CN109018069A - Wheel moving platform and moving trolley - Google Patents
Wheel moving platform and moving trolley Download PDFInfo
- Publication number
- CN109018069A CN109018069A CN201810539498.7A CN201810539498A CN109018069A CN 109018069 A CN109018069 A CN 109018069A CN 201810539498 A CN201810539498 A CN 201810539498A CN 109018069 A CN109018069 A CN 109018069A
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- China
- Prior art keywords
- wheel
- side sector
- risers
- fan
- wheels
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
Abstract
The invention belongs to mobile robot technology fields, and in particular to a kind of wheel moving platform and moving trolley.Wheel moving platform of the present invention, including bottom plate and to the left risers and right risers for the two sides for being erected on the bottom plate, the lateral surface of the left risers is equipped with multiple left side sector wheels, the lateral surface of the right risers is equipped with multiple right side sector wheels, the bottom plate is equipped at least one first driving motor and at least one second driving motor, first driving motor is used to drive multiple right side sector wheel common rotations on the lateral surface of the right risers, second driving motor is used to drive multiple left side sector wheel common rotations on the lateral surface of the left risers.By using wheel moving platform of the present invention and moving trolley, structure is simple, easy to maintain, can guarantee mobile platform even running in the moving process of flat road surface, and have good obstacle climbing ability, improve the application range of mobile platform.
Description
Technical field
The invention belongs to mobile robot technology fields, and in particular to a kind of wheel moving platform and moving trolley.
Background technique
It is dangerous due to topographical forms sternness when executing the hot missions such as anti-terrorism, explosive, search, rescue, detection, scouting
Degree is high, it will usually use high performance obstacle detouring trolley.Since ground environment is responsible for, uncertain factor is high, therefore inevitable requirement
Obstacle detouring trolley has powerful maneuverability.
The form of obstacle detouring trolley more common at present includes crawler type and wheel type mobile trolley.Crawler-type mobile trolley has
Good cross-country power, but energy consumption is big, travel speed is slow, and structure is complicated, and maintenance cost is higher.Wheel type mobile is small
Advantages such as vehicle has movement speed fast, and maneuverability is strong, but its obstacle climbing ability is insufficient, when barrier height is more than radius of wheel,
It can not then break the barriers, the serious application for limiting wheel type mobile trolley in complicated landform environment.
Summary of the invention
The purpose of the present invention is to solve at least one above-mentioned problem, which is by the following technical programs
It realizes.
The invention proposes a kind of wheel moving platforms, the left side including bottom plate and to the two sides for being erected on the bottom plate
Vertical plate and right risers, the lateral surface of the left risers are equipped with multiple left side sector wheels, set on the lateral surface of the right risers
There are multiple right side sector wheels, the bottom plate is equipped at least one first driving motor and at least one second driving motor,
First driving motor is used to drive multiple right side sector wheel common rotations on the lateral surface of the right risers, and
The right side fan described in wherein at least two when multiple right side sector wheel common rotations on the lateral surface of the right risers
Shape wheel is kept in contact with supporting surface, and second driving motor is used to drive multiple described on the lateral surface of the left risers
Left side sector wheel common rotation, and when multiple left side sector wheel common rotations on the lateral surface of the left risers
The fan-shaped wheel in left side described in wherein at least two is kept in contact with supporting surface, so that the wheel moving platform be enable to move fortune
Row.
Further, wheel moving platform as described above is provided only with first driving motor on the bottom plate
With second driving motor, the first connecting shaft is equipped at the rotation center of multiple right side sector wheels, it is multiple
One end of first connecting shaft connects one to one with the rotation center of multiple right side sector wheels respectively and being capable of band
Move multiple right side sector wheel common rotations, the other end of multiple first connecting shafts pass through the right risers and with set
It is connected in the first transmission device of the medial surface of the right risers, first driving motor can be driven by the first retarder
It moves first transmission device to be rotated, to drive multiple right side sector wheel common rotations, multiple left sides
Be equipped with the second connecting shaft at the rotation center of fan-shaped wheel, one end of multiple second connecting shafts respectively with the multiple left sides
The rotation center of side sector wheel connects one to one and is able to drive multiple left side sector wheel common rotations, Duo Gesuo
The other end for stating the second connecting shaft passes through the left risers and the second transmission device phase with the medial surface for being set to the left risers
Connection, second driving motor can drive second transmission device to be rotated by the second retarder, to drive
Multiple left side sector wheel common rotations.
Further, wheel moving platform as described above, first transmission device and second transmission device are equal
For sprocket wheel chain transmission, the medial surface of the right risers is equipped with identical multiple with multiple right side sector wheel counts
First sprocket wheel, the other end of multiple first connecting shafts are connected with the geometric center of multiple the first sprocket wheels respectively,
Between multiple first sprocket wheels by the first chain connection transmission, first driving motor by first retarder with
One of them first sprocket wheel in multiple first sprocket wheels is connected, the medial surfaces of the left risers be equipped with it is multiple described
Identical multiple second sprocket wheels of left side sector wheel count, the other end of multiple second connecting shafts respectively with multiple institutes
The geometric center of second sprocket wheel is connected, and by the connection transmission of the second chain between multiple second sprocket wheels, described second is driven
Dynamic motor is connected by second retarder with one of them second sprocket wheel in multiple second sprocket wheels.
Further, wheel moving platform as described above, the rotation center of the right side sector wheel and the left side
The rotation center of fan-shaped wheel be respectively the right side sector wheel the corresponding center of circle of fan-shaped surface and the left side sector wheel
The corresponding center of circle of fan-shaped surface.
Further, wheel moving platform as described above, the bottom plate are equipped with and multiple right side sector wheels
Identical multiple first driving motors of quantity and identical with the quantity of multiple left side sector wheels multiple described
Second driving motor, is equipped with multiple first connecting shafts at the rotation center of multiple right side sector wheels, and multiple described first
The rotation center of one end of connecting shaft and multiple right side sector wheels connects one to one and is able to drive multiple right sides
Side sector wheel is rotated, and the other end of multiple first connecting shafts passes through the right risers, and passes through the first retarder
It connects one to one with multiple first driving motors, multiple the is equipped at the rotation center of multiple left side sector wheels
Two connecting shafts, one end of multiple second connecting shafts and the rotation center of multiple left side sector wheels connect one to one
And be able to drive multiple left side sector wheels and rotated, the other end of multiple second connecting shafts passes through described left vertical
Plate, and connected one to one by the second retarder and multiple second driving motors.
Further, wheel moving platform as described above, the lateral surfaces of the left risers are equipped with the first left wheel, the
Two left wheels, the fan-shaped wheel of third left wheel and four left sides of the 4th left wheel, the lateral surface of the right risers are equipped with first
Right wheel, the second right wheel, the fan-shaped wheels of the right wheel of third and the right side of the 4th right wheel four, and first left wheel, the
Two left wheels, third left wheel, the 4th left wheel, the first right wheel, the second right wheel, the right wheel of third and the 4th right wheel
Shape, size are completely the same.
Further, wheel moving platform as described above, the corresponding central angle of fan-shaped surface of the left side sector wheel
Central angle corresponding with the fan-shaped surface of the right side sector wheel is 180 °.
Further, wheel moving platform as described above, the adjacent fan of any two in the left side sector wheel
Setting angle between shape wheel differs 180 °, and corresponding with the left side sector wheel in the right side sector wheel
The setting angle of fan-shaped wheel is consistent.
Further, wheel moving platform as described above, the left side sector wheel and the right side sector wheel
It is equipped with same size spaced set groove on outer peripheral surface, distinguishes on the left side sector wheel and the right side sector wheel
The through-hole of fan-shaped surface equipped with the multiple fan-shaped surfaces and right side sector wheel through the left side sector wheel.
The invention also provides a kind of moving trolleys, including wheel moving platform as described above.
By using wheel moving platform of the present invention and moving trolley, wheeled shifting is driven using fan-shaped car wheel structure
Moving platform is moved, and structure is simple, easy to maintain, is had preferable high-speed maneuver performance, can be guaranteed wheel moving platform
Quick and stable is run in the moving process of flat road surface, and during obstacle detouring, is climbed by the alternating of front and back sector wheel,
The obstacle detouring process for completing wheel moving platform, improves the obstacle climbing ability and application range of wheel moving platform.
The fan-shaped wheel in right side and left side sector wheel are respectively driven by using the first driving motor and the second driving motor,
It can be by changing the revolving speed of motor and turning to the function such as the straight trip for realizing wheel moving platform, running steering and original place deflecting
Can, improve the mobility of wheel moving platform.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the overall structure diagram of wheel moving platform of the embodiment of the present invention；
Fig. 2 is the top view of wheel moving platform in Fig. 1；
Fig. 3 is the structural schematic diagram of the first right wheel of wheel moving platform in Fig. 1；
Fig. 4 is the overall structure diagram of moving trolley of the embodiment of the present invention；
Fig. 5 is the traveling schematic diagram of moving trolley moving process in flat road surface in Fig. 4；
Fig. 6 is another traveling schematic diagram of moving trolley moving process in flat road surface in Fig. 4；
Fig. 7 is traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4；
Fig. 8 is another traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4；
Fig. 9 is another traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4；
Figure 10 is another traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4；
Figure 11 is another traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4；
Figure 12 is another traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4.
Respectively label is expressed as follows in attached drawing:
100: wheel moving platform；
11: bottom plate, 12: right risers, 12 ': left risers；
21: the first right wheels, 22: the second right wheels, 23: the right wheel of third, 24: the four right wheels, the 21 ': the first left vehicle
Wheel, the 22 ': the second left wheel, 23 ': third left wheel, the 24 ': the four left wheel；
30: the first driving motors, the 30 ': the second driving motor；
40: the first retarders, the 40 ': the second retarder；
51 ': the second connecting shaft, the 52 ': the second sprocket wheel, the 53 ': the second chain, 53: the first chains；
200: car bonnet；
300: step barrier.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can be by this public affairs
The range opened is fully disclosed to those skilled in the art.
Fig. 1 is the overall structure diagram of wheel moving platform of the embodiment of the present invention.Fig. 2 is wheel moving platform in Fig. 1
Top view.Fig. 3 is the structural schematic diagram of the first right wheel of wheel moving platform in Fig. 1.Fig. 4 is mobile for the embodiment of the present invention
The overall structure diagram of trolley.As shown in figure 4, the moving trolley in the present embodiment includes wheel moving platform 100 and car bonnet
200.For wheel moving platform 100 for driving moving trolley to be moved, the top of wheel moving platform 100 is equipped with car bonnet 200,
It is closed and is protected for the internal component to wheel moving platform 100.It is various at the same time it can also be arranged on car bonnet 200
Other component, such as camera, mechanical arm other operation units, to cope with different mission requirements.
As shown in Figure 1 and Figure 2, the wheel moving platform 100 in the present embodiment, including bottom plate 11 and to being erected on bottom plate 11
Two sides right risers 12 and left risers 12 '.The lateral surface of left risers 12 ' is equipped with multiple left side sector wheels, right risers 12
Lateral surface be equipped with multiple right side sector wheels, bottom plate 11 be equipped at least one first driving motor 30 and at least one the
Two driving motors 30 ', the first driving motor 30 ' is for driving multiple right side sector wheels on the lateral surface of right risers 12 common
Rotation, and the fan-shaped vehicle in wherein at least two right side when multiple right side sector wheel common rotations on the lateral surface of right risers 12
Wheel is kept in contact with supporting surface, and the second driving motor 30 ' is used to drive multiple left side sector vehicles on the lateral surface of left risers 12 '
Common rotation is taken turns, and wherein at least two is left when multiple left side sector wheel common rotations on the lateral surface of left risers 12 '
Side sector wheel is kept in contact with supporting surface, so that wheel moving platform 100 be enable to move operation.
As shown in Figure 1 and Figure 2, the basic boom of wheel moving platform 100 for bottom plate 11 and is set to bottom plate 11 in the present embodiment
The left risers 12 ' and right risers 12 of top.Bottom plate 11 is equipped with first driving motor 30 and second driving motor
30 ', it can also be equipped with as needed for controlling the control mechanism and other component that driving motor is operated.Left risers 12 '
Lateral surface be equipped with the first left wheel 21 ', 23 ' four the second left wheel 22 ', third left wheel 23 ' and the 4th left wheel left sides
Side sector wheel, the lateral surfaces of right risers 12 are equipped with the first right wheel 21 corresponding with the position of left side sector wheel, the
The fan-shaped wheel of the right wheel 23 of two right wheels 22, third and 24 4 right sides of the 4th right wheel, and the first left wheel 21 ', second left side
Wheel 22 ', third left wheel 23 ', the 4th left wheel 24 ', the first right wheel 21, the second right wheel 22, right 23 and of wheel of third
Shape, the size of 4th right wheel 24 are completely the same.In order to guarantee steady shifting of the wheel moving platform 100 during traveling
It is dynamic, prevent the stress of mesa base during throwing over barrier inconsistent, wherein left side sector wheel and right side sector vehicle
The position of wheel corresponds completely.When wheel moving platform 100 is only used for when flat road surface is advanced, left side sector wheel and right
The front-rear position of side sector wheel can be deviated.
By using wheel moving platform of the present invention and moving trolley, wheeled shifting is driven using fan-shaped car wheel structure
Moving platform is moved, and structure is simple, easy to maintain, is had preferable high-speed maneuver performance, can be guaranteed wheel moving platform
Quick and stable is run in the moving process of flat road surface, and during obstacle detouring, is climbed by the alternating of front and back sector wheel,
The obstacle detouring process for completing wheel moving platform, improves the obstacle climbing ability and application range of wheel moving platform.
In the present embodiment, the rotation of the first right wheel 21, the second right wheel 22, third right wheel 23 and the 4th right wheel 24
Turn to be equipped with the first connecting shaft at center, one end of four the first connecting shafts respectively with the first right wheel 21, the second right wheel 22,
The rotation center of the right wheel 23 of third and the 4th right wheel 24 connects one to one and is able to drive the fan-shaped wheel in four right sides and is total to
With rotation, the linkage of the first right wheel 21, the second right wheel 22, third right wheel 23 and the 4th right wheel 24 is realized, to protect
Hold the kinetic stability of wheel moving platform 100.The other end of four the first connecting shafts passes through right risers 12 and stands with the right side is set to
First transmission device of the medial surface of plate 12 is connected.First driving motor 30 can drive first to pass by the first retarder 40
Dynamic device is rotated, to drive the first right wheel 21, the second right wheel 22, the right wheel 23 of third and the 4th right wheel 24 total
With rotation, the linkage of the fan-shaped wheel in right side is realized.
First left wheel 21 ', the second left wheel 22 ', third left wheel 23 ' and the 4th left wheel 24 ' rotation center at
Also be equipped with the second connecting shaft 51 ', one end of four the second connecting shafts 51 ' respectively with the first left wheel 21 ', the second left wheel
22 ', the rotation center of third left wheel 23 ' and the 4th left wheel 24 ' connects one to one and is able to drive four left side sectors
Wheel common rotation.The other end of four the second connecting shafts 51 ' pass through left risers 12 ' and be set to left risers 12 ' medial surface
The second transmission device be connected.Wherein, since left side sector wheel and the position of right side sector wheel correspond completely, institute
With the position of the first connecting shaft and the second connecting shaft 51 ' also for symmetrical structure.Second driving motor 30 ' can subtract by second
Fast device 40 ' drives the second transmission device to be rotated, to drive the first left wheel 21 ', the second left wheel 22 ', the left vehicle of third
Wheel 23 ' and 24 ' common rotation of the 4th left wheel realize the linkage of the fan-shaped wheel in left side, wheel moving platform 100 are kept to run
Stability.
In the present embodiment, the rotation center of the rotation center of right side sector wheel and left side sector wheel is respectively right side
The corresponding center of circle of fan-shaped surface in the corresponding center of circle of the fan-shaped surface of fan-shaped wheel and left side sector wheel, the rotation of right side sector wheel
The radius of turn size of radius and left side sector wheel is the radius size of fan-shaped surface.
Further, in this embodiment the first transmission device and the second transmission device are sprocket wheel chain transmission.The right side is vertical
The first sprocket wheel corresponding with right side sector wheel position there are four being set on the medial surface of plate 12, the other end of four the first connecting shafts
It is connected respectively with the geometric center of four the first sprocket wheels, passes through the connection transmission of the first chain 53 between four the first sprocket wheels.The
Coupled between one right wheel 21, the second right wheel 22, the right wheel 23 of third and the 4th right wheel 24 by sprocket wheel and chain, is formed
Linkage, when wheel moving platform 100 carries out throwing over barrier, whichever wheel is tilted, and the power for not influencing platform supplies
It answers, guarantees the normal operation of wheel moving platform 100.In the present embodiment, the first driving motor 30 by the first retarder 40 with
4th right wheel 24 is connected, and when the rotation of the first driving motor 30, electric machine main shaft is driven by the first retarder 40, shaft coupling
The first connecting shaft common rotation on 4th right wheel 24, so that the 4th right wheel 24 be driven to be rotated.When the 4th right wheel
While the first connecting shaft rotation on 24, the 4th corresponding first sprocket wheel of right wheel 24 also with the first connecting shaft common rotation,
To drive the first chain 53 to be rotated.Since the first right wheel 21, the second right wheel 22, the right wheel 23 and the 4th of third are right
Corresponding first sprocket wheel of wheel 24 is meshed with the first chain 53, to realize the first right wheel 21, the second right wheel 22, the
The linkage of three right wheels 23 and the 4th right wheel 24.Wherein, the first driving motor 30 can be with the first right wheel 21, the second right wheel
22, the right wheel 23 of third is connected with any fan-shaped wheel in a right side in the 4th right wheel 24, becomes driving wheel, band
Move the fan-shaped wheel common rotation in other right sides.
It is set on the medial surface of left risers 12 ' there are four the second sprocket wheel 52 ' corresponding with left side sector wheel position, four the
The other end of two connecting shafts 51 ' is connected with the geometric center of four the second sprocket wheels 52 ' respectively, between four the second sprocket wheels 52 '
It is connected and is driven by the second chain 53 '.Wherein, the second sprocket wheel 52 ' and the first sprocket wheel design for symmetrical structure.First left wheel
Coupled between 21 ', second left wheel 22 ', third left wheel 23 ' and the 4th left wheel 24 ' by sprocket wheel and chain, forms connection
Dynamic, when wheel moving platform 100 carries out throwing over barrier, whichever wheel is tilted, and does not influence the power supply of platform,
Guarantee the normal operation of wheel moving platform 100.In the present embodiment, the second driving motor 30 ' passes through the second retarder 40 ' and the
One left wheel 21 ' is connected, and when the rotation of the second driving motor 30 ', electric machine main shaft passes through the second retarder 40 ', shaft coupling band
51 ' common rotation of the second connecting shaft on dynamic first left wheel 21 ', so that the first left wheel 21 ' be driven to be rotated.When first
While the second connecting shaft 21 ' on left wheel 21 ' rotates, corresponding second sprocket wheel 52 ' of the first left wheel 21 ' also connects with second
51 ' common rotation of spindle, so that the second chain 53 ' be driven to be rotated.Due to the first left wheel 21 ', the second left wheel 22 ',
Third left wheel 23 ' and corresponding second sprocket wheel 52 ' of the 4th left wheel 24 ' are connected with the second chain 53 ', to realize the
The linkage of one left wheel 21 ', the second left wheel 22 ', third left wheel 23 ' and the 4th left wheel 24 '.Wherein, the second driving electricity
Machine 30 ' can be with any one in the first left wheel 21 ', the second left wheel 22 ', third left wheel 23 ' and the 4th left wheel 24 '
Left side sector wheel is connected, and becomes driving wheel, drives the fan-shaped wheel common rotation in other left sides.
The fan-shaped wheel in right side is respectively driven by using the first driving motor 30 and the second driving motor 30 ' and left side is fan-shaped
Wheel, it can be achieved that wheel moving platform 100 linear motion, the steering in traveling and pivot stud.When the first driving motor 30
, it can be achieved that the straight line of wheel moving platform 100 is advanced when being operated at the same speed with the second driving motor 30 '；When the first driving motor 30
, it can be achieved that steering of the wheel moving platform 100 in traveling when being run with 30 ' differential of the second driving motor；When the first driving electricity
, it can be achieved that the pivot stud of wheel moving platform 100 moves when 30 ' constant speed antiport of machine 30 and the second driving motor.
In another embodiment of the present invention, bottom plate is equipped with identical multiple with the quantity of multiple right side sector wheels
First driving motor and multiple second driving motors identical with the quantity of multiple left side sector wheels.Multiple right side sector wheels
Rotation center at be equipped with multiple first connecting shafts, in the rotation of one end of multiple first connecting shafts and multiple right side sector wheels
The heart connects one to one and is able to drive multiple right side sector wheels and rotated.The other end of multiple first connecting shafts passes through the right side
Vertical plate, and connected one to one by the first retarder and multiple first driving motors.In the rotation of multiple left side sector wheels
Multiple second connecting shafts, one a pair of rotation center of one end of multiple second connecting shafts and multiple left side sector wheels are equipped at the heart
It should connect and be able to drive multiple left side sector wheels and be rotated, the other end of multiple second connecting shafts passes through left risers, and
It is connected one to one by the second retarder and multiple second driving motors.I.e. each fan-shaped wheel has an independent electricity
Machine is controlled, to realize the movement of wheel moving platform.
Further, as shown in figure 3, the corresponding central angle of fan-shaped surface of the left side sector wheel in the present embodiment and right side
The corresponding central angle of the fan-shaped surface of fan-shaped wheel is 180 °.Wherein, the peace between the first right wheel 21 and the second right wheel 22
It fills angle and differs 180 °, the setting angle between the second right wheel 22 and the right wheel 23 of third differs 180 °, the right wheel 23 of third
Setting angle between the 4th right wheel 24 differs 180 °.Such setting angle setting can guarantee that fan-shaped wheel is rotating
In one week period, there is fan-shaped wheel to be in contact with supporting surface always, and radius of turn is always the fan-shaped surface of fan-shaped wheel
Radius size guarantees the even running of moving trolley.Likewise, the installation of left side sector wheel and corresponding right side sector wheel
Angle is consistent.
In the present embodiment, left side sector wheel and right side sector wheel include four fan-shaped wheels.According to actual use
More fan-shaped wheels also can be set in demand.If left side sector wheel and right side sector wheel are respectively provided with six fan-shaped wheels,
Then in order to guarantee the even running of vehicle, wherein the corresponding central angle of fan-shaped surface of fan-shaped wheel is at least 120 °, and any phase
Setting angle between the fan-shaped wheel of adjacent two cannot be less than 120 °, that is, meet within the period that fan-shaped wheel rotates a circle,
Always there is fan-shaped wheel to be in contact with supporting surface, and keep radius of turn constant.
Further, the frictional force between the fan-shaped wheel of increase and supporting surface, left side sector wheel and right side sector vehicle
Same size spaced set groove is equipped on the outer peripheral surface of wheel.For the overall weight for reducing mobile platform, left side sector vehicle
The fan-shaped surface of the multiple fan-shaped surfaces through left side sector wheel and right side sector wheel is respectively equipped on wheel and right side sector wheel
Through-hole.
Fig. 5 is the traveling schematic diagram of moving trolley moving process in flat road surface in Fig. 4.Fig. 6 is moving trolley in Fig. 4
Another traveling schematic diagram of moving process in flat road surface.As shown in Figure 5, Figure 6, the first right wheel 21 and in the present embodiment
Three right wheels 23 form front support wheel group, and the second right wheel 22 and the 4th right wheel 24 form rear support wheel group.First is right in Fig. 5
Wheel 21 and the right wheel 23 of third contact ground first, and moving trolley is driven to be moved.With the traveling process of moving trolley,
As shown in fig. 6, the second right wheel 22 and the 4th right 24 component of wheel and ground face contact, support and moving trolley are driven to advance.By
In the first right wheel 21, the second right wheel 22, the right wheel 23 of third and the 4th right wheel 24 in moving trolley traveling process, no
It exchanges and is touched with ground disconnectedly, ensure that the even running of moving trolley, wherein the left side sector wheel of moving trolley and the right side
The motion state of side sector wheel is identical.
Fig. 7 is traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4.Fig. 8 is moving trolley in Fig. 4
Another traveling schematic diagram when crossing step barrier.Fig. 9 be in Fig. 4 moving trolley when crossing step barrier
Another traveling schematic diagram.Figure 10 is another traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4.Figure 11 is
Another traveling schematic diagram of the moving trolley when crossing step barrier in Fig. 4.As shown in fig. 7, first is right in the present embodiment
Wheel 21 is in contact with step barrier 300 first, since the height of step barrier 300 is higher than the first right wheel 21
Radius, the first right wheel 21 can not cross step barrier 300, cause the generation of moving trolley slipping phenomenon.Such as Fig. 8 institute
Show, with the rotation of fan-shaped wheel, the second right wheel 22 and the 4th right wheel 24 start to come into contact with ground, the first right wheel 21
Start to cross step barrier 300.With the increase for crossing height, vehicle body is lifted, and the second right wheel 22 leaves ground, and the 4th
Right wheel 24 is touched with ground, provides the power of traveling for moving trolley, as shown in Figure 9.Figure 10 is that the second right wheel 22 turns over
The more schematic diagram of step barrier 300, Figure 11 are the schematic diagram that the right wheel 23 of third will cross step barrier 300.
When the right wheel 23 of the first right wheel 21, the second right wheel 22 and third of moving trolley all crossed step barrier 300
When, the tail portion of moving trolley tilts, and the 4th right wheel 24 is directed across step barrier 300, as shown in figure 12.Wherein, it moves
The left side sector wheel of dynamic trolley is identical as the motion state of right side sector wheel.
By using wheel moving platform of the present invention and moving trolley, wheeled shifting is driven using fan-shaped car wheel structure
Moving platform is moved, and structure is simple, easy to maintain, is had preferable high-speed maneuver performance, can be guaranteed wheel moving platform
Quick and stable is run in the moving process of flat road surface, and during obstacle detouring, is climbed by the alternating of front and back sector wheel,
The obstacle detouring process for completing wheel moving platform, improves the obstacle climbing ability and application range of wheel moving platform.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (10)
1. a kind of wheel moving platform, which is characterized in that including bottom plate and to the left risers of the two sides for being erected on the bottom plate and
Right risers, the lateral surface of the left risers are equipped with multiple left side sector wheels, and the lateral surface of the right risers is equipped with multiple
Right side sector wheel, the bottom plate are equipped at least one first driving motor and at least one second driving motor, and described the
One driving motor is used to drive multiple right side sector wheel common rotations on the lateral surface of the right risers, and when described
The fan-shaped wheel in right side described in wherein at least two when multiple right side sector wheel common rotations on the lateral surface of right risers
It is kept in contact with supporting surface, second driving motor is used to drive multiple left side fans on the lateral surface of the left risers
Shape wheel common rotation, and wherein extremely when multiple left side sector wheel common rotations on the lateral surface of the left risers
Few two left side sector wheels are kept in contact with supporting surface, so that the wheel moving platform be enable to move operation.
2. wheel moving platform according to claim 1, which is characterized in that be provided only with one described first on the bottom plate
Driving motor and second driving motor are equipped with the first connection at the rotation center of multiple right side sector wheels
Axis, rotation center of the one end of multiple first connecting shafts respectively with multiple right side sector wheels connect one to one simultaneously
Multiple right side sector wheel common rotations are able to drive, the other end of multiple first connecting shafts passes through the right risers
And be connected with the first transmission device of the medial surface for being set to the right risers, first driving motor can subtract by first
Fast device drives first transmission device to be rotated, to drive multiple right side sector wheel common rotations, Duo Gesuo
State and be equipped with the second connecting shaft at the rotation center of the fan-shaped wheel in left side, one end of multiple second connecting shafts respectively with it is multiple
The rotation center of the left side sector wheel connects one to one and is able to drive multiple left side sector wheel common rotations,
The other end of multiple second connecting shafts passes through the left risers and the second transmission with the medial surface for being set to the left risers
Device is connected, and second driving motor can drive second transmission device to be rotated by the second retarder, from
And drive multiple left side sector wheel common rotations.
3. wheel moving platform according to claim 2, which is characterized in that first transmission device and described second passes
Dynamic device is sprocket wheel chain transmission, and the medial surface of the right risers is equipped with and multiple right side sector wheel count phases
With multiple first sprocket wheels, the other end of the multiple first connecting shafts geometric center with multiple the first sprocket wheels respectively
It is connected, by the connection transmission of the first chain between multiple first sprocket wheels, first driving motor passes through described first
Retarder is connected with one of them first sprocket wheel in multiple first sprocket wheels, the medial surfaces of the left risers be equipped with
Identical multiple second sprocket wheels of multiple left side sector wheel counts, the other end difference of multiple second connecting shafts
It is connected with the geometric center of multiple the second sprocket wheels, passes through the connection transmission of the second chain, institute between multiple second sprocket wheels
It states the second driving motor and is connected by second retarder with one of them second sprocket wheel in multiple second sprocket wheels.
4. wheel moving platform according to claim 2, which is characterized in that the rotation center of the right side sector wheel and
The rotation center of the left side sector wheel is respectively the corresponding center of circle of fan-shaped surface and the left side of the right side sector wheel
The corresponding center of circle of the fan-shaped surface of fan-shaped wheel.
5. wheel moving platform according to claim 1, which is characterized in that the bottom plate is equipped with and multiple right sides
Identical multiple first driving motors of the quantity of fan-shaped wheel and identical with the quantity of multiple left side sector wheels
Multiple second driving motors are equipped with multiple first connecting shafts at the rotation center of multiple right side sector wheels, multiple
The rotation center of one end of first connecting shaft and multiple right side sector wheels connects one to one and is able to drive more
A right side sector wheel is rotated, and the other ends of multiple first connecting shafts passes through the right risers, and passes through the
One speed reducer connects one to one with multiple first driving motors, sets at the rotation center of multiple left side sector wheels
There are multiple second connecting shafts, the rotation center of one end of multiple second connecting shafts and multiple left side sector wheels is one by one
It is correspondingly connected with and is able to drive multiple left side sector wheels and rotated, the other end of multiple second connecting shafts passes through
The left risers, and connected one to one by the second retarder and multiple second driving motors.
6. wheel moving platform according to any one of claims 1-5, which is characterized in that the lateral surface of the left risers
It is equipped with the first left wheel, the second left wheel, the fan-shaped wheel of third left wheel and four left sides of the 4th left wheel, the right risers
Lateral surface be equipped with the first right wheel corresponding with the position of the left side sector wheel, the second right wheel, the right vehicle of third
The fan-shaped wheel of wheel and four right sides of the 4th right wheel, and first left wheel, the second left wheel, third left wheel, the 4th left side
Wheel, the first right wheel, the second right wheel, shape, the size of the right wheel of third and the 4th right wheel are completely the same.
7. wheel moving platform according to claim 6, which is characterized in that the fan-shaped surface of the left side sector wheel is corresponding
Central angle and the corresponding central angle of fan-shaped surface of the right side sector wheel be 180 °.
8. wheel moving platform according to claim 7, which is characterized in that any two in the left side sector wheel
Setting angle between adjacent fan-shaped wheel differs 180 °, and in the right side sector wheel and in the left side sector wheel
The setting angle of corresponding sector wheel is consistent.
9. wheel moving platform according to claim 6, which is characterized in that the left side sector wheel and right side fan
Same size spaced set groove, the left side sector wheel and the right side sector vehicle are equipped on the outer peripheral surface of shape wheel
The through-hole of the fan-shaped surface of the multiple fan-shaped surfaces and right side sector wheel through the left side sector wheel is respectively equipped on wheel.
10. a kind of moving trolley, which is characterized in that including wheel moving platform of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810539498.7A CN109018069A (en) | 2018-05-30 | 2018-05-30 | Wheel moving platform and moving trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810539498.7A CN109018069A (en) | 2018-05-30 | 2018-05-30 | Wheel moving platform and moving trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109018069A true CN109018069A (en) | 2018-12-18 |
Family
ID=64611830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810539498.7A Pending CN109018069A (en) | 2018-05-30 | 2018-05-30 | Wheel moving platform and moving trolley |
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| Country | Link |
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| CN (1) | CN109018069A (en) |
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| CN107097870A (en) * | 2017-03-29 | 2017-08-29 | 西南大学 | A kind of asymmetry triped gait walking mobile robot |
| CN107139709A (en) * | 2017-05-31 | 2017-09-08 | 福州大学 | A kind of universal wheel robot |
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|---|---|---|---|---|
| FR2600944A1 (en) * | 1986-07-07 | 1988-01-08 | Labat Ivan | Orientable running carriage for an all-terrain and amphibious vehicle travelling at high speed over the water |
| SU1699103A1 (en) * | 1989-07-05 | 1996-05-10 | Красноярский Политехнический Институт | Mobile platform body |
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Application publication date: 20181218 |