CN204701403U - A kind of wheel carrier structure of Mecanum wheel dolly - Google Patents
A kind of wheel carrier structure of Mecanum wheel dolly Download PDFInfo
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- CN204701403U CN204701403U CN201520468147.3U CN201520468147U CN204701403U CN 204701403 U CN204701403 U CN 204701403U CN 201520468147 U CN201520468147 U CN 201520468147U CN 204701403 U CN204701403 U CN 204701403U
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Abstract
A kind of wheel carrier structure of Mecanum wheel dolly; Comprise vehicle wheel frame, drive motor and Mecanum wheel, described vehicle wheel frame is connected to form cube frame structure mutually from beginning to end by 12 root type materials, the center of described section bar is provided with fixed via, and is radially provided with the cell body of multiple outside opening along the surrounding of described fixed via; The both sides of described vehicle wheel frame are provided with fixing shrouding, and described drive motor is fixed on described fixing shrouding and is arranged on the inside of described vehicle wheel frame framework.Easy for installation, and simplify the structure, also mitigate the weight of car body simultaneously, save cost.
Description
Technical field
The utility model relates to Vehicle Engineering, particularly a kind of wheel carrier structure of Mecanum wheel dolly.
Background technology
Mecanum wheel (Mecanum Wheel), also known as " omni-directional wheel ", is a kind of all-around mobile wheel, 1973 by Swiss BengtLion utility model, so also make Lion take turns.The feature of Mecanum wheel is on the basis of conventional wheel, and wheel rim tilts to install (45 degree in the majority) some small rollers that can rotate freely with axis, like this when wheel rolling, small roller will produce radio direction finding.Combinationally using and controlling by Mecanum wheel, any direction that car body can be made to produce in plane of movement moves and rotates.
Existing Mecanum wheel dolly is the stability ensureing dolly overall operation, the single-piece of its framed structure or manufacturing cost is high, the cycle is longer in a small amount; When dolly needs installation or removal extended function module, generally directly by screw or other connecting elements, module is fixed on the load platform of dolly, be unfavorable for that dolly load platform long term frequent repeats to install, dismantle the use of expansion equipment, and operate need use professional tool, comparatively bother.
Utility model content
For above-mentioned defect, the purpose of this utility model is the wheel carrier structure proposing a kind of Mecanum wheel dolly.
For reaching this object, the utility model by the following technical solutions:
A kind of wheel carrier structure of Mecanum wheel dolly; Comprise vehicle wheel frame, drive motor and Mecanum wheel, described vehicle wheel frame is connected to form cube frame structure mutually from beginning to end by 12 root type materials, the center of described section bar is provided with fixed via, and is radially provided with the cell body of multiple outside opening along the surrounding of described fixed via;
The both sides of described vehicle wheel frame are provided with fixing shrouding, and described drive motor is fixed on described fixing shrouding and is arranged on the inside of described vehicle wheel frame framework.
Also comprise load frame, described load frame covers on the vehicle frame two vehicle wheel frames being formed described Mecanum wheel dolly; Described load frame fixes by the connection of section bar head and the tail, shrouding the framed structure formed, and its upper surface is fixed with load plane;
With the smooth ground residing for dolly for level reference, described load frame is vertically highly greater than the vertical height of described vehicle wheel frame, two vehicle wheel frames are sleeved on the inside casing both sides of described load frame, axial line on vehicle wheel frame length direction is parallel to the ground, axial line on load frame length direction is also parallel to ground, and both axial lines are orthogonal relation; Be provided with the center that main shaft is arranged on described load frame, its length is not less than the entire length of described load frame, the two ends of described main shaft are successively through the installation shrouding that relevant position on the side of vehicle wheel frame and load frame is provided with, and described main shaft is connected with described installation shrouding by bearing.
Described section bar is divided into horizontal section bar, longitudinal profile and vertical section bar, described shrouding is divided into fixing shrouding and installs shrouding, described vehicle wheel frame comprises upper frame, underframe and vertical section bar, described upper frame comprises two horizontal section bars and two longitudinal profiles, horizontal section bar and longitudinal profile successively end to end become a quadrilateral structure, described underframe comprises two horizontal section bars and two longitudinal profiles, horizontal section bar and longitudinal profile successively end to end become a quadrilateral structure, connected by four vertical section bars between upper frame and underframe, make the end face of horizontal section bar exposed on the side plane of described vehicle wheel frame, described fixing shrouding is arranged on the side plane of described vehicle wheel frame, screw is used to fix with the fixed via in described horizontal section bar exposed end face through after described fixing shrouding, the outside of shrouding is fixed in the both sides that described Mecanum wheel is separately positioned on described vehicle wheel frame:
The position of described horizontal section bar, longitudinal profile and vertical section bar vertical connection between two, fix respectively by corner fittings, screw and nut, described corner fittings is made up of orthogonal two boards part, and plate is all provided with the installation through hole stretched into for screw, during installation, the lateral surface of two plates respectively with orthogonal section bar contacts side surfaces;
The large end of described screw is located in the cell body of described section bar, and its small end is fixed by nut through after the installation through hole of plate; Or described nut is located in the cell body of described section bar, the small end of screw is fixed with the nut in cell body through after the installation through hole of plate.
Described section bar is divided into horizontal section bar, longitudinal profile and vertical section bar, and described shrouding is divided into fixing shrouding and installs shrouding, described load frame comprises upper frame and body side frame, described upper frame comprises two horizontal section bars and two longitudinal profiles, horizontal section bar and longitudinal profile successively end to end become a quadrilateral structure, described body side frame comprises two longitudinal profiles and two vertical section bars, wherein, in two longitudinal profiles of body side frame, wherein one is the longitudinal profile of upper frame, two longitudinal profiles are interconnected by vertical section bar, make the exposed side plane in described load frame of the end face of horizontal section bar, described fixing shrouding is arranged on the side plane of described load frame, described fixed link is fixed with the fixed via in described horizontal section bar exposed end face through after described fixing shrouding,
The position of described horizontal section bar, longitudinal profile and vertical section bar vertical connection between two, fix respectively by corner fittings, screw and nut, described corner fittings is made up of orthogonal two boards part, and plate is all provided with the installation through hole stretched into for screw, during installation, the lateral surface of two plates respectively with orthogonal section bar contacts side surfaces;
The large end of described screw is located in the cell body of described section bar, and its small end is fixed by nut through after the installation through hole of plate; Or described nut is located in the cell body of described section bar, the small end of screw is fixed with the nut in cell body through after the installation through hole of plate.
The both sides, front and back of described vehicle frame are provided with front and back protective cover, and described front and back protective cover is four hollow rib vertebra platform structures, and just downward-sloping to the side of the wheel carrier structure platform working direction of described a kind of Mecanum wheel dolly when arranging.
Be provided with the left and right protective cover of pyramidal structure between two Mecanum wheels of described vehicle frame the same side, described left and right protective cover is fixed on load plane;
The side of described load plane is provided with the trapezoidal groove of base opening, and on the protective cover of described left and right, a limit of positive bevel is fixed on the top margin of trapezoidal groove, and the skew back face of left and right protective cover is fixed on the waist limit of trapezoidal groove; The zhou duicheng tuxing that described left and right protective cover is is axis of symmetry with another limit of its positive bevel.
Each described Mecanum wheel is respectively by independently drive motor and retarder driving, and described drive motor is fixed on the fixing shrouding of described vehicle wheel frame both sides.
The motor shaft of described drive motor is connected with coder by belt, and the main body of described coder and described drive motor is positioned at the same side of described belt.
Described load frame is provided with power supply installing frame, and described power supply installing frame hangs the center being fixed on described load frame.
Use the dolly of the wheel carrier structure of the Mecanum car as described in claim 1-9 any one.
The beneficial effects of the utility model: load frame and vehicle wheel frame are fixed by shrouding and main shaft, without the need to arranging section bar for fixing vehicle wheel frame in the below of load frame, simplifying the structure, also mitigating the weight of car body simultaneously, save cost; Load frame and vehicle wheel frame are connected as one by the main shaft and installation shrouding of being located at center, install the relevant position that shrouding is arranged on load frame and the vehicle wheel frame side passed at main shaft two ends, structure is simple, and balance is strong.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the present utility model;
Fig. 2 is the structural representation that trolley platform of the present utility model lacks a Mecanum wheel;
Fig. 3 is the mounting structure schematic diagram of load frame of the present utility model and vehicle wheel frame;
Fig. 4 is the structural representation of an embodiment of the utility model medium section;
Fig. 5 is the structural representation of the embodiment that the utility model medium section and section bar are installed;
Fig. 6 is the structural representation of another embodiment that the utility model medium section and section bar are installed;
Fig. 7 is the lateral plan of an embodiment of the present utility model;
Fig. 8 is the cutaway view in A-A direction in Fig. 7;
Fig. 9 is the scheme of installation of extended function module in the utility model;
Figure 10 is the structural representation of the embodiment that in the utility model, dead bolt and fixing feet are installed;
Figure 11 is the scheme of installation of drive motor and coder in the utility model;
Figure 12 is the circuit diagram of first embodiment of motor-drive circuit in the utility model;
Figure 13 is the circuit diagram of second embodiment of motor-drive circuit in the utility model;
Figure 14 is the circuit diagram of the 3rd embodiment of motor-drive circuit in the utility model.
Wherein: vehicle frame 1, load frame 101, vehicle wheel frame 102, main shaft 103;
Mecanum wheel 2, load plane 3, trapezoidal groove 31;
Section bar 4, horizontal section bar 41, longitudinal profile 42, vertical section bar 43, fixed via 401, cell body 402;
Fixing shrouding 51, installs shrouding 52;
Screw 6, upper frame 7, body side frame 8, underframe 9, front and back protective cover 10, left and right protective cover 11;
Waling stripe 121, vertical connecting rod 122, longitudinal rod 123, ball joint bearing 124, ball joint bearing threaded shaft 1241, long nut 125;
Mounting hole 13, extended function module 14, fixing feet 141, fixed groove 142, dead bolt 151, push rod 152, eccentric wheel 1531, mounted motor 1532, limitting casing 1533;
Drive motor 16, retarder 17, coder 18, belt 19, camera 20, power supply installing frame 21, corner fittings 22, nut 23, direct supply 24, double pole double throw 25, left normally closed switch 26, right normally closed switch 27, left diode 28, right diode 29, actuator 30, controller 32, left sensing switch 33, right sensing switch 34.
Detailed description of the invention
The technical solution of the utility model is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figure 1, Figure 2 and Figure 3, a kind of wheel carrier structure of Mecanum wheel dolly, comprises vehicle frame 1, plural Mecanum wheel 2 and load plane 3, and described load plane 3 is fixed on described vehicle frame 1; Described vehicle frame 1 is made up of a load frame 101, two vehicle wheel frames 102 and main shaft 103;
Described load frame 101 and vehicle wheel frame 102 are all by section bar 4, shrouding, screw 6, corner fittings 22 and nut 23 tower structure fixedly, the center of described section bar 4 is provided with fixed via 401, and the cell body 402 of multiple outside opening is radially provided with along the surrounding of described fixed via 401, as shown in Figure 4, described section bar 4 is divided into horizontal section bar 41, longitudinal profile 42 and vertical section bar 43, and described shrouding is divided into fixing shrouding 51 and installs shrouding 52;
Described load frame 101 comprises upper frame 7 and body side frame 8, described upper frame 7 comprises two horizontal section bars 41 and two longitudinal profiles 42, horizontal section bar 41 and longitudinal profile 42 successively end to end become a quadrilateral structure, described body side frame 8 comprises two longitudinal profiles 42 and two vertical section bars 43, wherein, in two longitudinal profiles 42 of body side frame 8, wherein one is the longitudinal profile 42 of upper frame 7, two longitudinal profiles 42 are interconnected by vertical section bar 43, make the exposed side plane in described load frame 101 of the end face of horizontal section bar 41, described fixing shrouding 51 is arranged on the side plane of described load frame 101, described screw 6 is fixed with the fixed via 401 of the exposed end face of described horizontal section bar 41 through after described fixing shrouding 51,
Described vehicle wheel frame 102 comprises upper frame 7, underframe 9 and vertical section bar 43, described upper frame 7 comprises two horizontal section bars 41 and two longitudinal profiles 42, horizontal section bar 41 and longitudinal profile 42 successively end to end become a quadrilateral structure, described underframe 9 comprises two horizontal section bars 41 and two longitudinal profiles 42, horizontal section bar 41 and longitudinal profile 42 successively end to end become a quadrilateral structure, connected by four vertical section bars 43 between upper frame 7 and underframe 9, make the end face of horizontal section bar 41 exposed on the side plane of described vehicle wheel frame 102, described fixing shrouding 51 is arranged on the side plane of described vehicle wheel frame 102, described screw 6 is fixed with the fixed via 401 of the exposed end face of described horizontal section bar 41 through after described fixing shrouding 51, the outside of shrouding 51 is fixed in the both sides that described Mecanum wheel 2 is separately positioned on described vehicle wheel frame 102,
As shown in Figures 5 and 6, the position of described horizontal section bar 41, longitudinal profile 42 and vertical section bar 43 vertical connection between two, fix respectively by corner fittings 22, screw 6 and nut 23, described corner fittings 22 is made up of orthogonal two boards part, and plate is all provided with the installation through hole stretched into for screw, during installation, the lateral surface of two plates respectively with orthogonal section bar contacts side surfaces;
The large end of described screw 6 is located in the cell body of described section bar, and its small end is fixed by nut 23 through after the installation through hole of plate; Or described nut 23 is located in the cell body 403 of described section bar, the small end of screw 6 is fixed with the nut 23 in cell body 403 through after the installation through hole of plate;
With the smooth ground residing for dolly for level reference, vertical section bar 43 length in described load frame 101 is greater than the vertical section bar 43 in described vehicle wheel frame 102, two vehicle wheel frames are sleeved on the inside casing both sides of described load frame 101, axial line on vehicle wheel frame 102 length direction (Y direction in Fig. 2) is parallel to the ground, axial line on load frame 101 length direction (X-direction in Fig. 2) is also parallel to ground, and both axial lines are orthogonal relation; Described main shaft 103 is arranged on the center of described load frame 101, its length is not less than the length of horizontal section bar 41 in described load frame 101, the two ends of described main shaft 103 are successively through the installation shrouding 52 that the relevant position of the side of vehicle wheel frame 102 and load frame 101 is provided with, and described main shaft 103 is connected with described installation shrouding 52 by bearing.
In the technical program, section bar 4 and the fixing shrouding 51 of vehicle frame 3 fixedly form, wherein, the horizontal section bar 41 of vehicle wheel frame 102: four is parallel to each other and places four long limits of formation two upper frame 7, the both sides of horizontal section bar 41, two medial surfaces that the both ends of the surface of longitudinal profile 42 are relative with horizontal section bar 41 respectively contact, two medial surfaces that the both ends of the surface of vertical section bar 43 are relative with horizontal section bar 41 respectively contact, on then perpendicular with horizontal section bar 41 side plane, the central through hole 401 on horizontal section bar 41 end face is exposed; Be placed on the side plane of load frame 101 by fixing shrouding 51, screw 6 is fixed with the central through hole 401 of described horizontal section bar 41 through after fixing shrouding 51, realizes the fixing of 4 angles;
The position of described horizontal section bar 41, longitudinal profile 42 and vertical section bar 43 vertical connection between two, fix respectively by corner fittings 22, screw 6 and nut 23, described corner fittings 22 is made up of orthogonal two boards part, and plate is all provided with the installation through hole stretched into for screw, during installation, the lateral surface of two plates respectively with orthogonal section bar contacts side surfaces;
The large end of described screw 6 is located in the cell body of described section bar, and its small end is fixed by nut 23 through after the installation through hole of plate; Or described nut 23 is located in the cell body 403 of described section bar, the small end of screw 6 is fixed with the nut 23 in cell body 403 through after the installation through hole of plate;
The producing principle of load frame 101 is identical with vehicle wheel frame 102, and difference is that the horizontal section bar making load frame 101 is two, and be located at the top of load frame 101, and vehicle wheel frame 102 is four, each two be arranged in parallel up and down; In the technical program, fixed by two vehicle frames by shrouding and main shaft 103, without the need to arranging section bar for fixing vehicle wheel frame 102 in the below of load frame 101, the cost reducing framed structure single-piece or manufacture in a small amount, shortens its production cycle, saves cost.
Load frame 101 and vehicle wheel frame 102 are connected as one by the main shaft 103 and installation shrouding 52 of being located at center, install the relevant position that shrouding 52 is arranged on load frame 101 and vehicle wheel frame 102 side passed at main shaft 103 two ends, structure is simple, and balance is strong.
And make in the process of above-mentioned body frame structure for automotive, only screw 6 need be installed in central through hole 401 or cell body 402, and place corner fittings 22 in the position of horizontal section bar 41, longitudinal profile 42 and vertical section bar 43 vertical connection between two, make the lateral surface of two of corner fittings 22 plates respectively with orthogonal section bar contacts side surfaces, by the fixing corner of screw and nut, easy to operate; And section bar is based on the constructional feature of self, without the need to further processing, as long as select the section bar of suitable dimension, be then cut into suitable dimension, easy to operate, good stability.
The both sides, front and back of described vehicle frame 1 are provided with front and back protective cover 10, and described front and back protective cover 10 is four hollow rib vertebra platform structures, and just downward-sloping to the side of described trolley platform working direction when arranging.
The setting of front and back protective cover 10, forms the protection to trolley platform inner structure, meanwhile, when installation is arranged, tetragonous cone table is just adjusted to downward-sloping angle to the side of trolley platform working direction, is beneficial to reduce resistance when trolley platform runs.
Be provided with the left and right protective cover 11 of pyramidal structure between two Mecanum wheels 2 of described vehicle frame 1 the same side, described left and right protective cover 11 is fixed on load plane 3;
The side of described load plane 3 is provided with the trapezoidal groove 31 of base opening, and on described left and right protective cover 11, a limit of positive bevel is fixed on the top margin of trapezoidal groove 31, and the skew back face of left and right protective cover 11 is fixed on the waist limit of trapezoidal groove 31; The zhou duicheng tuxing that described left and right protective cover 11 is is axis of symmetry with another limit of its positive bevel.
The setting of left and right protective cover 11; form the protection to trolley platform inner structure; and the left and right protective cover 11 of pyramidal structure is installed by the trapezoidal groove 31 in load plane 3; compact conformation during installation; alleviate the weight of car body; and the skew back face of left and right protective cover 11 has adapted to the operation of Mecanum wheel 2 better, the foreign material of sweeping along when simultaneously preventing Mecanum wheel 2 from running have entered vehicle body, ensure the normal operation of trolley platform.
As shown in Figures 7 and 8, described vehicle frame 1 is provided with the hitch on energy self adaptation ground, and described hitch is made up of waling stripe 121, vertical connecting rod 122, longitudinal rod 123, long nut 125 and ball joint bearing 124;
Waling stripe 121 described in two is separately positioned on and described main shaft 103 both sides, and all parallel with described main shaft 103; Described waling stripe two ends respectively with ball joint bearing sliding block joint, corresponding ball joint bearing is fixed on two vehicle wheel frames;
The center of described waling stripe 121 is provided with the ball joint bearing 124 that can rotate around its axis, described vertical connecting rod 122 is vertically set on the center of described waling stripe 121, its one end is arranged on the upper frame 7 of described load frame 101 by ball joint bearing 124, the other end is provided with ball joint bearing 124, and be connected by the ball joint bearing 124 of connection rotating shaft with described waling stripe 121 center, the rotation direction of described connection rotating shaft is vertical with the axis direction of described waling stripe 121;
The central axis of described longitudinal rod 123 is the vertical central axis with described main shaft 103 in the plane being parallel to ground, longitudinal rod 123 passes and the rear two ends being fixed on described main shaft 103 are fixed respectively by one end of screw thread and long nut 125, the other end of long nut 125 is fixed by one end of screw thread and ball joint bearing threaded shaft 1241, and the other end of described ball joint bearing threaded shaft 1241 is fixed on the ball joint bearing of this side waling stripe 121 center.
When ground unfairness, between front wheel frame and rear wheel frame with main shaft 103 for the center of circle there is relative torsion time, and in this trolley platform, be provided with hitch, take center shaft as the half that the angle of inclination in the center of circle only has the angle between front wheel carrier and rear wheel frame.This feature is conducive to reducing advancing the amplitude of moderately gusty air, has certain protective effect to the equipment that car body loads, article etc.; Reduce the requirement of trolley platform to ground flat degree by hitch, four Mecanum wheels 2 are fitted ground all the time, improve earth-grasping force, so the energy obtains efficiency utilization.
As shown in Fig. 8, Fig. 9 and Figure 10, described load plane 3 is provided with the mounting hole 13 arranging extended function module 14, and described extended function module 14 is fixed in described mounting hole 13 by rapid installation device; The bottom of described extended function module 14 is provided with the fixing feet 141 inserting described mounting hole 13, and described fixing feet 141 is provided with fixed groove 142;
Described rapid installation device comprises dead bolt 151, push rod 152 and actuating device, and described push rod 152 is slidably disposed on described vehicle frame 1; Described dead bolt 151 is fixed on described push rod 152, and described actuating device drives the motion of described push rod 152 to make dead bolt 151 snap in described fixed groove 142 or leave described fixed groove 142.
When needing extended function module (being integrated with as lamp, the first-class module with specific functional elements of making a video recording) is installed in load plane 3, first the fixing feet 141 of extended function module 14 is inserted in mounting hole 13, then drive the motion of described push rod 152 to make dead bolt 151 snap in described fixed groove 142 by described actuating device; When needing to dismantle lower extended function module 14, push rod 152 described in reverse drive is only needed to make dead bolt 151 leave fixed groove 142; Quick lock in and unblock, without the need to instrument, facilitate extended function module compression and decompression.
As shown in FIG. 9 and 10, along the axis of described fixing feet 141 to the direction at its edge, described fixed groove 142 in the increase gradually with described fixing feet 141 axis being parallel direction, from the movement of vertical direction and left and right limiting module, improve its fixing time stability.
Described actuating device comprises eccentric wheel 1531, mounted motor 1532, limitting casing 1533 and motor-drive circuit, described limitting casing is fixed on described push rod 152, described mounted motor 1532 is fixed on described vehicle frame 1, drives described eccentric wheel 1531 to rotate in described limitting casing 1533 after described motor-drive circuit drive installation motor 1532 by rotating shaft.
When described eccentric wheel 1531 rotates in described limitting casing 1533, its profile constantly contacts with the madial wall of limitting casing 1533, due to the feature of eccentric wheel 1531 self, on its profile each point to its center of turn distance not etc., so in eccentric wheel 1531 rotation process, promote power of its motion to limitting casing 1,533 one, post exercise limitting casing 1533 drives push rod 152 moving linearly again, utilize eccentric wheel 1531 to complete to drive push rod 152, structure is simple, convenient control.
As shown in figure 12, the first embodiment of described motor-drive circuit comprises direct supply 24, double pole double throw 25, left normally closed switch 26, right normally closed switch 27, left diode 28 and right diode 29, and described double pole double throw 25 is electrically connected with described direct supply 24;
Connect with double pole double throw 25 in left normally closed switch 26 and left diode 28 rear one end in parallel, the other end is connected with the rotating forward switch of described mounted motor 1532; Connect with double pole double throw 25 in right normally closed switch 27 and right diode 29 rear one end in parallel, the other end is connected with the reversal switch of described mounted motor 1532; Described left normally closed switch 26 and right normally closed switch 27 are separately positioned on the extreme sport position at described push rod about 152 two ends.
In the present embodiment, adopt double pole double throw 25 to switch mounted motor 1532 hand of rotation, mounted motor 1532 is with movable eccentric wheel 1531 to rotate, and eccentric wheel 1531 promotes push rod 152 parallel motion.Left normally closed switch 26 state is changed for often to open when push rod 152 arrives left-limit, the characteristic that left diode has forward conduction oppositely to end, the stall of mounted motor 1532 dead electricity, now double pole double throw 25 is pulled another side and could oppositely be switched on power, so when mounted motor 1532 once will automatically stop after arriving an end position, and can only oppositely switch on power, control accurately convenient, flexible.
As shown in figure 11, the second embodiment of described motor-drive circuit comprises direct supply 24, actuator 30, controller 32, left normally closed switch 26, right normally closed switch 27, left diode 28 and right diode 29, described actuator 30 is electrically connected with described direct supply 24, and described controller 32 is electrically connected with described actuator 30;
Connect with actuator 30 in left normally closed switch 26 and left diode 28 rear one end in parallel, the other end is connected with the rotating forward switch of described mounted motor 1532; Connect with actuator 30 in right normally closed switch 27 and right diode 29 rear one end in parallel, the other end is connected with the reversal switch of described mounted motor 1532; Described left normally closed switch 26 and right normally closed switch 27 are separately positioned on the extreme sport position at described push rod about 152 two ends.
In the present embodiment, employing controller 32, actuator 30 opened loop control add the mode switch motor hand of rotation of limit switch and diode, and mounted motor 1532 is with movable eccentric wheel 1531 to rotate, and eccentric wheel 1531 promotes push rod 152 parallel motion.Left normally closed switch 26 state is changed for often to open when push rod 152 arrives left-limit, the characteristic that left diode 27 has forward conduction oppositely to end, the stall of mounted motor 1532 dead electricity, now oppositely can only switch on power and just can make mounted motor 1532 contrarotation by controller 32 control and drive system 30, so when mounted motor 1532 once will automatically stop after arriving an end position, and can only oppositely switch on power, control accurately convenient, flexible, intelligence degree is high.
As shown in figure 12, the third embodiment of described motor-drive circuit comprises direct supply 24, actuator 30, controller 32, left sensing switch 33 and right sensing switch 34, described actuator 30 is electrically connected with described direct supply 24, left sensing switch 33 and right sensing switch 34 are separately positioned on the extreme sport position at described push rod about 152 two ends, and are all electrically connected with described controller 32; Left sensing switch 33 is connected with the rotating forward switch of described mounted motor 1532 after connecting with actuator 30; Right sensing switch 34 is connected with the reversal switch of described mounted motor 1532 after connecting with actuator 30.
The mode adopting controller, actuator, sensing switch to realize closed loop control switches mounted motor 1532 hand of rotation, and mounted motor 1532 is with movable eccentric wheel 1531 to rotate, and eccentric wheel 1531 promotes push rod 152 parallel motion.When user assigns lock instruction, mounted motor 1532 rotates to a direction, push rod 152 is driven to move to left sensing switch or right sensing switch position by eccentric wheel 1531, controller makes actuator power down after knowing this position sensor signal, and dead bolt 151 has just been parked in the position of lock-out state; When user assigns unlock command, mounted motor 1532 rotates to another direction, push rod 152 is driven to move to right sensing switch or left sensing switch position by eccentric wheel 1531, controller makes actuator power down after knowing this position sensor signal, dead bolt has just been parked in the position of released state, control accurately convenient, flexible, more can meet the individual demand of user.
Described push rod 152 is slidably arranged in the cell body 402 of the section bar forming described vehicle frame 1.
Directly utilize the sliding tray of cell body 402 as push rod 152 of vehicle frame 1 section bar, simplify the structure of vehicle frame 1, alleviate the weight of car body.
As shown in Fig. 2 and Figure 11, each described Mecanum wheel 2 is driven by independently drive motor 16 and retarder 17 respectively, and described drive motor 16 is fixed on the fixing shrouding 51 of described vehicle wheel frame 102 both sides.
Each described Mecanum wheel 2 is driven by independently drive motor 16 and retarder 17 respectively, and four Mecanum wheels 2 are fitted ground all the time, improve earth-grasping force, so the energy obtains efficiency utilization.
The motor shaft of described drive motor 16 is connected with coder 18.
The effect of coder 18 be to record and control drive motor 16 the number of turns that turns, different Mecanum wheels 2 is when its drive motor 16 rotates the different number of turns, and the track that whole trolley platform runs is different, extends the operation scheme of trolley platform.
The motor shaft of described drive motor is connected with described coder by belt 19, and described coder and described drive motor are arranged side by side.
Conventional products is generally be connected with coder axle by motor shaft with coupler, and benefit is structural differencesization little (contrast of multiple stage servomotor), but requires relatively high to assembly precision, especially right alignment.Assemble the improper coder that very easily causes to damage or hydraulic performance decline.
Relative to the type of drive (coupler is that the length of motor+coupler is all embodied on body width) of coupler, motor shaft and coder axle couple together by the belt pulley architecture of the transmission ratios such as employing, and the overall length of servomotor shortens; And in the technical program, described coder and described drive motor are arranged side by side, the width of car body reduces, and makes car body can be compacter---when the performance such as power, carrying is constant, reach the object of car body miniaturization.
Described load plane 3 is provided with camera 20; Camera 20 can be used for the monitoring to road conditions, ensures that the operation of trolley platform is smooth and easy.
Described load frame 101 is provided with power supply installing frame 21, and described power supply installing frame 21 hangs on the center of described load frame 101; Simplified structure, saves space.
Below know-why of the present utility model is described in conjunction with specific embodiments.These describe just in order to explain principle of the present utility model, and can not be interpreted as the restriction to the utility model protection domain by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present utility model, and these modes all will fall within protection domain of the present utility model.
Claims (10)
1. the wheel carrier structure of a Mecanum wheel dolly, it is characterized in that: comprise vehicle wheel frame, drive motor and Mecanum wheel, described vehicle wheel frame is connected to form cube frame structure mutually from beginning to end by 12 root type materials, the center of described section bar is provided with fixed via, and is radially provided with the cell body of multiple outside opening along the surrounding of described fixed via;
The both sides of described vehicle wheel frame are provided with fixing shrouding, and described drive motor is fixed on described fixing shrouding and is arranged on the inside of described vehicle wheel frame framework.
2. the wheel carrier structure of a kind of Mecanum wheel dolly according to claim 1, is characterized in that: also comprise load frame, and described load frame covers on the vehicle frame two vehicle wheel frames being formed described Mecanum wheel dolly; Described load frame fixes by the connection of section bar head and the tail, shrouding the framed structure formed, and its upper surface is fixed with load plane;
With the smooth ground residing for dolly for level reference, described load frame is vertically highly greater than the vertical height of described vehicle wheel frame, two vehicle wheel frames are sleeved on the inside casing both sides of described load frame, axial line on vehicle wheel frame length direction is parallel to the ground, axial line on load frame length direction is also parallel to ground, and both axial lines are orthogonal relation; Be provided with the center that main shaft is arranged on described load frame, its length is not less than the entire length of described load frame, the two ends of described main shaft are successively through the installation shrouding that relevant position on the side of vehicle wheel frame and load frame is provided with, and described main shaft is connected with described installation shrouding by bearing.
3. the wheel carrier structure of a kind of Mecanum wheel dolly according to claim 2, it is characterized in that: described section bar is divided into horizontal section bar, longitudinal profile and vertical section bar, described shrouding is divided into fixing shrouding and installs shrouding, described vehicle wheel frame comprises upper frame, underframe and vertical section bar, described upper frame comprises two horizontal section bars and two longitudinal profiles, horizontal section bar and longitudinal profile successively end to end become a quadrilateral structure, described underframe comprises two horizontal section bars and two longitudinal profiles, horizontal section bar and longitudinal profile successively end to end become a quadrilateral structure, connected by four vertical section bars between upper frame and underframe, make the end face of horizontal section bar exposed on the side plane of described vehicle wheel frame, described fixing shrouding is arranged on the side plane of described vehicle wheel frame, screw is used to fix with the fixed via in described horizontal section bar exposed end face through after described fixing shrouding, the outside of shrouding is fixed in the both sides that described Mecanum wheel is separately positioned on described vehicle wheel frame:
The position of described horizontal section bar, longitudinal profile and vertical section bar vertical connection between two, fix respectively by corner fittings, screw and nut, described corner fittings is made up of orthogonal two boards part, and plate is all provided with the installation through hole stretched into for screw, during installation, the lateral surface of two plates respectively with orthogonal section bar contacts side surfaces;
The large end of described screw is located in the cell body of described section bar, and its small end is fixed by nut through after the installation through hole of plate; Or described nut is located in the cell body of described section bar, the small end of screw is fixed with the nut in cell body through after the installation through hole of plate.
4. the wheel carrier structure of a kind of Mecanum wheel dolly according to Claims 2 or 3, is characterized in that: described section bar is divided into horizontal section bar, longitudinal profile and vertical section bar, and described shrouding is divided into fixing shrouding and installs shrouding, described load frame comprises upper frame and body side frame, described upper frame comprises two horizontal section bars and two longitudinal profiles, horizontal section bar and longitudinal profile successively end to end become a quadrilateral structure, described body side frame comprises two longitudinal profiles and two vertical section bars, wherein, in two longitudinal profiles of body side frame, wherein one is the longitudinal profile of upper frame, two longitudinal profiles are interconnected by vertical section bar, make the exposed side plane in described load frame of the end face of horizontal section bar, described fixing shrouding is arranged on the side plane of described load frame, described fixed link is fixed with the fixed via in described horizontal section bar exposed end face through after described fixing shrouding,
The position of described horizontal section bar, longitudinal profile and vertical section bar vertical connection between two, fix respectively by corner fittings, screw and nut, described corner fittings is made up of orthogonal two boards part, and plate is all provided with the installation through hole stretched into for screw, during installation, the lateral surface of two plates respectively with orthogonal section bar contacts side surfaces;
The large end of described screw is located in the cell body of described section bar, and its small end is fixed by nut through after the installation through hole of plate; Or described nut is located in the cell body of described section bar, the small end of screw is fixed with the nut in cell body through after the installation through hole of plate.
5. the wheel carrier structure of a kind of Mecanum wheel dolly according to claim 2, it is characterized in that: the both sides, front and back of described vehicle frame are provided with front and back protective cover, described front and back protective cover is four hollow rib vertebra platform structures, and just downward-sloping to the side of the wheel carrier structure platform working direction of described a kind of Mecanum wheel dolly when arranging.
6. the wheel carrier structure of a kind of Mecanum wheel dolly according to claim 2, is characterized in that: the left and right protective cover being provided with pyramidal structure between two Mecanum wheels of described vehicle frame the same side, and described left and right protective cover is fixed on load plane;
The side of described load plane is provided with the trapezoidal groove of base opening, and on the protective cover of described left and right, a limit of positive bevel is fixed on the top margin of trapezoidal groove, and the skew back face of left and right protective cover is fixed on the waist limit of trapezoidal groove; The zhou duicheng tuxing that described left and right protective cover is is axis of symmetry with another limit of its positive bevel.
7. the wheel carrier structure of a kind of Mecanum wheel dolly according to claim 1, is characterized in that: each described Mecanum wheel is respectively by independently drive motor and retarder driving, and described drive motor is fixed on the fixing shrouding of described vehicle wheel frame both sides.
8. the wheel carrier structure of a kind of Mecanum wheel dolly according to claim 7, is characterized in that: the motor shaft of described drive motor is connected with coder by belt, and the main body of described coder and described drive motor is positioned at the same side of described belt.
9. the wheel carrier structure of a kind of Mecanum wheel dolly according to claim 2, is characterized in that: described load frame is provided with power supply installing frame, and described power supply installing frame hangs the center being fixed on described load frame.
10. use the dolly of the wheel carrier structure of the Mecanum car as described in claim 1-9 any one.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520468147.3U CN204701403U (en) | 2015-06-30 | 2015-06-30 | A kind of wheel carrier structure of Mecanum wheel dolly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520468147.3U CN204701403U (en) | 2015-06-30 | 2015-06-30 | A kind of wheel carrier structure of Mecanum wheel dolly |
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| CN204701403U true CN204701403U (en) | 2015-10-14 |
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| CN201520468147.3U Expired - Fee Related CN204701403U (en) | 2015-06-30 | 2015-06-30 | A kind of wheel carrier structure of Mecanum wheel dolly |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986003A (en) * | 2015-06-30 | 2015-10-21 | 佛山市新恒萃材料科技有限公司 | Wheel frame structure of Mecanum wheel dolly |
| CN110328077A (en) * | 2019-07-15 | 2019-10-15 | 合肥工业大学 | A kind of integrated mixed connection spray robot with moving lifting holder |
| CN111054553A (en) * | 2020-01-02 | 2020-04-24 | 辽宁石油化工大学 | Multifunctional split type full-automatic indoor spraying robot |
| CN115848877A (en) * | 2023-02-24 | 2023-03-28 | 成都思越智能装备股份有限公司 | Trolley framework mechanism |
-
2015
- 2015-06-30 CN CN201520468147.3U patent/CN204701403U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986003A (en) * | 2015-06-30 | 2015-10-21 | 佛山市新恒萃材料科技有限公司 | Wheel frame structure of Mecanum wheel dolly |
| CN110328077A (en) * | 2019-07-15 | 2019-10-15 | 合肥工业大学 | A kind of integrated mixed connection spray robot with moving lifting holder |
| CN111054553A (en) * | 2020-01-02 | 2020-04-24 | 辽宁石油化工大学 | Multifunctional split type full-automatic indoor spraying robot |
| CN115848877A (en) * | 2023-02-24 | 2023-03-28 | 成都思越智能装备股份有限公司 | Trolley framework mechanism |
| CN115848877B (en) * | 2023-02-24 | 2023-04-28 | 成都思越智能装备股份有限公司 | Trolley skeleton mechanism |
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