CN208502369U - Omnidirectional's carrier driving mechanism - Google Patents
Omnidirectional's carrier driving mechanism Download PDFInfo
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- CN208502369U CN208502369U CN201820725643.6U CN201820725643U CN208502369U CN 208502369 U CN208502369 U CN 208502369U CN 201820725643 U CN201820725643 U CN 201820725643U CN 208502369 U CN208502369 U CN 208502369U
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- driving
- wheel
- carrier
- bottom plate
- omnidirectional
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Abstract
The purpose of the utility model is to provide a kind of omnidirectional's carrier driving mechanisms for being adapted to different road conditions especially out-of-flatness ground, bottom plate including carrier ontology, and the hoofing part mechanism on bottom plate is set, hoofing part mechanism includes the turntable steering mechanism of two with bottom plate rotation connection, turntable steering mechanism two sides are symmetrical arranged driving wheel, and every side drive wheel drives rotation by mechanism is operated alone；Driving mechanism is electrically connected controller.Every at least two driving wheel of side drive wheel is rotated synchronously with being driven between side drive wheel by the same driving mechanism.The Liang Ge turntable steering mechanism of the utility model can make vehicle front and back, retrogressing, translation and arbitrary curve movement, realize that omnidirectional drives.The synchronous driving of multiple driving wheels can make carrier by that will not fall into when uneven ground, skid, and mitigate the load of wheel, prevent wheel excessive deformation.
Description
Technical field
The utility model belongs to vehicle parking and carries field, and in particular to omnidirectional's carrier driving mechanism.
Background technique
Existing carrier hoofing part mechanism is mostly that one group or two groups of driving wheel groups drive carrier mobile.Carrier
It can be in garage according to the movement of the track of setting.Intelligentized garage parking and handling device are the development sides in existing garage parking
To.The omnidirectional's Automatic Guided Vehicle for needing all directions mobile.
The tire for making automobile by stepping up clamp arm of existing clipping carrier is lifted, and two clamp arm can be with rotating clip
Clamping can also tightly be moved towards.One end of clamp arm is fixed on carrier.Carrier moves in garage, there is injustice in garage
Whole place, especially nature Outdoor Parking area, road conditions are different, can sometimes encounter the ground of soft injustice.Existing carrying
Vehicle, because the limitation of garage volume is more small and exquisite, driving wheel is smaller and load is bigger.The driving wheel of each position only has
1, in operation, in place of encountering injustice, if there is pit on ground, then driving wheel is once trapped into and is difficult to out vehicle.In addition,
The weight of vehicle is that the auxiliary support wheel being grounded by the driving wheel of driving mechanism and clamp arm end undertakes together, if in clamp arm
Auxiliary support wheel position it is uneven, if it is pit, auxiliary support wheel will be liftoff, and the weight of vehicle is made to be moved to driving
In mechanism, the pressure of driving mechanism is increased, driving wheel rubber is compressed, and radius changes, and the linear velocity of two rows of wheels is different
Sample, carrier, which generates, to be turned to and deforms clamp arm.If ground is raised, driving wheel is lifted under the action of auxiliary support wheel,
Carrier run-off the straight；Pressure on driving wheel moves to unilateral, and driving wheel rubber is compressed, and radius changes, two rows of wheels
Linear velocity it is different, carrier generate steering.Therefore market effect and bad.
For two clamp arm of carrier in the clamp state respectively by the reaction force of tire, reaction force is very big, is easy to make
It damages, breaks down at clamp arm and pedestal junction.The height of failure rate is also to measure carrier especially Automatic Guided Vehicle
Important indicator.
Summary of the invention
The purpose of the utility model is to provide a kind of omnidirectional's carriers for being adapted to different road conditions especially out-of-flatness ground
Driving mechanism.
The purpose of this utility model is achieved in that omnidirectional's carrier driving mechanism, including carrier ontology
Bottom plate, and the hoofing part mechanism being arranged on bottom plate, hoofing part mechanism includes two and turns with bottom plate rotation connection
Disk steering mechanism, turntable steering mechanism two sides are symmetrical arranged driving wheel, and every side drive wheel drives rotation by mechanism is operated alone；It drives
Motivation structure is electrically connected controller.
Every at least two driving wheel of side drive wheel drives synchronous turn by the same driving mechanism between side drive wheel
It is dynamic.
Two mounting racks are set in turntable steering mechanism, and two rows of driving wheels are rotatably arranged on peace by drive shaft and bearing
It shelves；Synchronous pulley is set on drive shaft, and setting synchronous belt drives drive shaft to rotate synchronously between synchronous pulley.
Two mounting racks are set in turntable steering mechanism, and two rows of driving wheels are rotatably arranged on peace by drive shaft and bearing
It shelves；Identical gear is set on drive shaft, and gear engagement drives drive shaft to rotate synchronously.
Setting driving outer ring on bottom plate；Setting driving inner ring in turntable steering mechanism, drives between inner ring and driving outer ring
Plane bearing is set.
The beneficial effects of the utility model are: Liang Ge turntable steering mechanism can make vehicle before and after, retreat, translation and any
Omnidirectional's driving is realized in curvilinear motion.The synchronous driving of multiple driving wheels can make carrier by that will not fall into when uneven ground
Enter, skid, and mitigate the load of wheel, prevents wheel excessive deformation.The application carrier can be special in different road conditions
It is accurately automatically to be travelled under the road conditions of out-of-flatness.
Detailed description of the invention
Fig. 1 is the utility model general structure schematic diagram.
Fig. 2 is a pair of of clamp arm and turntable steering mechanism embodiment 2.
Fig. 3 is turntable steering mechanism embodiment 1
Wherein 1 is bottom plate, and 2 be clamp arm, and 3 be turbine and worm mechanism, and 4 be worm screw, and 5 be turbine, and 6 be motor, and 7 be casing, 8
It is clamp arm rotation axis for pipe support, 9,10 be auxiliary support wheel, and 11 be idler wheel, and 12 be bearing block, and 13 be stop bit nut, and 14 be spiral shell
Line connector, 15 be turntable steering mechanism, and 16 be driving wheel, and 17 be driving mechanism, and 18 be mounting rack, and 19 be drive shaft, and 20 are
Gear, 21 be Athey wheel, and 22 be crawler belt, and 23 be driving outer ring, and 24 be driving inner ring, and 25 be preceding handling unit, 26 be after carry
Unit, 27 be telescoping mechanism.
Specific embodiment
As shown in Figure 1-3, a kind of omnidirectional's carrier driving mechanism, including carrier ontology, and be arranged in carrier sheet
Four groups of clamp arm 2 of automobile front and back wheel are respectively corresponded on the bottom plate 1 of body, every group of clamp arm includes two clamp arm 2；Folder is set on bottom plate 1
Arm driving clamping device clamps tire by clamping clamp arm 2；Hoofing part mechanism and controller are set on bottom plate 1.Two folders
Arm 2 can rotate clamping, and can also be translatable clamping.
Carrier ontology includes two handling unit connected by telescoping mechanism 27, referred to as before moves unit 25 and removes with after
Transportation unit 26.Each handling unit includes bottom plate 1, and a pair of of clamp arm 2 is symmetrically arranged at left and right sides of each bottom plate 1.Two bottoms
Front cover and rear cover is respectively set on plate 1.
Carrier is positioned using overall Vision, vision laser integrated navigation.
Clamp arm driving clamping device embodiment 1:
Clamp arm driving clamping device is turbine and worm mechanism 3, and worm screw 4, which is arranged on bottom plate 1 to be driven by motor 6, to be rotated.Snail
Bar 4 is rotatablely connected casing 7, and clamp arm rotation axis 9 is arranged on pipe support 8 for 7 joint pipe frame 8 of casing, and turbine 5 passes through bearing rotation connection
It is fixed in clamp arm rotation axis 9 and with 4 engagement rotation of worm screw, 2 one end of clamp arm and turbine 5, as turbine 5 rotates together, clamp arm 2
It is rotatably connected in clamp arm rotation axis 9 also by bearing.Two clamp arm 2 are opposite or rotate towards each other release or clamp tire.
Clamp arm 2 and casing 7 make 2 other end of clamp arm float up and down to adapt to ground along the rotation of 4 axis of worm screw.
Under Land leveling state, pipe support 8 is concordant with bottom plate 1.Turbine 5 can not be full circle, be less than 180 degree greater than 90 degree
It can.4 both ends of worm screw respectively set a deep groove ball bearing, and deep groove ball bearing outer ring and 7 inner wall of casing cooperate.7 interposition of casing installs
Opening, worm screw 4 and turbine 5 are set in aperture position engaged transmission.4 both ends of worm screw are fixed on bottom plate 1 by bearing and bearing block 12
On.Two servo motor parallel connections drive worm screw 4 to rotate by retarder, provide sufficiently large power for worm screw 4.Motor 6 is by electricity
Pond power supply, two electrodes provide biggish electric current.Motor connects controller, is controlled and is rotated by controller.
One end setting auxiliary support wheel 10 and ground face contact of the clamp arm 2 far from bottom plate 1.The side that clamp arm 2 clamps tire is set
Set idler wheel 11.Rolling friction between auxiliary support wheel 10 and ground, when walking and hoofing part mechanism supports carrier together.Rolling
Wheel 11 can be deep groove ball bearing, be less likely to be damaged tire when with tire interface.
Clamp arm 2 is downward when ground and perhaps raised 10 contact position of auxiliary support wheel of clamp arm 2 recess or is rotated up,
Casing 7 rotates with it, and hoofing part mechanism will not be hanging with ground contact position with ground contact position and clamp arm 2, causes carrier
Inclination.16 pressure of driving wheel is constant, and 16 traffic direction of driving wheel can be kept correct.
Clamp arm driving clamping device embodiment 2
With embodiment 1 the difference is that:
It will be loaded to each worm screw 4 with setting jacking mechanism between the abutting end of two worm screws 4 of two clamp arm 2 of group
External force is converted to the internal force between two worm screws 4.When clamp arm 2 clamps automobile tire, automobile clamps tire to clamp arm 2 by tire
The very big power in one end, that is, clamping end, to make clamp arm 2 exert a force bottom plate 1, because strength is very big, it is easy to cause bolt and axis
Hold seat 12 damage, cause equipment fault, influence using, replace part of damage when it is more troublesome.Tire is to clamp arm 2 in the present embodiment
The downward power in clamping end and two clamp arm 2 planar the outside power of vertical clamp arm 2, turbine 5 are another clamp arm rotation axis 9
End, so the power that turbine 5 applies to worm screw 4 is contrary with 2 clamping end institute stress of clamp arm.With two worm screws 4 of group clamp arm 2
Suffered power is contrary and is directed toward other side mutually.By the setting of two worm screws 4 point-blank and 4 abutting end of worm screw it
Between jacking mechanism is set, load can be converted into the internal force between two worm screws 4 to the external force of each worm screw 4.
4 both ends of worm screw connect the bearing block being arranged on bottom plate 1, two bearing blocks 12 of 4 abutting end of worm screw by bearing
Between two stop bit nuts 13 are set, connected by nipple 14 between two stop bit nuts 13.13 one end of stop bit nut top
On bearing block 12, one end is connected through a screw thread with nipple 14.This structure is easy for assemble or unload, it is only necessary to rotate screw thread
Connector 14, which can be completed, to be held out against or dismantles.Worm screw 4 gives the power of bearing block 12 towards the direction of adjoining worm gears 4, passes through stop bit spiral shell
Mother 13 and helicitic texture hold out against the bearing block 12 of two neighboring worm screw 4, and the power that bear bearing block 12 should become two
Internal force between endless screw system.
Hoofing part mechanism includes two turntable steering mechanism 15 being rotatablely connected with bottom plate 1.Setting driving is outer on bottom plate 1
Circle 23；Setting driving inner ring 24 in turntable steering mechanism 15 drives and plane bearing is arranged between inner ring 24 and driving outer ring 23.
Turntable steering mechanism embodiment 1:
15 two sides of turntable steering mechanism are symmetrical arranged driving wheel 16, and every side drive wheel 16 is by being operated alone mechanism 17 with turn
It is dynamic；Driving mechanism 17 is electrically connected controller.Every 16 at least two driving wheel 16 of side drive wheel, passes through between side drive wheel 16
The same driving mechanism 17, which drives, to be rotated synchronously.Two mounting racks 18 are set in turntable steering mechanism 15, and two rows of driving wheels 16 are logical
It overdrives wheel shaft 19 and bearing is rotatably arranged on mounting rack 18.Identical gear 20 is set on drive shaft 19, and gear 20 is nibbled
Crossed belt moves drive shaft 19 and rotates synchronously.Asessory shaft can be set according to position, identical gear help is set on asessory shaft and is driven.
Several driving wheels 16 can also be made to rotate synchronously with synchronous belt etc..Driving mechanism 17 is driving motor and retarder, is also disposed at
On mounting rack 18.Reducer output shaft drives a driving wheel 16 to rotate, and other driving wheels are mounted on by drive shaft 19
Shelve 18.
Carrier will drive under automobile bottom and carry, and height is low, and wheel diameter is smaller.When ground injustice is for example recessed,
Driving wheel 16, which is trapped into, can sometimes can't get out, even if there is auxiliary wheel, but auxiliary wheel itself is without driving force, once carrier
It does not move, auxiliary wheel itself, which not can rotate, makes carrier from being recessed up.Using multiple 16 structures of driving wheel, once wherein one
A to fall into, the rotation of driving wheel 16 in addition drives carrier mobile.The ipsilateral driving wheel using 3 synchronous rotations in the present embodiment
16.The drive system of carrier has 12 driving wheels 16 altogether.For this carrier since height is 110 millimeters low, weight weighs 4000 kilograms,
The rubber wheel of general 100 millimeters of diameter cannot withstand, and also separate load capacity using all-wheel drive.
The advance, retrogressing, left and right that carrier may be implemented in the present embodiment translate, using carrier as the rotation of 360 degree of center,
It can carry out arbitrary curve movement.When the driving motor revolving speed of same 15 inside two sides of turntable steering mechanism is identical, rotation side
To it is opposite when, the driving wheel 16 of the rotation of 15 original place of turntable steering mechanism, the inside of turntable steering mechanism 15 can go to arbitrary side
To.When the 16 direction same rotational speed of driving wheel of Liang Ge turntable steering mechanism 15 is identical, forward-reverse or any may be implemented
Direction translation；When 16 direction of driving wheel of Liang Ge turntable steering mechanism 15 is in the tangential direction and revolving speed phase of a circular trace
Meanwhile carrier can move in a circle；When the different rotating speeds difference of direction, arbitrary curve movement can be done.Specific motion profile
It is controlled by controller.
Turntable steering mechanism embodiment 2:
15 two sides of turntable steering mechanism are symmetrical arranged Caterpillar transmission mechanism, and each Caterpillar transmission mechanism is by being operated alone mechanism
17 drive.Driving mechanism 17 is electrically connected controller；Caterpillar transmission mechanism includes at least two be arranged in turntable steering mechanism 15
The Athey wheel 21 of a synchronous rotation and the crawler belt 22 of connecting band track wheel 21.Two mounting racks 18 are set in turntable steering mechanism 15,
Athey wheel 21 is arranged on drive shaft 19, and drive shaft 19 is rotatably arranged on mounting rack 18 by bearing.Drive shaft 19
Upper that identical gear 20 is arranged, the engagement of gear 20 drives drive shaft 19 to rotate synchronously.Track structure can be applicable in variously
Face more adapts to outdoor elements and concave-convex different ground than multiple driving wheels 16.
When it is implemented, carrier enters below vehicle, vehicle front rear wheel position is positioned, motor 6 drives turbine snail
The rotation of linkage 3 is to make the rotation of clamp arm 2 clamp lifting tire to specified altitude assignment.After determining good position route, carrier driving
Mechanism 17 starts, and drives carrier mobile.Carrier driving wheel 16 or crawler belt 22 are adjusted by adjusting turntable steering mechanism 15
Angle keep carrier mobile to any direction.Vision system is arranged on carrier to position, vision laser integrated navigation, control
Device control processed.After reaching designated position, turbine and worm mechanism 3, which drives the rotation release of clamp arm 2 to put down, makes automobile tire.2 turns of clamp arm
It moves and is adjacent to bottom plate 1, left from automobile lower section.
Claims (5)
1. omnidirectional's carrier driving mechanism, the bottom plate including carrier ontology, and the hoofing part mechanism being arranged on bottom plate,
It is characterized by: the hoofing part mechanism includes the turntable steering mechanism of two with bottom plate rotation connection, turntable steering mechanism
Two sides are symmetrical arranged driving wheel, and every side drive wheel drives rotation by mechanism is operated alone；Driving mechanism is electrically connected controller.
2. omnidirectional's carrier driving mechanism according to claim 1, it is characterised in that: every side drive wheel at least two
Driving wheel is rotated synchronously with being driven between side drive wheel by the same driving mechanism.
3. omnidirectional's carrier driving mechanism according to claim 2, it is characterised in that: be arranged two in the turntable steering mechanism
A mounting rack, two rows of driving wheels are rotatably arranged on mounting rack by drive shaft and bearing；Synchronous belt is set on drive shaft
It takes turns, setting synchronous belt drives drive shaft to rotate synchronously between synchronous pulley.
4. omnidirectional's carrier driving mechanism according to claim 2, it is characterised in that: be arranged two in the turntable steering mechanism
A mounting rack, two rows of driving wheels are rotatably arranged on mounting rack by drive shaft and bearing；It is arranged on drive shaft identical
Gear, gear engagement drive drive shaft to rotate synchronously.
5. -4 any omnidirectional's carrier driving mechanism according to claim 1, it is characterised in that: driving is arranged on the bottom plate
Outer ring；Setting driving inner ring in turntable steering mechanism drives and plane bearing is arranged between inner ring and driving outer ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820725643.6U CN208502369U (en) | 2018-05-16 | 2018-05-16 | Omnidirectional's carrier driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820725643.6U CN208502369U (en) | 2018-05-16 | 2018-05-16 | Omnidirectional's carrier driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208502369U true CN208502369U (en) | 2019-02-15 |
Family
ID=65299653
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820725643.6U Active CN208502369U (en) | 2018-05-16 | 2018-05-16 | Omnidirectional's carrier driving mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN208502369U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606139A (en) * | 2019-09-12 | 2019-12-24 | 上海工程技术大学 | Universal transportation module and universal transportation mechanism made of same |
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2018
- 2018-05-16 CN CN201820725643.6U patent/CN208502369U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606139A (en) * | 2019-09-12 | 2019-12-24 | 上海工程技术大学 | Universal transportation module and universal transportation mechanism made of same |
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