CN208731243U - A kind of ski type helicopter ground omnidirectional mobile device - Google Patents
A kind of ski type helicopter ground omnidirectional mobile device Download PDFInfo
- Publication number
- CN208731243U CN208731243U CN201820976025.9U CN201820976025U CN208731243U CN 208731243 U CN208731243 U CN 208731243U CN 201820976025 U CN201820976025 U CN 201820976025U CN 208731243 U CN208731243 U CN 208731243U
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- Prior art keywords
- frame
- pin
- wheel
- telescopic rod
- rod
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- 239000000725 suspension Substances 0.000 claims abstract description 15
- 239000007789 gas Substances 0.000 claims description 16
- 239000003921 oil Substances 0.000 claims description 12
- 238000007667 floating Methods 0.000 claims description 11
- 239000004519 grease Substances 0.000 claims description 8
- 230000008602 contraction Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 4
- 229910003460 diamond Inorganic materials 0.000 claims description 3
- 239000010432 diamond Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000003319 supportive effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 229910052757 nitrogen Inorganic materials 0.000 claims description 2
- 230000001737 promoting effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 8
- 230000008878 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reaction Methods 0.000 abstract description 5
- 238000013016 damping Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Abstract
A kind of ski type helicopter ground omnidirectional mobile device, including lifting device, suspension arrangement, scalable placement platform, driving device.Lifting device includes hydraulic cylinder, promotes support, promotes connecting rod, gripper；Suspension arrangement includes oil gas cylinder, and rocker arm pendulum, shaft, oil gas cylinder is by hydraulic cylinder and piston rod；Scalable placement platform is provided with telescopic rod, rack, sliding block, lead screw and nut；Driving device includes servo motor, retarder, shaft coupling, bearing, wheel shaft and Mecanum wheel.The present apparatus solves the ground moving inconvenience of slide-type helicopter, small to turn the problem of being difficult to realize, with the Omni-mobile technology based on Mecanum wheel, so that this mobile device can smoothly complete steering, movement under conditions of narrow space.Suspension arrangement is used, so that overall stability is preferable, reduces the harm of inertia impact, guarantees that transportation safety is steady, while making integral layout reasonable, small volume is securely and reliably, easy to operate, practical value with higher.
Description
Technical field
The utility model is a kind of ski type helicopter ground omnidirectional mobile device, is related to Omni-mobile technology.
Background technique
In recent years, with the development of economy with the raising of living standards of the people, for straight in industrial production and military activity
Rise machine demand increasingly improve, but helicopter ground movement there are many urgent problems to be solved such as: itself does not have ground
Driving power, mobile helicopter is inconvenient, when needing to carry out ground traction transport, need to install profession fluid pressure type towing machine wheel or
Ground traction haul, therefore inconvenient for operation, higher cost are carried out using mating hoisting transportation vehicle；Particularly for small-sized sled
Formula helicopter, since such helicopter body weight is smaller, as still used fluid pressure type towing machine wheel and hoisting transportation vehicle when shifting
It is transported, complicated for operation, higher cost, practicability is not good enough.And that there is turning radius is big, empty for traditional wheeled transport vehicle
Between utilization rate is low, kinematic dexterity is poor, the not high many unfavorable factors of transfer efficiency, seriously affected the transport of equipment, goods and materials
Ensure efficiency.
To solve the problems in transportational process, the utility model uses the omnidirectional moving technology based on Mecanum wheel,
The technology can rationally and effectively solve this problem, can be realized on two-dimensional surface using the omnidirectional moving equipment of the technology
Front and rear, left and right such as rotates in place at the movement, which has can be to any direction in the case where not changing car body oneself state
Mobile characteristic.The technology, which overcomes traditional MOVING STRUCTURE, cannot achieve the defect of transverse shifting and original place rotation, it has more
Big kinematic dexterity, the technology are especially suitable for working in the field that such as naval vessel space is limited, more demanding to kinematic dexterity
It closes.
Summary of the invention
The utility model overcome the deficiencies in the prior art, the technical problem to be solved is that provide a kind of ski type helicopter
Ground omnidirectional mobile device.
A kind of ski type helicopter ground omnidirectional mobile device, including driving device, suspension arrangement, lifting device, can stretch
Contracting placement platform.
It is characterized in that the driving device includes servo motor, retarder, shaft coupling, bearing, wheel shaft and Mecanum
Wheel；The retarder drives via servo motor to be rotated, and then is driven shaft coupling and be connected thereon and by bearing support
Wheel shaft, it is final to drive Mecanum wheel rotation.Existing conventional transport devices have the very day of one's doom in small spaces such as ship decks
System, and Mecanum wheel Omni-mobile technology solves problem above very well.Eight motors in the utility model independently drive,
Each Mecanum wheel can be driven to carry out the different movement in direction, finally make the platform be respectively there are three freedom degree: front and back
It is mobile, it moves left and right and is rotated with original place, to realize helicopter in the movement of small space.
The suspension arrangement includes oil gas cylinder, rocker arm pendulum, shaft.Oil gas cylinder is made of hydraulic cylinder and piston rod.Hydraulic cylinder
Piston rod and car body by pin connection, rocker arm pendulum is connected by pin with the hydraulic cylinder of oil gas cylinder, while rocker arm pendulum conduct
The bearing spider of driving device provides fixation for Mecanum wheel and its wheel shaft, and the other end of rocker arm pendulum is connected to vehicle by shaft
On body.During the work time, when encounter ground it is not flat when, Mecanum wheel by bigger pressure, thus drive rocker arm pendulum around the shaft
Rotation, and the rotation of rocker arm pendulum is limited by oil gas cylinder, to achieve the purpose that buffering and damping.
The lifting device includes hydraulic cylinder, promotes support, promotes connecting rod and gripper: promotion connecting rod described in the present apparatus is logical
It crosses pin and is connect with support is promoted, promotion connecting rod two end passes through pin respectively and connect with hydraulic cylinder and gripper, and promotion support, which is fixed on, to be mentioned
Device vehicle body is risen, and hydraulic cylinder is connect by pin with vehicle body.In lifting process, it is reserved that gripper protrudes into ski type helicopter sled
Hole in, hydraulic cylinder elongation to drive promoted connecting rod around its connect promoted support pin rotation, and then drive gripper promoted, most
Helicopter fuselage is lifted eventually.
The scalable placement platform includes telescopic rod, rack, sliding block, lead screw, directive wheel, spandrel girder.Telescopic rod scissor
Formula installation, telescopic rod head end pass through sliding block and are connected by nut screw.Spandrel girder passes through pin and telescopic rod across on telescopic rod
Connection installs directive wheel in the end of spandrel girder, and directive wheel rolls in the guide rail on vehicle frame.When work, two sliding block one
Fixed, a sliding block moves on lead screw, drives the expansion of diamond shape telescopic rod, is fixed on the spandrel girder on telescopic rod with guiding
The rolling of wheel is unfolded simultaneously.When telescopic rod is fully deployed, helicopter is fallen to be placed on placement platform and be transported by hoisting mechanism
It is defeated.
Having the beneficial effect that compared with prior art for the utility model is revolved using motor driven Mecanum wheel
Turn, realization ski type helicopter is in smooth-riding surface, small space, flexible ground moving.In suspension arrangement, monoblock type list gas
The gas chamber of room oleo-pneumatic suspension is arranged in hollow piston rod, and gas chamber is isolated with oil liquid by floating piston, realizes bumpy sections
Mecanum wheel smooth motion, the scalable apparatus for placing of scissor-type design, it is ensured that the bearing capacity of mobile platform, and it is big
The space occupied of mobile platform is reduced greatly.This ski type helicopter omni-directional moving mechanism very good solution prior art
These problems, securely and reliably, convenient for operation.
Detailed description of the invention
Fig. 1 is the utility model overall effect figure.
Fig. 2 is that the utility model removes the overall diagram after shell.
Fig. 3 is the left view of the utility model.
Fig. 4 is the utility model lifting device overall structure figure.
Fig. 5 is the structure chart of the utility model suspension arrangement and driving device.
Fig. 6 is the overall structure figure of the scalable placement platform of the utility model.
Fig. 7 is the directive wheel cross-sectional view of the scalable placement platform of the utility model.
Wherein: 1, lifting device, 2, suspension arrangement, 3, driving device, 4, scalable placement platform, 5, hydraulic cylinder,
6, support, 7, gripper, 8, promotion connecting rod, 9, oil gas cylinder cylinder body, 10, grease chamber, 11, floating piston, 12, high pressure are promoted
Gas chamber, 13, piston rod, 14, rocker arm pendulum, 15, Mecanum wheel, 16, shaft, 17, spring, 18, wheel supports,
19, wheel, 20, pin shaft, 21, telescopic rod, 22, spandrel girder, 23, directive wheel, 24, activity chain, 25, sliding block
26, lead screw.
Specific embodiment
Such as Fig. 1-7, a kind of ski type helicopter ground omnidirectional mobile device, it is characterised in that the device includes a frame
Frame, one end of frame are unenclosed construction, and the other end is equipped with scalable placement platform 4；The inside of frame the right and left is set respectively
There is sliding slot, and multiple lifting devices 1 are installed respectively；Base of frame is equipped with multiple driving devices 3 for being respectively provided with suspension arrangement 2；
The lifting device 1 includes hydraulic cylinder 5, promotes support 6, gripper 7, promotes connecting rod 8；Wherein, support 6 is promoted to install
On frame, promotes 8 center of connecting rod and connect by pin with support 6 is promoted, promote 8 one end of connecting rod and connect by pin with gripper 7, separately
One end is connect by pin with the lower end of hydraulic cylinder 5；The elongation of hydraulic cylinder 5 drives the pin rotation for promoting connecting rod 8 around promotion support 6, into
And gripper 7 is driven to be promoted in a manner of lever motion, and to promote helicopter to certain height, scalable placement platform 4 later
Expansion, the contraction of hydraulic cylinder 5 declines gripper 7, so that helicopter is placed on scalable placement platform 4；
The driving device 3 includes the Mecanum wheel 15 for being mounted on 14 middle part of rocker arm pendulum, and one end of rocker arm pendulum 14 passes through
Shaft 16 is connect with base of frame, the other end is connect by suspension arrangement 2 with base of frame；
The suspension arrangement 2 includes oil gas cylinder 9, has grease chamber 10, floating piston 11, plenum chamber 12, piston in oil gas cylinder 9
Bar 13, wherein floating piston 11 is located at 10 lower section of grease chamber, plenum chamber 12 is located at 11 lower section of floating piston, piston rod 13 is located at height
12 lower section of plenum chamber, and piston rod 13 is connected with one end of rocker arm pendulum 14；9 top of oil gas cylinder is fixedly connected with frame；
The scalable placement platform 4 includes multiple telescopic rods 21, multiple spandrel girders 22 and lead screw 26, wherein spandrel girder 22
Both ends are respectively provided with directive wheel 23, and the directive wheel 23 at both ends is located in the sliding slot of frame two sides, and lead screw 26 is equipped with one admittedly
Fixed sliding block 25 and a movable sliding block 25 respectively connect a telescopic rod 21 on two sliding blocks 25, the two 21 phases of telescopic rod
Mutually intersect and in infall with the interconnection of activity chain 24, using normal between multiple spandrel girders 22 and multiple telescopic rods 21
It is several right that the scissor-type connection type of rule, i.e. telescopic rod 21 are divided into, and the middle part of each pair of telescopic rod 21 is connected with each other by pin, each pair of
The rear and front end of telescopic rod 21 passes through pin and two pairs of telescopic rods 21 of its front and rear sides shape that assumes diamond in shape respectively and connect, each pair of telescopic rod
A piece spandrel girder 22 of each installation, 21 both ends of least significant end a pair of telescopic rod pass through pin shaft and two cunnings respectively on the pin of 21 rear and front ends
Block 25 connects；During the work time, screw rod 26 rotates, and moves movable sliding block 25 along 26 axis direction of lead screw, 25 band of sliding block
Dynamic telescopic rod 21 is rotated around pin shaft, so that the overall elongated that multiple telescopic rods 21 are constituted, and drive spandrel girder 22 by leading
It moves to wheel 23 along the sliding slot on frame, finally entire spandrel girder 22 is unfolded, in contraction process, need to only allow sliding block 25 anti-
Direction moves the contraction that scalable placement platform can be realized.
Such as Fig. 5, a kind of ski type helicopter ground omnidirectional mobile device, it is characterised in that in the grease chamber 10
Full of hydraulic oil, piston rod 13 is located at 11 lower section of floating piston, and plenum chamber 12 therebetween is full of high pressure nitrogen；When
It encounters when jolting, piston rod 13, which is moved up, is transferred to high pressure gas for vibration energy, and then floating piston 11 is driven to float, thus will
Vibration energy is transferred to grease chamber 10, and the final absorption for realizing energy achievees the purpose that damping.
A kind of ski type helicopter ground omnidirectional mobile device, it is characterised in that the driving device 3 is in addition to preceding
It further include servo motor, retarder, shaft coupling except bearing, wheel shaft and the Mecanum wheel stated；The retarder is via servo
Motor driven rotation, and then drive shaft coupling and be connected thereon and by the wheel shaft of bearing support, finally drive Mecanum
Wheel rotation；Each motor independently drives, and each Mecanum wheel is driven to carry out the different movement in direction, thus keep platform mobile and
Rotation, realizes ski type helicopter in the movement of small space.
Such as Fig. 7, the ski type helicopter ground omnidirectional mobile device, it is characterised in that above-mentioned directive wheel 23 includes setting
The spring 17 in 22 end of spandrel girder is set, the other end of spring 17 is equipped with wheel supports 18, pin is housed on wheel supports 18
Axis 20 installs wheel 19 on pin shaft 20, directive wheel when spandrel girder no load movement is made to play a supportive role, and helicopter is placed on load-bearing
When on beam, directive wheel does not play a supportive role.
The lifting device of the ski type helicopter ground omnidirectional mobile device, it is characterised in that lifting device is worked
Cheng Zhong, gripper hoisting depth height are designed as 200mm, hydraulic cylinder travel 160mm.
The scalable placement platform of the ski type helicopter ground omnidirectional mobile device, it is characterised in that in view of sliding
22 length of spandrel girder is set as 1000mm~3000mm by the actual size of skid type helicopter.
The utility model is particularly suitable for narrow space, the occasion more demanding to kinematic dexterity, during the work time,
The utility model is moved to below ski type helicopter first, after gripper 7 is inserted into the reserved hole of ski type helicopter sled
It in position, then enables the elongation of hydraulic cylinder 5 drive and promotes the rotation of connecting rod 8, so that gripper 7 be made to promote ski type helicopter to predetermined altitude；
Lead screw 26 rotates later, and sliding block 25 moves, and then drives the expansion of telescopic rod 21 to make spandrel girder 22 concurrently be unfolded, and is unfolded
After hydraulic cylinder 5 retract, drive gripper 7 and ski type helicopter to drop on bearing platform, it is straight to be finally completed ski type
The lifting and placement work of the machine of liter；Later, the utility model driving motor drives Mecanum wheel 15, realizes linear motion and original
The movements such as ground turning, are finally completed ski type helicopter and are moved to specified job site in small space；Refer in arrival
After determining place, lifting device promotes ski type helicopter again, and scalable placement platform is packed up, and lifting device is again by sled
Formula helicopter falls and withdraws from gripper, then the utility model is moved to other positions, has been finally completed ski type helicopter
Mobile working in small space.
Claims (3)
1. a kind of ski type helicopter ground omnidirectional mobile device, it is characterised in that the device include a frame, the one of frame
End is unenclosed construction, and the other end is equipped with scalable placement platform (4)；Sliding slot is respectively equipped on the inside of frame the right and left, and
Multiple lifting devices (1) is installed respectively；Base of frame is equipped with multiple driving devices (3) for being respectively provided with suspension arrangement (2)；
The lifting device (1) includes hydraulic cylinder (5), promotes support (6), gripper (7), promotes connecting rod (8)；Wherein, branch is promoted
Seat (6) is mounted on frame, is promoted connecting rod (8) center and is connect by pin with support (6) are promoted, and is promoted connecting rod (8) one end and is passed through
Pin is connect with gripper (7), and the other end is connect by pin with the lower end of hydraulic cylinder (5)；Hydraulic cylinder (5) elongation, which drives, promotes connecting rod
(8) it is rotated around the pin for promoting support (6), and then drives gripper (7) to be promoted in a manner of lever motion；
The driving device (3) includes the Mecanum wheel (15) being mounted in the middle part of rocker arm pendulum (14), and rocker arm puts the one end of (14)
It is connect by shaft (16) with base of frame, the other end is connect by suspension arrangement (2) with base of frame；
The suspension arrangement (2) includes oil gas cylinder (9), has grease chamber (10), floating piston (11), plenum chamber in oil gas cylinder (9)
(12), piston rod (13), wherein floating piston (11) is located at below grease chamber (10), plenum chamber (12) is located at floating piston (11)
Lower section, piston rod (13) are located at below plenum chamber (12), and piston rod (13) is connected with one end of rocker arm pendulum (14)；Oil gas cylinder
(9) top is fixedly connected with frame；
The scalable placement platform (4) includes multiple telescopic rods (21), multiple spandrel girders (22) and lead screw (26), wherein load-bearing
Beam (22) both ends are respectively provided with directive wheel (23), and the directive wheel (23) at both ends is located in the sliding slot of frame two sides, lead screw (26)
It is equipped with a fixed sliding block (25) and a movable sliding block (25), one telescopic rod of each connection on two sliding blocks (25)
(21), the two telescopic rods (21) intersect and in infall with activity chain (24) interconnection, multiple spandrel girders
(22) scissor-type connection type is used between multiple telescopic rods (21), i.e. telescopic rod (21) is divided into several right, each pair of telescopic rod
(21) middle part is connected with each other by pin, and the rear and front end of each pair of telescopic rod (21) passes through two pairs of pin and its front and rear sides respectively
Telescopic rod (21) assumes diamond in shape shape connection, a piece spandrel girder (22) of each installation on the pin of each pair of telescopic rod (21) rear and front end, most end
It holds a pair of of telescopic rod (21) both ends to pass through pin shaft respectively to connect with two sliding blocks (25)；During the work time, lead screw (26) rotates,
Keep movable sliding block (25) mobile along lead screw (26) axis direction, sliding block (25) drives telescopic rod (21) to rotate around pin shaft, thus
So that the overall elongated that multiple telescopic rods (21) are constituted, and drive spandrel girder (22) by directive wheel (23) along the cunning on frame
Slot is mobile, and finally entire spandrel girder (22) are unfolded, and in contraction process, the movement of sliding block (25) opposite direction need to only be allowed to can be realized
The contraction of scalable placement platform.
2. a kind of ski type helicopter ground as described in claim 1 omnidirectional mobile device, it is characterised in that the grease chamber
(10) hydraulic oil is full of in, piston rod (13) is located at below floating piston (11), and plenum chamber (12) therebetween fills
Full high pressure nitrogen.
3. ski type helicopter as described in claim 1 ground omnidirectional mobile device, it is characterised in that above-mentioned directive wheel (23)
Including the spring (17) in spandrel girder (22) end is arranged, the other end of spring (17) is equipped with wheel supports (18), wheel branch
Pin shaft (20) are housed in support member (18), wheel (19) are installed on pin shaft (20), directive wheel when spandrel girder no load movement is made to play support
When acting on, and helicopter being placed on spandrel girder, directive wheel does not play a supportive role.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820976025.9U CN208731243U (en) | 2018-06-25 | 2018-06-25 | A kind of ski type helicopter ground omnidirectional mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820976025.9U CN208731243U (en) | 2018-06-25 | 2018-06-25 | A kind of ski type helicopter ground omnidirectional mobile device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208731243U true CN208731243U (en) | 2019-04-12 |
Family
ID=66026004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820976025.9U Withdrawn - After Issue CN208731243U (en) | 2018-06-25 | 2018-06-25 | A kind of ski type helicopter ground omnidirectional mobile device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208731243U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108609197A (en) * | 2018-06-25 | 2018-10-02 | 青岛科技大学 | A kind of ski type helicopter ground omnidirectional mobile device |
-
2018
- 2018-06-25 CN CN201820976025.9U patent/CN208731243U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108609197A (en) * | 2018-06-25 | 2018-10-02 | 青岛科技大学 | A kind of ski type helicopter ground omnidirectional mobile device |
| CN108609197B (en) * | 2018-06-25 | 2023-12-15 | 青岛科技大学 | Skid type helicopter ground omnidirectional moving device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190412 Effective date of abandoning: 20231215 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190412 Effective date of abandoning: 20231215 |