CN107192296A - It is a kind of can Auxiliary support positioning omni-directional wheel chassis - Google Patents
It is a kind of can Auxiliary support positioning omni-directional wheel chassis Download PDFInfo
- Publication number
- CN107192296A CN107192296A CN201710510637.9A CN201710510637A CN107192296A CN 107192296 A CN107192296 A CN 107192296A CN 201710510637 A CN201710510637 A CN 201710510637A CN 107192296 A CN107192296 A CN 107192296A
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- China
- Prior art keywords
- omni
- directional wheel
- fixed
- carrier frame
- transmitting
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F7/00—Launching-apparatus for projecting missiles or projectiles otherwise than from barrels, e.g. using spigots
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses it is a kind of can Auxiliary support positioning omni-directional wheel chassis, including：Carrier frame, in regular polygon frame structure；Some omni-directional wheel drivetrains, are separately positioned at each drift angle of the carrier frame；Launch retention mechanism, it is fixedly installed on the carrier frame center, from top to bottom include cylinder, air cylinder fixed plate, plane bearing, transmitting fixed block successively, the cylinder is fixed in air cylinder fixed plate vertically, the piston rod of the cylinder is extended downwardly and is fixedly connected with transmitting fixed block, and the plane bearing is arranged between air cylinder fixed plate and transmitting fixed block.The present invention is contacted by launching fixed block with ground, and by the frictional force for the rubber for being connected in transmitting fixed block bottom（Or the suction of sucker）Fix on the ground, now whole chassis can surround center rotating, realize that the function of Plane Rotation of trigger mechanism, there is provided the effect of a head, can eliminate the influence that transmitting recoil is brought again.
Description
Technical field
The present invention relates to a kind of omni-directional wheel chassis, more particularly to it is a kind of can Auxiliary support positioning omni-directional wheel chassis.
Background technology
At present, general trigger mechanism is required for the free degree of a Plane Rotation, generally requires and adds one on chassis
Head realizes this function, knot of this structure relative to the free degree that a Plane Rotation is directly realized by omni-directional wheel chassis
Structure needs to add a motor to drive, while needing more complicated connector.But directly realized with omni-directional wheel chassis flat
The free degree of face rotation, because omni-directional wheel is relatively low with frictional ground force, when realizing fixed point transmitting easily due to the recoil of transmitting
Power produces sidesway, and transmitting again needs adjustment position, more time-consuming.
The content of the invention
The present invention it is a kind of can Auxiliary support positioning omni-directional wheel chassis purpose be provide one kind can realize plane
The omni-directional wheel chassis of rotation, can rotate the freedom for realizing trigger mechanism Plane Rotation when pinpointing transmitting by chassis plane
Degree, while being fastened with cylinder and rubber blanket, it is to avoid because the friction on omni-directional wheel and ground is too small so that whole during the recoil of transmitting
Sidesway, the transmitting of influence next time occur for car.
The invention solves the problems that the above-mentioned technical problem new technical scheme that is used be realized in：
It is a kind of can Auxiliary support positioning omni-directional wheel chassis, including：
Carrier frame, in regular polygon frame structure；
Some omni-directional wheel drivetrains, are separately positioned at each drift angle of the carrier frame；
Launch retention mechanism, be fixedly installed on the carrier frame center, cylinder, cylinder are from top to bottom included successively and is fixed
Plate, plane bearing, transmitting fixed block, the cylinder is fixed in air cylinder fixed plate vertically, and the piston rod of the cylinder is to downward
Stretch and be fixedly connected with transmitting fixed block, the plane bearing is arranged between air cylinder fixed plate and transmitting fixed block.
Further, the carrier frame is using equilateral triangle, square or regular pentagon closed-in construction.
Further, described omni-directional wheel drivetrain includes omni-directional wheel, ring flange, fixed motor cabinet, shaft coupling, motor,
The housing of the motor is fixed on fixed motor cabinet, and the output shaft of the motor passes through fixed motor cabinet to be sequentially connected shaft coupling
Device, wheel shaft, ring flange, omni-directional wheel 5, described fixation motor cabinet are fixed on carrier frame.
Further, the omni-directional wheel drivetrain described at least one, which is additionally provided with, makes all omni-directional wheel drivetrains to land
Resilient suspension system.
Further, described resilient suspension system include be set in parallel in the omni-directional wheel both sides and respectively with wheel shaft two
The omni-directional wheel suspension plate being rotatably assorted is held, one end of two omni-directional wheel suspension plates is fixed on carrier frame by hinge, another
End is connected on the elastic buffer frame being fixed on carrier frame with fluctuating, and the fixed motor cabinet is hung by omni-directional wheel
Plate is connected with carrier frame 1.
Further, described elastic buffer frame includes being welded on door shape fixed mount on the carrier frame, vertically
Through the guiding optical axis being arranged on the door shape fixed mount, described omni-directional wheel suspension plate one end is provided with along the guiding optical axis
The fluting moved up and down, the top and bottom of the door shape fixed mount, which are respectively arranged with optical axis upper mounted plate and optical axis, to be fixed
Spring is provided with plate, the guiding optical axis between optical axis upper mounted plate and omni-directional wheel suspension plate.
Further, it is additionally provided with floating position-limiting plate between described optical axis upper mounted plate and omni-directional wheel suspension plate.
Further, described plane bearing is dining table bearing, and the outer ring of the dining table bearing is fixed on carrier frame bottom
Portion, the inner ring of the dining table bearing passes through some equally distributed secondary connection transmitting fixed blocks of rectilinear movement.
Further, described rectilinear movement is secondary includes optical axis, is fixed by screws on the inner ring of the dining table bearing
Clamped-in style shaft stool, correspondingly be fixed on transmitting fixed block on linear bearing, one end of the optical axis is fixed on clamped-in style axle
On bearing, the other end is slidably matched with linear bearing.
Further, the bottom of described transmitting fixed block is provided with for increasing the rubber or sucker of adhesive force.
Compared with prior art, the present invention is when chassis is moved to specified location and starts to pinpoint transmitting, and cylinder is moved downward, hair
Fixed block is penetrated to contact with ground, and by the frictional force of rubber（Or the suction of sucker）Fix on the ground, now whole chassis
Center rotating can be surrounded by dining table bearing, realizing the function of Plane Rotation of trigger mechanism, there is provided the effect of a head
Really, the influence that transmitting recoil is brought can be eliminated again, it is simple in construction, convenient to carry out.
Brief description of the drawings
Fig. 1 is the omni-directional wheel chassis upward view of present example.
Fig. 2 is the surveys view of omni-directional wheel chassis axle two of present example.
Fig. 3 is the omni-directional wheel drivetrain structural representation of present example.
Fig. 4 is the resilient suspension system front view of present example.
Fig. 5 is the surveys view of resilient suspension system axle two of present example.
Fig. 6 is the transmitting retention mechanism front view of present example.
The label declaration of parts in schematic diagram：
1- carrier frames, 2- omni-directional wheel drivetrains, 3- resilient suspension systems, 4- transmitting retention mechanisms, 5- omni-directional wheels, 6- flanges
Disk, 7- fixes motor cabinet, and 8- shaft couplings, 9- motors, 10- motors fix aluminum pipe, and 11- is oriented to optical axis, 12- hinges, 13- omni-directional wheels
Suspension plate, 14- air cylinder fixed plates, 15- cylinders, 16- plane bearings, 17- transmitting fixed blocks；18- linear bearings；19- optical axises；20
Shaft stool.
Embodiment
With reference to the accompanying drawings and examples to the present invention it is a kind of can the omni-directional wheel chassis of Auxiliary support positioning taken
Technical scheme is described further.
As depicted in figs. 1 and 2, it is a kind of can Auxiliary support positioning omni-directional wheel chassis, including：
Carrier frame 1, square closed-in construction；
At four omni-directional wheel drivetrains 2, each drift angle for being separately positioned on the carrier frame 1, it is provided with carrier frame 1 logical
Four omni-directional wheel drivetrains 2 are fixed on to the relevant position of the carrier frame 1 in hole, through hole using bolt；
Launch retention mechanism 4, be fixedly installed on the center of carrier frame 1, cylinder 15, cylinder are from top to bottom included successively
Fixed plate 14, plane bearing 16, transmitting fixed block 17, the cylinder 15 are fixed in air cylinder fixed plate 14 vertically, the cylinder
15 piston rod is extended downwardly and is fixedly connected with transmitting fixed block 17, and the plane bearing 16 is arranged on the He of air cylinder fixed plate 14
Between transmitting fixed block 17.
In the feasible embodiment of the present invention, the carrier frame 1 can also be using other regular polygon structures, as just
Triangle, regular pentagon, regular hexagon closed-in construction etc., its omni-directional wheel drivetrain 2 and transmitting retention mechanism 4 and square frame
Structure is similar, will not be repeated here.
As shown in figure 3, in the feasible embodiment of the present invention, described omni-directional wheel drivetrain 2 includes omni-directional wheel 5, flange
Disk 6, the fixation motor cabinet 7 of square groove shape, shaft coupling 8, motor 9, the housing of the motor 9 are fixed on fixed motor cabinet 7, described
The output shaft of motor 9 passes through fixed motor cabinet 7 to be sequentially connected shaft coupling 8, wheel shaft, ring flange 6, omni-directional wheel 5, described fixed electricity
Support 7 is fixed on carrier frame 1, and motor 9 is rotated after being powered, by a series of connectors, so as to drive omni-directional wheel 5 to rotate.
As shown in Figure 4 and Figure 5, in the feasible embodiment of the present invention, two adjacent omni-directional wheel drivetrains 2 are also set
The resilient suspension system 3 for making all omni-directional wheel drivetrains 2 to land is equipped with, so as to form omni-directional wheel suspension system, makes two entirely
It can somewhat float, it is ensured that four omni-directional wheels 5 of whole carrier frame 1 can land, prevented at uneven ground to wheel 5
There is the problem of part omni-directional wheel 5 is hanging, so that whole chassis can also keep enough stability in broken terrain,
Improve the applicability on omni-directional wheel chassis.
Specifically, described resilient suspension system 3 include be set in parallel in the both sides of omni-directional wheel 5 and respectively with wheel shaft
The omni-directional wheel suspension plate 13 that two ends are rotatably assorted, one end of two omni-directional wheel suspension plates 13 is fixed on chassis by hinge 12 respectively
On framework 1, the other end is connected on the elastic buffer frame being fixed on carrier frame 1 with fluctuating, the fixed motor cabinet 7
It is connected by omni-directional wheel suspension plate 13 with carrier frame 1, now, because fixed motor cabinet 7 is integrally fixed at omni-directional wheel suspension plate
On 13, in order to ensure its intensity needs, square groove shape fixes motor cabinet 7 and replaces with square-tube-shaped motor fixation aluminum pipe 10.
Specifically, described elastic buffer frame includes being welded on door shape fixed mount on the carrier frame, vertically
Through the guiding optical axis 11 being arranged on the door shape fixed mount, described one end of omni-directional wheel suspension plate 13 is provided with along described and is oriented to
The fluting that optical axis 11 is moved up and down, the top and bottom of the door shape fixed mount are respectively arranged with optical axis upper mounted plate and optical axis
Spring is provided with fixed plate, the guiding optical axis 11 between optical axis upper mounted plate and omni-directional wheel suspension plate 13, thus one,
When running into broken terrain, omni-directional wheel suspension plate 13 sets slotted one end under the action of the spring can be along guiding light
Axle 11 is dynamically moved up and down, and omnidirectional's wheel driving that the drive for moving up and down meeting synchronization of omni-directional wheel suspension plate 13 is attached thereto
Dynamic is 2 to move up and down, and realizes the self-adapting float of omni-directional wheel 5, it is ensured that four omni-directional wheels 5 can land simultaneously all the time, complete to improve
To stability, reliability, the applicability on wheel chassis.
In addition, being additionally provided with floating position-limiting plate between described optical axis upper mounted plate and omni-directional wheel suspension plate 13, it can be used for
The maximum float amplitude of omni-directional wheel suspension plate is limited, the need for meeting different road conditions.
As shown in fig. 6, in the feasible embodiment of the present invention, described plane bearing 16 is dining table bearing, the dining table
The outer ring of bearing is fixed on the bottom of carrier frame 1, and the inner ring of the dining table bearing is secondary by some equally distributed rectilinear movements
Connection transmitting fixed block.
Specifically, the secondary inner ring for including optical axis 19, being fixed by screws in the dining table bearing of described rectilinear movement
On clamped-in style shaft stool 20, correspondingly be fixed on transmitting fixed block 17 on linear bearing 18, one end of the optical axis is fixed on
On clamped-in style shaft stool 20, the other end is slidably matched with linear bearing 18.When the piston rod of cylinder 15 promotes transmitting fixed block 17
When moving down, the linear bearing 18 being fixed on transmitting fixed block 17 is driven to be moved down along optical axis 19 is synchronous, until transmitting fixed block
17 are displaced downwardly to and are fully contacted with ground, after the contact ground of fixed block 17 is launched, pass through omni-directional wheel drivetrain 2 and drive carrier frame
1, which rotates to an angle, realizes the position adjustment to transmitting retention mechanism 4.When carrier frame 1 rotates, the outer ring of the dining table bearing
Synchronize rotation, and the inner ring of dining table bearing because by move linearly it is secondary be connected with launching fixed block 17, therefore, dining table
The inner ring of bearing keeps the state of geo-stationary with transmitting fixed block 17, namely during the rotation of carrier frame 1, can drive the dining table
The outer ring of bearing rotates around the inner ring of static dining table bearing.
In the feasible embodiment of the present invention, the bottom of described transmitting fixed block 17 is provided with for increasing adhesive force
Rubber or sucker, during according to rubber, then select the larger rubber of frictional force, are connect so as to improve transmitting fixed block 17 with ground
Adhesive force when touching, it is ensured that transmitting fixed block 17 can remain transfixion when carrier frame 1 rotates, prevents fixed point hair
The problem of sidesway is easily produced due to the recoil of transmitting when penetrating.
The operation principle and process of the present invention is further illustrated below by application method：
When needing to compare accurately continuous fixed point transmitting, when chassis is moved to specified location and starts fixed point transmitting, the cylinder
15 are moved downward, and transmitting fixed block 17 is contacted with ground, and by the frictional force of rubber（Or the suction of sucker）It is fixed on ground
On, now whole chassis can surround center rotating by the driving of dining table bearing and four omni-directional wheels 5, realize trigger mechanism
The function of Plane Rotation is there is provided the effect of a head, simultaneously as transmitting fixed block 17 has necessarily when being contacted with ground
Adhesive force, the influence that brings of transmitting recoil can be eliminated again, prevents that the recoil due to transmitting from producing sidesway, causes again
The problem of transmitting needs adjustment position.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, it can also make on the basis of the above description
Other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
Any modifications, equivalent substitutions and improvements made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (10)
1. it is a kind of can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that including：
Carrier frame (1), in regular polygon frame structure；
At some omni-directional wheel drivetrains (2), each drift angle for being separately positioned on the carrier frame (1)；
Launch retention mechanism (4), be fixedly installed on the carrier frame (1) center, cylinder is from top to bottom included successively
(15), air cylinder fixed plate (14), plane bearing, transmitting fixed block (17), the cylinder (15) are fixed on air cylinder fixed plate vertically
(14) on, the piston rod of the cylinder (15) is extended downwardly and is fixedly connected with transmitting fixed block (17), and the plane bearing is set
Put between air cylinder fixed plate (14) and transmitting fixed block (17).
2. it is according to claim 1 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：The carrier frame
(1) using equilateral triangle, square or regular pentagon closed-in construction.
3. it is according to claim 1 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：Described omnidirectional's wheel driving
Dynamic system (2) includes omni-directional wheel (5), ring flange (6), fixed motor cabinet (7), shaft coupling (8), motor (9), the motor (9)
Housing is fixed on fixed motor cabinet (7), and the output shaft of the motor (9) passes through fixed motor cabinet (7) to be sequentially connected shaft coupling
(8), wheel shaft, ring flange (6), omni-directional wheel (5), described fixation motor cabinet (7) are fixed on carrier frame (1).
4. it is according to claim 3 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：Described at least one
Omni-directional wheel drivetrain (2) is additionally provided with the resilient suspension system (3) for making all omni-directional wheel drivetrains (2) to land.
5. it is according to claim 4 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：Described resilient suspension
System (3) includes being set in parallel in the omni-directional wheel (5) both sides and the omni-directional wheel suspension plate being rotatably assorted with wheel shaft two ends respectively
(13), one end of two omni-directional wheel suspension plates (13) is fixed on carrier frame (1) by hinge (12), and the other end fluctuates
Ground, which is connected to, to be fixed on the elastic buffer frame on carrier frame (1), and the fixed motor cabinet (7) passes through omni-directional wheel suspension plate
(13) it is connected with carrier frame (1).
6. it is according to claim 5 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：Described elastic buffer
Door shape fixed mount that frame includes being welded on the carrier frame (1), vertically through being arranged on the door shape fixed mount
Optical axis (11) is oriented to, described omni-directional wheel suspension plate (13) one end is provided with the fluting moved up and down along the guiding optical axis (11),
The top and bottom of the door shape fixed mount are respectively arranged with optical axis upper mounted plate and optical axis bottom plate, fixed on optical axis
Spring is provided with guiding optical axis (11) between plate and omni-directional wheel suspension plate (13).
7. it is according to claim 6 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：It is solid on described optical axis
Floating position-limiting plate is additionally provided between fixed board and omni-directional wheel suspension plate (13).
8. it is according to claim 1 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：Described plane bearing
(16) it is dining table bearing, the outer ring of the dining table bearing is fixed on carrier frame (1) bottom, and the inner ring of the dining table bearing passes through
Some secondary connection transmitting fixed blocks (17) of equally distributed rectilinear movement.
9. it is according to claim 8 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：Described rectilinear movement
Pair is fixed including optical axis (19), the clamped-in style shaft stool (20) being fixed by screws on the inner ring of the dining table bearing, correspondence
Linear bearing (18) on transmitting fixed block (17), one end of the optical axis (19) is fixed on clamped-in style shaft stool (20),
The other end is slidably matched with linear bearing (18).
10. it is according to any one of claim 1 to 9 can Auxiliary support positioning omni-directional wheel chassis, it is characterised in that：Institute
The bottom for the transmitting fixed block (17) stated is provided with for increasing the rubber or sucker of adhesive force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710510637.9A CN107192296A (en) | 2017-06-28 | 2017-06-28 | It is a kind of can Auxiliary support positioning omni-directional wheel chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710510637.9A CN107192296A (en) | 2017-06-28 | 2017-06-28 | It is a kind of can Auxiliary support positioning omni-directional wheel chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107192296A true CN107192296A (en) | 2017-09-22 |
Family
ID=59880186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710510637.9A Pending CN107192296A (en) | 2017-06-28 | 2017-06-28 | It is a kind of can Auxiliary support positioning omni-directional wheel chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107192296A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108991840A (en) * | 2018-08-21 | 2018-12-14 | 华南理工大学 | A kind of autonomous display platform based on omni-directional wheel |
| CN109227576A (en) * | 2018-11-28 | 2019-01-18 | 西北农林科技大学 | A kind of family emergency robot and its working method |
| CN109362582A (en) * | 2018-11-22 | 2019-02-22 | 哈尔滨天河自动化设备有限公司 | One kind being suitable for more scene piggery cleaner device people and method for cleaning |
| CN112918588A (en) * | 2021-03-31 | 2021-06-08 | 华南理工大学 | Terrain self-adaptive transfer robot chassis |
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| CN2889403Y (en) * | 2006-04-17 | 2007-04-18 | 辽宁师范大学 | Tennis serving machine for exercising |
| 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 |
| CN106474713A (en) * | 2016-11-22 | 2017-03-08 | 华南理工大学 | A kind of with wheat wheel as ballistic path direction track controlled emitters of the chassis with rotary head |
| CN206891263U (en) * | 2017-06-28 | 2018-01-16 | 华南理工大学 | It is a kind of can Auxiliary support positioning omni-directional wheel chassis |
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| CN2889403Y (en) * | 2006-04-17 | 2007-04-18 | 辽宁师范大学 | Tennis serving machine for exercising |
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| CN1861232A (en) * | 2006-06-10 | 2006-11-15 | 合肥工业大学 | Simple equipment used for volleyballer training |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108991840A (en) * | 2018-08-21 | 2018-12-14 | 华南理工大学 | A kind of autonomous display platform based on omni-directional wheel |
| CN109362582A (en) * | 2018-11-22 | 2019-02-22 | 哈尔滨天河自动化设备有限公司 | One kind being suitable for more scene piggery cleaner device people and method for cleaning |
| CN109362582B (en) * | 2018-11-22 | 2023-08-11 | 哈尔滨天河自动化设备有限公司 | Cleaning robot and cleaning method suitable for multi-scene pigsty |
| CN109227576A (en) * | 2018-11-28 | 2019-01-18 | 西北农林科技大学 | A kind of family emergency robot and its working method |
| CN112918588A (en) * | 2021-03-31 | 2021-06-08 | 华南理工大学 | Terrain self-adaptive transfer robot chassis |
| CN112918588B (en) * | 2021-03-31 | 2024-04-09 | 华南理工大学 | Topography self-adaptation transfer robot chassis |
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Application publication date: 20170922 |