CN111196309A - A wheel base adjustable carrier platform - Google Patents
A wheel base adjustable carrier platform Download PDFInfo
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- CN111196309A CN111196309A CN202010065243.9A CN202010065243A CN111196309A CN 111196309 A CN111196309 A CN 111196309A CN 202010065243 A CN202010065243 A CN 202010065243A CN 111196309 A CN111196309 A CN 111196309A
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- carrying platform
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- 230000000712 assembly Effects 0.000 claims abstract description 67
- 238000000429 assembly Methods 0.000 claims abstract description 67
- 230000008859 change Effects 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000013016 damping Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 235000017048 Garcinia mangostana Nutrition 0.000 description 1
- 240000006053 Garcinia mangostana Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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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
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/445—Self-steered wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
Abstract
本发明涉及一种轮距可调的运载平台，包括工作台，所述工作台的下表面安装有平行的两列行走轮组件，每个行走轮组件能够沿自身竖直轴线转动，以完成行走轮组件的转向，每个行走轮组件中安装有旋转驱动件，以驱动行走轮组件中的行走轮沿自身中心轴线的转动；每列行走轮组件之间通过固定件连接，所述行走轮组件通过导向件与工作台的下表面滑动连接，所述导向件的延伸方向与每列行走轮组件的延伸方向垂直；两列行走轮组件能够同步沿导向件相向或相背离滑动，以改变两列行走轮组件之间的轮距。
The invention relates to a carrying platform with adjustable wheel base, comprising a workbench, two parallel rows of travel wheel assemblies are installed on the lower surface of the workbench, and each travel wheel assembly can rotate along its own vertical axis to complete walking The steering of the wheel assemblies, each traveling wheel assembly is equipped with a rotary drive to drive the traveling wheels in the traveling wheel assembly to rotate along its own central axis; each row of traveling wheel assemblies is connected by a fixed piece, and the traveling wheel assemblies The guide member is slidably connected to the lower surface of the workbench, and the extension direction of the guide member is perpendicular to the extension direction of each row of traveling wheel assemblies; the two rows of traveling wheel assemblies can synchronously slide toward or away from each other along the guide members to change the two rows. Wheel spacing between travel wheel assemblies.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery equipment, and particularly relates to a wheel track adjustable carrying platform.
Background
The intelligent carrying platform for agricultural facilities generally adds specific functional components on the basis of the carrying platform to meet different work requirements, and the inventor knows that the existing agricultural machinery carrying platform generally comprises the following forms:
the first mainstream scheme is that a crawler-type moving chassis is disclosed in Zhejiang industrial university patent No. CN208016373U, a mechanical device for intelligently picking mangosteen fruits adopts a chassis driving mode of a crawler, and a hand picking part is an articulated manipulator. Patent No. CN208402413U of Hubei university of industry discloses an agricultural robot for precision seeding, and a chassis is driven by a crawler. However, the crawler chassis has the defects of low relative speed, low efficiency, high motion noise, high power consumption and the like, so that the crawler chassis is generally applied to heavy-load occasions.
The second mainstream scheme is that a wheel type sports chassis is disclosed, and a Shantou university patent number CN108942862A discloses a composite mobile robot, and the chassis adopts a four-wheel drive type structure. At present, the wheel type chassis is mostly driven by two or four wheels, the two-wheel drive carrying platform adopts a differential mode to steer in the motion process, other wheels are driven wheels, and the phenomena of tail flicking or shaking and the like easily occur in the motion process. When the four-wheel drive carrying platform turns on site, the rotation center is the geometric center, so that large friction exists, and severe vibration or accelerated wear of tires and the like are easy to occur.
Regarding the independent suspension driving wheel part, the invention patent with patent number CN 109353767A of jinzhen, jiashun intelligent robot limited discloses a link suspension damping steering wheel and an automatic guided vehicle, wherein the damping steering wheel is introduced in detail in the patent and the application of the damping steering wheel to the automatic guided vehicle is briefly introduced. However, the existing damping mechanism of the steering wheel (walking wheel) is complex, and the reduction of the production cost of the carrying platform is not facilitated.
Meanwhile, in the running process of the carrying platform, relative to the advancing direction, the track distance between the left and right rows of walking wheel assemblies cannot be adjusted, and the carrying platform cannot be suitable for roads with specific width or the running requirement in ridges with set width.
Disclosure of Invention
The invention aims to provide a carrying platform with an adjustable wheel track, which can solve the problem that the distance between two rows of travelling wheels cannot be adjusted by the conventional agricultural carrying platform; the shock absorption structure of the walking wheel is complex, and the production cost of the carrying platform is increased.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a wheel base adjustable delivery platform, includes the workstation, the lower surface mounting of workstation has two parallel walking wheel subassemblies, and every walking wheel subassembly can be followed self vertical axis and rotated to accomplish turning to of walking wheel subassembly, install the rotation driving piece in every walking wheel subassembly, along the rotation of self the central axis with the walking wheel of drive walking in the wheel subassembly.
Each row of walking wheel assemblies are connected through a fixing piece, the walking wheel assemblies are connected with the lower surface of the workbench in a sliding mode through a guide piece, and the extending direction of the guide piece is perpendicular to the extending direction of each row of walking wheel assemblies;
the two rows of walking wheel assemblies can synchronously slide towards or away from each other along the guide piece so as to change the wheel distance between the two rows of walking wheel assemblies.
Further, the guide piece comprises a guide rail fixedly arranged on the lower surface of the workbench, a guide groove is formed in the upper end of the walking wheel assembly, and the guide rail and the guide groove are matched for use so as to realize sliding connection of the walking wheel assembly and the workbench.
Furthermore, the distance between the two rows of walking wheel assemblies is adjusted through a screw nut mechanism, the screw nut mechanism comprises two coaxially fixed screws, a nut is sleeved outside each screw, the nuts are fixedly connected with the fixing pieces in the two rows of walking wheel assemblies respectively, and the screws are arranged in parallel to the guide rails.
The rotation directions of the two lead screws are opposite, so that in the rotating process of the lead screws, the nuts can drive the two rows of walking wheel assemblies to synchronously move towards or away from each other.
Furthermore, the number of the walking wheel assemblies in each row of walking wheel assemblies is two, the four walking wheel assemblies are distributed on the lower surface of the workbench in a rectangular mode, and the two walking wheel assemblies in the same row are fixed through connecting rods.
Furthermore, the walking wheel assembly comprises an installation table, the guide groove is formed in the upper surface of the installation table, a support shaft is connected in the installation table in a rotating mode and is vertically arranged, and the support shaft is driven by the steering driving unit to rotate;
the lower extreme and the wheel carrier of back shaft are connected, rotate in the wheel carrier and install the walking wheel, install one side of wheel carrier rotary driving spare, rotary driving spare can the rotation of driving walking wheel along self axis.
Furthermore, the steering driving unit comprises a steering motor with an output shaft vertically arranged, a casing of the steering motor is fixed through a mounting table, the output shaft of the steering motor is coaxially fixed with the first gear, a second gear is arranged at the upper end of the supporting shaft, and the first gear is meshed with the second gear, so that the rotation of the steering motor can drive the movement of the supporting shaft.
Further, the outside fixed cover of back shaft is equipped with the bogie, the bogie rotates with the back shaft is synchronous, be provided with the wheel carrier in the bogie, be provided with the guide element of vertical direction between wheel carrier and the bogie, the lower extreme and the wheel carrier of back shaft are rotated and are connected, and the outside of back shaft is equipped with the spring, the spring setting is between wheel carrier and bogie.
The invention has the beneficial effects that:
two rows of walking wheel assemblies are adopted, each row of walking wheel assemblies can rotate along the vertical axis of the walking wheel assembly, the walking wheels can rotate along the rotation axis of the walking wheels, the carrying platform is convenient to steer, friction between the walking wheels and the ground in the steering process of the carrying platform is reduced, and the service life of the walking wheels is prolonged.
The mode that two rows of walking wheel assemblies can synchronously slide in the opposite direction or in the opposite direction along the guide piece is adopted, and the adjustment of the wheel track enables the carrying platform to be suitable for roads with specific width and be suitable for running in ridges with different arrangement modes. In the process of adjusting the distance between the two rows of travelling wheel assemblies, the two rows of travelling wheel assemblies synchronously move towards the central point of the carrying platform; the relative position of the two rows of walking wheel assemblies and the gravity center of the carrying platform can be constantly positioned on the same vertical line only by ensuring the relative position of the two rows of walking wheel assemblies in the initial state, and each walking wheel assembly is ensured to averagely share the gravity of the carrying platform.
The mode that two lead screws with opposite rotation directions are coaxially fixed is adopted, the two nuts arranged on the lead screws can move in the opposite directions or away from each other in the rotating process of the lead screws, the distance of the two nuts moving along the lead screws is the same under the condition that the screw pitches, the inner diameters and the outer diameters of the lead screws are the same, and the synchronous movement of the two rows of walking wheel assemblies is ensured.
Four walking wheel assemblies are adopted, the four walking wheel assemblies can be in square distribution through adjustment of wheel track, and the in-situ circle turning process of the carrying platform can be completed through adjustment of the angles of the walking wheels.
The supporting shaft is rotatably connected with the wheel frame, and the wheel frame and the bogie are guided by the guide piece, so that the wheel frame can float up and down along the supporting shaft in the process of rotating along with the supporting shaft, and the vibration in the motion process is absorbed by the spring between the wheel frame and the bogie, thereby realizing the damping process of the walking wheel assembly.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is an isometric view of a first view of a unitary structure in an embodiment of the present invention;
FIG. 2 is an isometric view of the overall structure in a second viewing orientation in accordance with an embodiment of the present invention;
FIG. 3 is an isometric view of a third view of the overall construction in an embodiment of the present invention;
FIG. 4 is a bottom view of the overall structure of an embodiment of the present invention;
FIG. 5 is a side view of an overall structure in an embodiment of the invention;
FIG. 6 is an enlarged view of the structure of portion A of FIG. 1;
FIG. 7 is an isometric view of a walking wheel assembly in an embodiment of the present invention;
FIG. 8 is an isometric view of a portion of a walking wheel assembly in an embodiment of the present invention;
FIG. 9 is an isometric view of an embodiment of the invention with the road wheel assembly turned in place;
FIG. 10 is a schematic view of the screw-nut mechanism in cooperation with a connecting rod in an embodiment of the present invention.
In the figure: 1. a spring; 2. a first gear; 3. a second gear; 4. an installation table; 5. a steering motor; 6.
a work table; 7. a wheel; 8. a rotary drive member; 9. a support shaft; 10. a bogie; 11. a slide rail; 12. a shock-absorbing mount; 13. a screw motor 14, a connecting rod; 15. a lead screw; 101. a slider; 102. a slide rail; 701. a tire; 702. a hub; 703. a bearing; 704. a bearing flange; 801. a speed reducer; 802. the motor is driven.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
For convenience of description, the words "up, down, left and right" when appearing in the present invention merely indicate correspondence with the up, down, left and right directions of the drawings themselves, and are not limiting of structure, but merely for convenience of description and simplified description, and do not indicate or imply that the referenced apparatus or component must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting of the present invention.
In an exemplary embodiment of the present invention, as shown in fig. 1 to 9, the present embodiment provides a wheel-span adjustable carrying platform, which includes a workbench 6, two parallel rows of walking wheel assemblies are mounted on a lower surface of the workbench 6, each walking wheel assembly can rotate along its own vertical axis to complete the steering of the walking wheel assembly, and a rotary driving member 8 is mounted in each walking wheel assembly to drive a walking wheel 7 in the walking wheel assembly to rotate along its own central axis.
Each row of walking wheel assemblies are connected through a fixing piece, the walking wheel assemblies are connected with the lower surface of the workbench 6 in a sliding mode through a guide piece, and the extending direction of the guide piece is perpendicular to the extending direction of each row of walking wheel assemblies; the two rows of walking wheel assemblies can synchronously slide towards or away from each other along the guide piece so as to change the wheel distance between the two rows of walking wheel assemblies.
It should be noted that the number of walking wheel assemblies in each row of walking wheel assemblies may be set at the discretion of the person skilled in the art, irrespective of the pivot turns of the carrying platform. In order to facilitate the pivot function of the carrying platform, each row has two walking wheel assemblies in the embodiment. The four walking wheel assemblies are distributed on the lower surface of the workbench 6 in a rectangular shape, and two walking wheel assemblies in the same row are fixed through a connecting rod 14.
An ultrasonic support can be arranged on the platform, and an ultrasonic sensor is arranged on the ultrasonic support, so that the process of exploring the road is realized, and the carrying platform can stop in time when encountering an obstacle.
The vertical axes of the travelling wheels 7 in the same row are positioned in the same vertical plane, and adjacent travelling wheel assemblies in the same row are fixed through a connecting rod 14.
The guide piece is including setting firmly guide rail 11 at workstation 6 lower surface, the upper end of walking wheel subassembly is equipped with the guide slot, guide rail 11 uses in order to realize walking wheel subassembly and workstation 6's sliding connection with the guide slot cooperation.
The distance between the two rows of walking wheel assemblies is adjusted through a screw rod 15 nut mechanism, the screw rod 15 nut mechanism comprises two coaxially fixed screw rods 15, a nut is sleeved outside each screw rod 15, the nuts are fixedly connected with the fixing parts in the two rows of walking wheel assemblies respectively, and the screw rods 15 are arranged in parallel to the guide rails 11; the rotation directions of the two lead screws 15 are opposite, so that in the process of rotating the lead screws 15, the nuts can drive the two rows of walking wheel assemblies to synchronously move towards or away from each other.
In other embodiments, the screw rod 15 nut mechanism may not be adopted, each row of walking wheel assemblies are driven by a hydraulic oil cylinder respectively, and the two rows of walking wheel assemblies are driven by the hydraulic oil cylinder to synchronously move towards or away from each other.
In fig. 10, the lead screw 15 is driven by a lead screw motor 13, the lead screw motor 13 is fixed by the worktable 6, and the nut mechanism is integrated into the connecting rod 14, i.e. a threaded hole is formed at the connecting rod 14 to realize the function of a nut.
The specific structure of the walking wheel assembly is as follows:
the walking wheel assembly comprises a mounting table 4, the upper surface of the mounting table 4 is provided with the guide groove, a supporting shaft 9 is rotatably connected in the mounting table 4, the supporting shaft 9 is vertically arranged, and the supporting shaft 9 is driven by a steering driving unit to rotate so as to realize self rotation.
The lower extreme and the wheel carrier 12 of back shaft 9 are connected, rotatory walking wheel 7 of installing in the wheel carrier 12, install one side of wheel carrier 12 rotatory driving piece 8, rotatory driving piece 8 can the rotation of driving walking wheel 7 along self axis.
Specifically, the rotary driving element here may be a driving motor 802, and in other embodiments, a driving motor may also be used, which may be set by a person skilled in the art.
The steering driving unit comprises a steering motor 5 with an output shaft vertically arranged, a shell of the steering motor 5 is fixed through a mounting table 4, the output shaft of the steering motor 5 is coaxially fixed with a first gear 2, a second gear 3 is arranged at the upper end of a supporting shaft 9, and the first gear 2 is meshed with the second gear 3, so that the rotation of the steering motor 5 can drive the supporting shaft 9 to move.
The fixed cover in outside of back shaft 9 is equipped with bogie 10, bogie 10 and back shaft 9 synchronous rotation, be provided with wheel carrier 12 in the bogie 10, be provided with the guide element of vertical direction between wheel carrier 12 and the bogie 10, the lower extreme and the wheel carrier 12 of back shaft 9 rotate to be connected, and the outside of back shaft 9 is equipped with spring 1, spring 1 sets up between wheel carrier 12 and bogie 10. The lower end of the supporting shaft 9 is provided with a limiting part, and the limiting part is used for limiting the supporting shaft 9 to fall off from the mounting hole at the upper end of the wheel carrier 12.
In this embodiment, the guiding element comprises a sliding block 101 disposed on an outer wall of the wheel frame 12 and a sliding groove disposed on an inner wall of the bogie 10, and the sliding block 101 cooperates with the sliding groove to realize the sliding connection between the wheel frame 12 and the bogie 10.
Specifically, the driving motor is connected with a speed reducer 801, the shell of the speed reducer 801 is fixedly connected with a wheel carrier through a flange, the power output part of the speed reducer 801 is connected with a hub 702 of a traveling wheel through a flange, a bearing flange 704 is connected with the wheel carrier, the hub 702 is connected with the bearing flange 704 through a bearing 703, and finally power is transmitted to the traveling wheel, and the traveling wheel comprises the hub 702 and a tire 701 outside the hub 702.
The working principle is as follows:
when the platform moves straight, the rotation output by the driving motor 802 is decelerated by the speed reducer 801 and the torque is increased, and then the rotation is transmitted to the walking wheels 7, so that the platform moves straight.
When the platform turns on site, the steering motor 5 drives the first gear 2 to rotate, and the first gear 2 is meshed with the second gear 3 to drive the second gear 3 to rotate; when the second gear 3 rotates, the whole driving wheels use the axis of the supporting shaft 9 as a rotating axis to realize steering, when each driving wheel rotates 45 degrees, the driving wheels rotate to the position shown in fig. 9, and the driving motor 802 drives the traveling wheels 7 to rotate, so that the platform steering is realized.
When the platform side direction goes, turn to motor 5 drive first gear 2 and rotate, and first gear 2 and the meshing of second gear 3 drive second gear 3 and rotate, and when second gear 3 rotated, whole drive wheel realized turning to, when rotatory 90, the control drive wheel was rotatory to realize platform lateral shifting.
When the platform travels in any direction, the steering motor 5 drives the first gear 2 to rotate, the first gear 2 is meshed with the second gear 3 to drive the second gear 3 to rotate, when the second gear 3 rotates, the whole driving wheel realizes steering, the driving wheel rotates to a specified angle, and the driving wheel is controlled to rotate, so that the platform can move laterally.
When the wheel track between two rows of walking wheel assemblies needs to be adjusted:
when the carrying platform runs to the road surface with a specific width or runs to a farmland provided with ridges, the wheel track between two rows of walking wheel assemblies has special requirements:
the steering motor 5 rotates, so that the supporting shaft 9 drives the whole walking wheel assembly to rotate, and the running direction of the walking wheels 7 in the walking wheel assembly is parallel to the extending direction of the guide rail 11. The screw rod 15 is rotated to enable the two nuts on the screw rod 15 to move towards or away from each other, and the movement of the nuts is transmitted to the two rows of walking wheel assemblies through the fixing piece, so that the distance between the two rows of walking wheel assemblies can be adjusted.
After the interval between two rows of walking wheels 7 is adjusted, steering motor 5 is rotatory for back shaft 9 drives whole walking wheel subassembly and rotates 90 degrees, and the walking direction of walking wheel 7 is perpendicular with guide rail 11, makes to utilize driving motor 802 to drive walking wheel 7 and walks.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The carrying platform with the adjustable wheel track is characterized by comprising a workbench, wherein two parallel rows of walking wheel assemblies are mounted on the lower surface of the workbench, each walking wheel assembly can rotate along the vertical axis of the walking wheel assembly to complete steering of the walking wheel assembly, and a rotary driving piece is mounted in each walking wheel assembly to drive the walking wheels in the walking wheel assemblies to rotate along the central axis of the walking wheel assembly;
each row of walking wheel assemblies are connected through a fixing piece, the walking wheel assemblies are connected with the lower surface of the workbench in a sliding mode through a guide piece, and the extending direction of the guide piece is perpendicular to the extending direction of each row of walking wheel assemblies;
the two rows of walking wheel assemblies can synchronously slide towards or away from each other along the guide piece so as to change the wheel distance between the two rows of walking wheel assemblies.
2. The adjustable track carrying platform of claim 1, wherein the vertical axes of the same row of road wheels are in the same vertical plane, and adjacent road wheel assemblies in the same row of road wheel assemblies are fixed by a connecting rod.
3. The adjustable track carrying platform as claimed in claim 1, wherein the guiding member comprises a guiding rail fixed on the lower surface of the workbench, the upper end of the walking wheel assembly is provided with a guiding groove, and the guiding rail and the guiding groove are used together to realize the sliding connection between the walking wheel assembly and the workbench.
4. The carrying platform with the adjustable wheel track according to claim 3, characterized in that the distance between the two rows of the traveling wheel assemblies is adjusted through a screw-nut mechanism, the screw-nut mechanism comprises two coaxially fixed screws, a nut is sleeved outside each screw, the nuts are respectively and fixedly connected with the fixing pieces in the two rows of the traveling wheel assemblies, and the screws are arranged in parallel with the guide rails;
the rotation directions of the two lead screws are opposite, so that in the rotating process of the lead screws, the nuts can drive the two rows of walking wheel assemblies to synchronously move towards or away from each other.
5. The adjustable track carrying platform of claim 1, wherein the number of the walking wheel assemblies in each row of walking wheel assemblies is two, four walking wheel assemblies are distributed on the lower surface of the workbench in a rectangular shape, and the two walking wheel assemblies in the same row are fixed through connecting rods.
6. The carrying platform with the adjustable wheel track according to claim 3, wherein the walking wheel assembly comprises a mounting table, the upper surface of the mounting table is provided with the guide groove, a support shaft is rotatably connected in the mounting table and is vertically arranged, and the support shaft is driven by a steering driving unit to realize rotation of the support shaft;
the lower extreme and the wheel carrier of back shaft are connected, rotate in the wheel carrier and install the walking wheel, install one side of wheel carrier rotary driving spare, rotary driving spare can the rotation of driving walking wheel along self axis.
7. A carrying platform with adjustable track according to claim 6, wherein the steering driving unit comprises a steering motor with an output shaft vertically arranged, a casing of the steering motor is fixed through a mounting table, the output shaft of the steering motor is coaxially fixed with a first gear, a second gear is arranged at the upper end of the supporting shaft, and the first gear is meshed with the second gear, so that the rotation of the steering motor can drive the movement of the supporting shaft.
8. A carrying platform with adjustable track according to claim 6, characterized in that a bogie is fixedly sleeved on the outer portion of the supporting shaft, the bogie and the supporting shaft rotate synchronously, a wheel carrier is arranged in the bogie, a vertical guide element is arranged between the wheel carrier and the bogie, the lower end of the supporting shaft is rotatably connected with the wheel carrier, and a spring is arranged on the outer portion of the supporting shaft and arranged between the wheel carrier and the bogie.
9. The adjustable wheel track carrying platform according to claim 8, wherein the lower end of the supporting shaft is provided with a stopper for limiting the supporting shaft from falling off from the mounting hole at the upper end of the wheel frame.
10. A load carrying platform with adjustable track according to claim 8, wherein the guiding element comprises a sliding block arranged on the outer wall of the wheel carrier and a sliding groove arranged on the inner wall of the bogie, and the sliding block and the sliding groove are matched to realize the sliding connection between the wheel carrier and the bogie.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010065243.9A CN111196309A (en) | 2020-01-20 | 2020-01-20 | A wheel base adjustable carrier platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010065243.9A CN111196309A (en) | 2020-01-20 | 2020-01-20 | A wheel base adjustable carrier platform |
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| CN111196309A true CN111196309A (en) | 2020-05-26 |
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| CN202010065243.9A Pending CN111196309A (en) | 2020-01-20 | 2020-01-20 | A wheel base adjustable carrier platform |
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| CN111959203A (en) * | 2020-07-02 | 2020-11-20 | 高艺宸 | Logistics transport vehicle capable of adjusting wheel base and wheel base |
| CN112470692A (en) * | 2020-12-18 | 2021-03-12 | 华中农业大学 | Intelligent hybrid rice male parent crushing robot |
| CN112477888A (en) * | 2020-12-07 | 2021-03-12 | 天津中德应用技术大学 | High-power locomotive bogie mobile device |
| CN113044137A (en) * | 2021-03-31 | 2021-06-29 | 华南理工大学 | Wheeled cargo transport robot chassis and cargo transport robot |
| CN113340399A (en) * | 2021-07-08 | 2021-09-03 | 广东博海计量科技有限公司 | Equipment and system for weighing data recording, storing, transmitting and interacting |
| WO2021238421A1 (en) * | 2020-05-27 | 2021-12-02 | 农业农村部南京农业机械化研究所 | Wheeled agricultural robot having self-adaptive wheel distance adjustment function, and adjustment method therefor |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN114734754A (en) * | 2022-04-19 | 2022-07-12 | 青岛大学 | Independent self-adaptive steering wheel structure |
| CN114771155A (en) * | 2022-06-22 | 2022-07-22 | 徐州永盛机电有限公司 | Motor axle assembly for driving electric vehicle |
| CN115119641A (en) * | 2022-08-04 | 2022-09-30 | 山东鼎泰昇交通科技有限公司 | Hedge trimming means is invaded to railway |
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| WO2021238421A1 (en) * | 2020-05-27 | 2021-12-02 | 农业农村部南京农业机械化研究所 | Wheeled agricultural robot having self-adaptive wheel distance adjustment function, and adjustment method therefor |
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| CN113044137B (en) * | 2021-03-31 | 2025-08-01 | 华南理工大学 | Wheel type cargo carrying robot chassis and cargo carrying robot |
| CN113044137A (en) * | 2021-03-31 | 2021-06-29 | 华南理工大学 | Wheeled cargo transport robot chassis and cargo transport robot |
| CN113340399A (en) * | 2021-07-08 | 2021-09-03 | 广东博海计量科技有限公司 | Equipment and system for weighing data recording, storing, transmitting and interacting |
| CN113340399B (en) * | 2021-07-08 | 2023-01-17 | 广东博海计量科技有限公司 | Equipment and system for weighing data recording, storing, transmitting and interacting |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN113859380B (en) * | 2021-10-20 | 2023-09-08 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN114734754A (en) * | 2022-04-19 | 2022-07-12 | 青岛大学 | Independent self-adaptive steering wheel structure |
| CN114771155A (en) * | 2022-06-22 | 2022-07-22 | 徐州永盛机电有限公司 | Motor axle assembly for driving electric vehicle |
| CN115119641A (en) * | 2022-08-04 | 2022-09-30 | 山东鼎泰昇交通科技有限公司 | Hedge trimming means is invaded to railway |
| CN115610471A (en) * | 2022-11-10 | 2023-01-17 | 北京中建空列集团有限公司 | Wheelbase variable mechanism and bogie |
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