CN213534888U

CN213534888U - Four-wheel independent steering mobile platform based on planetary mechanism

Info

Publication number: CN213534888U
Application number: CN202022348410.9U
Authority: CN
Inventors: 胡耀华; 屈章浩; 谯懿宸
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2021-06-25
Anticipated expiration: 2030-10-21

Abstract

The patent discloses a four-wheel independent steering mobile platform based on planetary mechanism includes: the device comprises a frame, a walking system, a battery, an equipment mounting plate, a material box, a motion controller, a sensor and a mechanical arm; the walking system comprises: a drive system, a steering system and a suspension system; the steering system comprises a motor and a planetary mechanism, and can meet the steering torque requirement while keeping small volume, so that independent steering control of each wheel is realized; the suspension system is an improved overhead double-transverse-arm suspension system, and can ensure the stability of the left and right wheels during independent shock absorption. This patent can adapt to narrow and small environment operation demand, can realize multi-functionally through carrying on different end effector simultaneously. This patent has high steering accuracy and little radius that turns to, has higher motion stability and stationarity and has higher bearing capacity simultaneously.

Description

Four-wheel independent steering mobile platform based on planetary mechanism

Technical Field

The patent relates to the field of facility agricultural machinery, in particular to a mobile platform used in a narrow space and paved in a ground environment.

Background

At present, the mobile platform is widely applied in the industrial field, the work and management efficiency can be obviously improved, but the application in agriculture is limited by the working environment, and the use is less. Meanwhile, the walking system of the existing partial mobile platform is simple and crude, and a suspension system is often lacked to improve the motion stability of the mobile platform; or a steering system is lacked, differential steering is utilized, the steering radius is large, and the steering precision is low; or the load capacity is weak, and the requirement of the load required in agricultural production cannot be met.

Disclosure of Invention

An object of this patent provides a four-wheel independent steering moving platform based on planetary mechanism, can realize in narrow and small space, lay under the ground environment, under the condition of carrying on certain load, moving platform's steady, accurate motion.

In order to achieve the purpose, the following technical scheme is adopted in the patent.

A four-wheel independent steering mobile platform based on a planetary mechanism is characterized by comprising: comprises a bearing system, an execution system, a walking system and an energy and control system; the bearing system comprises an equipment mounting plate and a frame; the execution system comprises a material box and a mechanical arm; the energy and control system comprises a battery, a mechanical arm controller and a motion controller; the walking system comprises a damping system, a steering system and a driving system; the damping system comprises an H-shaped support, a U-shaped support, a damper and a T-shaped frame; the steering system comprises a steering actuator and a U-shaped bracket; the driving system comprises a hub motor and a wheel bracket; the steering actuator comprises a motor bracket, a motor, a planetary mechanism, an output shaft and a steering connecting disc; the planetary mechanism comprises a central wheel, a planetary wheel, an internal gear, a planetary shaft, a planetary carrier, an actuator rack, a bearing and a bearing sleeve.

The steering actuator is characterized in that a motor decelerates through a central wheel, a planet wheel and an inner gear, torque is transmitted to an output shaft through a planet carrier, and the output shaft drives a wheel support to rotate through a steering connecting disc; the output shaft is subjected to axial force and transmits the force to the speed reducer rack through the bearing and the bearing sleeve; the center wheel adopts a cantilever structure and is directly connected to the motor.

The suspension system forms a parallelogram mechanism through the H-shaped support, the U-shaped support and the T-shaped frame, one end of the shock absorber is rotatably connected with the H-shaped support, the other end of the shock absorber is rotatably connected with the T-shaped frame, the jumping amplitude of the parallelogram mechanism is limited, and the shock absorption function is realized.

This patent is based on four-wheel independent steering mobile platform of planetary mechanism compares with current mobile platform, and beneficial effect as follows.

1. The mobile platform realizes a four-wheel independent steering mode by utilizing a planetary mechanism, and has small steering radius and high motion precision.

2. This moving platform adopts two horizontal arm formula to hang, can guarantee stability when controlling the independent shock attenuation of wheel.

Drawings

Fig. 1 is an isometric view of the patent in its entirety.

Fig. 2 is an isometric view of the walking system.

FIG. 3 is an isometric view of a steering system and a drive system.

FIG. 4 is an isometric view of the steering motor assembly.

Shown in the figure: the device comprises a material box 1, an equipment mounting plate 2, a frame 3, a mechanical arm controller 4, a motion controller 5, a battery 6, a hub motor 7, a wheel support 8, an H-shaped support 9, a U-shaped support 10, a steering actuator 11, a shock absorber 12, a T-shaped support 13, a mechanical arm 14, a motor support 15, a direct-current brushless motor 16, a planetary mechanism 17, a bearing sleeve 18, an output shaft 19, a steering connecting disc 20, a bearing 21, an actuator frame 22, a planet carrier 23, a planet shaft 24, an internal gear 25, a planet wheel 26 and a central wheel 27.

Detailed Description

The following further description of the patent refers to the accompanying drawings and examples, which are given by way of illustration only and are not to be construed as limiting the patent.

The patent is a four-wheel independent steering mobile platform based on a planetary mechanism, which can be used for crop management, but is not limited to the application, such as picking, carrying and the like.

The technical scheme adopted by the patent for solving the technical problem is as follows.

Fig. 1 shows a four-wheel independent steering mobile platform based on a planetary mechanism according to an embodiment of the patent, which is characterized by comprising: comprises a bearing system, an execution system, a walking system and an energy and control system; the bearing system comprises an equipment mounting plate 2 and a frame 3; the execution system comprises a material box 1 and a mechanical arm 14; the energy source and control system comprises a battery 6, a mechanical arm controller 4 and a motion controller 5; the walking system comprises a damping system, a steering system and a driving system; the damping system comprises an H-shaped support 9, a U-shaped support 10, a damper 12 and a T-shaped frame 13; the steering system comprises a steering actuator 11 and a U-shaped bracket 10; the driving system comprises a hub motor 7 and a wheel bracket 8; the steering actuator 11 comprises a motor bracket 15, a motor 16, a planetary mechanism 17, an output shaft 19 and a steering connecting disc 20; the planetary mechanism 17 comprises a central wheel 27, a planetary wheel 26, an internal gear 25, a planetary shaft 24, a planetary carrier 23, an actuator frame 22, a bearing 21 and a bearing sleeve 18.

According to the figure 2, the damping system forms a parallelogram mechanism through the H-shaped support 9, the U-shaped support 10 and the T-shaped support 13, so that the steering system arranged on the U-shaped support 10 is always perpendicular to the ground, when the mobile platform is bumped, the hub motor 7 can generate upward radial runout, the wheel runout is reduced through the damper 12, and the driving system is perpendicular to the ground through the parallelogram mechanism, so that the stability of the mobile platform is ensured.

According to fig. 3, the steering system and the drive system are connected via a steering interface 20.

According to fig. 4, the steering actuator 11 is formed by decelerating the dc brushless motor 16 through the center wheel 27, the planet wheel 26 and the internal gear 25, and transmitting the torque to the output shaft 19 through the planet carrier 23, and the output shaft 19 drives the wheel carrier 8 to rotate through the steering connecting disc 20; center wheel 27 is directly installed on the output end face of brushless DC motor 16, when brushless DC motor 16 rotates, center wheel 27 rotates synchronously with brushless DC motor 16, through the meshing of center wheel 27 and three planet wheels 26 and the meshing of three planet wheels 26 and internal gear 25, the rotating speed is reduced, the torque is increased, planet carrier 26 transmits the torque to output shaft 19 through key connection, then output shaft 19 transmits the torque to steering connection disc 20 through key connection, steering connection disc 20 connects wheel support 8 through plane pair, and wheel support 8 is driven to rotate, thereby realizing the steering function.

The output shaft 19 of the steering actuator 11 is subjected to axial force, and the force is transmitted to the speed reducer rack 22 through the bearing 21 and the bearing sleeve 18, so that the influence on the planetary mechanism is avoided; the bearing 21 may be, but is not limited to, a set of angular contact ball bearings.

According to fig. 4, the sun gear 27 of the planetary mechanism is of a hollow cantilever structure and is connected to the dc brushless motor 16 through a bolt, the sun gear 27 realizes the load balancing function through micro-deformation, when the load on the three planet gears 26 is unevenly distributed, the sun gear 27 deforms in the direction of bearing the smaller planet gears, and the deformation amount is in the elastic deformation range, so that the parts cannot be damaged, the load balancing function required by the planetary gear train is realized, and the increase of the axial size caused by the installation of a gear coupling for load balancing is avoided.

The present patent is not limited to the above embodiments, and any modifications, substitutions, and improvements made within the principle of the present patent based on the above description should be included in the protection scope of the present patent.

Claims

1. A four-wheel independent steering mobile platform based on a planetary mechanism is characterized by comprising: comprises a bearing system, an execution system, a walking system and an energy and control system; the bearing system comprises an equipment mounting plate (2) and a frame (3); the execution system comprises a material box (1) and a mechanical arm (14); the energy source and control system comprises a battery (6), a mechanical arm controller (4) and a motion controller (5); the walking system comprises a damping system, a steering system and a driving system; the damping system comprises an H-shaped support (9), a U-shaped support (10), a damper (12) and a T-shaped frame (13); the steering system comprises a steering actuator (11) and a U-shaped bracket (10); the driving system comprises a hub motor (7) and a wheel bracket (8); the steering actuator (11) comprises a motor bracket (15), a motor (16), a planetary mechanism (17), an output shaft (19) and a steering connecting disc (20); the planetary mechanism (17) comprises a central wheel (27), a planetary wheel (26), an internal gear (25), a planetary shaft (24), a planetary carrier (23), an actuator rack (22), a bearing (21) and a bearing sleeve (18).

2. The four-wheel independent steering mobile platform based on the planetary mechanism as claimed in claim 1, wherein: the steering actuator (11) is formed by that a motor (16) decelerates through a central wheel (27), a planet wheel (26) and an internal gear (25), torque is transmitted to an output shaft (19) through a planet carrier (23), and the output shaft (19) drives a wheel support (8) to rotate through a steering connecting disc (20).

3. The four-wheel independent steering mobile platform based on the planetary mechanism as claimed in claim 1, wherein: the output shaft (19) is subjected to axial force, and the force is transmitted to the actuator frame (22) through the bearing (21) and the bearing sleeve (18).

4. The four-wheel independent steering mobile platform based on the planetary mechanism as claimed in claim 1, wherein: the damping system forms a parallelogram mechanism through an H-shaped support (9), a U-shaped support (10) and a T-shaped frame (13), one end of a damper (12) is rotatably connected with the H-shaped support (9), and the other end of the damper is rotatably connected with the T-shaped frame (13).