CN212980331U - High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform - Google Patents
High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform Download PDFInfo
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- CN212980331U CN212980331U CN202021585592.5U CN202021585592U CN212980331U CN 212980331 U CN212980331 U CN 212980331U CN 202021585592 U CN202021585592 U CN 202021585592U CN 212980331 U CN212980331 U CN 212980331U
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Abstract
A high-speed omni-directional wheel system of an intelligent omni-directional transmission and rotation platform comprises: the large gear is connected with the frame; the small gear is fixedly arranged on the steering support frame and is meshed with the large gear; the nylon gear is arranged on the steering support frame and is in gapless meshing with the large gear; the steering support frame is connected with the wheel frame, and an outer wheel ring is arranged at the lower part of the wheel frame. The utility model has compact installation structure, simple installation and small occupied space; under high speed and heavy load, the vehicle can normally run on uneven road surfaces in rainy and snowy days; the braking effect is good, and the braking distance under emergency braking is greatly reduced; high precision can be realized in running and steering, which cannot be achieved by common vehicles.
Description
Technical Field
The utility model relates to an electronic omnidirectional vehicle drive arrangement field, especially airport special vehicle relate to a take hydraulic braking's high-speed high accuracy shock attenuation omniwheel.
Background
The electric omnidirectional vehicle is an electrically driven vehicle capable of steering in any direction, and can be a vehicle capable of being operated manually or automatically navigated to run.
The power devices of the electric omnidirectional vehicles used at the present stage all operate in a low-speed light-load state, and the airport special vehicles are required to operate in a high-speed heavy-load state, so that the following problems need to be solved for realizing the purpose:
firstly, the method comprises the following steps: the omnidirectional wheel generally adopts a mode that a motor is directly connected with a speed reducer or a travelling wheel and the speed reducer are integrated, so that the omnidirectional wheel is overstaffed in structure and difficult to manufacture and assemble;
secondly, the method comprises the following steps: the braking force is insufficient in a high-speed and heavy-load state, and the braking distance is too long.
Thirdly, the method comprises the following steps: strong vibration in a high-speed heavy-load state, and short service life of a vehicle body;
fourthly: the steering rotation precision completely depends on the gear machining precision of the rotation mechanism, and the high precision and the high cost are achieved;
therefore, there is a need to provide a new high-speed omni wheel to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a take hydraulic braking's high-speed high accuracy shock attenuation omniwheel for solve above-mentioned problem.
The utility model adopts the following technical scheme:
a high-speed omni-directional wheel system of an intelligent omni-directional transmission and rotation platform comprises:
the large gear is connected with the frame;
the small gear is fixedly arranged on the steering support frame and is meshed with the large gear;
the nylon gear is arranged on the steering support frame and is in gapless meshing with the large gear;
the steering support frame is connected with the wheel frame, and an outer wheel ring is arranged at the lower part of the wheel frame.
The pinion is connected with a steering motor.
The nylon gear is connected with a steering encoder.
The steering support frame is connected with the wheel frame through at least two shock absorbers.
And a hub is arranged in the outer wheel ring, and a braking mechanism is arranged on the hub.
The brake mechanism further comprises a brake disc, the brake disc is fixedly mounted on the other side of the hub, and an output flange of the coaxial speed reducer is connected with the brake disc.
The brake mechanism further comprises brake calipers which are fixedly arranged on the other side of the wheel frame.
The wheel frame is characterized by further comprising a servo motor and a coaxial speed reducer, wherein a mounting plate with holes is arranged on one side of the wheel frame, the servo motor is arranged on the outer side of the mounting plate, the coaxial speed reducer is arranged on the inner side of the mounting plate, an output flange of the coaxial speed reducer is connected with one side of the wheel hub, and an output shaft of the servo motor penetrates through the holes in the mounting plate on one side of the wheel frame and then is connected with the coaxial speed reducer.
The utility model has the advantages that:
the utility model has compact installation structure, simple installation and small occupied space; under high speed and heavy load, the vehicle can normally run on uneven road surfaces in rainy and snowy days; the braking effect is good, and the braking distance under emergency braking is greatly reduced; high precision can be realized in running and steering, which cannot be achieved by common vehicles. Use the utility model discloses a platform can realize sideslip, diagonal, 360 ︒ rotation function in situ, does not have turning radius, the narrow operating space of adaptable terminal building and near intensive operation environment requirements of machine position.
Drawings
Figure 1 is a three-dimensional view of an omni wheel.
Fig. 2 is a cross-sectional view of the implementation of the drive function.
Figure 3 is an exploded view of an omni wheel (excluding the drive portion and the wheel).
Figure 4 is an exploded view of the drive portion of the omni wheel and the wheel.
The steering device comprises a servo motor 1, a wheel frame 2, a wheel frame 3, a coaxial speed reducer 4, a wheel hub 5, an outer wheel ring 6, a brake disc 7, a brake caliper 8, a shock absorber 9, a steering motor 10, a pinion 11, a bull gear 12, a nylon gear 13, a steering support frame 14 and a steering encoder.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "connected" and "connected" should be understood in a broad sense, and may be either fixedly connected or integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The meaning of the above terms in the present invention can be determined according to specific situations by persons skilled in the art, and should not be construed as limiting the present invention.
Referring to fig. 1 to 4, the present invention provides a high-speed omni-directional wheel system of an intelligent omni-directional rotation platform, wherein fig. 1 is a three-dimensional view of an omni-directional wheel according to an embodiment of the present invention; fig. 2 is a sectional view of the embodiment of the present invention implementing the driving function; FIG. 3 is an exploded view of an omni wheel (excluding the drive portion and the wheel); figure 4 is an exploded view of the drive portion of the omni wheel and the wheel.
Particularly, the utility model discloses a high-speed omniwheel system of defeated platform that changes of intelligence qxcomm technology includes gear wheel 11, and the omniwheel system passes through gear wheel 11 and the automobile body fixed connection on upper portion can realize the relative rotation with the automobile body through gear wheel 11. The bull gear 11 is rotatably mounted on a lower steering support bracket 13. A small gear 10 is fixedly arranged on a steering support frame 13, the small gear 10 is meshed with a large gear 11, the small gear 10 is connected with a steering motor 9, the small gear 10 can be driven to rotate when the steering motor 9 acts, and the large gear 11 is fixed, so that the small gear 10 can drive the steering support frame 13 and the whole omnidirectional wheel system to rotate.
Further, the utility model discloses a still install nylon gear 12 on the steering support frame 13, nylon gear 12 and gear wheel 11 zero clearance meshing, gear wheel 11 is when rotating under pinion 10's drive, and gear wheel 11 can drive nylon gear 12 and rotate.
Furthermore, the nylon gear 12 is connected with the steering encoder 14, and the nylon gear 12 and the bull gear 11 are meshed without a gap, so that transmission is free of errors, the steering encoder 14 can accurately measure the rotation condition of the whole omni wheel, and high precision is achieved.
Further, the lower part of the steering support frame 13 is connected with a wheel frame 2, and an outer wheel rim 5 is arranged at the lower part of the wheel frame 2. The steering support frame 13 is connected with the wheel frame 2 through at least two shock absorbers 8, the steering support frame 13 is connected with the wheel frame 2 through the shock absorbers 8, when the omni-directional wheel runs on uneven ground, the shock absorbers 8 can extend or shorten to offset unevenness, and therefore the shock absorption purpose is achieved. In the embodiment shown in the figure, the four shock absorbers 8 are provided at the four corners of the steering support frame 13.
Further, a hub 4 is mounted in the outer rim 5, and a braking mechanism is mounted on the hub 4 to brake the wheel.
In some embodiments, the brake mechanism comprises a brake disc 6 and a brake caliper 7, the brake disc 6 is fixedly mounted on the other side of the hub 4, the output flange of the coaxial speed reducer 3 is connected with the brake disc 6, and the brake caliper 7 is fixedly mounted on the other side of the wheel frame 2.
Further, the utility model discloses still include drive division, this part includes servo motor and coaxial reducer 3, in some embodiments, one side that the wheel drove 2 is provided with the mounting panel that drives, servo motor 1 installs in the outside of mounting panel, and coaxial reducer 3 sets up at the mounting panel inboardly, just coaxial reducer 3 is located one side of wheel hub 4, and inside coaxial reducer 3 stretched into wheel hub 4, coaxial reducer 3's output flange was connected with wheel hub 4, after servo motor 1's output shaft passed the hole on the mounting panel of wheel frame 2 one side, was connected with coaxial reducer 3. As shown in fig. 2. When the servo motor 1 acts, the coaxial speed reducer 3 is driven to act, and then the hub 4 is driven to act, and the hub 4 drives the outer wheel ring to act.
The utility model discloses when implementing:
as shown in fig. 1, the whole omni wheel system is connected with the vehicle body through a large gear 11 (not shown in the figure), so that the relative rotation of the omni wheel system and the vehicle body can be realized; the pinion 10 is fixedly connected with the steering support frame 13, and the pinion 10 rotates along with the steering support frame 13.
The utility model discloses when taking place to turn to the action: a steering motor 9 connected with a pinion 10 outputs power to drive the pinion 10 to rotate, the pinion 10 is meshed with a gearwheel 11, and the gearwheel 11 is fixed with a vehicle body, so that the pinion 10 can drive the whole steering support frame 13 and an omnidirectional wheel system to rotate; the nylon gear 12 is of a large-tooth structure, and has no meshing clearance with the large gear 11, so that the large gear 11 rotates along with the large gear 11, and the transmission is free of clearance due to meshing, so that the steering encoder 14 can accurately measure the rotation condition of the whole omnidirectional wheel, and high precision is realized.
The utility model discloses can also realize shock-absorbing function: because the steering support frame 13 and the wheel frame 2 are connected through the shock absorber 8, when the omni wheel runs on uneven ground, the shock absorber 8 can extend or shorten to offset unevenness, and therefore the shock absorption purpose is achieved.
The utility model discloses the 3 input mounting dimension of coaxial reduction gear and the 1 output mounting dimension of servo motor that choose for use are the same, and servo motor 1 and coaxial reduction gear 3 arrange the two sides of wheel frame 2 one side mounting panel respectively in, and coaxial reduction gear 3 hides in wheel hub, links to each other coaxial reduction gear 3's output flange and wheel hub 4, can realize hiding the reduction gear in taking turns to be used for reducing the mounting dimension.
As shown in fig. 2, 3 and 4, the other side of the hub 4 of the brake mechanism is connected with a brake disc 6, the brake disc 6 and the brake disc rotate synchronously, the brake caliper 7 is preferably a hydraulic brake caliper, the brake caliper 7 performs a braking action after receiving a braking signal, and the brake caliper 7 can apply a large braking force to perform braking in a high-speed heavy-load state. Of course, the utility model discloses can also realize the snub operation through ABS system control brake caliper on the current vehicle.
The brake calipers and the brake discs are common devices in the field, and the principle is very common, so the description is omitted.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (8)
1. The utility model provides a high-speed omniwheel system of defeated platform of intelligence qxcomm technology which characterized in that includes:
the large gear (11), the large gear (11) is connected with the frame;
the small gear (10), the said small gear (10) is fixedly mounted on steering support frame (13), the said small gear (10) engages with bull gear (11);
the nylon gear (12) is mounted on the steering support frame (13), and the nylon gear (12) is meshed with the large gear (11) without a gap;
the steering support frame (13) is connected with the wheel frame (2), and an outer wheel ring (5) is arranged on the lower portion of the wheel frame (2).
2. The high-speed omni-directional wheel system of an intelligent omni-directional steering platform according to claim 1, wherein:
the pinion (10) is connected with a steering motor (9).
3. The high-speed omni-directional wheel system of an intelligent omni-directional steering platform according to claim 1, wherein:
the nylon gear (12) is connected with a steering encoder (14).
4. The high-speed omni-directional wheel system of an intelligent omni-directional steering platform according to claim 1, wherein:
the steering support frame (13) is connected with the wheel frame (2) through at least two shock absorbers (8).
5. The high-speed omni-directional wheel system of an intelligent omni-directional steering platform according to claim 1, wherein:
a wheel hub (4) is installed in the outer wheel ring (5), and a braking mechanism is installed on the wheel hub (4).
6. The high-speed omni-directional wheel system of an intelligent omni-directional steering platform according to claim 5, wherein:
the brake mechanism further comprises a brake disc (6), the brake disc (6) is fixedly mounted on the other side of the hub (4), and an output flange of the coaxial speed reducer (3) is connected with the brake disc (6).
7. The high-speed omni-directional wheel system of an intelligent omni-directional steering platform according to claim 6, wherein:
the brake mechanism further comprises brake calipers (7), and the brake calipers (7) are fixedly installed on the other side of the wheel frame (2).
8. The high-speed omni-directional wheel system of an intelligent omni-directional steering platform according to claim 1, wherein:
still include servo motor (1), coaxial reduction gear (3), wheel frame (2) one side is provided with foraminiferous mounting panel, servo motor (1) sets up in the outside of mounting panel, and coaxial reduction gear (3) set up at the mounting panel inboard, just the output flange of coaxial reduction gear (3) is connected with wheel hub (4) one side, the output shaft of servo motor (1) passes behind the hole on the mounting panel of wheel frame (2) one side, is connected with coaxial reduction gear (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021585592.5U CN212980331U (en) | 2020-08-04 | 2020-08-04 | High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021585592.5U CN212980331U (en) | 2020-08-04 | 2020-08-04 | High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform |
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| Publication Number | Publication Date |
|---|---|
| CN212980331U true CN212980331U (en) | 2021-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021585592.5U Active CN212980331U (en) | 2020-08-04 | 2020-08-04 | High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform |
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| Country | Link |
|---|---|
| CN (1) | CN212980331U (en) |
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- 2020-08-04 CN CN202021585592.5U patent/CN212980331U/en active Active
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