CN110239637A - A kind of changeable Omni-mobile chassis of wheel shoe - Google Patents
A kind of changeable Omni-mobile chassis of wheel shoe Download PDFInfo
- Publication number
- CN110239637A CN110239637A CN201910541208.7A CN201910541208A CN110239637A CN 110239637 A CN110239637 A CN 110239637A CN 201910541208 A CN201910541208 A CN 201910541208A CN 110239637 A CN110239637 A CN 110239637A
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- China
- Prior art keywords
- wall
- mobile chassis
- carrier frame
- wheel
- mounting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Abstract
The invention discloses a kind of wheels to carry out changeable Omni-mobile chassis, changeover module, track drive portion and track drive motor assembly are carried out including mobile chassis main body, crawler belt, driving motor, Mecanum wheel, support baseboard, carrier frame, vehicle, carrier frame is fixedly installed on the middle part outer wall of mobile chassis main body, it is welded with support baseboard on the bottom end outer wall of carrier frame, is rotatably connected to Mecanum wheel on the two sides bottom end outer wall of carrier frame；The inventive structure is relatively simple to combine the advantages of crawler belt mobile chassis is with Mecanum wheel mobile chassis, make the later period robot can either leaping over obstacles can be realized omnidirectional moving again, being switched fast for both of which is also achieved simultaneously, rotating shaft and motor driving shaft vertical arrangement for the lifting of Mecanum wheel group, it is gone up and down while realizing two sides wheel by a cylinder driving, alleviates impact when chassis loads to driving device using " dead point " of support arm.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of wheel carries out changeable Omni-mobile chassis.
Background technique
As the fast-developing mobile robot of science and technology is widely used, wherein frequently with Mecanum in robot
Mobile chassis or caterpillar belt structure are taken turns, wherein although Mecanum wheel mobile chassis is able to achieve omnibearing movable, but its obstacle performance
It is poor, be not suitable for moving on road surface that is rugged or having obstacle；Crawler belt has the advantages that obstacle performance is strong, but transports in flat road surface
Belong to drive lacking structure when upper movement, therefore inflexible, do not have in the market, the mobile chassis that the two is used in combination is more not
Just, in the market that wheel shoe switching construction wheel shoe composite construction is not in the presence of structure is complicated very well, the disadvantages such as conversion process complexity,
Mobile chassis as a kind of wheel provided in patent CN201720437045 carries out switching realizes four by the way of electric pushrod
The lift rotary axis of the lifting of Mecanum wheel, wheel is parallel with drive motor shaft, this layout type be easy to happen part it
Between interference, therefore structure requires the outside for being placed on crawler belt.It is a kind of in patent CN201711163767 to be based on Mecanum
The wheel-track combined all-around mobile chassis of wheel directly drives the lifting of wheel using four cylinders, and wheel is existed using track installation
On vehicle frame, the track on chassis shares 8, and sliding block shares 16, and in order to achieve the purpose that track while drive, four cylinders are necessary
Synchronous to move up and down, handoff procedure is more inconvenient.
Summary of the invention
The purpose of the present invention is to provide a kind of wheels to carry out changeable Omni-mobile chassis, to solve to mention in above-mentioned background technique
Out the problem of.
In order to solve the above technical problem, the present invention provides following technical solutions: a kind of changeable Omni-mobile bottom of wheel shoe
Disk, including mobile chassis main body, crawler belt, driving motor, Mecanum wheel, support baseboard, carrier frame, vehicle shoe changeover module,
Track drive portion and track drive motor assembly are fixedly installed carrier frame on the middle part outer wall of the mobile chassis main body,
Support baseboard, the company of rotation on the two sides bottom end outer wall of the carrier frame are welded on the bottom end outer wall of the carrier frame
It is connected to Mecanum wheel, the mobile chassis main body is located at bolt on the top outer wall of Mecanum wheel side support baseboard and fixes
There is driving motor, output shaft one end of the driving motor is fixedly connected with rotation axis one end of Mecanum wheel, the movement
Chassis body, which is located on the top outer wall of carrier frame two sides, is fitted with track drive motor assembly, the mobile chassis master
External be socketed that body is located at track drive motor assembly is equipped with crawler belt, right on the carrier frame inner wall of the mobile chassis main body
That answers track drive portion is fixedly installed with track drive motor assembly, corresponds on the carrier frame inner wall of the mobile chassis main body
Mecanum wheel is fitted with vehicle and carries out changeover module；
The vehicle carry out changeover module include extension spring, supporting rotary arm, cylinder, wheel group mounting plate shaft, wheel group mounting plate,
Upper limit position block, lower position block, button-head hinge, supporting rotary arm shaft and cylinder rotating shaft, mobile chassis main body bottom end chassis
Wheel group mounting plate is fixedly installed on the bottom end two sides inner wall of frame, and one end of wheel group mounting plate passes through wheel group mounting plate shaft
It is rotatablely connected with the side inner wall of carrier frame, support is rotatably equipped on the top middle portion outer wall of the wheel group mounting plate and is turned
Arm, and the both ends of supporting rotary arm are rotatablely connected by the two sides inner wall of supporting rotary arm shaft and carrier frame, the mobile chassis
Cylinder is rotatably equipped with by cylinder rotating shaft on the middle part outer wall of body side, telescopic rod one end of the cylinder is through another
The inside of side carrier frame and the middle part outer wall of supporting rotary arm are rotatablely connected by button-head hinge, and the carrier frame is located at branch
It supports to be distributed on the outer wall at pivoted arm both ends and is fixedly installed with upper limit position block and lower position block, on the side outer wall of the wheel group mounting plate
It is welded with extension spring.
Further, the driving motor is a kind of clockwise and anticlockwise motor, and the number of driving motor is four.
Further, the driving motor is mounted by means of bolts on the top outer wall of wheel group mounting plate.
Further, one end of the extension spring is fixedly connected with the side outer wall of wheel group mounting plate, the stretching bullet
The other end of spring is fixedly connected with the side top outer wall of carrier frame.
Compared with prior art, the beneficial effects obtained by the present invention are as follows being: the invention, structure is relatively simple to combine crawler belt
Mobile chassis and the advantages of Mecanum wheel mobile chassis, make the later period robot can either leaping over obstacles can be realized omnidirectional again and transport
It is dynamic, while being switched fast for both of which is also achieved, the rotating shaft and motor driving shaft for the lifting of Mecanum wheel group hang down
Straight layout, goes up and down while realizing two sides wheel by a cylinder driving, and it is negative to alleviate chassis using " dead point " of support arm
To the impact of driving device when load；Wheel carries out the cavity inside that switching mechanism is located at endless track formation, carries out switching realizing to take turns
Meanwhile overall dimensions are more compact.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is entirety perspective view of the invention；
Fig. 2 is the side view cutting structural schematic diagram that vehicle of the present invention carries out changeover module；
Fig. 3 is inside cutting structural schematic diagram when crawler belt of the present invention uses；
Fig. 4 is the side view cutting structural schematic diagram of crawler belt of the present invention；
In figure: 1, mobile chassis main body；2, crawler belt；3, driving motor；4, Mecanum wheel；5, support baseboard；6, chassis
Frame；7, vehicle carries out changeover module；8, track drive portion；9, track drive motor assembly；71, extension spring；72, supporting rotary arm；
73, cylinder；74, wheel group mounting plate shaft；75, wheel group mounting plate；76, upper limit position block；77, lower position block；78, button-head hinge；
79, supporting rotary arm shaft；710, cylinder rotating shaft.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-4 is please referred to, the present invention provides a kind of technical solution: a kind of changeable Omni-mobile chassis of wheel shoe, including move
Dynamic chassis body 1, crawler belt 2, driving motor 3, Mecanum wheel 4, support baseboard 5, carrier frame 6, vehicle are carried out changeover module 7, are carried out
With driving portion 8 and track drive motor assembly 9, carrier frame 6, bottom are fixedly installed on the middle part outer wall of mobile chassis main body 1
It is welded with support baseboard 5 on the bottom end outer wall of disk frame 6, is rotatably connected to wheat on the two sides bottom end outer wall of carrier frame 6
Ke Namu wheel 4, mobile chassis main body 1 is located at bolt on the top outer wall of 4 side support baseboard 5 of Mecanum wheel and is fixed with driving
Motor 3, output shaft one end of driving motor 3 are fixedly connected with rotation axis one end of Mecanum wheel 4, and mobile chassis main body 1
In being fitted with track drive motor assembly 9 on the top outer wall of 6 two sides of carrier frame, mobile chassis main body 1 is located at crawler belt
The external socket of driving motor assembly 9 is equipped with crawler belt 2, corresponds to track drive on 6 inner wall of carrier frame of mobile chassis main body 1
Portion 8 is fixedly installed with track drive motor assembly 9, corresponds to Mecanum wheel on 6 inner wall of carrier frame of mobile chassis main body 1
4, which are fitted with vehicle, carries out changeover module 7；
It includes extension spring 71, supporting rotary arm 72, cylinder 73, wheel group mounting plate shaft 74, wheel group peace that vehicle, which carries out changeover module 7,
Loading board 75, upper limit position block 76, lower position block 77, button-head hinge 78, supporting rotary arm shaft 79 and cylinder rotating shaft 710, mobile bottom
Wheel group mounting plate 75, and the one of wheel group mounting plate 75 are fixedly installed on the bottom end two sides inner wall of 1 bottom end carrier frame 6 of disc main body
End is rotatablely connected by the side inner wall of wheel group mounting plate shaft 74 and carrier frame 6, outside the top middle portion of wheel group mounting plate 75
Supporting rotary arm 72 is rotatably equipped on wall, and the both ends of supporting rotary arm 72 pass through supporting rotary arm shaft 79 and the two of carrier frame 6
Side inner wall is rotatablely connected, and is rotatably equipped with cylinder by cylinder rotating shaft 710 on the middle part outer wall of 1 side of mobile chassis main body
73, telescopic rod one end of cylinder 73 passes through ball through the inside of other side carrier frame 6 and the middle part outer wall of supporting rotary arm 72
Head hinge 78 is rotatablely connected, and carrier frame 6 is located at distribution on the outer wall at 72 both ends of supporting rotary arm and is fixedly installed with upper limit position block 76
With lower position block 77, extension spring 71 is welded on the side outer wall of wheel group mounting plate 75；Driving motor 3 is a kind of positive and negative
Rotating motor, and the number of driving motor 3 is four, drives Mecanum wheel 4 to rotate by driving motor 3, is conducive to later period machine
The movement of people；Driving motor 3 is mounted by means of bolts on the top outer wall of wheel group mounting plate 75, is conducive to later period wheel group and is installed
The overturning of plate 75 drives the lifting of rear wheels mounting plate 75, moves crawler belt 2；One end of extension spring 71 and wheel group mounting plate
75 side outer wall is fixedly connected, and the other end of extension spring 71 is fixedly connected with the side top outer wall of carrier frame 6, is conducive to
The reset of later period wheel group mounting plate 75 and Mecanum wheel 4；The wish-bone arm type rotational structure to be linked using two is completed Mike and received
The switching that nurse wheel 4 and crawler belt 2 drive, switching mechanism is located at carries out 2 with the cavity inside formed up and down, and structure is simpler compact；
It shares a cylinder 73 to supporting rotary arm 72 to drive, supporting rotary arm 72 moves in the fixed space that limited block limits；Wheel
Formula drive mode lower support arm is just vertical with wheel group mounting plate 75, is formed at structure " dead point ", alleviates chassis load to switching
The impact of 73 device of cylinder；The tilt angle of crawler belt front end is 135 ° under 2 drive mode of crawler belt, and step effect of climbing is good.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusionism includes, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also other elements including being not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (4)
1. a kind of wheel carries out changeable Omni-mobile chassis, including mobile chassis main body (1), crawler belt (2), driving motor (3), Mike
Na Mu takes turns (4), support baseboard (5), carrier frame (6), vehicle shoe changeover module (7), track drive portion (8) and track drive motor
Assembly (9), it is characterised in that: it is fixedly installed carrier frame (6) on the middle part outer wall of the mobile chassis main body (1), it is described
It is welded on the bottom end outer wall of carrier frame (6) support baseboard (5), on the two sides bottom end outer wall of the carrier frame (6)
It is rotatably connected to Mecanum wheel (4), the mobile chassis main body (1) is located at Mecanum wheel (4) side support baseboard (5)
Bolt is fixed with driving motor (3) on the outer wall of top, output shaft one end and Mecanum wheel (4) of the driving motor (3)
Rotation axis one end is fixedly connected, and the mobile chassis main body (1), which is located on the top outer wall of carrier frame (6) two sides, to be coupled
Have track drive motor assembly (9), the mobile chassis main body (1) is located at the external socket peace of track drive motor assembly (9)
Equipped with crawler belt (2), the fixed installation of track drive portion (8) is corresponded on carrier frame (6) inner wall of the mobile chassis main body (1)
Have track drive motor assembly (9), corresponds to Mecanum wheel (4) on carrier frame (6) inner wall of the mobile chassis main body (1)
It is fitted with vehicle and carries out changeover module (7)；
It includes extension spring (71), supporting rotary arm (72), cylinder (73), wheel group mounting plate shaft that the vehicle, which carries out changeover module (7),
(74), wheel group mounting plate (75), upper limit position block (76), lower position block (77), button-head hinge (78), supporting rotary arm shaft (79) and
Cylinder rotating shaft (710) is fixedly installed on the bottom end two sides inner wall of mobile chassis main body (1) the bottom end carrier frame (6)
Wheel group mounting plate (75), and one end of wheel group mounting plate (75) passes through wheel group mounting plate shaft (74) and the one of carrier frame (6)
Side inner wall is rotatablely connected, and is rotatably equipped with supporting rotary arm (72) on the top middle portion outer wall of the wheel group mounting plate (75), and is propped up
The both ends for supportting pivoted arm (72) are rotatablely connected by the two sides inner wall of supporting rotary arm shaft (79) and carrier frame (6), the movement
It is rotatably equipped with cylinder (73) on the middle part outer wall of chassis body (1) side by cylinder rotating shaft (710), the cylinder (73)
Telescopic rod one end pass through button-head hinge through the inside of other side carrier frame (6) and the middle part outer wall of supporting rotary arm (72)
(78) it is rotatablely connected, the carrier frame (6) is located at distribution on the outer wall at supporting rotary arm (72) both ends and is fixedly installed with upper limit
Block (76) and lower position block (77) are welded with extension spring (71) on the side outer wall of the wheel group mounting plate (75).
2. a kind of wheel according to claim 1 carries out changeable Omni-mobile chassis, it is characterised in that: the driving motor
It (3) is a kind of clockwise and anticlockwise motor, and the number of driving motor (3) is four.
3. a kind of wheel according to claim 1 carries out changeable Omni-mobile chassis, it is characterised in that: the driving motor
(3) it is mounted by means of bolts on the top outer wall of wheel group mounting plate (75).
4. a kind of wheel according to claim 1 carries out changeable Omni-mobile chassis, it is characterised in that: the extension spring
(71) one end is fixedly connected with the side outer wall of wheel group mounting plate (75), the other end and chassis frame of the extension spring (71)
The side top outer wall of frame (6) is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910541208.7A CN110239637B (en) | 2019-06-21 | 2019-06-21 | Omnidirectional movement chassis with wheels and track capable of being switched |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910541208.7A CN110239637B (en) | 2019-06-21 | 2019-06-21 | Omnidirectional movement chassis with wheels and track capable of being switched |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110239637A true CN110239637A (en) | 2019-09-17 |
| CN110239637B CN110239637B (en) | 2021-05-04 |
Family
ID=67888621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910541208.7A Active CN110239637B (en) | 2019-06-21 | 2019-06-21 | Omnidirectional movement chassis with wheels and track capable of being switched |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110239637B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746676A (en) * | 2020-07-09 | 2020-10-09 | 仲兆宏 | Wheel set for barrier-free moving balance car and balance car |
| CN114537544A (en) * | 2022-02-28 | 2022-05-27 | 南京工程学院 | Wheel-track coupling robot chassis based on separated track structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19519670A1 (en) * | 1995-05-30 | 1995-10-26 | Obermeier Hartmann Robert Dipl | Road travel device for full=track tractor to be converted for travel road |
| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
| CN107264655A (en) * | 2017-06-30 | 2017-10-20 | 南京云之璟机电科技有限公司 | One kind wheel carries out compound unmanned mobile platform and its utilization |
| CN206654104U (en) * | 2017-04-25 | 2017-11-21 | 江苏安格尔机器人有限公司 | It is a kind of to take turns the mobile chassis for carrying out switching |
| CN107640235A (en) * | 2017-06-23 | 2018-01-30 | 中北大学 | A kind of loading robot that can be moved and can and climb building |
-
2019
- 2019-06-21 CN CN201910541208.7A patent/CN110239637B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19519670A1 (en) * | 1995-05-30 | 1995-10-26 | Obermeier Hartmann Robert Dipl | Road travel device for full=track tractor to be converted for travel road |
| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
| CN206654104U (en) * | 2017-04-25 | 2017-11-21 | 江苏安格尔机器人有限公司 | It is a kind of to take turns the mobile chassis for carrying out switching |
| CN107640235A (en) * | 2017-06-23 | 2018-01-30 | 中北大学 | A kind of loading robot that can be moved and can and climb building |
| CN107264655A (en) * | 2017-06-30 | 2017-10-20 | 南京云之璟机电科技有限公司 | One kind wheel carries out compound unmanned mobile platform and its utilization |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746676A (en) * | 2020-07-09 | 2020-10-09 | 仲兆宏 | Wheel set for barrier-free moving balance car and balance car |
| CN114537544A (en) * | 2022-02-28 | 2022-05-27 | 南京工程学院 | Wheel-track coupling robot chassis based on separated track structure |
| CN114537544B (en) * | 2022-02-28 | 2022-11-29 | 南京工程学院 | Wheel-track coupling robot chassis based on separated track structure |
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| Publication number | Publication date |
|---|---|
| CN110239637B (en) | 2021-05-04 |
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