CN212353598U - Heavy-load omnidirectional driving wheel set with hanging function - Google Patents
Heavy-load omnidirectional driving wheel set with hanging function Download PDFInfo
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- CN212353598U CN212353598U CN201922214885.6U CN201922214885U CN212353598U CN 212353598 U CN212353598 U CN 212353598U CN 201922214885 U CN201922214885 U CN 201922214885U CN 212353598 U CN212353598 U CN 212353598U
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Abstract
The utility model relates to a heavy-load omnidirectional driving wheel set with a suspension function, which adopts a top-down series arrangement mode of a suspension mechanism, a steering mechanism and a traveling mechanism, and a guide unit of the suspension mechanism and a spring jointly act to realize the functions of shock absorption and buffering of the wheel set; the two motors and the speed reducing mechanism realize the functions of walking and steering through the overall layout. The guide units and the cylindrical springs are uniformly arranged in parallel to realize the damping suspension of the wheel set; a walking motor drives a walking speed reducer connected with the supporting wheel through synchronous belt transmission to complete the walking drive of the supporting wheel; the other steering motor drives the rotary speed reducer through the steering speed reducer, and then drives the supporting wheel mounting seat provided with the supporting wheel to rotate, so that the bidirectional rotation of the supporting wheel is completed. The utility model has the characteristics of compact structure, bear big, current capability is strong, adapt to complicated road conditions etc.
Description
Technical Field
The utility model relates to a heavy load qxcomm technology drive wheelset with function of hanging is applied to load 10 tons of orders of magnitude, has indoor outdoor transportation concurrently, can realize 360 arbitrary directions's in the plane nimble motion, belongs to transportation and vehicle technical field.
Background
The existing heavy-load industrial transportation mostly adopts rail wheel type driving or air cushion transportation, the rail wheel type driving generally needs to additionally lay a rail, the air cushion transportation has strict requirements on the ground, or the activity range is limited, or the operation is inflexible, and the omnidirectional transport vehicle adopts four omnidirectional wheels to independently drive, realizes arbitrary movement in a plane through the combination of rotating speed and steering of different wheel sets, is suitable for the transportation of heavy-load equipment, and is widely applied to the fields of aviation, aerospace and the like. At present, a heavy-load omnidirectional transport vehicle mostly adopts omnidirectional wheel sets without a suspension function, and has the advantages of simple and compact structure of the wheel sets and the defect of poor traffic capacity of the transport vehicle, and can only be applied to indoor flat pavement transportation.
Disclosure of Invention
The utility model discloses just to the not enough of above-mentioned prior art and design and provide a heavy load qxcomm technology drive wheelset with hang function, its purpose hangs the mechanism through the configuration modularization, improves the current ability of qxcomm technology wheelset and transport vechicle effectively, and then realizes that the transport vechicle has indoor, outdoor transportation concurrently, enlarges the application flexibility of transport vechicle. Meanwhile, the transport vehicle has various motion modes of the omnidirectional transport vehicle such as forward movement, backward movement, steering, transverse movement, diagonal movement, in-situ rotation and the like, and the application field of the omnidirectional transport vehicle is greatly expanded.
The purpose of the utility model is realized through the following technical scheme:
this kind of heavy load qxcomm technology drive wheelset with hang function, its characterized in that: this driving wheel group includes: a running gear that is used for the wheelset base 1 of being connected of qxcomm technology wheelset and automobile body, hangs the mechanism, realizes the steering mechanism of the two-way rotation of qxcomm technology wheelset and realizes the wheelset walking, wherein:
the suspension mechanism comprises a suspension upper plate 2, a locking nut 3, a guide post 4, a copper bush end cover 5, a guide copper bush 6, a guide seat 7, a cylindrical spring 8, a limit pin 9 and a suspension base 10, wherein the guide seat 7, the guide copper bush 6, the copper bush end cover 5, the guide post 4 and the locking nut 3 form a guide unit, the copper bush end cover 5, the guide copper bush 6 and the guide seat 7 are connected into a whole and fixedly connected with a suspension base 10 of the suspension mechanism, the guide post 4 is fixedly connected with a suspension upper plate 2 through the locking nut 3, the guide post 4 and the guide copper bush 6 are matched to form a cylindrical kinematic pair to play a guide role, one end face of a cylindrical spring 8 is contacted with the suspension base 10, the other end face is contacted with the suspension upper plate 2, when the suspension upper plate 2 moves up and down relative to the suspension base 10, the cylindrical spring 8 is compressed to play a role in buffering and damping, and the limiting pin 9 is connected with the suspension base 10 to limit the up-and-down movement of the suspension upper plate 2.
In one embodiment, four sets of guide units and four sets of cylindrical springs 8 are arranged side by side in a uniform manner to achieve the wheel set suspension function in a dual action.
In one implementation, the steering mechanism includes a steering rotary speed reducer 11, a steering speed reducer 12 and a motor 13, and the steering motor 13 drives the rotary speed reducer 11 to rotate through the steering speed reducer 12, so as to drive the supporting wheel mounting seat 14 and the supporting wheel 19 to rotate bidirectionally.
In one implementation, the traveling mechanism comprises a supporting wheel mounting seat 14, a wheel shaft 15, a traveling motor 16, a synchronous belt 17, a traveling speed reducer 18 and a supporting wheel 19, the traveling motor 16 drives the traveling speed reducer 18 through the synchronous belt 17, an output shaft of the traveling speed reducer 18 is connected with the wheel shaft 15, the wheel shaft 15 rotates to drive the supporting wheel 19 to rotate, and the wheel shaft 15, the traveling speed reducer 18 and the supporting wheel 19 are connected with the supporting wheel mounting seat 14.
In the implementation, the suspension mechanism, the steering mechanism and the traveling mechanism are arranged in series from top to bottom, the suspension mechanism is positioned at the top end of the wheel set, the suspension upper plate 2 of the suspension mechanism is connected with the wheel set base 1, and the omnidirectional wheel set is connected with the body of the transport vehicle through the wheel set base 1.
In one implementation, four sets of guide units enable up and down guiding movement of the suspension base 10 and the suspension upper plate 2.
In one implementation, four groups of cylindrical springs 8 realize the self-adaptation of the wheels and the rough road surface so as to ensure the stability of the load on the wheels and realize the buffer and shock absorption of the wheel set.
Heavy load omnidirectional drive wheelset's with hang function advantage be that omnidirectional wheel group has the modularization and hangs the mechanism, can effectively realize buffering, the shock attenuation of wheelset to compact structure, the integrated level is high, be convenient for installation, maintenance etc, omnidirectional wheel group's the mechanism that hangs adopts the integrative design of modularization, have compact structure, bear characteristics such as big, the integrated level is high, improved omnidirectional wheel group and transport vechicle's current ability effectively, and then realized that the transport vechicle has indoor concurrently, outdoor nimble transportation.
Drawings
Fig. 1 is a schematic structural view of a driving wheel set according to the present invention;
fig. 2 is a schematic structural view of a driving wheel set suspension mechanism according to the present invention;
fig. 3 is a cross-sectional view of the driving wheel set suspension mechanism of the present invention;
fig. 4 is a schematic structural diagram of four sets of omnidirectional transportation vehicles composed of driving wheel sets.
In the figure: 1. the device comprises a wheel set base, a suspension upper plate, a locking nut, a guide post, a copper sleeve end cover, a copper guide sleeve, a guide seat, a cylindrical spring, a limiting pin, a suspension base, a rotary speed reducer, a steering motor, a supporting wheel mounting seat, a wheel shaft, a traveling motor, a synchronous belt, a traveling speed reducer and a supporting wheel, wherein the upper plate is 2, the locking nut is 3, the guide post is 4, the copper sleeve end cover is 5, the guide copper sleeve is 6, the guide seat is 7, the cylindrical spring is 8, the limiting pin is 9, the.
The specific implementation mode is as follows:
the invention is described in more detail below with reference to the following figures and examples:
referring to fig. 1 to 4, the heavy-duty omni-directional driving wheel set with a suspension function comprises:
the wheel set base 1 is used for connecting the omnidirectional wheel set with a vehicle body;
the suspension mechanism comprises a suspension upper plate 2, a locking nut 3, a guide post 4, a copper bush end cover 5, a guide copper bush 6, a guide seat 7, a cylindrical spring 8, a limiting pin 9 and a suspension base 10, and the suspension mechanism is compact in structure and integrally designed in a modularized mode. Locking nut 3, guide post 4, copper sheathing end cover 5, direction copper sheathing 6, guide holder 7 constitute the direction unit, and wherein copper sheathing end cover 5, direction copper sheathing 6, guide holder 7 are connected as an organic wholely, link firmly with suspension base 10 that hangs the mechanism, and guide post 4 links firmly through locking nut 3 with hang upper plate 2, and guide post 4 constitutes the cylinder motion pair with the cooperation of direction copper sheathing 6, plays the guide effect. One end face of the cylindrical spring 8 is in contact with the suspension base 10, the other end face of the cylindrical spring is in contact with the suspension upper plate 2, and when the suspension upper plate 2 moves up and down relative to the suspension base 10, the cylindrical spring 8 is compressed to play a role in buffering and damping. The limit pin 9 is connected with the suspension base 10 to limit the up-and-down movement of the suspension upper plate 2. The four groups of guide units and the four groups of cylindrical springs 8 are arranged in parallel and evenly, and the dual functions realize the suspension function of the wheel set.
The steering mechanism comprises a steering rotary speed reducer 11, a steering speed reducer 12 and a motor 13, wherein the steering motor 13 drives the rotary speed reducer 11 to rotate through the steering speed reducer 12 so as to drive the supporting wheel mounting seat 14 and the supporting wheel 19 to bidirectionally rotate;
the travelling mechanism comprises a supporting wheel mounting seat 14, a wheel shaft 15, a travelling motor 16, a synchronous belt 17, a travelling speed reducer 18 and a supporting wheel 19, wherein the travelling motor 16 drives the travelling speed reducer 18 through the synchronous belt 17, an output shaft of the travelling speed reducer 18 is connected with the wheel shaft 15, the wheel shaft 15 rotates to drive the supporting wheel 19 to rotate, and the wheel shaft 15, the travelling speed reducer 18 and the supporting wheel 19 are connected with the supporting wheel mounting seat 14;
omnidirectional transport vehicle can dispose 4 sets heavy load omnidirectional drive wheelset with hang the function, or with the driven wheelset common use of auxiliary stay. Preferably, the omnidirectional transport vehicle is provided with 4 sets of omnidirectional driving wheel sets, and the omnidirectional transport vehicle can realize various movement modes such as forward movement, backward movement, steering, transverse movement, diagonal movement, in-situ rotation and the like through the combination of the rotating speeds and the steering of different wheel sets.
In the assembly, the encoder is in a through hole form, the supporting wheel is a polyurethane tire, the transmission ratio of the synchronous belt is 1:1, and the motors in the walking motor and the steering motor are direct current motors.
Heavy load qxcomm technology drive wheelset with hang function compares with current equipment product, compact structure, integrated level height, current ability reinforce, especially are applicable to the heavy load, have the occasion of indoor outdoor transportation concurrently.
Claims (7)
1. The utility model provides a heavy load qxcomm technology drive wheelset with hang function which characterized in that: this driving wheel group includes: a running gear that wheelset base (1), suspension mechanism, the two-way rotatory steering mechanism that realizes the omnidirectional wheel group and realize the wheelset walking for being connected of omnidirectional wheel group and automobile body, wherein:
the suspension mechanism comprises a suspension upper plate (2), a locking nut (3), a guide post (4), a copper bush end cover (5), a guide copper bush (6), a guide seat (7), a cylindrical spring (8), a limiting pin (9) and a suspension base (10), wherein the guide seat (7), the guide copper bush (6), the copper bush end cover (5), the guide post (4) and the locking nut (3) form a guide unit, the copper bush end cover (5), the guide copper bush (6) and the guide seat (7) are connected into a whole and fixedly connected with the suspension base (10) of the suspension mechanism, the guide post (4) is fixedly connected with the suspension upper plate (2) through the locking nut (3), the guide post (4) is matched with the guide copper bush (6) to form a cylindrical motion pair to play a guiding role, one end face of the cylindrical spring (8) is contacted with the suspension base (10), the other end face is contacted with the suspension upper plate (2), when the suspension upper plate (2) moves up and down relative to the suspension base (10), the cylindrical spring (8) is compressed to play a role in buffering and damping, and the limiting pin (9) is connected with the suspension base (10) to limit the up-and-down movement of the suspension upper plate (2).
2. The heavy duty omni-directional drive wheel set with suspension function of claim 1, wherein: the four groups of guide units and the four groups of cylindrical springs (8) are arranged in parallel and evenly to realize the suspension function of the wheel set under the double action.
3. The heavy duty omni-directional drive wheel set with suspension function of claim 1, wherein: the steering mechanism comprises a steering rotary speed reducer (11), a steering speed reducer (12) and a motor (13), wherein the steering motor (13) drives the rotary speed reducer (11) to rotate through the steering speed reducer (12), so that the supporting wheel mounting seat (14) and the supporting wheel (19) are driven to rotate in two directions.
4. The heavy duty omni-directional drive wheel set with suspension function of claim 1, wherein: the walking mechanism comprises a supporting wheel mounting seat (14), a wheel shaft (15), a walking motor (16), a synchronous belt (17), a walking speed reducer (18) and a supporting wheel (19), the walking motor (16) drives the walking speed reducer (18) through the synchronous belt (17), an output shaft of the walking speed reducer (18) is connected with the wheel shaft (15), the wheel shaft (15) rotates to drive the supporting wheel (19) to rotate, and the wheel shaft (15), the walking speed reducer (18) and the supporting wheel (19) are connected with the supporting wheel mounting seat (14).
5. The heavy duty omni-directional drive wheel set with suspension function of claim 1, wherein: the suspension mechanism, the steering mechanism and the traveling mechanism are arranged in series from top to bottom, the suspension mechanism is positioned at the top end of the wheel set, a suspension upper plate (2) of the suspension mechanism is connected with the wheel set base (1), and the omnidirectional wheel set is connected with the body of the transport vehicle through the wheel set base (1).
6. The heavy duty omni-directional drive wheel set with suspension function of claim 1, wherein: the four groups of guide units realize the up-and-down guide movement of the suspension base (10) and the suspension upper plate (2).
7. The heavy duty omni-directional drive wheel set with suspension function of claim 1, wherein: four groups of cylindrical springs (8) realize the self-adaptation of the wheels and the undulating road surface so as to ensure the stability of the load on the wheels and realize the buffer and shock absorption of the wheel set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922214885.6U CN212353598U (en) | 2019-12-11 | 2019-12-11 | Heavy-load omnidirectional driving wheel set with hanging function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922214885.6U CN212353598U (en) | 2019-12-11 | 2019-12-11 | Heavy-load omnidirectional driving wheel set with hanging function |
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| CN212353598U true CN212353598U (en) | 2021-01-15 |
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| CN201922214885.6U Active CN212353598U (en) | 2019-12-11 | 2019-12-11 | Heavy-load omnidirectional driving wheel set with hanging function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002660A (en) * | 2021-03-05 | 2021-06-22 | 南京晨光集团有限责任公司 | Multi-wheel-train heavy-load AGV |
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2019
- 2019-12-11 CN CN201922214885.6U patent/CN212353598U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002660A (en) * | 2021-03-05 | 2021-06-22 | 南京晨光集团有限责任公司 | Multi-wheel-train heavy-load AGV |
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