CN210767764U - Universal moving platform with adjustable height - Google Patents
Universal moving platform with adjustable height Download PDFInfo
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- CN210767764U CN210767764U CN201920499321.9U CN201920499321U CN210767764U CN 210767764 U CN210767764 U CN 210767764U CN 201920499321 U CN201920499321 U CN 201920499321U CN 210767764 U CN210767764 U CN 210767764U
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Abstract
The utility model provides a height-adjustable universal mobile platform, which comprises a chassis bracket and a lifting platform arranged on the chassis bracket, wherein the middle part of the chassis bracket is longitudinally provided with a trapezoidal groove along the advancing direction of wheels in a penetrating way, and the top of the trapezoidal groove transversely extends to form two platforms; the bottom of the trapezoidal groove is provided with a screw rod, the lifting platform penetrates through the screw rod and is arranged at the upper end of the trapezoidal groove, the bottom of the trapezoidal groove is provided with a lifting driving device, and the lifting platform moves along the height direction of the screw rod through the lifting driving device. The utility model discloses a platform's that carries on lifting function on the universal moving platform.
Description
Technical Field
The utility model relates to a moving platform, concretely relates to universal moving platform with adjustable height.
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.
The existing lifting platform mainly comprises a fixed scissor type, a vehicle-mounted movable scissor type, a guide rail hydraulic type, a vehicle-mounted folding arm type and other schemes. Wherein, fixed and hydraulic pressure guide rail formula do not possess the removal function, and the vehicular is portable, does not possess universal removal function, and the platform design height is high, can receive the restriction in special operation environment such as narrow passageway, the height of driving into to the platform has the requirement. Moreover, the existing lifting platform is mainly realized by a hydraulic mechanism, and once maintenance is lacked, the potential hidden trouble of liquid leakage caused by untight sealing exists.
Disclosure of Invention
To the not enough that exists among the prior art, the utility model aims to provide an universal moving platform with adjustable height has realized universal moving platform's lifting function.
In order to solve the technical problem, the application adopts the following technical scheme:
a height-adjustable universal mobile platform comprises a chassis support and a lifting platform arranged on the chassis support, wherein a trapezoidal groove longitudinally penetrates through the middle of the chassis support along the traveling direction of wheels, and two platforms transversely extend from the top of the trapezoidal groove;
the bottom of trapezoidal recess is provided with a lead screw, lift the platform and pass the lead screw setting in the upper end of trapezoidal recess, the bottom of trapezoidal recess is provided with lifts drive arrangement, lift the platform and remove along the direction of height of lead screw through lifting drive arrangement.
Further, lift platform includes third servo motor and toothed disc, third servo motor is connected with the toothed disc, the bottom fixed connection of toothed disc center and lead screw.
Further, the surface of lead screw is provided with the external screw thread, be provided with a round hole on the lift platform, the medial surface of round hole be provided with the external screw thread assorted internal thread of lead screw surface.
Furthermore, the round hole sets up in the center of lifting platform, and four angles of trapezoidal recess bottom respectively are provided with a direction stabilizer bar, four angles of lifting platform respectively are provided with four guiding holes corresponding with the direction stabilizer bar.
Furthermore, the lifting platform is a protruding structure, and two ends of the protruding structure are respectively extended with a descending platform along the longitudinal direction.
Furthermore, the universal mobile platform also comprises wheels arranged at the bottom of the chassis support;
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.
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;
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 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 reversing driving device of the utility model transfers the reversing driving device into a special chassis space parallel to the driving device through the transmission of a gear-first synchronous belt, thereby overcoming the defect that the design height of a steering driving wheel is difficult to reduce;
4. the utility model eliminates the friction torque between the wheels and the ground in the steering process of the mobile platform through the reversing support device, and solves the problem of resistance-free reversing between the wheels of the mobile platform and the ground;
5. the utility model discloses a lifting platform has realized universal moving platform's lifting function.
Drawings
Fig. 1 is a schematic structural view of a middle chassis bracket according to 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;
FIG. 4 is a schematic structural view of the middle chassis frame and the lifting platform of the present invention;
fig. 5 is a left side 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, 210-cam, 301-lifting platform, 302-third servo motor, 303-third reducer, 304-pinion disc, 305-gear disc, 306-slide block, 307-screw rod, 309-guide stabilizer bar;
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 be the direction that the wheel marchd, transversely be with vehicle advancing direction vertically direction.
Example 1:
the embodiment provides a height-adjustable universal mobile platform, which as shown in fig. 4 and 5, comprises a chassis support 101 and a lifting platform 301 arranged on the chassis support 101, wherein a trapezoidal groove longitudinally penetrates through the middle part of the chassis support 101 along the traveling direction of wheels, and two platforms transversely extend from the top of the trapezoidal groove;
a screw rod 307 is arranged at the bottom of the trapezoidal groove, the lifting platform 301 penetrates through the screw rod 307 and is arranged at the upper end of the trapezoidal groove, a lifting driving device is arranged at the bottom of the trapezoidal groove, and the lifting platform 301 moves along the height direction of the screw rod 307 through the lifting driving device;
the lifting platform comprises a third servo motor 302 and a gear disc 305, the third servo motor 302 is connected with the gear disc 305, and the center of the gear disc 305 is fixedly connected with the bottom of a screw 307.
The outer surface of the screw rod 307 is provided with an external thread, the lifting platform 301 is provided with a round hole, and the inner side surface of the round hole is provided with an internal thread matched with the external thread on the outer surface of the screw rod.
The controller sends an instruction to the third servo motor 302, the third servo motor 302 drives the third speed reducer 303, the third speed reducer 303 drives the pinion disc 304, the pinion disc 304 and the pinion disc 305 are arranged, the pinion disc 305 rotates to drive the screw rod 307 to rotate, and the screw rod 307 rotates due to the fact that the round hole formed in the lifting platform 301 is in threaded matching connection with the screw rod, so that the screw rod 307 of the lifting platform 301 moves up and down, and the height of the lifting platform is adjusted.
In order to enable the lifting platform to be stable and not to deviate in the lifting process, the round hole is formed in the center of the lifting platform, four corners of the bottom of the trapezoidal groove are respectively provided with a guide stabilizer bar 309, and four corners of the lifting platform are respectively provided with four guide holes corresponding to the guide stabilizer bars 309.
The lifting platform 301 is a protruding structure, and two ends of the protruding structure are respectively extended with a descending platform along the longitudinal direction. Therefore, other functional components can be placed on the descending platform, and the functional design of the whole universal mobile platform is enriched.
Example 2:
on the basis of embodiment 1, as shown in fig. 1 and 4, the present embodiment includes a chassis support 101 and wheels 106 disposed at the bottom of the chassis support 101, 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 3:
in this embodiment, on the basis of embodiment 2, 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 4:
in this embodiment, on the basis of embodiment 3, 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 (10)
1. The height-adjustable universal mobile platform is characterized by comprising a chassis support (101) and a lifting platform (301) arranged on the chassis support (101), wherein a trapezoidal groove longitudinally penetrates through the middle part of the chassis support (101) along the traveling direction of wheels, and the top of the trapezoidal groove transversely extends to form two platforms;
the bottom of trapezoidal recess is provided with a lead screw (307), lift platform (301) and pass lead screw (307) and set up in the upper end of trapezoidal recess, the bottom of trapezoidal recess is provided with lifts drive arrangement, lift platform (301) through lift drive arrangement along the direction of height of lead screw (307) remove.
2. The height adjustable universal mobile platform according to claim 1, wherein the lifting platform comprises a third servo motor (302) and a gear plate (305), the third servo motor (302) is connected with the gear plate (305), and the center of the gear plate (305) is fixedly connected with the bottom of the screw rod (307).
3. The height-adjustable universal mobile platform according to claim 2, wherein the outer surface of the screw rod (307) is provided with external threads, the lifting platform (301) is provided with a round hole, and the inner side surface of the round hole is provided with internal threads matched with the external threads on the outer surface of the screw rod.
4. The height-adjustable universal mobile platform according to claim 3, wherein the circular hole is formed in the center of the lifting platform, and each of four corners of the bottom of the trapezoidal groove is provided with a guiding stabilizer bar (309), and each of four corners of the lifting platform is provided with four guiding holes corresponding to the guiding stabilizer bars (309).
5. The height adjustable universal mobile platform according to claim 4, wherein the lifting platform (301) is a convex structure, and a lowering platform extends longitudinally from each end of the convex structure.
6. The height adjustable gimbaled mobile platform according to claim 1, characterized in that it further comprises wheels (106) arranged at the bottom of the chassis frame (101);
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).
7. The height-adjustable universal mobile platform according to claim 6, wherein the cams (210) are divided into two groups, each group of cams (210) comprises two cams (210), the number of the second rotating shafts (206) is two, the two second rotating shafts (206) are transversely arranged on the bottom surface of the trapezoidal groove, the two cams (210) in each group of cams (210) are symmetrically arranged at two ends of the same second rotating shaft (206), and the two cams (210) in each group 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); 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).
8. The height adjustable universal mobile platform according to claim 6, 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).
9. The height adjustable gimbaled mobile platform according to claim 8, characterized in that said wheels (106) comprise two sub-wheels connected by a first axle and rotating coaxially around the first axle, said reversing axle (111) being connected to the centre of gravity of the first axle.
10. The height adjustable universal mobile platform according to claim 8, characterized in that the chassis frame (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 connected with one wheel (106) through one driven reversing device respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920499321.9U CN210767764U (en) | 2019-04-12 | 2019-04-12 | Universal moving platform with adjustable height |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920499321.9U CN210767764U (en) | 2019-04-12 | 2019-04-12 | Universal moving platform with adjustable height |
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| Publication Number | Publication Date |
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| CN210767764U true CN210767764U (en) | 2020-06-16 |
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| CN201920499321.9U Active CN210767764U (en) | 2019-04-12 | 2019-04-12 | Universal moving platform with adjustable height |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110067372A (en) * | 2019-04-12 | 2019-07-30 | 长安大学 | A kind of height-adjustable Universal moving platform |
| CN111962848A (en) * | 2020-08-19 | 2020-11-20 | 王�忠 | Building platform of adjustable interior decoration building |
-
2019
- 2019-04-12 CN CN201920499321.9U patent/CN210767764U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110067372A (en) * | 2019-04-12 | 2019-07-30 | 长安大学 | A kind of height-adjustable Universal moving platform |
| CN111962848A (en) * | 2020-08-19 | 2020-11-20 | 王�忠 | Building platform of adjustable interior decoration building |
| CN111962848B (en) * | 2020-08-19 | 2022-11-04 | 上海瑞居金属制品有限公司 | Building platform of adjustable interior decoration building |
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