platform |
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| CN102616097A true CN102616097A (en) | 2012-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012101087624A Pending CN102616097A (en) | 2012-04-13 | 2012-04-13 | Independent wheel carrier of omni-directional self-propelled scissor aerial work platform |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291745A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Permanent magnet adsorption type suspension vibration isolation device of Mecanum-wheel vehicle |
| CN105773569A (en) * | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
| CN106042805A (en) * | 2016-07-12 | 2016-10-26 | 无锡顺达智能自动化工程股份有限公司 | Omnidirectional mobile chassis walking wheel suspension system |
| CN107867663A (en) * | 2017-12-04 | 2018-04-03 | 合肥搬易通科技发展有限公司 | A kind of fork truck universal wheel mechanism |
| CN108778785A (en) * | 2016-02-16 | 2018-11-09 | Ksm铸造集团有限公司 | Wheel carrier |
| CN113147296A (en) * | 2021-04-20 | 2021-07-23 | 上海高仙自动化科技发展有限公司 | Double-fork-arm suspension mechanism and cleaning robot |
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| EP1231084A2 (en) * | 2001-02-09 | 2002-08-14 | Technology Investments Limited | A vehicle suspension system |
| CN2673583Y (en) * | 2004-02-16 | 2005-01-26 | 中国科学技术大学 | High power passive obstacle crossing robot |
| WO2007129282A1 (en) * | 2006-05-09 | 2007-11-15 | Sistemi Sospensioni S.P.A. | An arm for a motor vehicle independent suspension and motor vehicle independent suspension comprising the same |
| CN201021088Y (en) * | 2007-04-04 | 2008-02-13 | 梁观源 | Independent front suspension of four-wheel vehicle |
| CN202593201U (en) * | 2012-04-13 | 2012-12-12 | 苏州市迅特液压升降机械有限公司 | Independent wheel carrier for omnidirectional self-propelled scissors aerial working platform |
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2012
- 2012-04-13 CN CN2012101087624A patent/CN102616097A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1231084A2 (en) * | 2001-02-09 | 2002-08-14 | Technology Investments Limited | A vehicle suspension system |
| CN2673583Y (en) * | 2004-02-16 | 2005-01-26 | 中国科学技术大学 | High power passive obstacle crossing robot |
| WO2007129282A1 (en) * | 2006-05-09 | 2007-11-15 | Sistemi Sospensioni S.P.A. | An arm for a motor vehicle independent suspension and motor vehicle independent suspension comprising the same |
| CN201021088Y (en) * | 2007-04-04 | 2008-02-13 | 梁观源 | Independent front suspension of four-wheel vehicle |
| CN202593201U (en) * | 2012-04-13 | 2012-12-12 | 苏州市迅特液压升降机械有限公司 | Independent wheel carrier for omnidirectional self-propelled scissors aerial working platform |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291745A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Permanent magnet adsorption type suspension vibration isolation device of Mecanum-wheel vehicle |
| CN108778785A (en) * | 2016-02-16 | 2018-11-09 | Ksm铸造集团有限公司 | Wheel carrier |
| CN105773569A (en) * | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
| CN106042805A (en) * | 2016-07-12 | 2016-10-26 | 无锡顺达智能自动化工程股份有限公司 | Omnidirectional mobile chassis walking wheel suspension system |
| CN107867663A (en) * | 2017-12-04 | 2018-04-03 | 合肥搬易通科技发展有限公司 | A kind of fork truck universal wheel mechanism |
| CN113147296A (en) * | 2021-04-20 | 2021-07-23 | 上海高仙自动化科技发展有限公司 | Double-fork-arm suspension mechanism and cleaning robot |
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Application publication date: 20120801 |