CN106515904B

CN106515904B - Mobile platform

Info

Publication number: CN106515904B
Application number: CN201611218514.XA
Authority: CN
Inventors: 张延超; 林东; 胡斌; 张清; 谭贤顺
Original assignee: Nuctech Co Ltd
Current assignee: Nuctech Co Ltd
Priority date: 2016-12-26
Filing date: 2016-12-26
Publication date: 2021-08-27
Anticipated expiration: 2036-12-26
Also published as: WO2018121078A1; CN106515904A

Abstract

The invention provides a mobile platform which comprises a frame, a suspension assembly and a wheel assembly, wherein the wheel assembly is connected below the frame through the suspension assembly; the transmission assembly is connected to the lower part of the frame through the suspension assembly and is connected with the wheels; the first driving device is connected with the transmission assembly and can drive the transmission assembly to enable the wheel to rotate around a straight line vertical to the axis of the wheel; the second driving device is connected with the wheel and can drive the wheel to rotate around the axis of the wheel. The mobile platform can improve the motion precision.

Description

Mobile platform

Technical Field

The invention relates to the technical field of carrying equipment, in particular to a mobile platform.

Background

At present, in order to facilitate carrying goods or moving large-scale equipment, a moving platform, which can also be called a moving trolley or the like, is generally used, and the goods or the equipment and the like are moved through the moving platform, so that the working efficiency is improved, and the labor intensity is reduced. Among various mobile platforms, the omni-directional mobile platform has been widely used because it can perform omni-directional motion in a plane, i.e., forward traveling, lateral traveling, diagonal traveling, turning at any angle, and pivot rotation. The existing omnidirectional moving platform generally comprises a frame, a suspension system and wheels, wherein the wheels are connected with the frame through the suspension system, and the wheels generally adopt mecanum wheels or omnidirectional wheels, so that the omnidirectional moving function is realized.

In the prior art, a plurality of rollers are distributed on a rim of each of a Mecanum wheel and an omnidirectional wheel, and the rollers are used and controlled in a combined manner to generate lateral movement, so that the vehicle body can move and rotate in any direction in a movement plane. However, since the wheel rim of each wheel has a plurality of rollers, the manufacturing and assembling difficulty is high, and the moving platform is easy to shake in the moving process, so that the moving precision is low, and the moving platform is difficult to be applied to occasions with high requirements on the moving precision and uneven road surfaces.

The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

The present invention is directed to overcome the above-mentioned deficiencies in the prior art, and to provide a mobile platform capable of improving the motion accuracy.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

According to one aspect of the invention, the mobile platform comprises a frame, a suspension assembly and a wheel assembly, wherein the wheel assembly is connected below the frame through the suspension assembly, the wheel assembly comprises a wheel, a transmission assembly, a first driving device and a second driving device, and the wheel is arranged below the frame; the transmission assembly is connected to the lower part of the frame through the suspension assembly and is connected with the wheels; the first driving device is connected with the transmission assembly and can drive the transmission assembly to enable the wheel to rotate around a straight line perpendicular to the axis of the wheel; the second driving device is connected with the wheel and can drive the wheel to rotate around the axis of the wheel.

According to one embodiment of the invention, the suspension assembly comprises a mounting plate, a mounting frame, a damping screw, a spring and a nut, the mounting plate is arranged below the frame, and the transmission assembly is connected to the lower surface of the mounting plate; the mounting frame is arranged on the lower surface of the mounting plate; the damping screws sequentially penetrate through the frame, the mounting plate and the mounting frame; the spring is sleeved outside the damping screw, one end of the spring abuts against the frame, and the other end of the spring penetrates through the mounting plate and abuts against the mounting frame; the nut is sleeved at one end of the damping screw penetrating out of the mounting frame.

According to an embodiment of the present invention, the transmission assembly includes a first rotating member, a second rotating member, a connecting member, a rotating disc and a first bracket, wherein the first rotating member is rotatably disposed below the mounting plate; the second rotating part is arranged below the mounting plate and is in rotating connection with the mounting plate; a connecting member for connecting the first rotating member and the second rotating member; the rotary table is fixedly connected with the second rotating piece; one end of the first support is connected with the rotary table, and the other end of the first support is connected with the wheel; the first driving device can drive the first rotating piece to rotate and drive the second rotating piece to rotate through the connecting piece, so that the second rotating piece can drive the wheel to rotate around a straight line perpendicular to the axis of the wheel through the rotary disc and the first support.

According to an embodiment of the present invention, the transmission assembly further includes a second bracket and a locking screw, the second bracket is engaged with the first driving device; one end of the locking screw is connected with the second support, and the other end of the locking screw is connected with the first support.

According to an embodiment of the present invention, the mobile platform further comprises a slip ring, the slip ring penetrates through the mounting plate and the second rotating member, and the second driving device is connected with the slip ring.

According to an embodiment of the invention, the suspension assembly further comprises a hinge, the mounting plate being connected to the frame by a hinge.

According to one embodiment of the invention, the first driving device is a steering engine, the steering engine is provided with a steering wheel, the steering wheel is embedded in the first rotating piece and is fixedly connected with the first rotating piece, and the second driving device is a motor.

According to an embodiment of the present invention, the first rotating member and the second rotating member are both pulleys, and the connecting member is a belt.

According to an embodiment of the invention, the wheel comprises a hub, an axle and a tyre, the hub being connected to the second support; the wheel shaft is connected with an output shaft of the motor and can drive the wheel hub to rotate; the tire is arranged on the outer edge of the hub.

According to an embodiment of the invention, the hub is formed with a plurality of stops capable of blocking the axle towards the movement.

According to the technical scheme, the invention has at least one of the following advantages and positive effects:

the first driving device can be used for driving the transmission assembly to rotate the wheel around a straight line vertical to the axis of the wheel so as to realize steering or in-situ rotation of the mobile platform; meanwhile, the second driving device can be used for driving the wheels to rotate around the axes of the wheels, so that the mobile platform can linearly move or retreat. From this, the accessible is controlled first drive arrangement and second drive arrangement respectively and is realized moving platform's omnidirectional movement, avoids adopting wheels that mecanum wheel or omnidirectional wheel etc. have a plurality of rollers, is convenient for adopt simple structure's wheel, is favorable to making and assembling, and when removing, difficult production is rocked to make the motion precision obtain improving, adapt to different work road surfaces.

Drawings

The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

FIG. 1 is a schematic structural diagram of an embodiment of a mobile platform according to the present invention;

fig. 2 is a partially enlarged view of a portion a in fig. 1.

Fig. 3 is a partially enlarged view of a portion B in fig. 1.

In the figure: 1. a frame; 101. a groove; 2. mounting a plate; 3. a mounting frame; 4. a damping screw; 5. a spring; 6. a nut; 7. a hinge; 8. a wheel; 81. a hub; 812. a stopper; 82. a wheel axle; 83. a tire; 9. a first driving device; 91. a rudder wheel; 10. a second driving device; 11. a first rotating member; 12. a second rotating member; 13. a connecting member; 14. a turntable; 15. a first bracket; 16. a second bracket; 17. locking screw, 18, slip ring.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.

Although relative terms, such as "upper" and "lower," may be used in this specification to describe one element of an icon relative to another, these terms are used in this specification for convenience only, e.g., in accordance with the orientation of the examples described in the figures. It will be appreciated that if the device of the icon were turned upside down, the element described as "upper" would become the element "lower". Other relative terms, such as "high", "low", "top", "bottom", "front", "back", "left", "right", etc., are also intended to have similar meanings. When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via another structure.

The terms "the" and "said" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first," "second," and "third," etc. are used merely as labels, and are not limiting on the number of their objects.

Referring to fig. 1, an exemplary embodiment of the present invention provides a mobile platform, which may include a frame 1, a suspension assembly, and a wheel assembly connected to a lower portion of the frame 1 through the suspension assembly.

In this example embodiment, there may be a plurality of suspension assemblies and wheel assemblies, for example, 4 or more, and a plurality of wheel assemblies may be connected below the frame 1 through a plurality of suspension assemblies in a one-to-one correspondence, that is, each wheel assembly is connected with the frame through an independent suspension assembly, and they do not interfere with each other, so that independent suspension is realized, and it is beneficial to improve the stability of the mobile platform when moving.

In the present exemplary embodiment, the vehicle frame 1 may be a rectangular box structure or a flat plate structure, and may be integrally formed or formed by splicing a plurality of flat plates or frame bodies. A plurality of grooves 101 may be symmetrically formed at the bottom of the frame 1, the suspension assemblies may be fitted into the grooves 101 in a one-to-one correspondence, and the number of the grooves 101 may be 4, but is not limited thereto.

In the present example embodiment, the suspension assembly may include a mounting plate 2, a mounting bracket 3, a damping screw 4, a spring 5, a nut 6, and a hinge 7, wherein:

the mounting plate 2 may be a flat plate structure and may be disposed in a recess 101 at the bottom of the frame 1.

The mounting frame 3 can be a hollow columnar structure, bases are formed on two sides of the mounting frame, and the bases can be fixed on the lower surface of the mounting plate 2 by using connecting pieces such as bolts, screws and the like, namely the surface of the mounting plate 2 facing the ground; of course, the mounting frame 3 may also be fixed to the lower surface of the mounting plate 2 by welding, bonding, or clamping, and the like, which will not be described herein again.

Mounting holes can be formed in the corresponding positions of the frame 1, the mounting plate 2 and the mounting frame 3, the damping screws 4 sequentially penetrate through the mounting holes of the frame 1, the mounting plate 2 and the mounting frame 3, one ends of the damping screws 4 are located on the upper surface of the frame 1, and the other ends of the damping screws penetrate out of the mounting frame 3.

The spring 5 can also be positioned in the mounting hole and sleeved outside the damping screw 4, one end of the spring 5 can abut against the lower surface of the frame 1, and the other end can penetrate through the mounting plate 2 and abut against the mounting frame 3.

The nut 6 can be matched with the damping screw 4, and is sleeved at one end of the damping screw 4 penetrating out of the mounting frame 3.

The mounting plate 2 may be connected to the side walls of the recess 101 by hinges 7, which allow the mounting plate 2 to rotate relative to the frame 1 while serving as a connection.

According to the suspension assembly in the above exemplary embodiment, when the mounting plate 2 and the mounting frame 3 shake relative to the frame 1, the spring 5 can play a role in shock absorption and buffering, so that the shake of the mobile platform is reduced, and the goods or equipment on the mobile platform can be kept stable when the mobile platform runs on uneven roads; meanwhile, the pretightening force of the spring 5 can be adjusted through the nut 6.

In the present example embodiment, the wheel assembly may include a wheel 8, a transmission assembly, a first drive device 9, and a second drive device 10.

In the present exemplary embodiment, the transmission assembly may include a first rotating member 11, a second rotating member 12, a connecting member 13, a rotating disc 14, a first bracket 15, a second bracket 16, and a locking screw 17, wherein:

the first rotating part 11 can be positioned in the groove 101 and is arranged below the mounting plate 2, the first rotating part 11 can rotate relative to the mounting plate 2 and the frame 1, and the rotating axis of the first rotating part 11 is perpendicular to the axis of the wheel 8; for example, the axis of the wheel 8 is horizontal, and the rotation axis of the first rotating member 11 is vertical.

The second rotating part 12 and the first rotating part 11 are arranged in the groove 101 side by side, the second rotating part 12 is arranged below the mounting plate 2 and is rotatably connected with the mounting plate 2, and the rotating axis of the second rotating part 12 is also vertical to the axis of the wheel 8;

the first rotating part 11 and the second rotating part 12 can both adopt belt pulleys, the connecting part 13 can adopt a belt matched with the belt pulleys, and when the first rotating part 11 rotates, the second rotating part 12 can be driven to rotate by the belt;

the rotary table 14 can be attached to the bottom of the second rotating member 12 and fixedly connected by clamping, welding or using a connecting member such as a bolt;

one end of the first support 15 can be fixedly connected with the rotating disc 14, and the other end can be connected with the wheel 8, when the second rotating member 12 rotates, the rotating disc 14 can be driven to synchronously rotate, and the rotating disc 14 can drive the wheel 8 to rotate around a straight line vertical to the axis of the wheel 8 through the first support 15.

In other exemplary embodiments of the present invention, the first rotating member 11 and the second rotating member 12 may also be chain wheels, and the connecting member 13 may be a chain matched with the chain wheels, so that when the first rotating member 11 rotates, the second rotating member 12 is driven to rotate. The first rotating member 11, the second rotating member 12 and the connecting member 13 may also adopt other structures capable of realizing the above-mentioned transmission function, and are not limited herein. In addition, the transmission assembly may also adopt other structures, for example, the transmission assembly may include two gears engaged with each other instead of the first rotating member 11, the second rotating member 12 and the connecting member 13 to realize the above-mentioned transmission function. But not limited to this, other transmission structures with the same function can also be adopted, and are not listed here.

The first driving device 9 can be connected with the first rotating member 11 and can drive the first rotating member 11 to rotate around a straight line which is perpendicular to the axis of the wheel 8; the first driving device 9 can adopt a steering engine, the steering engine is provided with a steering wheel 91, a clamping groove is arranged on the first rotating piece 11, and the steering wheel 91 is embedded in the clamping groove and fixedly connected through a bolt; the rotation of the first rotating member 11 is driven by the rotation of the rudder wheel 91. Thereby facilitating control of the rotation angle or number of turns. The first driving device 9 may be a driving device such as a rotary cylinder that can drive the first rotating member 11 to rotate.

The second driving device 10 may adopt a motor, but is not limited thereto, and other driving devices may also be adopted; the output shaft of the second drive device 10 is connectable to the wheel 8 and drives the wheel 8 to rotate about the axis of the wheel 8.

The second bracket 16 can be engaged with the first driving device 9, and when the second bracket 16 moves, the first driving device 9 and the first rotating member 11 can be driven to move;

one end of the locking screw 17 is connected with the first support 15, and the other end is connected with the second support 16, so that the locking screw 17 can be screwed to adjust the relative position between the first support 15 and the second support 16, and the distance between the first rotating member 11 and the second rotating member 12, when the first rotating member 11 and the second rotating member 12 are both belt pulleys and the connecting member 12 is a 14-position belt, the tensioning degree of the belt can be adjusted, and loosening is avoided.

In the present example embodiment, 4 or more wheels 8 may be employed, and each wheel 8 may be disposed in one-to-one correspondence with the groove 101 below the frame 1, and the wheels 8 may each include a hub 81, an axle 82, and a tire 83, wherein:

the wheel hub 81 can be used as a framework of the wheel 8 and can be connected with the first bracket 15, and when the first bracket 15 rotates, the wheel hub 81 is driven to rotate synchronously;

the wheel shaft 82 can be connected with an output shaft of a motor adopted by the second driving device 10, the wheel hub 81 can be driven to rotate around the axis of the wheel shaft 82 through the motor, a bearing can be sleeved outside the wheel shaft 82, and the wheel shaft 82 and the wheel hub 81 can be connected in a rotating mode through the bearing;

the tire 83 is sleeved around the hub 81, and the tire 83 may be made of rubber, so as to support and cushion.

In the present exemplary embodiment, in order to prevent the axle 82 from moving in the axial direction thereof, a plurality of stoppers 812 may be provided on the hub 81 at positions opposite to the axle 81, and the ends of the axle 82 or the bearings may be abutted against the inner sides of the plurality of stoppers 812, i.e., toward the side of the frame 1, and the axle 82 may be prevented from sliding in the axial direction by the plurality of stoppers 812, so that the structure of the wheel 8 is more stable.

The stop part 812 can be a convex structure integrally formed with the hub 81, or can be fixedly connected to the hub 81 by welding, clamping, screwing and other manners; the protruding structure may be a rectangular boss, an annular structure, a hemispherical structure, or the like, and is not limited herein as long as the protruding structure can block the axial movement of the wheel axle 82.

In the present exemplary embodiment, the mobile platform may further include a slip ring 18, the slip ring 18 penetrates the mounting plate 8 and the second rotating member 12, and the second driving device 10 is connected to the slip ring 18, so as to facilitate the transmission of an electrical signal to the second driving device 10, thereby preventing the wire from being wound by the rotation of the second rotating member 12.

According to the mobile platform provided by the embodiment of the invention, the wheels can rotate around a straight line vertical to the axes of the wheels by utilizing the first driving device through the driving transmission assembly, so that the mobile platform can be steered or rotate in place; meanwhile, the second driving device can be used for driving the wheels to rotate around the axes of the wheels, so that the mobile platform can linearly move or retreat. From this, the accessible is controlled first drive arrangement and second drive arrangement respectively and is realized moving platform's omnidirectional movement, avoids adopting wheels that mecanum wheel or omnidirectional wheel etc. have a plurality of rollers, is convenient for adopt simple structure's wheel, is favorable to making and assembling, and when removing, difficult production is rocked to make the motion precision obtain improving, adapt to different work road surfaces.

It is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the description. The invention is capable of other embodiments and of being practiced and carried out in various ways. The foregoing variations and modifications fall within the scope of the present invention. It will be understood that the invention disclosed and defined in this specification extends to all alternative combinations of two or more of the individual features mentioned or evident from the text and/or drawings. All of these different combinations constitute alternative aspects of the present invention. The embodiments described in this specification illustrate the best mode known for carrying out the invention and will enable those skilled in the art to utilize the invention.

Claims

1. A mobile platform comprises a frame, a suspension assembly and a wheel assembly, wherein the wheel assembly is connected below the frame through the suspension assembly, the mobile platform is characterized in that the wheel assembly comprises a wheel, a transmission assembly, a first driving device and a second driving device,

the wheels are arranged below the frame;

the transmission assembly is connected to the lower part of the frame through the suspension assembly and is connected with the wheels;

the first driving device is connected with the transmission assembly and can drive the transmission assembly to enable the wheel to rotate around a straight line perpendicular to the axis of the wheel;

the second driving device is connected with the wheel and can drive the wheel to rotate around the axis of the wheel;

the suspension assembly comprises an installation plate, the installation plate is arranged below the frame, and the transmission assembly is connected to the lower surface of the installation plate;

the first driving device and the second driving device are both positioned below the mounting plate,

the suspension assembly further comprises:

the mounting frame is of a hollow columnar structure and is arranged on the lower surface of the mounting plate; mounting holes are formed in the frame, the mounting plate and the mounting frame at corresponding positions;

the damping screws sequentially penetrate through the mounting holes of the frame, the mounting holes of the mounting plate and the mounting holes of the mounting frame;

the spring is sleeved outside the damping screw, one end of the spring abuts against the frame, and the other end of the spring penetrates through the mounting hole of the mounting plate and abuts against the mounting frame;

the nut is sleeved at one end, through which the damping screw penetrates out of the mounting frame.

2. The mobile platform of claim 1, wherein the transmission assembly comprises:

the first rotating piece is rotatably arranged below the mounting plate;

the second rotating part is arranged below the mounting plate and is in rotating connection with the mounting plate;

a connecting member for connecting the first rotating member and the second rotating member;

the rotary disc is fixedly connected with the second rotating part;

one end of the first support is connected with the rotary table, and the other end of the first support is connected with the wheel;

the first driving device can drive the first rotating piece to rotate and drive the second rotating piece to rotate through the connecting piece, so that the second rotating piece can drive the wheel to rotate around a straight line perpendicular to the axis of the wheel through the rotary disc and the first support.

3. The mobile platform of claim 2, wherein the transmission assembly further comprises:

the second bracket is clamped on the first driving device;

and one end of the locking screw is connected with the second bracket, and the other end of the locking screw is connected with the first bracket.

4. The mobile platform of claim 2, further comprising:

a slip ring that penetrates the mounting plate and the second rotating member, and the second driving device is connected to the slip ring.

5. The mobile platform of claim 1, wherein the suspension assembly further comprises a hinge, the mounting plate being connected to the frame by a hinge.

6. The mobile platform of claim 3, wherein the first driving device is a steering engine, the steering engine is provided with a steering wheel, the steering wheel is embedded in the first rotating member and fixedly connected with the first rotating member, and the second driving device is a motor.

7. The mobile platform of claim 2, wherein the first and second rotating members are each a pulley and the connecting member is a belt.

8. The mobile platform of claim 6, wherein the wheel comprises:

a hub connected with the second bracket;

the wheel shaft is connected with an output shaft of the motor and can drive the wheel hub to rotate;

the tire is arranged on the outer edge of the hub.

9. The mobile platform of claim 8, wherein the hub has a plurality of stops formed thereon that block axial movement of the axle.