CN206336352U - Mobile platform - Google Patents

Abstract

The utility model provides a kind of mobile platform, the mobile platform includes vehicle frame, suspension assembly and vehicle wheel component, vehicle wheel component is connected to below vehicle frame by suspension assembly, and vehicle wheel component includes wheel, transmission component, first driving means and the second drive device, and wheel is below vehicle frame；Transmission component is connected to below vehicle frame by suspension assembly, and is connected with wheel；First driving means are connected with transmission component, and by driving transmission component wheel can be made to be rotated around the straight line of the axis perpendicular to wheel；Second drive device is connected with wheel, and energy driving moment rotates around the axis of wheel.Mobile platform of the present utility model can improve kinematic accuracy.

Description

Mobile platform

Technical field

The utility model is related to carrier equipment technical field, more particularly to a kind of mobile platform.

Background technology

At present, for the ease of transporting goods or moving large scale equipment, it is typically necessary and uses mobile platform, also referred to as Moving cart etc., the movement of goods or equipment etc. is realized by its movement, to improve operating efficiency, reduces labor intensity. In various mobile platforms, Omni-mobile platform obtains relatively broad answer because it can realize the omni-directional movement in plane With that is, forward, traversing, diagonal, any angle are turned and rotated in place.Existing Omni-mobile platform generally includes vehicle frame, hanged Extension system and wheel, wheel are connected by suspension with vehicle frame, and wheel typically uses Mecanum wheel or omni-directional wheel etc., from And realize the function of Omni-mobile.

In the prior art, Mecanum wheel and omni-directional wheel are distributed with multiple rollers on wheel rim, by being applied in combination and Control, makes these rollers produce lateral movement, and car body can be made to produce any direction movement in plane of movement and rotate.But It is that, due to being respectively provided with multiple rollers on the wheel rim of each wheel, manufacture and assembly difficulty are larger, cause mobile platform being moved through Easily produce and rock in journey, thus, kinematic accuracy is relatively low, it is difficult to require higher occasion applied to kinematic accuracy, and uneven Whole road surface.

Above- mentioned information is only used for strengthening the understanding to background of the present utility model disclosed in the background section, because This it can include not constituting the information to prior art known to persons of ordinary skill in the art.

Utility model content

The purpose of this utility model is to overcome the above-mentioned the deficiencies in the prior art can to improve motion there is provided a kind of mobile platform The mobile platform of precision.

Additional aspect and advantage of the present utility model will be set forth in part in the description, and partly will be from retouching It is apparent from stating, or can the acquistion by practice of the present utility model.

According to one side of the present utility model, a kind of mobile platform, including vehicle frame, suspension assembly and vehicle wheel component, institute State vehicle wheel component to be connected to below the vehicle frame by the suspension assembly, the vehicle wheel component includes wheel, transmission component, the One drive device and the second drive device, the wheel is below the vehicle frame；The transmission component passes through the suspension group Part is connected to below the vehicle frame, and is connected with the wheel；The first driving means are connected with the transmission component, and energy The wheel is set to be rotated around the straight line of the axis perpendicular to the wheel by driving the transmission component；The second driving dress Put and be connected with the wheel, and the wheel can be driven to be rotated around the axis of the wheel.

According to an embodiment of the present utility model, the suspension assembly includes installing plate, mounting bracket, vibration-damping screw nail, bullet Spring and nut, the installing plate is below the vehicle frame, and the transmission component is connected to the installing plate lower surface；The peace Shelve located at the installing plate lower surface；The vibration-damping screw nail sequentially passes through the vehicle frame, the installing plate and the mounting bracket； The spring housing is outside the vibration-damping screw nail, and one end is against the vehicle frame, and the other end is through the installing plate and against institute State mounting bracket；The nut sleeve passes one end of the mounting bracket located at the vibration-damping screw nail.

According to an embodiment of the present utility model, the transmission component includes the first tumbler, the second tumbler, connection Part, rotating disk and first support, first tumbler is rotatably below the installing plate；Second tumbler is located at Rotate below the installing plate and with the installing plate and be connected；Connector, the connector is used to connect first tumbler With second tumbler；The rotating disk is fixedly connected with second tumbler；One end of the first support with described turn Disk is connected, and the other end is connected with the wheel；The first driving means can drive first tumbler to rotate, and pass through institute State connector and drive the second tumbler rotation, so that the second tumbler can be driven by the rotating disk and the first support The wheel rotates around the straight line of the axis perpendicular to the wheel.

According to an embodiment of the present utility model, the transmission component also includes second support and lock-screw, described Second support is sticked in the first driving means；One end of the lock-screw is connected with the second support, the other end It is connected with the first support.

According to an embodiment of the present utility model, the mobile platform also includes slip ring, and the slip ring runs through the peace Plate and second tumbler are filled, and second drive device is connected with the slip ring.

According to an embodiment of the present utility model, the suspension assembly also includes hinge, and the installing plate passes through hinge It is connected with the vehicle frame.

According to an embodiment of the present utility model, the first driving means are steering wheel, and the steering wheel has steering wheel, institute State steering wheel to be embedded in first tumbler and be fixedly connected, second drive device is motor.

According to an embodiment of the present utility model, first tumbler and the second tumbler are belt pulley, described Connector is belt.

According to an embodiment of the present utility model, the wheel includes wheel hub, wheel shaft and tire, the wheel hub with it is described Second support is connected；The wheel shaft is connected with the output shaft of the motor, and the wheel hub can be driven to rotate；The tire is located at The outer rim of the wheel hub.

According to an embodiment of the present utility model, multiple energy are formed with the wheel hub and stop that the wheel shaft stops towards movement Block piece.

As shown from the above technical solution, the utility model possesses at least one of advantages below and good effect：

Wheel is set to be rotated around the straight line of the axis perpendicular to wheel by driving transmission component using first driving means, To realize the steering of the mobile platform or rotate in place；Meanwhile, axis of the available second drive device driving moment around wheel Rotation, so as to make the mobile platform straight line advance or retreat.Thus, it can be driven by controlling first driving means and second respectively Dynamic device realizes the Omni-mobile of mobile platform, it is to avoid have the car of multiple rollers using Mecanum wheel wheel or omni-directional wheel etc. Wheel, is easy to use wheel simple in construction, is conducive to manufacturing and assembles, and in movement, is not likely to produce and rocks, so that motion essence Degree is improved, and adapts to different work road surfaces.

Brief description of the drawings

Its example embodiment is described in detail by referring to accompanying drawing, above and other feature and advantage of the present utility model will Become readily apparent from.

Fig. 1 is the structural representation of the embodiment of the utility model mobile platform one；

Fig. 2 is the partial enlarged drawing in A portions in Fig. 1.

Fig. 3 is the partial enlarged drawing in B portions in Fig. 1.

In figure：1st, vehicle frame；101st, groove；2nd, installing plate；3rd, mounting bracket；4th, vibration-damping screw nail；5th, spring；6th, nut；7th, cut with scissors Chain；8th, wheel；81st, wheel hub；812nd, stop part；82nd, wheel shaft；83rd, tire；9th, first driving means；91st, steering wheel；10th, second drive Dynamic device；11st, the first tumbler；12nd, the second tumbler；13rd, connector；14th, rotating disk；15th, first support；16th, second support； 17th, lock-screw, 18, slip ring.

Embodiment

Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can be with a variety of shapes Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that this practicality is new The design of example embodiment fully and completely, and will comprehensively be conveyed to those skilled in the art by type.Identical in figure Reference represents same or similar structure, thus will omit their detailed description.

Although use the term of relativity in this specification, such as " on " " under " describes a component of icon for another The relativeness of one component, but these terms are used in this specification merely for convenient, for example with reference to the accompanying drawings described in show The direction of example.Be appreciated that, if making it turn upside down the upset of the device of icon, describe " on " component will As " under " component.The term of other relativities, also makees such as " height " " low " " top " " bottom " " preceding " " rear " " left side " " right side " With similar meaning.When certain structure other structures " on " when, it is possible to refer to that certain structural integrity is formed in other structures, or Refer to certain structure " direct " to be arranged in other structures, or refer to certain structure and be arranged on by another structure " indirect " in other structures.

Term "the" and " described " to represent to exist one or more elements/part/etc.；Term " comprising " and " having " to represent it is open be included look like and refer to key element/part/except listing in addition to waiting also May be present other key element/part/etc.；Term " first ", " second " and " the 3rd " etc. is only used as mark, is not pair The quantity limitation of its object.

Reference picture 1, the utility model example embodiment provides a kind of mobile platform, the shifting described in this example embodiment Moving platform may include vehicle frame 1, suspension assembly and vehicle wheel component, and vehicle wheel component is connected to the lower section of vehicle frame 1 by suspension assembly.

In this example embodiment, suspension assembly and vehicle wheel component can have multiple, such as 4 or more, and many Individual vehicle wheel component can be connected to the lower section of vehicle frame 1 by multiple suspension assemblies correspondingly, i.e., each vehicle wheel component passes through independence Suspension assembly be connected with vehicle frame, it is non-interference, so as to realize independent suspension, be conducive to improving mobile platform steady when mobile It is qualitative.

In this example embodiment, vehicle frame 1 can be rectangular box structure or slab construction, and can be integrally formed or adopt It is spliced with multiple flat boards or support body.Multiple grooves 101 can be formed in the bottom symmetrical of vehicle frame 1, suspension assembly can be corresponded Cooperation be installed in groove 101, the quantity of the groove 101 can be 4, but not limited to this.

In this example embodiment, suspension assembly may include installing plate 2, mounting bracket 3, vibration-damping screw nail 4, spring 5, nut 6 and hinge 7, wherein：

Installing plate 2 can be in a slab construction, the groove 101 that can be placed in the bottom of vehicle frame 1.

Mounting bracket 3 can be an open column shape structure, and both sides are formed with base, will using connectors such as bolt, screws The base is fixed on the lower surface of installing plate 2, i.e. surface of the installing plate 2 towards ground；Certainly, using welding, bonding or it can also block The lower surface that mounting bracket 3 is fixed on installing plate 2 by mode such as connect, will not be repeated here.

Mounting hole can be opened up in vehicle frame 1, installing plate 2 and the corresponding position of mounting bracket 3, vibration-damping screw nail 4 is worn successively The mounting hole of vehicle frame 1, installing plate 2 and mounting bracket 3 is crossed, and one end of the vibration-damping screw nail 4 is located at the upper surface of vehicle frame 1, the other end is worn Go out mounting bracket 3.

Spring 5 may be alternatively located in above-mentioned mounting hole, and be sheathed on outside vibration-damping screw nail 4, and one end of the spring 5 can be against car The lower surface of frame 1, the other end may pass through installing plate 2 and against mounting bracket 3.

Nut 6 can be mutually matched with vibration-damping screw nail 4, and be sheathed on one end that vibration-damping screw nail 4 passes mounting bracket 3.

Installing plate 2 can be connected by hinge 7 with the side wall of groove 101, while connection function is played so that installing plate 2 can rotate relative to vehicle frame 1.

As above the suspension assembly described in example embodiment, when installing plate 2 and the relative frame 1 of mounting bracket 3 are rocked, bullet Spring 5 can play a part of damping, buffering, reduce rocking for mobile platform, when roughness pavement is travelled, be conducive to making thereon Goods or equipment held stationary；Meanwhile, can be by the pretightning forces of the adjustable springs 5 of nut 6.

In this example embodiment, vehicle wheel component may include that wheel 8, transmission component, first driving means 9 and second are driven Dynamic device 10.

In this example embodiment, transmission component may include the first tumbler 11, the second tumbler 12, connector 13, Rotating disk 14, first support 15, second support 16 and lock-screw 17, wherein：

First tumbler 11 can be located in groove 101, and located at the lower section of installing plate 2, and the first tumbler 11 can relative peace Dress plate 2 and vehicle frame 1 are rotated, and the pivot center of the first tumbler 11 is set perpendicular to the axis of wheel 8；For example, the axis of wheel 8 For horizontal line, the pivot center of the first tumbler 11 is vertical curve.

Second tumbler 12 and the first tumbler 11 are side by side in groove 101, and the second tumbler 12 is located at installing plate 2 Lower section is simultaneously connected with the rotation of installing plate 2, and the pivot center of the second tumbler 12 is also vertical with the axis of wheel 8；

First tumbler 11 and the second tumbler 12 can use belt pulley, and connector 13 can be used and the belt pulley The belt matched somebody with somebody, when the first tumbler 11 is rotated, can be rotated by second tumbler of belt drive 12；

Rotating disk 14 can be fixed with the patch merga pass clamping of the bottom of the second tumbler 12, welding or using connectors such as bolts Connection；

One end of first support 15 can be fixedly connected with rotating disk 14, and the other end can be connected with wheel 8, when the second tumbler 12 During rotation, the synchronous axial system of rotating disk 14 can be driven, rotating disk 14 can by first support 15 with motor car wheel 8 around the axle perpendicular to wheel 8 The straight line rotation of line.

In other examples embodiment of the present utility model, the first tumbler 11 and the second tumbler 12 can also use chain Wheel, connector 13 can use matching chain, when the first tumbler 11 is rotated, the second tumbler 12 can be driven to rotate. First tumbler 11, the second tumbler 12 and connector 13 can also use other structures that above-mentioned transmission agencies can be achieved, herein Do not limit.In addition, transmission component can also use other structures, for example, transmission component may include two intermeshing teeth Wheel replaces above-mentioned first tumbler 11, the second tumbler 12 and connector 13, to realize above-mentioned transmission agency.But not as Limit, can also use other drive mechanisms with identical function, no longer enumerate herein.

First driving means 9 can be connected with the first tumbler 11, and can drive the first tumbler 11 around perpendicular to wheel 8 The straight line of axis is rotated；First driving means 9 can use steering wheel, and the steering wheel has steering wheel 91, and the first tumbler 11 is provided with card Groove, steering wheel 91 is embedded in the neck, and is bolted to connection；First tumbler 11 is driven by the rotation of steering wheel 91 Rotation.Consequently facilitating control rotational angle or the number of turns.First driving means 9 can also can drive first using rotary cylinder etc. The drive device that tumbler 11 is rotated.

Second drive device 10 can use motor, but not limited to this, can also use other drive devices；Second drive device 10 output shaft can be connected with wheel 8, and drivable wheel 8 rotates around the axis of wheel 8.

Second support 16 can be sticked in first driving means 9, and when second support 16 is moved, can drive the first driving The tumbler 11 of device 9 and first is moved；

One end of lock-screw 17 is connected with first support 15, and the other end is connected with second support 16, so as to by twisting Relative position between dynamic the regulation first support 15 of lock-screw 17 and second support 16, so as to adjust the first tumbler 11 and second Distance between tumbler 12, it is adjustable during 14 belts of connector when the first tumbler 11 and the second tumbler 12 are belt pulley Save the tensioning degree of belt, it is to avoid release.

, can be using 4 or more wheels 8 in this example embodiment, and each wheel 8 can be with the lower section of vehicle frame 1 Groove 101, which is corresponded, to be set, and wheel 8 may each comprise wheel hub 81, wheel shaft 82 and tire 83, wherein：

Wheel hub 81 can as wheel 8 skeleton, can be connected with first support 15, when first support 15 is rotated, driven wheel The synchronous axial system of hub 81；

The output shaft for the motor that wheel shaft 82 can be used with the second drive device 10 is connected, and wheel hub can be driven by the motor 81 rotate around the axis of wheel shaft 82, can be arranged bearing outside wheel shaft 82, wheel shaft 82 is rotated with wheel hub 81 by the bearing and is connected；

Tire 83 is around being sheathed on outside wheel hub 81, and tire 83 can be quality of rubber materials, plays a part of supporting and buffers.

In this example embodiment, in order to prevent that wheel shaft 82 from moving along its axis, can on wheel hub 81 with the phase of wheel shaft 81 To position multiple stop parts 812 are set, and the end of wheel shaft 82 or above-mentioned bearing are resisted against in multiple stop parts 812 Side, the i.e. side towards vehicle frame 1, can stop that wheel shaft 82 slides axially by multiple stop parts 812, so that the knot of wheel 8 Structure is more consolidated.

Stop part 812 can be with the integrally formed bulge-structure of wheel hub 81, can also pass through welding, clamping be threadedly coupled etc. Mode is fixedly connected on the bulge-structure on wheel hub 81；The bulge-structure can be the boss or cyclic structure of rectangle or half Chondritic etc., is not limited herein, as long as can play a part of stopping that wheel shaft 82 is moved axially.

In this example embodiment, the mobile platform may also include slip ring 18, and slip ring 18 runs through installing plate 8 and second Tumbler 12, and the second drive device 10 is connected with slip ring 18, consequently facilitating transmitting electric signal to the second drive device 10, prevents Thus the second tumbler 12 rotation and cause circuit to wind.

The mobile platform of the utility model embodiment, makes wheel using first driving means by driving transmission component Straight line around the axis perpendicular to wheel rotates, to realize the steering of the mobile platform or rotate in place；Meanwhile, using second Drive device driving moment rotates around the axis of wheel, so as to make the mobile platform straight line advance or retreat.Thus, it can pass through Control first driving means and the second drive device realize the Omni-mobile of mobile platform respectively, it is to avoid use Mecanum wheel wheel Or omni-directional wheel etc. has the wheel of multiple rollers, it is easy to use wheel simple in construction, is conducive to manufacturing and assembles, in movement When, it is not likely to produce and rocks, so that kinematic accuracy is improved, adapts to different work road surfaces.

It should be appreciated that the utility model be not limited in its application to this specification proposition part detailed construction and Arrangement.The utility model can have other embodiment, and can realize and perform in many ways.It is foregoing to become Shape form and modification fall in the range of the utility model.It should be appreciated that this disclosure and this reality limited Mentioned or all alternative groups of two or more obvious independent features with the new text and/or drawings that extend to Close.All these different combinations constitute multiple alternative aspects of the present utility model.Embodiment described in this specification is said Understand and become known for realizing best mode of the present utility model, and those skilled in the art will be enable new using this practicality Type.

Claims (10)

1. a kind of mobile platform, including vehicle frame, suspension assembly and vehicle wheel component, the vehicle wheel component are connected by the suspension assembly It is connected to below the vehicle frame, it is characterised in that the vehicle wheel component includes：

Wheel, the wheel is below the vehicle frame；

Transmission component, the transmission component is connected to below the vehicle frame by the suspension assembly, and is connected with the wheel；

First driving means, the first driving means are connected with the transmission component, and can be by driving the transmission component The wheel is set to be rotated around the straight line of the axis perpendicular to the wheel；

Second drive device, second drive device is connected with the wheel, and can drive the wheel around the wheel Axis rotates.

2. mobile platform according to claim 1, it is characterised in that the suspension assembly includes：

Installing plate, the installing plate is below the vehicle frame, and the transmission component is connected to the installing plate lower surface；

Mounting bracket, the mounting bracket is located at the installing plate lower surface；

Vibration-damping screw nail, the vibration-damping screw nail sequentially passes through the vehicle frame, the installing plate and the mounting bracket；

Spring, the spring housing is outside the vibration-damping screw nail, and one end, against the vehicle frame, the other end passes through the installing plate And against the mounting bracket；

Nut, the nut sleeve passes one end of the mounting bracket located at the vibration-damping screw nail.

3. mobile platform according to claim 2, it is characterised in that the transmission component includes：

First tumbler, first tumbler is rotatably below the installing plate；

Second tumbler, second tumbler is connected below the installing plate and with installing plate rotation；

Connector, the connector is used to connect first tumbler and second tumbler；

Rotating disk, the rotating disk is fixedly connected with second tumbler；

First support, one end of the first support is connected with the rotating disk, and the other end is connected with the wheel；

The first driving means can drive first tumbler to rotate, and drive described second to rotate by the connector Part rotates, so that the second tumbler can drive the wheel around perpendicular to the wheel by the rotating disk and the first support Axis straight line rotation.

4. mobile platform according to claim 3, it is characterised in that the transmission component also includes：

Second support, the second support is sticked in the first driving means；

Lock-screw, one end of the lock-screw is connected with the second support, and the other end is connected with the first support.

5. mobile platform according to claim 3, it is characterised in that the mobile platform also includes：

Slip ring, the slip ring runs through the installing plate and second tumbler, and second drive device and the slip ring Connection.

6. mobile platform according to claim 2, it is characterised in that the suspension assembly also includes hinge, the installation Plate is connected by hinge with the vehicle frame.

7. mobile platform according to claim 4, it is characterised in that the first driving means are steering wheel, the steering wheel With steering wheel, the steering wheel is embedded in first tumbler and is fixedly connected, and second drive device is motor.

8. mobile platform according to claim 3, it is characterised in that first tumbler and the second tumbler are skin Belt wheel, the connector is belt.

9. mobile platform according to claim 7, it is characterised in that the wheel includes：

Wheel hub, the wheel hub is connected with the second support；

Wheel shaft, the wheel shaft is connected with the output shaft of the motor, and the wheel hub can be driven to rotate；

Tire, the tire is located at the outer rim of the wheel hub.

10. mobile platform according to claim 9, it is characterised in that multiple energy are formed with the wheel hub and stop described Wheel shaft is towards mobile stop part.