CN109204595A - Independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel - Google Patents
Independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel Download PDFInfo
- Publication number
- CN109204595A CN109204595A CN201811011724.0A CN201811011724A CN109204595A CN 109204595 A CN109204595 A CN 109204595A CN 201811011724 A CN201811011724 A CN 201811011724A CN 109204595 A CN109204595 A CN 109204595A
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- CN
- China
- Prior art keywords
- mecanum wheel
- fixing plate
- omni
- independent
- suspension
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
-
- 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
-
- 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
Independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel, including carrying platform, independent wheel suspension, chassis axle mechanism, four groups of independent wheel suspensions, chassis axle mechanism are separately mounted to four vertex of carrying platform, and every group of independent wheel suspension, chassis axle mechanism include an independent wheel suspension and a chassis axle mechanism；Independent wheel suspension includes corner brace, shock absorber, motor fixing plate, hinge, motor fixing plate is set to below carrying platform, corner brace is respectively arranged on carrying platform and motor fixing plate, shock absorber both ends pass through corner brace respectively and connect with carrying platform, motor fixing plate, and the inner end of motor fixing plate is connected by hinge with carrying platform；Chassis axle mechanism is connected with motor fixing plate.The present invention has many advantages, such as that structure is simple, compact-sized, bearing capacity is high, stability is good.The invention belongs to the mobile device technology fields based on Mecanum wheel.
Description
Technical field
The invention belongs to the mobile device technology field based on Mecanum wheel, especially a kind of hinge based on Mecanum wheel
Independent suspension Omni-mobile platform is set in chain.
Background technique
With the continuous development of automatic technology, the various mobile platforms for possessing motion versatility and flexibility are in many necks
Domain is widely used, and the Omni-mobile platform based on Mecanum wheel is exactly one such.Mecanum wheel can be with
Realize the motion modes such as forward, traversing, diagonal, rotation and combinations thereof, but in fact, since Mecanum wheel material is harder, road
Face, which is uneven, leads to the difference of coefficient of friction, so that each Mecanum wheel has Uneven bearing, omnidirectional entire in this way
Mobile platform cannot obtain good control.In order to improve these problems, existing Omni-mobile platform done improve so that
Obtain platform bearer more evenly.But the suspended portion of existing some Mecanum wheel Omni-mobile platforms it is excessively complicated and
Heaviness, structure are not compact enough, it will sacrifice a part of bearing capacity, and also will increase unstability and production cost.
Summary of the invention
It is set in the hinge based on Mecanum wheel that a kind of structure is simple, light and handy solely in view of the above-mentioned problems, the present invention provides
Vertical suspension Omni-mobile platform, it also has many advantages, such as, and compact-sized, bearing capacity is high, stability is good.
Set independent suspension Omni-mobile platform in a kind of hinge based on Mecanum wheel, including carrying platform, independent outstanding
Suspension mechanism, chassis axle mechanism, four groups of independent wheel suspensions, chassis axle mechanism are separately mounted to four apex angles of carrying platform
Place, every group of independent wheel suspension, chassis axle mechanism include an independent wheel suspension and a chassis axle mechanism；It is independent outstanding
Suspension mechanism includes corner brace, shock absorber, motor fixing plate, hinge, and motor fixing plate is set to below carrying platform, and corner brace is installed respectively
In on carrying platform and motor fixing plate, shock absorber both ends pass through corner brace respectively and connect with carrying platform, motor fixing plate, motor
The inner end of fixed plate is connected by hinge with carrying platform；Chassis axle mechanism is connected with motor fixing plate.Using this structure, energy
By the adjustment of motor fixing plate and shock absorber so that the landing property of Omni-mobile platform is more preferable, therefore load-carrying properties are higher, surely
It is qualitative more preferable；When motor fixing plate rotation simultaneously, shock absorber compression when being compressed to a certain degree, stops compression, weakens glass fibers
The vibration amplitude for tieing up plate, plays the role of bradyseism.
Preferably, the shock absorber of independent wheel suspension is two, and two shock absorbers are parallel to each other.Using this structure, structure
It is more stable, it is bigger by shock absorber buffering, the energy absorbed.
Preferably, three corner braces are mounted on the outer end of motor fixing plate, and three corner braces are connected by long spiro nail；Two corner braces
Installation is on the carrying platform；Shock absorber one end is connected with long spiro nail, and the shock absorber other end is connected with the corner brace of carrying platform.Using
This structure, shock absorber installation are stablized, and Omni-mobile platform moves more stable in rough ground.
Preferably, carrying platform includes glass mat, frame, square tube, and frame is fixed on glass mat lower surface, and two
Root square tube is secured transverse to framework underside, and two square tubes are parallel to each other.Using this structure, carrying platform stabilized structure, carrying
Performance is good.
Preferably, corner brace is made of stainless steel material, and square tube is made of carbon fibre materials.It is light using this structure
And intensity is high, the road conditions suitable for road surface complexity.
Preferably, chassis axle mechanism includes Mecanum wheel, ring flange, driving motor, and driving motor is installed on motor
In fixed plate, driving motor is connected with the inner end of ring flange, and Mecanum wheel is fixedly connected with the outer end of ring flange.Using this knot
Structure, structure is simple, connects compact.
It preferably, further include motor cabinet, motor cabinet includes bottom plate, inner end plate and outer end plate, and inner end plate and outer end plate are symmetrical
Set on the two sides of bottom plate；Motor cabinet is fixed on motor fixing plate by bottom plate, and driving motor is fixed on inner end plate, ring flange
Axis be installed on outer end plate by bearing.Using this structure, convenient for passing through motor cabinet and motor fixing plate, ring flange, driving
Motor connection, and driving motor is installed on the inside of platform, therefore can preferably protect motor.
Preferably, it is connected between the axis and driving motor output shaft of ring flange by shaft coupling.Using this structure, can reduce
The impact force that the output shaft of driving motor is subject to avoids the damage of driving motor.
It preferably, further include circlip, circlip is entrapped in the groove of the axis of ring flange, and circlip is close to bearing.Using this
Structure limits the axial movement of ring flange, guarantees the job stability of omnidirectional's platform.
It preferably, further include washer, washer is set to the outside of Mecanum wheel, and screw sequentially passes through washer, Mecanum
Wheel, ring flange are Mecanum wheel to be fixed on ring flange.Using this structure, the sheet metal component of Mecanum wheel can protect not
By excessive screw pressure compressive strain.
Beneficial effects of the present invention: motor fixing plate is set in the lower section of carrying platform, shock absorber is installed by corner brace
It is connected between motor fixing plate and carrying platform, and by motor fixing plate with carrying platform, therefore shock absorber, motor can be passed through
The adjustment of fixed plate, so that the landing property of Mecanum wheel group is more preferable, so that load-carrying properties are higher, stability is more preferable；Meanwhile
When upper abrupt slope or downstairs, compression motor fixed plate starts to turn counterclockwise under the action of shock absorber and Mecanum wheel wheel group
Dynamic, shock absorber, which is compressed, to shorten, and when shock absorber is compressed into a certain degree, will stop compressing, weaken glass mat
Vibration amplitude plays the role of bradyseism；Driving motor is installed on inside by motor cabinet, can preferably protect driving electricity
Machine；The axis of ring flange is connected with driving motor output shaft using shaft coupling, thus can reduce the output shaft of driving motor by
Impact force, avoid the damage of driving motor；Circlip is caught in the groove of the axis of ring flange, and circlip is close to bearing, with limit
The axial movement of ring flange processed guarantees the job stability of omnidirectional's platform.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention.
Fig. 2 be Fig. 1 in AA to schematic cross-sectional view.
Fig. 3 is the carrying platform structural schematic diagram of the embodiment of the present invention.
Fig. 4 is the independent wheel suspension structural schematic diagram of the embodiment of the present invention.
Fig. 5 is the chassis axle mechanism structural schematic diagram of the embodiment of the present invention.
Wherein, 1- glass mat, 2- frame, 3- square tube, 4- corner brace, 5- shock absorber, 6- motor fixing plate, 7- hinge,
8- Mecanum wheel, 9- washer, 10- ring flange, 11- bearing, 12- circlip, 13- motor cabinet, 14- shaft coupling, 15- driving electricity
Machine.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawing.
Set independent suspension Omni-mobile platform in a kind of hinge based on Mecanum wheel, including carrying platform, independent outstanding
Suspension mechanism, chassis axle mechanism.Independent wheel suspension, chassis axle mechanism are four, each independent wheel suspension, chassis wheel
Axis mechanism is one group, and four groups of independent wheel suspensions, chassis axle mechanism are symmetrically arranged at four vertex of carrying platform.
Four groups of independent wheel suspensions, the structure of chassis axle mechanism and installation site all around mirror symmetry.Due to Mecanum
The Omni-mobile of wheel, and suspension are symmetrical all around, therefore can guarantee that car body is in various motion states can be steady
Operation.
Carrying platform includes glass mat, frame, square tube.Frame is made of aluminum alloy material, and frame is fixed on glass
Glass fiberboard lower surface.Square tube is carbon fiber square tube, and two square tubes are secured transverse to framework underside, and two square tubes are mutually equal
Row.Four screws pass through frame and glass mat, and the two is linked together.
Independent wheel suspension includes corner brace, shock absorber, motor fixing plate, hinge, and corner brace is stainless steel angle hitch.
Motor fixing plate is set to the lower section of glass mat.Corner brace is mounted on four apex angles of glass mat.Specifically
Two corner braces, the outer end of motor fixing plate are fixed in ground in each vertex of glass mat, the upper surface of glass mat
On fix three corner braces, and three corner braces on motor fixing plate pass through a root long screw connect.At two of glass mat
Two shock absorbers are installed in parallel between corner brace and three corner braces of motor fixing plate.The long spiro nail of shock absorber one end and connecting corner yard
Connection, the shock absorber other end are connected with the corner brace on glass mat.The inner end of motor fixing plate is connected by hinge with square tube；
The inner end of motor fixing plate is connected by screw with hinge one end, and the hinge other end is fixed in square tube.Reuse long spiro nail one
It is secondary to pass through hinge, square tube, frame, so that three is fixed together.
Chassis axle mechanism includes Mecanum wheel, washer, ring flange, bearing, circlip, motor cabinet, shaft coupling, driving electricity
Machine.
Motor cabinet is mounted on motor fixing plate, and driving motor is fixed on the inner end of motor cabinet.Four screws pass through motor
Hole in fixed plate connects with internal thread hole corresponding on motor cabinet, motor cabinet is fixed on motor fixing plate.Motor cabinet
Including bottom plate, inner end plate and outer end plate, inner end plate and outer end plate are symmetrically set in the two sides of bottom plate.Ring flange is set to the outer of motor cabinet
End.The axis of ring flange is mounted on the outer end plate of motor cabinet by bearing, and driving motor is fixed on the inner end plate of motor cabinet.
The axis of ring flange and the output shaft of driving motor are connected between the inner end plate and outer end plate of motor cabinet by shaft coupling, and connection is used
Axis device can reduce the impact force that the output shaft of driving motor is subject to, and avoid the damage of driving motor.In the groove of the axis of ring flange
In be caught in circlip, and circlip is close to bearing, to limit the axial movement of ring flange.In the outside of ring flange, Mecanum is set
Washer is arranged in wheel, Mecanum wheel outside, and three screws sequentially pass through washer, Mecanum wheel, so that Mecanum wheel be consolidated
It is scheduled on the outer end of ring flange.Washer can protect the sheet metal component of Mecanum wheel not by excessive screw pressure compressive strain.
The course of work of the invention: after powering on, the axis of chassis upper flange plate is rotated, Omni-mobile platform setting in motion；When
The road conditions for encountering road surface protrusion, such as abrupt slope or when sweeping away ladder, work of the motor fixing plate in shock absorber and Mecanum wheel wheel group
Starting to rotate counterclockwise under, shock absorber, which is compressed, to shorten, when shock absorber is compressed into a certain degree, will stop compressing,
The vibration amplitude for weakening glass mat, plays the role of bradyseism；And the corrective action of shock absorber, motor fixing plate can be passed through,
Mecanum wheel wheel group is more effectively landed, so that Omni-mobile platform stabilization is more preferable, bearing capacity is higher.
Above-described embodiment is to invent preferable embodiment, but embodiments of the present invention are not by the limit of above-described embodiment
System, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. setting independent suspension Omni-mobile platform in a kind of hinge based on Mecanum wheel, it is characterised in that: flat including carrying
Platform, independent wheel suspension, chassis axle mechanism, four groups of independent wheel suspensions, chassis axle mechanism are separately mounted to carrying platform
Four vertex, every group of independent wheel suspension, chassis axle mechanism include an independent wheel suspension and a chassis wheel shaft
Mechanism；Independent wheel suspension includes corner brace, shock absorber, motor fixing plate, hinge, and motor fixing plate is set to below carrying platform,
Corner brace is respectively arranged on carrying platform and motor fixing plate, and shock absorber both ends pass through corner brace respectively and carrying platform, motor are solid
The inner end of fixed board connection, motor fixing plate is connected by hinge with carrying platform；Chassis axle mechanism is connected with motor fixing plate.
2. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 1, it is special
Sign is: the shock absorber of independent wheel suspension is two, and two shock absorbers are parallel to each other.
3. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 2, it is special
Sign is: three corner braces are mounted on the outer end of motor fixing plate, and three corner braces are connected by long spiro nail；Two corner braces are mounted on and hold
On carrying platform；Shock absorber one end is connected with long spiro nail, and the shock absorber other end is connected with the corner brace of carrying platform.
4. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 1, it is special
Sign is: carrying platform includes glass mat, frame, square tube, and frame is fixed on glass mat lower surface, two square tube cross
To being fixed on framework underside, and two square tubes are parallel to each other.
5. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 4, it is special
Sign is: corner brace is made of stainless steel material, and square tube is made of carbon fibre materials.
6. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 1, it is special
Sign is: chassis axle mechanism includes Mecanum wheel, ring flange, driving motor, and driving motor is installed on motor fixing plate,
Driving motor is connected with the inner end of ring flange, and Mecanum wheel is fixedly connected with the outer end of ring flange.
7. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 6, it is special
Sign is: further including motor cabinet, motor cabinet includes bottom plate, inner end plate and outer end plate, and inner end plate and outer end plate are symmetrically set in bottom plate
Two sides；Motor cabinet is fixed on motor fixing plate by bottom plate, and driving motor is fixed on inner end plate, and the axis of ring flange passes through
Bearing is installed on outer end plate.
8. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 7, it is special
Sign is: being connected between the axis and driving motor output shaft of ring flange by shaft coupling.
9. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 7, it is special
Sign is: further including circlip, circlip is entrapped in the groove of the axis of ring flange, and circlip is close to bearing.
10. independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel according to claim 7, it is special
Sign is: further including washer, washer is set to the outside of Mecanum wheel, and screw sequentially passes through washer, Mecanum wheel, ring flange
Mecanum wheel to be fixed on ring flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811011724.0A CN109204595A (en) | 2018-08-31 | 2018-08-31 | Independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811011724.0A CN109204595A (en) | 2018-08-31 | 2018-08-31 | Independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109204595A true CN109204595A (en) | 2019-01-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811011724.0A Pending CN109204595A (en) | 2018-08-31 | 2018-08-31 | Independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel |
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| Country | Link |
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| CN (1) | CN109204595A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182556A (en) * | 2019-05-16 | 2019-08-30 | 江南大学 | Integral type Omni-mobile chassis |
| CN110239339A (en) * | 2019-05-24 | 2019-09-17 | 沈阳大学 | One kind being based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis |
| CN110466634A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of omni-directional wheel and three wheel robot chassis of rubber tire combined type |
| CN110498060A (en) * | 2019-08-15 | 2019-11-26 | 燕山大学 | Mecanum wheel series connection branch leg and its Omni-mobile posture adjustment platform |
| CN111552070A (en) * | 2020-04-20 | 2020-08-18 | 宁波大学 | Bionic flexible mobile optical imaging device |
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| CN206781461U (en) * | 2017-06-08 | 2017-12-22 | 中国矿业大学(北京) | A kind of Mecanum wheel AGV suspended shock dampers |
| CN207670523U (en) * | 2017-11-16 | 2018-07-31 | 上海未来伙伴机器人有限公司 | A kind of Omni-mobile obstacle detouring chassis |
| CN208855775U (en) * | 2018-08-31 | 2019-05-14 | 华南理工大学 | It is a kind of based on setting hinge bradyseism mobile platform in Mecanum wheel |
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| KR20160075013A (en) * | 2014-12-19 | 2016-06-29 | 삼성중공업 주식회사 | Supporting apparatus for turn over of hull block and method for turn over of hull block |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN206781461U (en) * | 2017-06-08 | 2017-12-22 | 中国矿业大学(北京) | A kind of Mecanum wheel AGV suspended shock dampers |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182556A (en) * | 2019-05-16 | 2019-08-30 | 江南大学 | Integral type Omni-mobile chassis |
| CN110239339A (en) * | 2019-05-24 | 2019-09-17 | 沈阳大学 | One kind being based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis |
| CN110498060A (en) * | 2019-08-15 | 2019-11-26 | 燕山大学 | Mecanum wheel series connection branch leg and its Omni-mobile posture adjustment platform |
| CN110498060B (en) * | 2019-08-15 | 2022-06-28 | 燕山大学 | Mecanum wheel series branched chain leg and omnidirectional moving posture adjusting platform thereof |
| CN110466634A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of omni-directional wheel and three wheel robot chassis of rubber tire combined type |
| CN111552070A (en) * | 2020-04-20 | 2020-08-18 | 宁波大学 | Bionic flexible mobile optical imaging device |
| CN111552070B (en) * | 2020-04-20 | 2021-11-23 | 宁波大学 | Bionic flexible mobile optical imaging device |
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