CN108860308A - A kind of omnidirectional's electric drive platform truck - Google Patents
A kind of omnidirectional's electric drive platform truck Download PDFInfo
- Publication number
- CN108860308A CN108860308A CN201810899476.1A CN201810899476A CN108860308A CN 108860308 A CN108860308 A CN 108860308A CN 201810899476 A CN201810899476 A CN 201810899476A CN 108860308 A CN108860308 A CN 108860308A
- Authority
- CN
- China
- Prior art keywords
- frame
- omnidirectional
- lifting
- transverse strands
- longitudinal
- Prior art date
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/08—Understructures, i.e. chassis frame on which a vehicle body may be mounted built up with interlaced cross members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses a kind of omnidirectional's electric drive platform trucks, including two longitudinal framves, transverse strands, are vertically fixedly connected between described two longitudinal framves, are provided with power-supply battery in the middle part of the transverse strands；Two sliding rails are symmetricly set on institute's transverse strands side, and vertical with the transverse strands；Lifting mechanism is arranged between the sliding rail, and can move up and down along the sliding rail；Goods carrier is connected to lifting mechanism lower end side；Multiple driving mechanisms are symmetrically arranged at longitudinal frame both ends, turn to the platform truck by the driving mechanism.Platform truck energy omnidirectional rotation, liftable, vehicle frame provide adequate space for driving mechanism.
Description
Technical field
The present invention relates to a kind of electric drive platform truck, especially a kind of omnidirectional's electric drive platform truck.
Background technique
With the development of electric car, battery motor and control system have all obtained development energetically in electric car,
Many key technologies also achieve breakthrough, the advantage of specific use electric car also gradually get people's approval.Pure electric vehicle fortune
0 discharge 0 pollution may be implemented in defeated vehicle, more bright in the advantage of the regions electric cars such as closing place, such as warehouse, dust-free workshop
It is aobvious.
Often need to carry out goods movement, transport in life and production, and the cargo that transport is completed carries out high altitude operation,
It is placed on eminence, it is therefore desirable to This move is completed by platform truck, existing platform truck is mostly highly fixed, it cannot be adjusted,
It is only applicable to the work of a certain height, the scope of application is small.
The sliding platform of car wheel structure used at present, driving wheel are separated with deflecting roller, and deflecting roller can only be very
A small range turns to, and is unable to omnidirectional's steering, is less able to achieve the synchronous omnidirectional's rotation of all wheels, therefore existing mobile platform
Vehicle can not be used in narrow and small place, the changeable place of road curvature, and use scope is limited.
Independent driving is driven with the one kind of electric car as distributed-driving electric automobile, each wheel is turned to by one
Dynamic motor is driven, a steering motor control turns to, and four-wheel drive or braking moment, four-wheel corner are individually controllable, relatively
Faster in the response of traditional chassis distributed-driving electric automobile system, not only there are more controllable degrees of freedom, but also control more
Precisely.
Four motorized wheels with turn to electric vehicle and have that four-wheel drive torque is individually controllable, four-wheel steering angle is individually controllable
Advantage, be the developing direction of the following intelligent automobile.However, existing vehicle frame only considered the shape of the front-wheel steer of two-wheel drive
Formula is unable to satisfy the installation requirement of electric vehicle modularization assembly structure, is unable to satisfy four motorized wheels and turns to electric vehicle pair
The demand of vehicle frame.Wheel regional space is unable to satisfy the needs for realizing the special steering patterns such as row, pivot stud, diagonal.
Summary of the invention
The present invention has designed and developed a kind of omnidirectional's electric drive platform truck, and it is empty that sufficient region can be provided for driving mechanism
Between, so that the rotation of platform truck omnidirectional by obstacle, is not improved working efficiency.
Another goal of the invention of the invention：The rotation of platform truck omnidirectional is realized by driving mechanism.
Another goal of the invention of the invention：Platform truck is gone up and down by lifting mechanism, realizes that height is adjustable, meets different height
Degree demand.
Technical solution provided by the invention is：
A kind of omnidirectional's electric drive platform truck, including：
Two longitudinal framves,
Transverse strands are vertically fixedly connected between described two longitudinal framves, are provided with power source in the middle part of the transverse strands
Battery；
Two sliding rails are symmetricly set on institute's transverse strands side, and vertical with the transverse strands；
Lifting mechanism is arranged between the sliding rail, and can move up and down along the sliding rail；
Goods carrier is connected to lifting mechanism lower end side；
Multiple driving mechanisms are symmetrically arranged at longitudinal frame both ends, are made by the driving mechanism described flat
Trolley turns to.
Preferably, the driving mechanism includes：
Two driving wheels are attached between the driving wheel by link block；
Hub motor is arranged inside the driving wheel, and the power output end of the hub motor connects the connection
Block；
Steering motor, power output end connect the link block by retarder；
Brake caliper is arranged at the link block both ends.
Preferably, further include：
Two ladder frames are connected to longitudinal frame center bottom in turn, and longitudinal frame both ends is made to form four appearances
Receive region；
First crossbeam, it is parallel with the transverse strands, it is located at below the transverse strands, the first crossbeam is connected to described
Between two ladder frames；
Second cross beam is located at below the first crossbeam, and in parallel, and the second cross beam both ends pass through bearing diagonal
It is connect with the first crossbeam；
Wherein, sliding rail setting is in the first crossbeam side, and vertical with the first crossbeam connect.
Preferably, the lifting mechanism includes：
Lifting frame is quadrilateral frame, and between described two sliding rails, both ends can back and forth be transported along the sliding rail
It is dynamic；
Elevating mechanism, one end are connected in the lifting frame horizontal interior walls, and the other end is connected on the second cross beam；
Lifting motor, power output end are connected to the elevating mechanism side, can drive the lifting arm.
Preferably, the elevating mechanism includes two V-type framves being oppositely arranged, and two V-type frame both ends pass through company
Fitting carries out hinged.
Preferably, the adjustable height H of the elevating mechanism meets：
Wherein, λ is correction coefficient, l1For the side length of the V-type frame, when h is initial position between V-type frame both sides away from
From n is motor speed, and π is pi, and r is difference to radius, and α is the angle between V-type frame fixed point and horizontal line, l2For
The distance between final position both sides ShiVXing Jia.
Preferably, the driving mechanism further includes fixing sleeve, and one end of which is fixed on the link block, the other end is connected
The retarder.
Preferably, one end setting of steering motor one end inside longitudinal frame.
It preferably, is to be detachably connected between the goods carrier and the lifting frame.
Preferably, longitudinal frame and the transverse strands are that the stainless steel tube that section is rectangle is formed by connecting.
Beneficial effect of the present invention：Omnidirectional's electricity that the present invention designs drives sliding platform and is four motorized wheels and turns
To electric vehicle, be suitable for that surface conditions are relatively flat, and the fixed-site of larger cargo is carried.It is independent with four-wheel steering angle
Controllably, sometimes, there is vehicle frame driving moment Independent adjustable sufficient accommodation space to realize row, pirouette to meet wheel
To the needs of the special steering patterns such as, diagonal, the rotation of platform truck omnidirectional is made by obstacle, not improve working efficiency.Lifting machine is set
Structure can make platform truck carry out height adjustment according to actual needs, realize the multi-purpose purpose of a vehicle.The present invention collect driving, braking,
It turns to integrated module structure to be integrated, four groups of wheel side structures are identical, simplify the difficulty of entire vehicle design processing, can
Reduce the cost of vehicle and later maintenance.Modular construction can be improved vehicle assembly efficiency simultaneously
Detailed description of the invention
Fig. 1 is the axis surveys view that omnidirectional's electricity of the present invention drives sliding platform.
Fig. 2 is vehicle frame of the present invention and lifting mechanism structural schematic diagram.
Fig. 3 is driving mechanism structure schematic diagram of the present invention.
Fig. 4 is that omnidirectional's electricity of the present invention drives sliding platform normal running mode schematic diagram.
Fig. 5 is that omnidirectional's electricity of the present invention drives the oblique driving mode schematic diagram of sliding platform.
Fig. 6 is that omnidirectional's electricity of the present invention drives sliding platform pivot stud driving mode schematic diagram.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in figures 1 to 6, the present invention provides a kind of omnidirectional's electric drive platform truck, including two symmetrically arranged longitudinal framves
120, the transverse strands 130 being connected between two longitudinal framves 120, two for being connected to 120 center bottom of frame longitudinally in each are trapezoidal
Frame 110 forms four accommodation spaces between both ends and longitudinal frame 120, it is empty that four groups of driving mechanisms are connected to four receivings in turn
In.First crossbeam 140 is connected between two ladder frames 110, is located at 110 lower part of ladder frame, and parallel with transverse strands 130.
In the in-plane that transverse strands 130 and first crossbeam 140 are formed, there are two the sliding rails 410 being oppositely arranged for connection, and in two cunnings
Lifting mechanism is provided between rail, goods carrier 500 is connected to 400 lower part of lifting mechanism, is connected in 130 center bottom of transverse strands
Power source 600, which is that platform truck is mobile, improves power.
Longitudinal frame 120 is rectangular frame, and two longitudinal framves 120 are arranged in parallel, and are symmetrical arranged along the longitudinal axis of vehicle frame.It is vertical
It is welded to frame 120 by the stainless-steel pipe that section is rectangle, between two longitudinal framves 120, is vertically connected with transverse strands
130, transverse strands 130 are close to one end of two longitudinal framves.
Transverse strands 130 are also rectangular frame structure, meanwhile, the section of transverse strands 130 is that the stainless-steel pipe of rectangle welds
It forms.
In the present invention as a preference, vehicle frame is truss framework.
In the bottom end of longitudinal frame 120, it is connected with ladder frame 110, ladder frame 110 is located at the middle part of longitudinal frame 120, makes longitudinal direction
The both ends of frame 120 form housing region, for accommodating the rotation of driving mechanism, provide sufficient sky for the rotation of driving mechanism
Between.
In the present invention as a preference, ladder frame selects isosceles trapezoid frame.
Between two 110 insides of ladder frame, it is connected with first crossbeam 140, first crossbeam 140 is parallel with transverse strands 130
Setting, positioned at the lower part of transverse strands 130, and it is in the same plane with one side of transverse strands 130.
In the plane that two sliding rails 410 are oppositely arranged on transverse strands 130 and first crossbeam 140 is formed, the two of lifting mechanism
While being slidably connected on sliding rail 410, lifting mechanism can be slided up and down in sliding rail 410 along sliding rail 410.
Second cross beam is located at 410 lower section of sliding rail, is arranged in parallel with first crossbeam 140, second cross beam both ends pass through bearing diagonal
It is connected to 140 both ends of first crossbeam.
Lifting mechanism includes lifting frame 300, is quadrilateral frame, is located between two sliding rails, both ends can be along institute
State sliding rail reciprocating motion；Elevating mechanism 320, one end are connected in 300 horizontal interior walls of lifting frame, and the other end is connected to second
On crossbeam；The power output end of lifting motor 310 is connected to the side of lifting arm 320, for driving the lifting of lifting arm 320,
Make lifting arm 320 that lifting frame 300 be driven to pump in two sliding rails 410.Wherein, lifting stepper motor 310 is
The lifting of cargo provides power, and the angle that can be rotated by control lifting motor 310 accurately controls the lift height of cargo.
Elevating mechanism 320 includes two V-type framves being oppositely arranged, i.e. the first V-type frame and the second V-type frame, the first V-type frame
Corner point is connected in the horizontal interior walls of lifting frame 300, and the corner point of the second V-type frame is connected on second cross beam, two V-type framves
It is carried out hingedly by connector, and is driven by lifting stepper motor 310, drive two V-type framves liftings, and then drive lifting
Frame 300 moves up and down.
Wherein, the adjustable height H of elevating mechanism meets：
Wherein, λ is correction coefficient, l1For the side length of V-type frame, unit mm, when h is initial position between V-type frame both sides
Distance, unit mm, n are motor speed, and unit is：R/min, π are pi, and r is poor to radius, unit mm, α V
Angle between type frame fixed point and horizontal line, l2For the distance between final position both sides ShiVXing Jia, unit mm.
Lifting mechanism can lift certain altitude, and the transport of cargo is facilitated to carry.It simultaneously can be according to different cargo sizes
Shape re-replaces suitable lifting mechanism.
It is connected with goods carrier 500 in lifting mechanism lower part side, goods carrier 500 can be according to the different sizes for transporting cargo
Shape is replaced.
Driving mechanism is arranged in the housing region formed between longitudinal frame 120 and ladder frame 110, one end of driving mechanism
It is rotatably connected on longitudinal frame 120.
Driving mechanism includes：Two driving wheels 230 are attached between two driving wheels by link block 250, and electricity is turned to
The power output end of machine 210 is connected and fixed set 240 by retarder 220, and is connected by fixing sleeve 240 and the rotation of link block 150
It connects, for driving driving wheel 230 to turn to.Wherein steering motor 210 provides power required for steering for full-vehicle steering system, with
Deceleration retarder 220 is bolted together.Retarder 220 is planetary gear reduction box, matches peace with steering motor 210
Dress, the dynamic retarding torque increase that steering motor 210 can be provided.One group of tapered roller bearing is housed inside fixing sleeve 240, is born
The stress of vehicle vertical direction.Fixing sleeve 240 and vehicle frame are connected by bolt.
Hub motor is mounted on inside wheel, prevents take up frame interior space, improves vehicle frame space utilization rate.Each car peace
Equipped with 4 groups of 8 tires, each tire installs a hub motor, and the power output end and link block 250 of hub motor 260 connect
It connects, brake caliper 270 is symmetrically connected to 250 both ends of link block, provides brake force for vehicle.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of omnidirectional's electricity drives sliding platform, which is characterized in that including：
Two longitudinal framves,
Transverse strands are vertically fixedly connected between described two longitudinal framves, are provided with power-supply battery in the middle part of the transverse strands；
Two sliding rails are symmetricly set on institute's transverse strands side, and vertical with the transverse strands；
Lifting mechanism is arranged between the sliding rail, and can move up and down along the sliding rail；
Goods carrier is connected to lifting mechanism lower end side；
Multiple driving mechanisms are symmetrically arranged at longitudinal frame both ends, make the platform truck by the driving mechanism
It turns to.
2. omnidirectional's electricity according to claim 1 drives sliding platform, which is characterized in that the driving mechanism includes：
Two driving wheels are attached between the driving wheel by link block；
Hub motor is arranged inside the driving wheel, and the power output end of the hub motor connects the link block；
Steering motor, power output end connect the link block by retarder；
Brake caliper is arranged at the link block both ends.
3. omnidirectional's electricity according to claim 2 drives sliding platform, which is characterized in that further include：
Two ladder frames are connected to longitudinal frame center bottom in turn, and longitudinal frame both ends is made to form four receiving areas
Domain；
First crossbeam, it is parallel with the transverse strands, it is located at below the transverse strands, the first crossbeam is connected to described two
Between ladder frame；
Second cross beam is located at below the first crossbeam, and in parallel, and the second cross beam both ends pass through bearing diagonal and institute
State first crossbeam connection；
Wherein, sliding rail setting is in the first crossbeam side, and vertical with the first crossbeam connect.
4. omnidirectional's electricity according to claim 3 drives sliding platform, which is characterized in that the lifting mechanism includes：
Lifting frame is quadrilateral frame, and between described two sliding rails, both ends can be moved back and forth along the sliding rail；
Elevating mechanism, one end are connected in the lifting frame horizontal interior walls, and the other end is connected on the second cross beam；
Lifting motor, power output end are connected to the elevating mechanism side, can drive the lifting arm.
5. omnidirectional's electricity according to claim 4 drives sliding platform, which is characterized in that the elevating mechanism includes two phases
To the V-type frame of setting, two V-type frame both ends are carried out hinged by connector.
6. omnidirectional's electricity according to claim 5 drives sliding platform, which is characterized in that the adjustable height of the elevating mechanism
H meets：
Wherein, λ is correction coefficient, l1For the side length of the V-type frame, the distance between V-type frame both sides when h is initial position, n is
Motor speed, π are pi, and r is difference to radius, and α is the angle between V-type frame fixed point and horizontal line, l2For most final position
The distance between V-type frame both sides when setting.
7. omnidirectional's electricity according to claim 6 drives sliding platform, which is characterized in that the driving mechanism further includes fixing
Set, one end of which is fixed on the link block, the other end connects the retarder.
8. omnidirectional's electricity according to claim 7 drives sliding platform, feature is being that one end of the steering motor is set
Set one end inside longitudinal frame.
9. omnidirectional's electricity according to claim 8 drives sliding platform, which is characterized in that the goods carrier and the lifting frame
Between to be detachably connected.
10. omnidirectional's electricity according to claim 9 drives sliding platform, which is characterized in that the longitudinal direction frame and the transverse direction
Frame is that the stainless steel tube that section is rectangle is formed by connecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810899476.1A CN108860308A (en) | 2018-08-09 | 2018-08-09 | A kind of omnidirectional's electric drive platform truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810899476.1A CN108860308A (en) | 2018-08-09 | 2018-08-09 | A kind of omnidirectional's electric drive platform truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860308A true CN108860308A (en) | 2018-11-23 |
Family
ID=64317331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810899476.1A Pending CN108860308A (en) | 2018-08-09 | 2018-08-09 | A kind of omnidirectional's electric drive platform truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860308A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110282046A (en) * | 2019-05-06 | 2019-09-27 | 广东博智林机器人有限公司 | Wheel group driving device, wheel steering system and transportation robot |
| WO2021238421A1 (en) * | 2020-05-27 | 2021-12-02 | 农业农村部南京农业机械化研究所 | Wheeled agricultural robot having self-adaptive wheel distance adjustment function, and adjustment method therefor |
| CN116443093A (en) * | 2023-06-12 | 2023-07-18 | 华侨大学 | In-situ steering and rotating system of integrated frame full-electric wheel type engineering machinery |
| CN117090400A (en) * | 2023-10-20 | 2023-11-21 | 中铁九局集团第三建设有限公司 | Prestress tensioning trolley |
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