CN210083398U

CN210083398U - Universal moving platform

Info

Publication number: CN210083398U
Application number: CN201920499322.3U
Authority: CN
Inventors: 李兆凯; 马纪成; 赵琦; 秦辉; 赵阳; 苏锦仕; 冯沛赟; 李坤; 张露
Original assignee: Changan University
Current assignee: Changan University
Priority date: 2019-04-12
Filing date: 2019-04-12
Publication date: 2020-02-18
Anticipated expiration: 2029-04-12

Abstract

The utility model provides a universal mobile platform, which comprises a chassis bracket and wheels arranged at the bottom of the chassis bracket, wherein a trapezoidal groove longitudinally penetrates the middle part of the chassis bracket along the advancing direction of the wheels, and two platforms transversely extend from the top of the trapezoidal groove; two platforms of the chassis bracket are respectively provided with a reversing driving device; the bottom of trapezoidal recess is equipped with the switching-over and props up the device, the switching-over props up the device and includes second servo motor, the shaft coupling, the speed reducer, second driven gear, the second driving gear, the second pivot, the sprocket, second hold-in range and cam, second servo motor is connected with the speed reducer through the shaft coupling, the speed reducer is connected with the second driving gear, the second driving gear is connected with the meshing of second driven gear, second driven gear passes through second pivot and sprocket coaxial coupling, the sprocket is connected with the cam through the second hold-in range. The utility model provides a problem of universal moving platform wheel and ground between non-resistance switching-over to universal moving platform's design height has been reduced effectively.

Description

Universal moving platform

Technical Field

The utility model relates to a mobile platform, concretely relates to universal mobile platform.

Background

In narrow passages and passages with small radius of the curve, the traditional mobile device is limited by space, so that people can aim at the universal mobile device. The existing universal moving scheme mainly comprises a leg type device and a wheel type device, and compared with the leg type device, the wheel type device has the advantages of simple structural design, strong transportability, convenience in automatic control and the like.

Common wheeled universal mobile platforms are based primarily on mecanum wheels, omni wheels, and steered drive wheels. The Mecanum wheel is a kind of tyre which changes the surface of the tyre of the ordinary wheel into small rollers with a certain angle. The design and manufacture process and control are very complicated, because a plurality of small rollers are uniformly distributed on the circumference of the wheel and are discontinuously contacted with the ground during movement, vibration and slippage can be inevitably generated, and because the surface of the tire consists of the small rollers, the bearing capacity of a single tire is lower due to the fact that the bearing capacity is added on the small roller shaft. The construction of omni wheels, similar to mecanum wheels, also modifies the surface of the tyre, which inevitably faces the problem of weak load-bearing capacity of the individual tyres and which also imposes certain requirements on the mounting of the tyres. The other scheme is a steering driving wheel, which is a wheel with both steering and driving functions, but is less used at present due to the defects of complex structure, high cost and the like. More importantly, the design height of the existing steering driving wheel is high, so that the total height of the universal vehicle moving platform is difficult to reduce.

Disclosure of Invention

To the not enough of existence among the prior art, the utility model aims to provide an universal moving platform solves current universal moving platform design height and is difficult to reduce and easy and ground production vibration, the technical problem who skids when turning to.

In order to solve the technical problem, the application adopts the following technical scheme:

a universal mobile platform comprises a chassis support and wheels arranged at the bottom of the chassis support, wherein a trapezoidal groove longitudinally penetrates through the middle of the chassis support along the advancing direction of the wheels, and two platforms transversely extend from the top of the trapezoidal groove;

two platforms of the chassis bracket are respectively provided with a reversing driving device;

the bottom surface of trapezoidal recess is equipped with the switching-over and props up the device, the switching-over props up the device and includes second servo motor, shaft coupling, speed reducer, second driven gear, second driving gear, second pivot, sprocket, second hold-in range and cam, second servo motor is connected with the speed reducer through the shaft coupling, and the speed reducer is connected with the second driving gear, and the second driving gear is connected with the meshing of second driven gear, and the second driven gear is connected with the cam through the second pivot.

Furthermore, the number of the cams is two, each group of the cams comprises two cams, the number of the second rotating shafts is two, the two second rotating shafts are transversely arranged on the bottom surface of the trapezoidal groove, the two cams in each group of the cams are symmetrically arranged at two ends of the same second rotating shaft, and the two cams in each group of the cams coaxially rotate around the same second rotating shaft;

two groups of cams are respectively a first cam group and a second cam group, and a second rotating shaft connected with the first cam group is connected with a second driven gear; the second pivot of being connected with first cam group is connected with second driven gear through the second hold-in range, be provided with the sprocket between second pivot and the second hold-in range.

Furthermore, the reversing driving device comprises a first servo motor, a first driving gear and a driven reversing device, and the first driving gear is connected with the wheel through the driven reversing device; the driven reversing device comprises a first driven gear, a first synchronous belt, a belt wheel and a reversing shaft, wherein the first servo motor is connected with the first driving gear, the first driving gear is meshed with the first driven gear, the first driven gear is connected with the belt wheel through the first synchronous belt, the belt wheel is connected with the reversing shaft, and the reversing shaft is connected with wheels.

Further, the wheel comprises two sub-wheels connected through a first rotating shaft, the two sub-wheels rotate coaxially around the first rotating shaft, and the reversing shaft is connected with the center of gravity of the first rotating shaft.

Furthermore, the bottom of the chassis support is provided with 4 wheels, 2 wheels are arranged at the bottom of each platform along the traveling direction of the wheels, two driven reversing devices are arranged on each platform, and a first driving gear on each platform is connected with one wheel through one driven reversing device.

Furthermore, each platform is provided with two first driving gears, and each first driving gear is connected with one driven reversing device.

Further, a wheel-side motor is arranged on the first rotating shaft, and the wheels are driven by the wheel-side motor.

Further, be provided with the mounting hole on the platform, first driving gear, second driven gear and band pulley all install on the platform through the mounting hole.

Compared with the prior art, the utility model, profitable technological effect is:

1. the utility model reduces the chassis height of the universal mobile platform by arranging the middle part of the chassis bracket into a trapezoidal groove structure, so that the center of gravity of the universal mobile platform is more stable in the moving and steering process; meanwhile, the space utilization rate is improved, and the reserved groove space is convenient for the installation of subsequent functional modules.

2. The wheel of the utility model adopts double traveling wheels, and the double traveling wheels are symmetrically connected with two ends of the output shaft of the single wheel-side motor reducer, and the axis of the steering shaft is positioned in the equidistant middle plane of the vertical plane of the double traveling wheels, thus improving the steering balance of the wheel;

3. the utility model discloses a switching-over drive arrangement passes through the transmission of "gear-first synchronous belt", with switching-over drive arrangement transfer to with the parallel special chassis space of drive arrangement in, overcome the defect that it is difficult to the reduction to turn to the drive wheel design height.

4. The utility model discloses a switching-over props up the device and has eliminated the friction torque of moving platform steering in-process wheel and ground, has solved the problem of non-resistance switching-over between moving platform wheel and ground.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic structural view of the reversing supporting device of the present invention;

FIG. 3 is a bottom view of FIG. 1;

the numbers in the figures represent: 101-chassis support, 102-belt wheel, 103-first synchronous belt, 104-first driven gear, 105-first driving gear, 106-wheel, 107-wheel motor, 117-wheel motor reducer, 108-bearing of first driven gear, 109-first servo motor, 110-bearing of belt wheel, 111-reversing shaft, 112-reversing shaft mounting seat, 201-second servo motor, 202-coupler, 203-reducer, 204-second driven gear, 205-second driving gear, 206-second rotating shaft, 207-second bearing seat, 208-chain wheel, 209-second synchronous belt and 210-cam.

The following detailed description of the present invention will be made with reference to the accompanying drawings and examples.

Detailed Description

The following embodiments of the present invention are given, and it should be noted that the present invention is not limited to the following embodiments, and all the equivalent transformations made on the basis of the technical solution of the present application all fall into the protection scope of the present invention.

The utility model provides a vertically indicate that the wheel marchs with the trapezoidal recess section vertically direction of chassis support, transversely be with vehicle advancing direction and vertical vertically direction.

Example 1:

the embodiment provides a universal mobile platform, as shown in fig. 1, which includes a chassis support 101 and wheels 106 arranged at the bottom of the chassis support 101, wherein a trapezoidal groove longitudinally penetrates through the middle of the chassis support 101 along the traveling direction of the wheels, and two platforms transversely extend from the top of the trapezoidal groove; like fig. 1, this embodiment sets the middle part of chassis to the trapezoidal groove structure that sinks, has reduced the height of whole chassis, has reduced whole universal moving platform's focus promptly, makes universal moving platform more stable at the removal steering process to groove structure has increased the inner space on chassis, and is more convenient when needs load functional part on this universal moving platform.

Two platforms of the chassis bracket 101 are respectively provided with a reversing driving device; as shown in fig. 1, the reversing driving device includes a first servo motor 109, a first driving gear 105 and a driven reversing device, wherein the first driving gear 105 is connected with a wheel 106 through the driven reversing device; the driven reversing device comprises a first driven gear 104, a first synchronous belt 103, a belt wheel 102 and a reversing shaft 111, wherein the first servo motor 109 is connected with a first driving gear 105, the first driving gear 105 is meshed with the first driven gear 104, the first driven gear 104 is connected with the belt wheel 102 through the first synchronous belt 103, the belt wheel 102 is connected with the reversing shaft 111, and the reversing shaft 111 is connected with wheels 106.

The first rotating shaft of the present embodiment is provided with a wheel edge motor 107, the wheel 106 is driven by the wheel edge motor 107, and the wheel edge motor 107 drives the wheel 106 to rotate by a wheel edge motor reducer 117. In this way, the wheel-side motor 107 is provided on the first rotating shaft connecting the two sub-wheels, so that the two sub-wheels can obtain balanced driving force when driven.

The chassis support 101 is provided with 4 wheels 106 at the bottom, wherein 2 wheels 106 are provided at the bottom of each platform along the traveling direction of the wheels, two driven reversing devices are provided on each platform, and the first driving gear 105 on each platform is respectively connected with one wheel 106 through one driven reversing device.

The utility model provides an universal moving platform possesses the ability of qxcomm technology to go, and wherein switching-over drive arrangement adopts distributed wheel limit motor 107 drive and "gear-first synchronous belt" switching-over transmission integrated design, installs drive module and switching-over module integration in chassis frame, has overcome the defect that it highly is difficult to reduce to turn to the drive wheel design. Because the reversing shaft 111 can realize 360-degree rotation, the translation of the universal mobile platform in 360 degrees is realized.

In this embodiment, a mounting hole is formed in the platform, and the first driving gear 105, the second driven gear 104, and the pulley 102 are all mounted on the platform through the mounting hole.

In order to avoid a instability effect of the universal mobile platform caused by the rotation in a reversing manner in this embodiment, a reversing and supporting device is disposed at the bottom of the trapezoidal groove in this embodiment, as shown in fig. 2, the reversing and supporting device includes a second servo motor 201, a coupler 202, a speed reducer 203, a second driven gear 204, a second driving gear 205, a second rotating shaft 206, a sprocket 208, a second synchronous belt 209, and a cam 210, the second servo motor 201 is connected with the speed reducer 203 through the coupler 202, the speed reducer 203 is connected with the second driving gear 205, the second driving gear 205 is connected with the second driven gear 204 in a meshing manner, and the second driven gear 204 is connected with the cam 210 through the second rotating shaft 206.

The second servo motor 201, the coupler 202 and the speed reducer 203 in the reversing supporting device are arranged on the upper side of the bottom of the trapezoidal groove, and the second driven gear 204, the second driving gear 205, the second rotating shaft 206 and the second bearing seat 207 are arranged on the lower side of the bottom of the trapezoidal groove.

In this embodiment, an instruction is sent to the second servo motor 201 through the controller, the second servo motor sequentially drives the coupler 202, the speed reducer 203, the second driving gear 205, and the second driven gear 204 to rotate, the second driven gear 204 is coaxially connected with the cam 210 through the second rotating shaft 206, and drives the cam 210 to rotate to a position perpendicular to the ground where the maximum lift of the cam is located, that is, the cam 210 is shifted to the maximum lift, so that the whole universal mobile platform is supported, the treads of all the wheels are separated from the ground, and the smooth and resistance-free reversing of the universal mobile platform is realized. The cam in this embodiment is elliptical.

As another implementation manner of this embodiment, as shown in fig. 3, there are two sets of cams 210, each set of cams 210 includes two cams 210, there are two second rotating shafts 206, the two second rotating shafts 206 are transversely disposed on the bottom surface of the trapezoidal groove, the two cams 210 in each set of cams 210 are symmetrically disposed at two ends of the same second rotating shaft 206, and the two cams 210 in each set of cams 210 coaxially rotate around the same second rotating shaft 206;

two groups of cams 210 are respectively a first cam group and a second cam group, and a second rotating shaft 206 connected with the first cam group is connected with a second driven gear 204; the second rotating shaft 206 connected with the first cam group is connected with the second driven gear 204 through a second synchronous belt 209, and a chain wheel 208 is arranged between the second rotating shaft 206 and the second synchronous belt 209. Thus, the four cams 210 are respectively positioned at four corners of the bottom surface of the chassis support, and when the chassis support is supported by the cams, the chassis support is not inclined, so that the chassis support is more stable.

Example 2:

in this embodiment, on the basis of embodiment 1, the wheel 106 comprises two sub-wheels connected by a first rotating shaft, and the two sub-wheels rotate coaxially around the first rotating shaft, and the reversing shaft 111 is connected with the center of gravity of the first rotating shaft. This increases the balance of the entire wheel during travel and steering.

Example 3:

in this embodiment, on the basis of embodiment 2, two sets of first servo motors 109 are disposed on each platform, the two sets of first servo motors 109 are respectively connected to the first driving gear 105 disposed on each platform, and each first driving gear 105 is respectively connected to one driven reversing device. In this way, independent steering of 4 wheels is achieved.

Claims

1. A universal mobile platform comprises a chassis support (101) and wheels (106) arranged at the bottom of the chassis support (101), and is characterized in that a trapezoidal groove longitudinally penetrates through the middle of the chassis support (101) along the advancing direction of the wheels, and two platforms transversely extend from the top of the trapezoidal groove;

two platforms of the chassis support (101) are respectively provided with a reversing driving device;

the bottom surface of trapezoidal recess is equipped with the switching-over and props up the device, the switching-over props up the device and includes second servo motor (201), shaft coupling (202), speed reducer (203), second driven gear (204), second driving gear (205), second pivot (206), sprocket (208), second hold-in range (209) and cam (210), second servo motor (201) are connected with speed reducer (203) through shaft coupling (202), and speed reducer (203) are connected with second driving gear (205), and second driving gear (205) are connected with second driven gear (204) meshing, and second driven gear (204) are connected with cam (210) through second pivot (206).

2. The universal mobile platform according to claim 1, wherein the number of the cams (210) is two, each set of the cams (210) comprises two cams (210), the number of the second rotating shafts (206) is two, the two second rotating shafts (206) are transversely disposed on the bottom surface of the trapezoidal groove, the two cams (210) in each set of the cams (210) are symmetrically disposed at two ends of the same second rotating shaft (206), and the two cams (210) in each set of the cams (210) coaxially rotate around the same second rotating shaft (206);

two groups of cams (210) are respectively a first cam group and a second cam group, and a second rotating shaft (206) connected with the first cam group is connected with a second driven gear (204); and a second rotating shaft (206) connected with the first cam group is connected with a second driven gear (204) through a second synchronous belt (209), and a chain wheel (208) is arranged between the second rotating shaft (206) and the second synchronous belt (209).

3. The universal mobile platform of claim 1, wherein the reversing drive device comprises a first servo motor (109), a first driving gear (105) and a driven reversing device, the first driving gear (105) is connected with the wheel (106) through the driven reversing device; the driven reversing device comprises a first driven gear (104), a first synchronous belt (103), a belt wheel (102) and a reversing shaft (111), wherein a first servo motor (109) is connected with a first driving gear (105), the first driving gear (105) is meshed with the first driven gear (104), the first driven gear (104) is connected with the belt wheel (102) through the first synchronous belt (103), the belt wheel (102) is connected with the reversing shaft (111), and the reversing shaft (111) is connected with a wheel (106).

4. The gimbaled mobile platform according to claim 3, characterized in that the wheel (106) comprises two sub-wheels connected by a first axle and rotating coaxially around the first axle, the steering shaft (111) being connected to the centre of gravity of the first axle.

5. The universal mobile platform according to claim 3, wherein 4 wheels (106) are arranged at the bottom of the chassis support (101), wherein 2 wheels (106) are arranged at the bottom of each platform along the traveling direction of the wheels, two driven reversing devices are arranged on each platform, and the first driving gear (105) on each platform is respectively connected with one wheel (106) through one driven reversing device.

6. The universal mobile platform according to claim 5, wherein each platform is provided with two first driving gears (105), and each first driving gear (105) is connected with a driven reversing device.

7. The universal mobile platform according to claim 4, wherein a wheel-side motor (107) is arranged on the first rotating shaft, and the wheel (106) is driven by the wheel-side motor (107).

8. The universal mobile platform according to claim 6, wherein the platform is provided with a mounting hole, and the first driving gear (105), the second driven gear (204) and the pulley (102) are mounted on the platform through the mounting hole.