CN204526693U - The independent wheel suspension of Mecanum wheel intelligent family moving platform - Google Patents
The independent wheel suspension of Mecanum wheel intelligent family moving platform Download PDFInfo
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- CN204526693U CN204526693U CN201520022525.5U CN201520022525U CN204526693U CN 204526693 U CN204526693 U CN 204526693U CN 201520022525 U CN201520022525 U CN 201520022525U CN 204526693 U CN204526693 U CN 204526693U
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Abstract
The utility model relates to a kind of independent wheel suspension of Mecanum wheel intelligent family moving platform, under being located at mobile platform, the radial side of Mecanum wheel, there is feed rod, linear bearing, spring, feed rod flange and erecting frame, wherein one end of feed rod is connected with mobile platform by feed rod flange, and the other end of feed rod is connected on erecting frame by feed rod seat; Feed rod is connected with feed rod seat through linear bearing, outside feed rod, is nested with spring between feed rod flange and linear bearing.The independent wheel suspension of the utility model Mecanum wheel intelligent family moving platform has organically combined the advantage of independent wheel suspension and the advantage of Mecanum wheel mobile platform, platform operates steadily, the adaptive capacity stronger to unfairness landform and certain obstacle climbing ability, platform bearer good rigidly, obstacle climbing ability is strong.
Description
Technical field
The utility model relates to a kind of intelligent family moving platform, specifically a kind of independent wheel suspension of Mecanum wheel intelligent family moving platform.
Background technology
In existing Mecanum wheel mobile platform, major part is the structure adopted without buffering or suspension, directly be connected with platform, modal a kind of Mecanum wheel mobile platform version, the advantage of this kind of form is that load-carrying capacity is high, capacity usage ratio is high, mechanism and control are simply, and prior art comparative maturity, shortcoming is that road pavement flatness requirement is very high, road slightly unfairness will make platform fluctuation of service, in particular for when on smooth hard road and its, load center of gravity is very high, crank when being easy to cause operation, cause rocking more greatly.Particularly the planeness on road surface is very bad, and when four wheels can not be landed simultaneously, mobile platform can not realize good omnidirectional moving.Use will the manufacturing cost in place be caused to rise for adapting to Mecanum wheel mobile platform, or make Mecanum wheel mobile platform Applicable scope become narrow.
Utility model content
For in prior art Mecanum wheel mobile platform become run time crank, cause deficiencies such as rocking more greatly, the technical problems to be solved in the utility model is to provide the independent wheel suspension of the Mecanum wheel intelligent family moving platform that a kind of platform operates steadily, obstacle climbing ability is strong.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
The independent wheel suspension of a kind of Mecanum wheel intelligent family moving platform of the utility model, under being located at mobile platform, the radial side of Mecanum wheel, there is feed rod, linear bearing, spring, feed rod flange and erecting frame, wherein one end of feed rod is connected with mobile platform by feed rod flange, and the other end of feed rod is connected on erecting frame by feed rod seat; Feed rod is connected with feed rod seat through linear bearing, outside feed rod, is nested with spring between feed rod flange and linear bearing.
Servomotor and reductor are installed in erecting frame side, and opposite side is by bearing-mounted wheel axle, and wheel shaft two ends install synchronous pulley and Mecanum wheel respectively, and synchronous pulley is rotationally connected by the mouth of Timing Belt and reductor.
Install energy disperser at erecting frame midway location, the piston of energy disperser abuts with mobile platform bottom surface.
Each Mecanum wheel has two cover independent wheel suspension guiding mechanisms, is positioned at the both sides of Mecanum wheel.
The utility model has following beneficial effect and advantage:
1. the independent wheel suspension of the utility model Mecanum wheel intelligent family moving platform has organically combined the advantage of independent wheel suspension and the advantage of Mecanum wheel mobile platform, and platform operates steadily;
2. the utility model is to the stronger adaptive capacity of unfairness landform and certain obstacle climbing ability, platform bearer good rigidly, and obstacle climbing ability is strong;
3. the utility model can realize the steady carrying of center of gravity higher load by independent wheel suspension.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the utility model independent wheel suspension is applied in Mecanum wheel intelligent family moving platform;
Fig. 2 is the utility model independent wheel suspension structural front view;
Fig. 3 is that the utility model structure is bowed direction view.
Wherein, 1 is the independent wheel suspension of Mecanum wheel intelligent family moving platform, and 2 is mobile platform, 3 is energy disperser, and 4 is feed rod flange, and 5 is cylindrical compression spring, 6 is feed rod, and 7 is linear bearing, and 8 is feed rod seat, 9 is motor, and 10 is reductor, and 11 is synchronous pulley, 12 is wheel shaft, and 13 is Timing Belt, and 14 is bearing seat, 15 is deep groove ball bearing, and 16 is erecting frame, and 17 is Mecanum wheel.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention is further elaborated.
As shown in Figures 1 to 3, the independent wheel suspension of the utility model Mecanum wheel intelligent family moving platform be a kind of can the Mecanum wheel pedestal of passive adjustment, make the supporting mechanism that Mecanum wheel floats at vertical direction.
The independent wheel suspension 1 of the utility model Mecanum wheel intelligent family moving platform is located at mobile platform 2 times, the radial side of Mecanum wheel 17, there is feed rod 6, linear bearing 7, spring 5, feed rod flange 4 and erecting frame 16, wherein one end of feed rod 6 is connected with mobile platform 2 by feed rod flange 4, and the other end of feed rod 6 is connected on erecting frame 16 by feed rod seat 8; Feed rod 6 is connected with feed rod seat 8 through linear bearing 7, outside feed rod 6, is nested with spring 5 between feed rod flange 4 and linear bearing 7.
Servomotor 9 and reductor 10 are installed in erecting frame 16 side, and opposite side is by bearing-mounted wheel axle 12, and wheel shaft 12 two ends install synchronous pulley 11 and Mecanum wheel 17 respectively, and synchronous pulley 11 is rotationally connected by the mouth of Timing Belt 13 with reductor 10.
In the present embodiment, mobile platform 2 connects feed rod flange 4, feed rod 6 is contained in described feed rod flange 4, feed rod 6 is connected with feed rod seat 8 through linear bearing 7, place a cylindrical compression spring 5 between the feed rod flange 4 of erecting stage 2 and linear bearing 7 to realize passively adjusting the function cushioned, feed rod seat 8 is coordinated by seam and is arranged on erecting frame 16.
Described erecting frame 16 is hollow structure, servomotor 9 and reductor 10 and synchronous pulley 11 are installed in side, opposite side installation shaft bearing 14, wheel shaft 12 is installed in bearing seat 14, two deep groove ball bearings 15 are installed at the two ends of wheel shaft 12 respectively, and deep groove ball bearing 15 is compressed by gland and realizes the fixing of wheel shaft 12 and bearing seat 14; Synchronous pulley 11 is installed in one end of wheel shaft 12, and the other end is connected with Mecanum wheel 17, drives Mecanum wheel 17 to move by Timing Belt 13.Install an energy disperser 3 at described erecting frame 16 midway location, its piston is connected on the bottom surface of mobile platform 2, realizes auxiliary buffering.
Claims (4)
1. the independent wheel suspension of a Mecanum wheel intelligent family moving platform, it is characterized in that: under being located at mobile platform, the radial side of Mecanum wheel, there is feed rod, linear bearing, spring, feed rod flange and erecting frame, wherein one end of feed rod is connected with mobile platform by feed rod flange, and the other end of feed rod is connected on erecting frame by feed rod seat; Feed rod is connected with feed rod seat through linear bearing, outside feed rod, is nested with spring between feed rod flange and linear bearing.
2. by the independent wheel suspension of Mecanum wheel intelligent family moving platform according to claim 1, it is characterized in that: servomotor and reductor are installed in erecting frame side, opposite side is by bearing-mounted wheel axle, wheel shaft two ends install synchronous pulley and Mecanum wheel respectively, and synchronous pulley is rotationally connected by the mouth of Timing Belt and reductor.
3. by the independent wheel suspension of Mecanum wheel intelligent family moving platform according to claim 1, it is characterized in that: install energy disperser at erecting frame midway location, the piston of energy disperser abuts with mobile platform bottom surface.
4., by the independent wheel suspension of Mecanum wheel intelligent family moving platform according to claim 1, it is characterized in that: each Mecanum wheel has two cover independent wheel suspension guiding mechanisms, is positioned at the both sides of Mecanum wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520022525.5U CN204526693U (en) | 2015-01-13 | 2015-01-13 | The independent wheel suspension of Mecanum wheel intelligent family moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520022525.5U CN204526693U (en) | 2015-01-13 | 2015-01-13 | The independent wheel suspension of Mecanum wheel intelligent family moving platform |
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| CN204526693U true CN204526693U (en) | 2015-08-05 |
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| CN201520022525.5U Active CN204526693U (en) | 2015-01-13 | 2015-01-13 | The independent wheel suspension of Mecanum wheel intelligent family moving platform |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494382A (en) * | 2015-01-13 | 2015-04-08 | 辽宁欣海弘业航空科技有限公司 | Independent suspension mechanism of intelligent Mecanum wheel movement platform |
| CN106256568A (en) * | 2016-07-28 | 2016-12-28 | 南京理工大学 | A kind of reckoning positioning robot chassis applying vertical damping device |
| CN107458160A (en) * | 2017-09-20 | 2017-12-12 | 河北工业大学 | A kind of main passive stiffness-shift independent suspension supporting mechanism |
| CN108407564A (en) * | 2018-01-26 | 2018-08-17 | 北京启创远景科技有限公司 | A kind of shock-proof cart wheel carrier of robot car |
| WO2021093498A1 (en) * | 2019-11-11 | 2021-05-20 | 广东博智林机器人有限公司 | Omnidirectional movement chassis |
-
2015
- 2015-01-13 CN CN201520022525.5U patent/CN204526693U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494382A (en) * | 2015-01-13 | 2015-04-08 | 辽宁欣海弘业航空科技有限公司 | Independent suspension mechanism of intelligent Mecanum wheel movement platform |
| CN106256568A (en) * | 2016-07-28 | 2016-12-28 | 南京理工大学 | A kind of reckoning positioning robot chassis applying vertical damping device |
| CN107458160A (en) * | 2017-09-20 | 2017-12-12 | 河北工业大学 | A kind of main passive stiffness-shift independent suspension supporting mechanism |
| CN107458160B (en) * | 2017-09-20 | 2023-06-06 | 河北工业大学 | Active-passive variable-rigidity independent suspension supporting mechanism |
| CN108407564A (en) * | 2018-01-26 | 2018-08-17 | 北京启创远景科技有限公司 | A kind of shock-proof cart wheel carrier of robot car |
| WO2021093498A1 (en) * | 2019-11-11 | 2021-05-20 | 广东博智林机器人有限公司 | Omnidirectional movement chassis |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200710 Address after: 200000 C building, No. two, 888 West Road, Nanhui new town, Pudong New Area, Shanghai, China Patentee after: Shanghai Zhiyuan Hongye Intelligent Technology Co.,Ltd. Address before: 201210 Shanghai city in Pudong New Area Zhangjiang hi tech 289 Lane Road, building 101 room 1 Patentee before: SHANGHAI AWINNER ROBOTICS Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 200052 Room 6101, Building 6, No. 1538, Yan'an West Road, Changning District, Shanghai Patentee after: Shanghai Zhiyuanhui Intelligent Technology Co.,Ltd. Address before: Room C, No. 888, Huanhu West 2nd Road, Nanhui new town, Pudong New Area, Shanghai Patentee before: Shanghai Zhiyuan Hongye Intelligent Technology Co.,Ltd. |