CN110239339A - One kind being based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis - Google Patents
One kind being based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis Download PDFInfo
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- CN110239339A CN110239339A CN201910438668.7A CN201910438668A CN110239339A CN 110239339 A CN110239339 A CN 110239339A CN 201910438668 A CN201910438668 A CN 201910438668A CN 110239339 A CN110239339 A CN 110239339A
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- bradyseism
- shock absorber
- shape
- mecanum wheel
- mounting plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
- B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
Abstract
One kind being based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis, it is related to a kind of robot component, the present invention includes main body frame, Mecanum wheel independent suspension bradyseism revolver group, Mecanum wheel independent suspension bradyseism right wheel group, two Mecanum wheel independent suspension bradyseism revolver groups are respectively arranged on the left of the front and back end of main body frame, two Mecanum wheel independent suspension bradyseism right wheel groups are respectively arranged on the right side of main body frame front and back end, and four Mecanum wheel independent suspension bradyseism wheel groups and main body frame are mutually indepedent, main body frame base plate and Mecanum wheel independent suspension bradyseism wheel group upper mounting plate are provided with identical profiled holes, it is connected using hex bolts.And the Mecanum wheel independent suspension bradyseism wheel group includes belt gear, support mechanism, shock buffering mechanism.Make chassis that still there is preferable cushioning ability while improving lifting capacity, is damaged caused by chassis machine structure after the load-carrying of chassis to reduce.
Description
Technical field
The present invention relates to a kind of robot components, complete based on V belt translation and Mecanum wheel robot more particularly to one kind
To load-carrying bradyseism chassis.
Background technique
In the robot of contest robot and special work post, Omni-mobile is a frequent necessary ability, and omnidirectional moves
It is dynamic to mean that robot planar make any direction translation while be able to achieve own rotation, in order to realize that omnidirectional moves
Dynamic, general robot can all select Mecanum wheel, and the Omni-mobile of Mecanum wheel is to be located at machine there are many one
The centre wheel principle of the wheel shaft of wheel periphery is finally synthesized by the direction of respective wheel and speed these power in any required direction
Upper one resultant force vector of generation can move freely on the direction of final resultant force vector to ensure that, only work as Mecanum wheel
When all uniformly contacting with ground, robot car could be run according to scheduled stability-of-path, but in a practical situation, due to
The out-of-flatness on ground, the steamboat that Mecanum wheel is located at wheel periphery tend not to adequately meet place with ground, land uneven,
Cause the robot frictional force that Mecanum wheel is subject at runtime uneven, final resultant force vector is caused to deviate scheduled rail
Mark, thus, when using Mecanum wheel, each Mecanum wheel should be enable effectively to land through possible, to guarantee
Stationarity and its stability when robot operation.Due to the particularity of Mecanum wheel, each Mecanum wheel is necessary
It is connected to individual driving motor, there are three types of common connection types at present for the connection of driving motor and Mecanum wheel.
Driving motor main shaft is directly connect with Mecanum wheel by shaft coupling, and this mode structure is simple, energy transmission
It is high-efficient, but Mecanum wheel is connected to the motor and easily causes electric machine main shaft permanent damage, and without shock mitigation system, to electricity
Machine performance requirement is high, is only capable of carrying very light structure in smooth ground run.
Driving motor is connected using universal joint with Mecanum wheel, and using suspension type damping, this connection type has good
Good damping property, and to motor without damage, but because the presence of universal joint causes torque slippages in transmitting larger, and
When two axis angular rates used differ, and it is difficult that Mecanum wheel main shaft and robot chassis are not easy to connect etc., lead to robot
Speed and track are undesirable when operation.
Driving motor is connect using shaft coupling with Mecanum wheel by U-lag, and this connection type has energy transmission
It is high-efficient, there is the advantages of certain lifting capacity, but since current Mecanum wheel still belongs to niche markets, demand also each not phase
Together, so there is no standard component, processing cost is higher, though and this kind of connection type have certain lifting capacity, lifting capacity is still
It is so weaker, only certain applications are obtained in the lighter robot of structure.
Summary of the invention
The purpose of the present invention is to provide one kind to be based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis,
Chassis of the present invention has good lifting capacity in complicated ground when driving, while still having good bradyseism, and energy
Transmission efficiency is high, to motor without damage, makes the simple easy processing of structure using standard component.
The purpose of the present invention is what is be achieved through the following technical solutions:
One kind includes main body frame, wheat based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis, the chassis
Ke Namu takes turns independent suspension bradyseism revolver group, Mecanum wheel independent suspension bradyseism right wheel group, and two Mecanum wheels independently hang
It hangs bradyseism revolver group to be respectively arranged on the left of the front and back end of main body frame, two Mecanum wheel independent suspension bradyseism right wheel components
It is not installed on the right side of main body frame front and back end, and four Mecanum wheel independent suspension bradyseism wheel groups and main body frame are mutually only
Vertical, main body frame base plate and Mecanum wheel independent suspension bradyseism wheel group upper mounting plate are provided with identical profiled holes, using hexagonal
It is bolted；Mecanum wheel independent suspension bradyseism wheel group includes belt gear, support mechanism, shock buffering mechanism；Belt passes
Motivation structure includes the first timing belt pulley, the second timing belt pulley, the first stainless steel bearing support, the second stainless steel bearing branch
Seat, driving motor, electric machine support, synchronous belt；Support mechanism include the first timing belt pulley, two stainless steel bearing supports,
Stainless steel main shaft, fixed flange, Mecanum wheel, shaft coupling, L shape the second mounting plate of shock absorber；Main body frame includes cross
Shape glass mat, aluminium alloy extrusions, L-type aluminium alloy post connector；Mecanum wheel independent suspension bradyseism wheel group includes wheat
Ke Namu takes turns independent suspension bradyseism revolver group, Mecanum wheel independent suspension bradyseism right wheel group；Shock buffering mechanism includes stainless steel shaft
Hold it is locking be opened flat folding, oleo damper, U-shaped pivoting support, the first mounting plate of L shape shock absorber, L shape shock absorber second install
Plate；Bradyseism component includes oleo damper, U-shaped pivoting support；Bearing component, which includes that stainless steel bearing is locking, is opened flat folding, L shape
Lower installation board, stainless steel bearing support on shock absorber, stainless steel main shaft, electric machine assembly include motor mounting rack, the second synchronous skin
Belt wheel, driving motor；Electric machine support is installed on the second face of L shape the second mounting plate of shock absorber, opens in L shape the second mounting plate of shock absorber
There is special-shaped guide hole identical with electric machine support bottom position and size, electric machine support is fixed on outside L shape the second mounting plate of shock absorber
It does at end；Driving motor is installed on electric machine support, and the second timing belt pulley is installed on driving motor motor shaft, true
The second timing belt pulley is protected to consolidate the second timing belt pulley locking nut while the first timing belt pulley outer end face is overlapped
It is fixed.
As a preference, the belt gear includes, and the first timing belt pulley, the second timing belt pulley, together
Belt, bearing component and electric machine assembly are walked, first timing belt pulley is overlapped with the second timing belt pulley outer end face, described
The first timing belt pulley connect with motor main part motor output shaft, second timing belt pulley and support mechanism stainless steel
Main shaft connection, the synchronous belt are installed on the first timing belt pulley and connect with the second timing belt pulley, the motor group
Part installation is connect with L shape the second mounting plate of shock absorber, and the electric machine assembly is connect by shaft coupling with the first synchronous pulley,
The driving motor of the electric machine assembly rotates, and drives the first pulley rotation, drives Mike by the transmission of synchronous belt
Na Mu wheel rotation.
As a preference, the bearing component include the first stainless steel bearing support, the second stainless steel bearing support,
Stainless steel main shaft, Mecanum wheel assembly, the first, second stainless steel bearing support are installed on L shape shock absorber side by side
Two mounting plates, are connected by T-nut, and the stainless steel main shaft and the first, second stainless steel bearing support are coaxial and described
The first, second stainless steel bearing support bearing on be provided with tapped through hole, stainless steel main shaft is fixed by locking nut, institute
Mecanum wheel wheel shaft is stated to connect by the first stainless steel bearing support, the second stainless steel bearing support and the second timing belt pulley
Connect, when chassis load-carrying the power that is subject to of each wheel group be uniformly distributed in the first, second stainless steel bearing support, so that chassis be made to have
Preferable load-carrying and reliability.
As a preference, the shock buffering mechanism, which includes that stainless steel bearing is locking, is opened flat folding, two groups of bradyseism components, L
The first mounting plate of shape shock absorber, L shape the second mounting plate of shock absorber；Two groups of bradyseism components U-shaped hinge hinged by both ends
Support is parallelly mounted to the left and right sides of the first mounting plate of L shape shock absorber, L shape the second mounting plate of shock absorber end respectively；It is described
Stainless steel bearing it is locking be opened flat folding by T-nut respectively with L shape the first mounting plate of shock absorber, L shape shock absorber second pacify
The connection of loading board top, constitutes triangle anti-vibration structure with two groups of bradyseism components, and when chassis, traveling encounters obstacle or ground
When out-of-flatness, by the stretching motion of the stainless steel bearing locking closure for being opened flat folding and oleo damper, chassis can be steady
Clear the jumps or come into full contact with ground to making trolley according to desired trajectory even running.
As a preference, the independent suspension bradyseism wheel group include Mecanum wheel independent suspension bradyseism revolver group,
Mecanum wheel independent suspension bradyseism right wheel group, the nurse wheel independent suspension bradyseism revolver group of receiving are respectively arranged in main body frame
On 45 degree of diagonal line, nurse wheel independent suspension bradyseism right wheel group of receiving is respectively arranged on 135 degree of main body frame of diagonal line, and institute
Receiving for stating and receives nurse wheel independent suspension bradyseism right wheel group and is mounted to symmetric relation nurse wheel independent suspension bradyseism revolver group.And it is described
Mecanum wheel independent suspension bradyseism revolver group right wheel identical as Mecanum wheel independent suspension bradyseism right wheel group part, described
Bearing component, electric machine assembly and bradyseism component are mounted on the first mounting plate of L shape shock absorber, L shape shock absorber the in assembling by group
First face of two mounting plates, Mecanum wheel assembly are installed on the right side in the first face of L shape shock absorber mounting plate, the revolver group
Bearing component, electric machine assembly and bradyseism component are mounted on the first mounting plate of L shape shock absorber, L shape shock absorber second in assembling
Second face of mounting plate, Mecanum wheel assembly are installed on the left side in the second face of L shape shock absorber mounting plate.
As a preference, the main body frame includes cross glass mat, aluminium alloy extrusions, L-type aluminium alloy
Stand connection, the aluminium alloy extrusions connect into middle glyph framework by L-type aluminium alloy post connector, pass through T shape spiral shell
Mother is installed on the second face of cross glass mat, and the cross glass mat quadrangle is provided with and L shape shock absorber first
The identical special-shaped guide hole of board size and position is installed, the Mecanum wheel independent suspension bradyseism wheel group passes through L shape shock absorber
First mounting plate is connect with cross glass mat and middle font aluminium alloy extrusions frame.
As a preference, the electric machine assembly includes driving motor, motor mounting rack, the first timing belt pulley, institute
The driving motor stated is installed in motor mounting rack and surveys, and is connected by counter nut, and the motor mounting rack is installed on and the
One, on coplanar L shape the first mounting plate of shock absorber of the second stainless steel bearing support, installation site is the position when synchronous belt tenses
It sets.And first timing belt pulley is installed on driving motor output shaft main shaft, it is ensured that the first timing belt pulley and second is together
It is coplanar to walk belt pulley plane end.
As a preference, the bradyseism component includes oleo damper, U-lag pivoting support, the U-lag hinge
It connects support U-lag side and is provided with special-shaped guide hole, U-lag bottom is provided with threaded hole, and the oleo damper both ends are provided with abnormal shape
Guide hole, built-in rolling bearing, the U-lag pivoting support be respectively articulated with on the rolling bearing at oleo damper both ends, institute
The bradyseism component stated is installed between the first mounting plate of L shape shock absorber and L shape the second mounting plate of shock absorber, passes through oleo damper
The hinged U-lag pivoting support in both ends is connect with the special-shaped guide hole of L shape shock absorber mounting plate two sides.And the U-lag is hinged
The U-lag pivoting support that support is located at the adjustable end of oleo damper is connect with L shape the first mounting plate of shock absorber, the other end and L
The connection of the second mounting plate of shape shock absorber.
A kind of operation on omnidirectional's load-carrying bradyseism chassis based on belt transmission and Mecanum wheel of the present invention, including following step
It is rapid:
Trolley load-carrying equipped with the damping chassis when driving, is rotated by driving motor and drives the rotation of the first timing belt pulley, again
The rotation of the second timing belt pulley is driven by the transmission of belt, the second timing belt pulley passes through Mecanum wheel main axle and Mike
Na Mu takes turns module connection, and Mecanum wheel main shaft is coaxially connected by the first, second stainless steel bearing support, and first, second is not
The rust antiparallel installation of steel bearing spider, prevents the rolling bearing left-right looseness built in stainless steel bearing support, when chassis load-carrying
When, the reaction force that Mecanum wheel generates is by the flat s weighing apparatus of the first, second stainless steel bearing support, to make Mecanum wheel
Trolley being capable of load-carrying traveling.
When trolley by obstacle or broken terrain when driving, by the stretching motion of oleo damper with it is stainless
Steel shaft holds the locking closure for being opened flat folding, thus make chassis smoothly clear the jumps or make each Mecanum wheel on chassis with
Ground comes into full contact with, and enables trolley is stable to travel according to desired trajectory.
The advantages and effects of the present invention are:
1, the present invention is equipped with belt gear, and transmission efficiency is high, driving motor and Mecanum wheel main shaft can be separated, wheat
Ke Namu wheel main shaft is co-axially mounted by the way that two stainless steel bearing seats are antiparallel, by synchronous belt drive, to improve
The transmission efficiency of energy and the lifting capacity on chassis.
2, the timing belt pulley that the present invention is equipped with can replace two pulley drive ratios according to the needs of actual conditions, thus
Enable trolley is more flexible to adapt to various situations.
3, existing cushion technique mostly uses driving motor main shaft directly to connect with Mecanum wheel by shaft coupling at present,
Driving motor is connected using universal joint with Mecanum wheel, and driving motor is connected by U-lag using shaft coupling and Mecanum wheel
Three kinds of connection types are connect, all not can guarantee while transmission efficiency with higher and still had higher lifting capacity and subtract
Shake ability, the present invention are driven equipped with belt, and duplex bearing support mechanism, double damping triangle shockproof mechanism can allow car body to have
Still have good shock-absorbing and higher energy transfer efficiency while higher lifting capacity.
Detailed description of the invention
Fig. 1 is the mechanism signal on the omnidirectional's load-carrying bradyseism chassis and method the present invention is based on belt transmission and Mecanum wheel
Figure；
Fig. 2 is the structural scheme of mechanism of Mecanum wheel independent suspension bradyseism revolver group of the invention；
Fig. 3 is the structural scheme of mechanism of Mecanum wheel independent suspension bradyseism right wheel group of the invention；
Fig. 4 is the two survey isometric views up and down on omnidirectional's load-carrying bradyseism chassis of the invention；
Fig. 5 is the bottom view on omnidirectional's load-carrying bradyseism chassis of the invention.
In figure: frame based on 1,2 be Mecanum wheel independent suspension bradyseism revolver group, and 3 independently hang for Mecanum wheel
Bradyseism right wheel group is hung, 4 be belt gear, and 5 be support mechanism, and 6 be shock buffering mechanism, and 7 be bradyseism component, and 8 be bearing component,
9 be electric machine assembly, and 10 be the first timing belt pulley, and 11 be the second timing belt pulley, and 12 be the first stainless steel bearing support, and 13 are
Second stainless steel bearing support, 14 be driving motor, and 15 be electric machine support, and 16 be synchronous belt, and 17 be stainless steel main shaft, and 18 are
Fixed flange, 19 be Mecanum wheel, and 20 be shaft coupling, and 21 form for the first mounting plate of L shape shock absorber, and 22 be L shape shock-absorbing
The second mounting plate of device composition, 23 are opened flat folding for stainless steel bearing is locking, and 24 be oleo damper, and 25 be U-shaped pivoting support, and 26
It is locking the second folding for being opened flat folding of stainless steel bearing for locking the first folding for being opened flat folding of stainless steel bearing, 27,28 are
Cross glass mat, 29 be aluminium alloy extrusions, and 30 be L-type aluminium alloy post connector, and 31 be rolling bearing, and 32 be L shape
22 first face of the first mounting plate of shock absorber, 33 be 22 second face of the second mounting plate of L shape shock absorber, and 34 pacify for L shape shock absorber first
21 first face of loading board, 35 be 21 second face of the first mounting plate of L shape shock absorber, and 36 be locking nut, and 37 pacify for L shape shock absorber second
Loading board first side, 38 be L shape shock absorber the second mounting plate second side, and 39 be L shape shock absorber the first mounting plate first side,
40 be L shape shock absorber the first mounting plate second side.
Specific embodiment
The present invention is described in detail for illustrated embodiment with reference to the accompanying drawing.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of omnidirectional's load-carrying bradyseism chassis based on belt transmission and Mecanum wheel, including
Main body frame, Mecanum wheel independent suspension bradyseism revolver group, Mecanum wheel independent suspension bradyseism right wheel group, belt drive
Structure, support mechanism, shock buffering mechanism, bradyseism component, bearing component and electric machine assembly, two are received nurse wheel independent suspension bradyseism revolver group
It is respectively arranged on 45 degree of main body frame of diagonal line, receives nurse wheel independent suspension bradyseism right wheel group for two and be respectively arranged in body frame
On the diagonal line that 135 degree of frame, and described nurse wheel independent suspension bradyseism revolver group and the nurse wheel independent suspension bradyseism right wheel group of receiving received
The relationship that is symmetrically distributed is installed.
As shown in Fig. 2, the Mecanum wheel independent suspension bradyseism revolver group includes belt gear 4, load-bearing machine
Structure 5, shock buffering mechanism 6, bradyseism component 7, bearing component 8 and electric machine assembly 9, and the electric machine assembly 9 passes through with support mechanism 6
Belt gear 4 connects, and the shock buffering mechanism 6 is by bradyseism component 7 and stainless steel bearing is locking is opened flat folding
27 connect with the first mounting plate of L shape shock absorber 21,22 both ends of the second mounting plate of L shape shock absorber respectively, at triangle bradyseism structure,
And affiliated bradyseism component is installed on L shape shock absorber the first, second mounting plate narrow end two sides, the electric machine assembly 9 side by side
Be installed on 22 second face of the second mounting plate of L shape shock absorber simultaneously with bearing component 8, and 9 motor shaft of electric machine assembly with hold
It is parallel to each other when recombination 8 Mecanum wheel shaft 17 of part installation.
As shown in Fig. 2, the belt gear 4 include the first timing belt pulley 10, the second timing belt pulley 11, together
Belt 16 is walked, bearing component 5 and electric machine assembly 9, first timing belt pulley 10 are installed on the driving motor of electric machine assembly 9
14 output shafts, second timing belt pulley 11 are installed on the Mecanum wheel stainless steel main shaft 17 of bearing component 5, pass through
The locking nut at timing belt pulley shaft coupling end is connect with stainless steel main shaft 17, and first timing belt pulley 10 and second is same
Walking belt pulley 11, planar ends are coplanar during installation, and first timing belt pulley 10 passes through synchronous with the second timing belt pulley 11
Belt 16 connects, and the torque that driving motor 14 generates is transmitted to bearing component 5 by belt gear 4, to drive wheat
Ke Namu wheel operating.
As shown in Fig. 2, the support mechanism 5 includes the first stainless steel bearing support 12, the second stainless steel bearing support
13, stainless steel main shaft 17, Mecanum wheel 19, shaft coupling 20, fixed flange 18, rolling bearing 31, L shape shock absorber second are pacified
Loading board 22, the first stainless steel bearing support 12 are installed on L shape with the second stainless steel bearing support 13 side by side and keep away
22 second face narrow end two sides of the second mounting plate of device are shaken, the rolling bearing 31 is respectively arranged in the first stainless steel bearing support
12 and 13 bearing hole of the second stainless steel bearing support, and the rolling bearing 31 for ensuring to install is mutually coaxial, the stainless steel master
Axis 17 is installed on 31 inner ring of rolling bearing built in the first stainless steel bearing support 12 and the second stainless steel bearing support 13, is led to
It crosses locking nut to fix, and described 17 one end of stainless steel main shaft is in 11 inner hole of the second timing belt pulley of belt gear 4,
The other end is installed on the shaft coupling 20 of Mecanum wheel 19, the first stainless steel bearing support 12, the second stainless steel bearing
Support 13, stainless steel main shaft 17, Mecanum wheel 19, shaft coupling 20, fixed flange 18, rolling bearing 31 are mutually coaxial, lead to
Stainless steel main shaft 17 is crossed to be connected.
As shown in Fig. 2, the shock buffering mechanism, which includes that stainless steel bearing is locking, is opened flat folding 23, two groups of bradyseism components 7, L
The first mounting plate of shape shock absorber 21, the second mounting plate of L shape shock absorber 22, U-shaped pivoting support 25, the stainless steel bearing are locking
It is opened flat 23 first folding 26 of folding to connect with the wider one end of the first mounting plate of L shape shock absorber 21, the stainless steel bearing is locking
It is opened flat 23 second folding 27 of folding to connect with the second mounting plate of L shape shock absorber 22,7 both ends of bradyseism component are hinged with U-shaped
Pivoting support 25, U-shaped pivoting support 25 and 21 narrow end of the first mounting plate of L shape shock absorber positioned at the adjustable end of bradyseism component 7
Planar side connection, U-shaped pivoting support 25 and L shape shock absorber the second mounting plate 22 positioned at the unadjustable end of bradyseism component 7 are relatively narrow
Hold surface side connection level with both hands, another group of bradyseism component is installed on the first mounting plate of L shape shock absorber 21, the first mounting plate of L shape shock absorber 22
There is the side of projecting block, and two groups of bradyseism components are parallel to each other, is installed on the first mounting plate of L shape shock absorber 21, L side by side
Relatively narrow the first face of one end of shape shock absorber the first mounting plate 22.
As shown in Fig. 2, the electric machine assembly includes driving motor 14, motor mounting rack 15, the installation of L shape shock absorber second
Plate 22, the driving motor 14 are installed on 15 inside of motor mounting rack, and the motor mounting rack 15 is installed on L shape shock absorber
Second mounting plate, 22 second face, and the installation site of the motor mounting rack 15 is by the position of the synchronous belt 10 selected tightened
It sets, and the outer transverse plane of motor mounting rack 15 is overlapped with the relatively narrow transverse plane of the second mounting plate of L shape shock absorber 22.
As shown in Figure 2 and Figure 3, the independent suspension bradyseism wheel group includes Mecanum wheel independent suspension bradyseism revolver group
2, Mecanum wheel independent suspension bradyseism right wheel group 3, the Mecanum wheel independent suspension bradyseism revolver group 2 and Mecanum
The part for taking turns the composition of independent suspension bradyseism right wheel group 3 is identical, and forms each of Mecanum wheel independent suspension bradyseism right wheel group 3
The peace of each part and component of the installation method of a part and component and composition Mecanum wheel independent suspension bradyseism revolver group 2
Dress method is identical.
As shown in Fig. 2, the Mecanum wheel independent suspension bradyseism revolver group 2 include electric machine assembly 9, bearing component 8,
Mecanum wheel module 19, the electric machine assembly 9, bearing component 8 are installed on the second face of L shape the second mounting plate of shock absorber 33,
And the stainless steel bearing is opened flat the first folding 26 of folding and connect with the first face of L shape the second mounting plate of shock absorber 32, it is described
Stainless steel bearing be opened flat the second folding 27 of folding and connect with 21 first face 34 of the first mounting plate of L shape shock absorber, described is slow
The special-shaped guide hole for shaking the adjustable end U-shaped pivoting support 25 of component 7 and 21 first face of the first mounting plate of L shape shock absorber, 34 end connects
It connects, the unadjustable end U-shaped pivoting support 25 of bradyseism component 7 and 32 end of the first face of the second mounting plate of L shape shock absorber
Special-shaped guide hole connection；The Mecanum wheel module 19 is installed on 38 side of L shape the second mounting plate of shock absorber second side.
As shown in figure 3, the Mecanum wheel independent suspension bradyseism right wheel group 3 include electric machine assembly 9, bearing component 8,
Mecanum wheel module 19, the electric machine assembly 9, bearing component 8 are installed on the first face of L shape the second mounting plate of shock absorber 32,
And the stainless steel bearing is opened flat the first folding 26 of folding and connect with the first face of L shape the second mounting plate of shock absorber 32, it is described
Stainless steel bearing be opened flat the second folding 27 of folding and connect with the second face of L shape the first mounting plate of shock absorber 35, the bradyseism
The adjustable end U-shaped pivoting support 25 of component 7 is connect with the special-shaped guide hole of 35 end of the second face of L shape the first mounting plate of shock absorber, institute
The unadjustable end U-shaped pivoting support 25 of bradyseism component 7 stated and the abnormal shape of 33 end of the second face of L shape the second mounting plate of shock absorber are led
Hole connection, the Mecanum wheel module 19 are installed on 38 side of L shape the second mounting plate of shock absorber second side.
Preferably, a method of omnidirectional's load-carrying bradyseism chassis based on belt transmission and Mecanum wheel, including it is following
Step:
When equipped with the damping chassis trolley load-carrying when driving, pass through driving motor 14 rotation drive 10 turns of the first timing belt pulley
It is dynamic, the rotation of the second timing belt pulley 11 is driven further through synchronous belt 16, the second timing belt pulley 11 passes through Mecanum wheel master
Wheel shaft 17 is connect with Mecanum wheel module 19, and Mecanum wheel main shaft 17 passes through the first stainless steel bearing support 12, second not
The steel bearing spider 13 that becomes rusty connects, and the first stainless steel bearing support 12, the second stainless steel bearing support 13 is antiparallel is co-axially mounted,
31 left-right looseness of rolling bearing built in stainless steel bearing support is prevented, when chassis load-carrying, Mecanum wheel 19 is generated anti-
Active force is balanced by the first stainless steel bearing support 12, the second stainless steel bearing support 13, to make Mecanum wheel trolley
It being capable of load-carrying traveling.
When trolley by obstacle or broken terrain when driving, by the stretching motion of oleo damper 24 with not
Rust steel shaft holds the locking closure for being opened flat folding 23, to make chassis smoothly clear the jumps or make each Mecanum on chassis
Wheel 19 comes into full contact with ground, enables trolley is stable to travel according to desired trajectory.
Above-mentioned specific embodiment only shows and describes embodiment of the present invention, but not to of the invention
Embodiment is limited, and for the ordinary skill in the art, other are any to be become on the basis of the above description
The mode of shape, modification or equivalence replacement, is still within protection scope of the present invention.
Claims (8)
1. one kind is based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis, which is characterized in that omnidirectional's weight
Carrying bradyseism chassis includes main body frame, Mecanum wheel independent suspension bradyseism revolver group, the Mecanum wheel independent suspension bradyseism right side
Wheel group, two Mecanum wheel independent suspension bradyseism revolver groups are respectively arranged on the left of the front and back end of main body frame, two Mikes
Na Mu wheel independent suspension bradyseism right wheel group is respectively arranged on the right side of main body frame front and back end, and four Mecanum wheel independent suspensions
Bradyseism wheel group and main body frame are mutually indepedent, and main body frame base plate is opened with Mecanum wheel independent suspension bradyseism wheel group upper mounting plate
There are identical profiled holes, is connected using hex bolts；Mecanum wheel independent suspension bradyseism wheel group includes belt gear, holds
Heavy-duty machine structure, shock buffering mechanism；Belt gear includes the first timing belt pulley, the second timing belt pulley, the first stainless steel bearing
Support, the second stainless steel bearing support, driving motor, electric machine support, synchronous belt；Support mechanism includes the first synchronous belt
Wheel, two stainless steel bearing supports, stainless steel main shaft, fixed flange, Mecanum wheel, shaft coupling, L shape shock absorber second peace
Loading board；Main body frame includes cross glass mat, aluminium alloy extrusions, L-type aluminium alloy post connector；Mecanum wheel is only
Vertical suspension bradyseism wheel group includes Mecanum wheel independent suspension bradyseism revolver group, Mecanum wheel independent suspension bradyseism right wheel group；
Shock buffering mechanism, which includes that stainless steel bearing is locking, is opened flat folding, oleo damper, U-shaped pivoting support, the installation of L shape shock absorber first
Plate, L shape the second mounting plate of shock absorber；Bradyseism component includes oleo damper, U-shaped pivoting support；Bearing component includes stainless steel
Bearing is locking to be opened flat folding, lower installation board, stainless steel bearing support on L shape shock absorber, and stainless steel main shaft, electric machine assembly includes electricity
Machine mounting rack, the second timing belt pulley, driving motor；Electric machine support is installed on the second face of L shape the second mounting plate of shock absorber, in L
The second mounting plate of shape shock absorber is provided with special-shaped guide hole identical with electric machine support bottom position and size, and electric machine support is fixed on L
It does the second mounting plate of shape shock absorber outer end；Driving motor is installed on electric machine support, and the second timing belt pulley is installed
In driving motor motor shaft, ensuring that the second timing belt pulley is same by second while the first timing belt pulley outer end face is overlapped
Step belt pulley is fixed with locking nut.
2. one kind according to claim 1 is based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis,
It is characterized in that, electric machine assembly is connect by the Mecanum wheel independent suspension bradyseism wheel group using synchronous pulley with Mecanum wheel
Realize transmission；First timing belt pulley is coplanar with the second timing belt pulley, wherein the first synchronous skin being connected with Mecanum wheel
Belt wheel and stainless steel bearing support and Mecanum wheel shaft joint are coaxial；First timing belt pulley and the second timing belt pulley be in than
Example relationship, proportionate relationship are determined according to the required revolving speed of motor output torque and Mecanum wheel.
3. one kind according to claim 1 is based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis,
It is characterized in that, is provided with and stainless steel bearing support abnormal shape guide hole size and position phase in the middle part of the second mounting plate of the L shape shock absorber
Same two arrange special-shaped guide holes, and special-shaped guide hole is in coordination；Two stainless steel bearing supports are in being installed on L shape shock absorber side by side
Second installation back, is connected by hex nut；Belt pulley is divided into the first timing belt pulley and the second timing belt pulley, and first
Timing belt pulley is connected with Mecanum wheel shaft joint by stainless steel main shaft, and stainless steel main shaft is fixed on L shape shock absorber second
For mounting plate in two stainless steel bearing supports connection of coordination arrangement, stainless steel shaft and stainless steel bearing support pass through locking
Nut is fixed.
4. one kind according to claim 3 is based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis,
It is characterized in that, the stainless steel bearing is locking to be opened flat folding using mute bearing, closely connects when folding closes the switch；Stainless steel
The special-shaped guide hole in Sine distribution, the first mounting plate of L shape shock absorber and L shape are provided in the locking two panels folding for being opened flat folding of bearing
The wider one end of shock absorber the second mounting plate L shape is provided with and the stainless steel bearing is locking is opened flat the identical ruler of folding two panels folding
Very little and same position special-shaped guide hole, the both ends of special-shaped guide hole are machined with chamfering, and stainless steel bearing is locking to be opened flat folding two panels folding
Page is installed on the first mounting plate of L shape shock absorber between L shape the second mounting plate of shock absorber, by counter nut by stainless steel bearing
It is locking to be opened flat the folding of folding two panels and be separately connected with first mounting plate of L shape shock absorber and L shape the second mounting plate of shock absorber,
The planar ends of nut are overlapped by counter nut when installing with lower installation board plane in L shape.
5. one kind according to claim 4 is based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis,
It is characterized in that, locking the first folding for being opened flat folding of the stainless steel bearing is connect with L shape the first mounting plate of shock absorber, stainless steel
Locking the second folding for being opened flat folding of bearing is connect with L shape the second mounting plate of shock absorber, and oleo damper and U-shaped pivoting support are cut with scissors
It connects and constitutes bradyseism component, each side laid out in parallel one when bradyseism component is installed, the U-shaped pivoting support at bradyseism component both ends
Respectively with L shape the first mounting plate of shock absorber, the connection of L shape the second mounting plate of shock absorber is parallel to be connected, structure triangular in shape.
6. one kind according to claim 5 is based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis,
It is characterized in that, U-shaped pivoting support bottom is opened there are two threaded hole, and the first mounting plate of L shape shock absorber is in L shape shock absorber second
Mounting plate end is provided with the special-shaped guide hole with U-shaped pivoting support threaded hole same distribution, and U-lag pivoting support is respectively arranged in L
The first mounting plate of shape shock absorber and L shape shock absorber the second mounting plate end two sides, U-shaped pivoting support is vertically connected with L shape to be passed through
Counter nut runs through the special-shaped guide hole of the first mounting plate of L shape shock absorber end, connects the threaded hole of U-shaped pivoting support bottom.
7. one kind according to claim 1 is based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis,
It is characterized in that, the Mecanum wheel independent suspension bradyseism left and right wheels group component part is identical, and Mecanum wheel independent suspension is slow
Mecanum wheel is installed on the left side in the first face of L shape shock absorber mounting plate by shake revolver group, and synchronous pulley is installed on right side, Mike
Mecanum wheel is installed on the right side in the second face of L shape shock absorber mounting plate, synchronous belt by Na Mu wheel independent suspension bradyseism right wheel group
The assembling mode that wheel is installed on left side other parts is identical.
8. one kind according to claim 7 is based on V belt translation and Mecanum wheel robot omnidirectional load-carrying bradyseism chassis,
It is characterized in that, the aluminium alloy extrusions is located at below cross glass mat, and aluminium alloy extrusions is connected by L-type aluminium alloy post
Glyph framework in fitting connection composition, is provided with special-shaped guide hole among aluminium alloy extrusions, by hex bolts in the cross
The connection of shape glass mat, cross glass mat quadrangle are provided with special-shaped guide hole, and special-shaped guide hole and Mecanum wheel independently hang
It is identical with position to hang the special-shaped guide hole size opened of bradyseism left and right wheels group L shape the first mounting plate of shock absorber, guarantees L shape shock absorber the
The relatively narrow side of one mounting plate is overlapped with cross glass mat side, and guarantees that the first mounting plate of L shape shock absorber is relatively narrow
End face is overlapped with cross glass mat front end face or rear end face.
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Inventor after: Tao Xiwen Inventor after: Yang Yi Inventor after: Han Xiaowei Inventor after: Yuan Zhonghu Inventor after: Du Yingkui Inventor after: Zhou Changsheng Inventor after: Yao Junhao Inventor after: Liu Xin Inventor after: Yang Guodong Inventor after: Sun Bo Inventor after: Zhang Shouxing Inventor after: Pan Feng Inventor before: Du Yingkui Inventor before: Han Xiaowei Inventor before: Yuan Zhonghu Inventor before: Zhou Changsheng Inventor before: Yao Junhao Inventor before: Liu Xin Inventor before: Yang Guodong Inventor before: Sun Bo Inventor before: Zhang Shouxing Inventor before: Pan Feng Inventor before: Yang Yi |
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Effective date of registration: 20211215 Address after: 110142 room 619, No. 36-3, Huahai Road, Shenyang Economic and Technological Development Zone, Liaoning Province Applicant after: Liaoning Zhongke ecological environment Co.,Ltd. Address before: 110044 Liaoning Province, Shenyang City District wanghuanan Street No. 21 Applicant before: SHENYANG University |
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Application publication date: 20190917 |