CN207433621U - A kind of agricultural omni-directional moving platform based on unstructured moving grids - Google Patents

Abstract

The utility model discloses a kind of agricultural omni-directional moving platforms based on unstructured moving grids, including platform body, the lower surface both sides of the platform body are fixedly connected with connecting seat, escape groove is equipped at the lower surface center of the connecting seat, the lower surface of the connecting seat has been bolted to connection steering sleeve, the upper surface for turning to sleeve is installed with steering motor, the steering motor is slidably connected to the interior surface of escape groove, the axial end of the steering motor is fixedly connected with steering spindle by the first flat key, the outer surface upper end for turning to sleeve is mounted by means of screws with upper end cover, the outer surface lower end of the steering spindle is fixedly connected with pinion gear by the second flat key.The structure design of the agricultural omni-directional moving platform based on unstructured moving grids can greatly improve the stability in use and convenience of mobile platform, increase the adaptability to environment, service life and using effect when guarantee.

Description

A kind of agricultural omni-directional moving platform based on unstructured moving grids

Technical field

The utility model is related to mobile platform technical fields, are specially a kind of agricultural comprehensive based on unstructured moving grids The structure design of mobile platform.

Background technology

With the development of robot technology, all directionally movable robot just replaces the mankind to be played increasingly in different fields Important role, as the extension and extension of human motion function, all directionally movable robot can go to complicated space, agriculture Flexible operation is carried out in farmland with omni-directional moving platform mechanism scheme omni-directional moving platform needs, and is required comprehensive Movement can carry out stable obstacle detouring, this requirement for train is with regard to particularly significant.

Since universal wheel train structure continuously contacts with during the motion with ground, so stable movement, can make working rig Device manually makees stabilised efficiency, while can also reduce the phenomenon that mobile platform skids, and the structure type load capacity of universal wheel is big, So the universal train of more options is the wheel train structure of omni-directional moving platform, but existing universal wheel system also exists when in use Some problems, such as the controlling steering angle precision of universal wheel are inadequate, and offset when be easy to causeing platform movement is bigger, meeting The phenomenon that causing collision, and under the special environment in farmland, it may be because of the meeting of the fluctuating hydraulic medium on road surface because sealing Property is bad to be caused to leak, other mechanisms of mobile platform are impacted, and pneumatic actuation is equally excessively high to seal request, during use Not convenient enough, stability is poor.

Utility model content

The purpose of this utility model is to provide a kind of knots of the agricultural omni-directional moving platform based on unstructured moving grids Structure designs, to solve the problems mentioned in the above background technology.

To achieve the above object, the utility model provides following technical solution：It is a kind of based on the agricultural of unstructured moving grids Omni-directional moving platform, including platform body, the lower surface both sides of the platform body are fixedly connected with connecting seat, the connection Escape groove is equipped at the lower surface center of seat, the lower surface of the connecting seat has been bolted to connection steering sleeve, described The upper surface for turning to sleeve is installed with steering motor, and the steering motor is slidably connected to the interior surface of escape groove, institute The axial end for stating steering motor is fixedly connected with steering spindle by the first flat key, and the outer surface upper end for turning to sleeve passes through spiral shell Nail is installed with upper end cover, and the lower surface for turning to sleeve is mounted by means of screws with bottom end cover, the steering spindle Outer surface lower end is fixedly connected with pinion gear by the second flat key.

Preferably, outer sleeve, the outer surface of the outer sleeve are rotatably connected at the outer surface center for turning to sleeve Rear side is fixedly welded with right angle support column, and the cross bar lower surface of the right angle support column is fixedly connected with half tooth by connecting shaft Wheel, the front-end surface of half gear are engaged in the rear side surface of pinion gear.

Preferably, the montant outer surface of the right angle support column is fixedly welded with rotational sleeve, the rotational sleeve Inside is rotatably connected to idler wheel by rotation axis, and the right angle support column montant outer surface upper end is mounted by means of screws with Curved baffle, the curved baffle are slidably connected to the front side surface of outer sleeve.

Preferably, the upper surface slide of the outer sleeve is connected to the lower surface of upper end cover, the lower surface of the outer sleeve It is rotationally connected with the upper surface of bottom end cover.

Preferably, there are four the connecting seats, and symmetrically and evenly it is distributed on the outside of the lower surface of platform body.

Compared with prior art, the beneficial effects of the utility model are：This is agricultural comprehensive based on unstructured moving grids The pinion gear that the structure design of mobile platform is driven by steering motor engages half gear, can accurately control the precision of steering, Control effect by universal wheel is provided, and by the steering sleeve and outer sleeve of rotation connection, it is steady when can ensure to adjust It is qualitative, the stability in use and convenience of mobile platform can be so greatly improved, increases the adaptability to environment, when guarantee Service life and using effect.

Description of the drawings

Fig. 1 is the overall structure diagram of the utility model；

Fig. 2 is the steering sleeve connection sectional view of the utility model；

Fig. 3 is the outer sleeve structure schematic diagram of the utility model；

Fig. 4 is the pinion gear mesh schematic representation of the utility model.

In figure：1 platform body, 11 connecting seats, 12 escape groove, 2 turn to sleeves, 21 steering motors, 22 first flat keys, 23 turns To axis, 24 upper end covers, 25 second flat keys, 26 pinion gears, 27 bottom end covers, 3 outer sleeves, 31 right angle support columns, 32 connecting shafts, 33 half Gear, 34 rotational sleeves, 35 rotation axis, 36 idler wheels, 37 curved baffles.

Specific embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work All other embodiments obtained shall fall within the protection scope of the present invention.

- 4 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of agricultural full side based on unstructured moving grids Displacement moving platform, including platform body 1, the lower surface both sides of platform body 1 are fixedly connected with connecting seat 11, and connecting seat 11 has four It is a, and be symmetrically and evenly distributed on the outside of the lower surface of platform body 1, it is supported four positions, more stable, connecting seat 11 Lower surface center at be equipped with escape groove 12, the lower surface of connecting seat 11, which has been bolted to connection, turns to sleeve 2, turning sleeve The upper surface of cylinder 2 is installed with steering motor 21,21 servomotors of steering motor, model AKM3, and passes through circuit string It is linked on control switch and power supply, steering motor 21 is slidably connected to the interior surface of escape groove 12, the shaft end of steering motor 21 Place is fixedly connected with steering spindle 23 by the first flat key 22, and the outer surface upper end for turning to sleeve 2 is mounted by means of screws with End cap 24, the lower surface for turning to sleeve 2 are mounted by means of screws with bottom end cover 27, and the outer surface lower end of steering spindle 23 passes through the Two flat keys 25 are fixedly connected with pinion gear 26, turn to and are rotatably connected to outer sleeve 3 at the outer surface center of sleeve 2, outer sleeve 3 Upper surface slide is connected to the lower surface of upper end cover 24, and the lower surface of outer sleeve 3 is rotationally connected with the upper surface of bottom end cover 27, can To ensure stability that outer sleeve 3 connects, avoid coming off, right angle support column 31 be fixedly welded on rear side of the outer surface of outer sleeve 3, The cross bar lower surface of right angle support column 31 is fixedly connected with half gear 33, the front-end surface engagement of half gear 33 by connecting shaft 32 In the rear side surface of pinion gear 26, outer sleeve 3 can be driven, adjust steering angle, very convenient stabilization, right angle support The montant outer surface of column 31 is fixedly welded with rotational sleeve 34, and the inside of rotational sleeve 34 is rotatably connected to by rotation axis 35 Idler wheel 36, plays a supporting role, and support column 31 montant outer surface upper end in right angle is mounted by means of screws with curved baffle 37, Curved baffle 37 is slidably connected to the front side surface of outer sleeve 3, it is ensured that the stability of connection, but also can be to junction It is protected, dust is avoided to enter and influences to rotate.

It should be noted that during work：Idler wheel 36 can be supported on the ground, by platform body 1 it is horizontally-supported, it is necessary to It when being turned to, can be rotated by starting steering motor 21 with steering spindle 23, then engage half gear with pinion gear 26 33 rotate, and the torque of the steering of right angle support column 31 can be so applied to by connecting shaft 32, and then can exist with outer sleeve 3 The outer surface for turning to sleeve 2 is rotated, it is ensured that stability during rotation can thus adjust right angle support column 31 Direction, and then the direction of idler wheel 36 can be adjusted, due to engaging to be controlled by gear, and use independent control Steering motor 21 high-precision can adjust the angle turned to, greatly improve the progress that universal wheel is adjusted, ensure turning efficiency, Driving mechanism is located at outer sleeve 3 and turns to the inside of sleeve 2 simultaneously, can ensure the stability of connection, improves service life.

Claims (5)

1. a kind of agricultural omni-directional moving platform based on unstructured moving grids, including platform body（1）, it is characterised in that：Institute State platform body（1）Lower surface both sides be fixedly connected with connecting seat（11）, the connecting seat（11）Lower surface center at set There is escape groove（12）, the connecting seat（11）Lower surface be bolted to connection steering sleeve（2）, the steering sleeve （2）Upper surface be installed with steering motor（21）, the steering motor（21）It is slidably connected to escape groove（12）Inside Surface, the steering motor（21）Axial end pass through the first flat key（22）It is fixedly connected with steering spindle（23）, the turning sleeve Cylinder（2）Outer surface upper end be mounted by means of screws with upper end cover（24）, the steering sleeve（2）Lower surface pass through screw It is installed with bottom end cover（27）, the steering spindle（23）Outer surface lower end pass through the second flat key（25）It is fixedly connected with small tooth Wheel（26）.

2. a kind of agricultural omni-directional moving platform based on unstructured moving grids according to claim 1, it is characterised in that： The steering sleeve（2）Outer surface center at be rotatably connected to outer sleeve（3）, the outer sleeve（3）Outer surface on rear side of it is solid Surely it is welded with right angle support column（31）, the right angle support column（31）Cross bar lower surface pass through connecting shaft（32）It is fixedly connected with Half gear（33）, half gear（33）Front-end surface be engaged in pinion gear（26）Rear side surface.

3. a kind of agricultural omni-directional moving platform based on unstructured moving grids according to claim 2, it is characterised in that： The right angle support column（31）Montant outer surface be fixedly welded with rotational sleeve（34）, the rotational sleeve（34）Inside Pass through rotation axis（35）It is rotatably connected to idler wheel（36）, the right angle support column（31）Montant outer surface upper end is consolidated by screw Dingan County is equipped with curved baffle（37）, the curved baffle（37）It is slidably connected to outer sleeve（3）Front side surface.

4. a kind of agricultural omni-directional moving platform based on unstructured moving grids according to claim 2, it is characterised in that： The outer sleeve（3）Upper surface slide be connected to upper end cover（24）Lower surface, the outer sleeve（3）Lower surface rotate connect It is connected to bottom end cover（27）Upper surface.

5. a kind of agricultural omni-directional moving platform based on unstructured moving grids according to claim 1, it is characterised in that： The connecting seat（11）There are four, and symmetrically and evenly it is distributed in platform body（1）Lower surface on the outside of.