CN214356233U - Mobile platform with steering and lifting functions - Google Patents
Mobile platform with steering and lifting functions Download PDFInfo
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- CN214356233U CN214356233U CN202022940394.2U CN202022940394U CN214356233U CN 214356233 U CN214356233 U CN 214356233U CN 202022940394 U CN202022940394 U CN 202022940394U CN 214356233 U CN214356233 U CN 214356233U
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Abstract
The invention relates to a mobile platform with steering and lifting functions, which comprises a base and wheels, wherein wheel rods are vertically arranged at four corners of the lower side surface of the base, the upper ends of the wheel rods are connected with the base through a lifting mechanism, the lower ends of the wheel rods are provided with the wheels, the wheels on the two wheel rods at the front side are arranged at the lower ends of the wheel rods through a steering mechanism, the wheels are arranged on wheel frames, the two wheel frames at the rear side are respectively connected and fixed with the two wheel rods at the rear side, the steering mechanism takes a motor arranged on the wheel rods as a driving device, the two wheel frames at the front side are respectively connected and driven with output shafts of the motors on the two wheel rods at the front side, the lifting mechanism takes a vertically arranged electric push rod as a driving device, the base end of the electric push rod is fixedly arranged at the lower side surface of the base, the telescopic end of the electric push rod is connected with the upper ends of the wheel rods, the mobile platform is simple in structure, reasonable design and flexible in steering, the height of the base can be adjusted in real time in a lifting way so as to realize obstacle crossing.
Description
Technical Field
The invention relates to a mobile platform with steering and lifting functions.
Background
The wheel train structure of the existing omnidirectional mobile platform mostly adopts Mecanum wheels, the wheel train structure can realize various motions such as forward motion, transverse motion, oblique motion and the like, but the Mecanum wheels are only suitable for the condition of good ground conditions and cannot be suitable for complicated and severe working occasions. Meanwhile, in some working occasions, the height of the chassis needs to be adjusted according to actual needs, and the existing mobile platform cannot be realized.
Disclosure of Invention
Aiming at the defects, the invention provides the mobile platform with the steering and lifting functions.
The invention solves the technical problem by adopting the scheme that the mobile platform with the steering and lifting functions comprises a base and wheels, wherein wheel rods are vertically arranged at four corners of the lower side surface of the base, the upper ends of the wheel rods are connected with the base through a lifting mechanism, the wheels are arranged at the lower ends of the wheel rods, and the wheels on the two wheel rods positioned on the front side are arranged at the lower ends of the wheel rods through steering mechanisms;
the wheels are arranged on the wheel frames, the two wheel frames positioned on the rear side are respectively connected and fixed with the two wheel bars on the rear side, the steering mechanism takes the motor arranged on the wheel bars as a driving device, and the two wheel frames positioned on the front side are respectively connected and driven with output shafts of the motors on the two wheel bars on the front side;
the lifting mechanism takes a vertically arranged electric push rod as a driving device, the base end of the electric push rod is fixedly arranged on the lower side surface of the base, and the telescopic end of the electric push rod is connected with the upper end of the wheel rod.
Further, the motor is installed on the motor frame through the motor cabinet, and motor frame fixed mounting is at the wheel pole lower extreme, erects below the motor frame and puts and be provided with the steering spindle, and the output shaft connection transmission of steering spindle upper end and motor, steering spindle lower extreme and wheel carrier key cooperation.
Furthermore, an upper shaft sleeve which is integrated with the motor frame is sleeved on the upper portion of the steering shaft, a lower shaft sleeve which is integrated with the wheel frame is sleeved on the lower portion of the steering shaft, the lower end of the steering shaft is in key fit with the shaft sleeve, and a sealing plate used for sealing the lower end of the lower shaft sleeve is mounted on the wheel frame.
Further, a bearing is arranged between the upper shaft sleeve and the steering shaft, a check ring is installed at the lower end of the upper shaft sleeve, and the lower side face of the check ring abuts against the lower shaft sleeve.
Further, the bearing is a cross roller bearing.
Further, electric putter's base end is through top fixed mounting at the base downside, and the bottom plate is installed to the upper end of wheel pole, and electric putter's flexible end connects the bottom plate, and electric putter periphery circumference equipartition has at least three vertical guide shaft, and the guide shaft upper end is connected with the roof, and the bottom plate is worn to establish to the guide shaft lower extreme.
Furthermore, a through hole for accommodating the guide shaft is arranged on the bottom plate, and a guide sleeve sleeved on the guide shaft is fixedly arranged in the through hole.
Further, the motor is a direct current speed reduction motor with an encoder.
Furthermore, a plurality of weight-reducing through holes are formed in the sealing plate.
Compared with the prior art, the invention has the following beneficial effects: simple structure, reasonable in design turns to in a flexible way, but the liftable adjusts the base height in real time in order to realize surmounting the barrier.
Drawings
The invention is further described with reference to the following figures.
FIG. 1 is a schematic structural diagram of the present mobile platform;
FIG. 2 is a cross-sectional view of the steering mechanism;
fig. 3 is a schematic structural view of the elevating mechanism.
In the figure: 1-a steering mechanism; 2-a lifting mechanism; 3-a base; 4-wheel lever of front side; 5-rear wheel bar; 6-vehicle wheels; 7-wheel carrier; 8-closing the plate; a 9-bond; 10-lower shaft sleeve; 11-a steering shaft; 12-a retainer ring; 13-a bearing; 14-a motor frame; 15-a motor; 16-a motor base; 17-a base plate; 18-a shaft sleeve; 19-a guide shaft; 20-an electric push rod; 21-top plate.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1-3, a mobile platform with steering and lifting functions comprises a base and wheels with hub motors, wherein wheel rods are vertically arranged at four corners of the lower side surface of the base, the upper ends of the wheel rods are connected with the base through a lifting mechanism, the wheels are arranged at the lower ends of the wheel rods, and the wheels on the two wheel rods positioned at the front side are arranged at the lower ends of the wheel rods through steering mechanisms;
the wheels are arranged on the wheel frames, the two wheel frames positioned on the rear side are respectively connected and fixed with the two wheel bars on the rear side, the steering mechanism takes the motor arranged on the wheel bars as a driving device, and the two wheel frames positioned on the front side are respectively connected and driven with output shafts of the motors on the two wheel bars on the front side;
the lifting mechanism takes a vertically arranged electric push rod as a driving device, the base end of the electric push rod is fixedly arranged on the lower side surface of the base, and the telescopic end of the electric push rod is connected with the upper end of the wheel rod;
when the mobile platform advances, the output shafts of the motors of the two steering mechanisms rotate a certain angle simultaneously as required, and then the two front wheels are sequentially driven to deflect simultaneously, the mobile platform is guided to steer, and when the height needs to be adjusted, the electric push rod is started to drive the base to lift.
In this embodiment, the motor is installed on the motor frame through the motor cabinet, and motor frame fixed mounting is at the wheel pole lower extreme, and motor frame below is vertically put and is provided with the steering spindle, and the output shaft connection transmission of steering spindle upper end and motor, steering spindle lower extreme and wheel carrier key cooperation.
In this embodiment, the upper portion of the steering shaft is sleeved with an upper shaft sleeve integrated with the motor frame, the lower portion of the steering shaft is sleeved with a lower shaft sleeve integrated with the wheel frame, the lower end of the steering shaft is in key fit with the shaft sleeve, and the wheel frame is provided with a sealing plate for sealing the lower end of the lower shaft sleeve.
In this embodiment, be provided with the bearing between upper shaft sleeve and the steering spindle, the retaining ring is installed to the upper shaft sleeve lower extreme, and the retaining ring downside supports and leans on lower axle sleeve.
In this embodiment, the bearing is a high-rigidity cross roller bearing.
In this embodiment, electric putter's base end is through top fixed mounting at the base downside, and the bottom plate is installed to the upper end of wheel pole, and electric putter's flexible end connection bottom plate, electric putter periphery circumference equipartition have at least three vertical guide shaft, and the guide shaft upper end is connected with the roof, and the bottom plate is worn to establish to the guide shaft lower extreme.
In this embodiment, a through hole for accommodating the guide shaft is formed in the bottom plate, and a guide sleeve sleeved on the guide shaft is fixedly installed in the through hole.
In this embodiment, the motor is a direct current gear motor with an encoder, and the accurate control of the steering angle is realized through the encoder.
In this embodiment, the sealing plate is provided with a plurality of weight-reducing through holes.
In this embodiment, in-wheel motor, electric putter, motor are by installing the battery power supply on the base, by the controller control of installing on the base, in-wheel motor, electric putter, motor, battery all with controller electric connection.
If this patent discloses or refers to parts or structures that are fixedly connected to each other, the fixedly connected may be understood as: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).
In the description of this patent, it is to be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the patent, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
The above-mentioned preferred embodiments, further illustrating the objects, technical solutions and advantages of the present invention, should be understood that the above-mentioned are only preferred embodiments of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a moving platform with turn to and raising and lowering functions which characterized in that: the wheel turning device comprises a base and wheels, wherein wheel rods are vertically arranged at four corners of the lower side surface of the base, the upper ends of the wheel rods are connected with the base through a lifting mechanism, the wheels are arranged at the lower ends of the wheel rods, and the wheels on the two wheel rods positioned on the front side are arranged at the lower ends of the wheel rods through a turning mechanism;
the wheels are arranged on the wheel frames, the two wheel frames positioned on the rear side are respectively connected and fixed with the two wheel bars on the rear side, the steering mechanism takes the motor arranged on the wheel bars as a driving device, and the two wheel frames positioned on the front side are respectively connected and driven with output shafts of the motors on the two wheel bars on the front side;
the lifting mechanism takes a vertically arranged electric push rod as a driving device, the base end of the electric push rod is fixedly arranged on the lower side surface of the base, and the telescopic end of the electric push rod is connected with the upper end of the wheel rod.
2. The mobile platform with steering and lifting functions as claimed in claim 1, wherein: the motor is installed on the motor frame through the motor cabinet, and motor frame fixed mounting is at the wheel pole lower extreme, and motor frame below is vertically put and is provided with the steering spindle, and the output shaft connection transmission of steering spindle upper end and motor, steering spindle lower extreme and wheel carrier key cooperation.
3. The mobile platform with steering and lifting functions as claimed in claim 2, wherein: the upper portion of the steering shaft is sleeved with an upper shaft sleeve which is integrated with the motor frame, the lower portion of the steering shaft is sleeved with a lower shaft sleeve which is integrated with the wheel frame, the lower end of the steering shaft is matched with a shaft sleeve key, and the wheel frame is provided with a sealing plate used for sealing the lower end of the lower shaft sleeve.
4. The mobile platform with steering and lifting functions as claimed in claim 3, wherein: a bearing is arranged between the upper shaft sleeve and the steering shaft, a check ring is installed at the lower end of the upper shaft sleeve, and the lower side face of the check ring abuts against the lower shaft sleeve.
5. The mobile platform with steering and lifting functions as claimed in claim 4, wherein: the bearing is a crossed roller bearing.
6. The mobile platform with steering and lifting functions as claimed in claim 1, wherein: electric putter's base end is through top fixed mounting at the base downside, and the bottom plate is installed to the upper end of wheel pole, and electric putter's flexible end connection bottom plate, electric putter periphery circumference equipartition have at least three vertical guide shaft, and the guide shaft upper end is connected with the roof, and the bottom plate is worn to establish by the guide shaft lower extreme.
7. The mobile platform with steering and lifting functions as claimed in claim 6, wherein: the bottom plate is provided with a through hole for accommodating the guide shaft, and a guide sleeve sleeved on the guide shaft is fixedly arranged in the through hole.
8. The mobile platform with steering and lifting functions as claimed in claim 1, wherein: the motor is a direct current speed reduction motor with an encoder.
9. The mobile platform with steering and lifting functions as claimed in claim 3, wherein: and the sealing plate is provided with a plurality of weight-reducing through holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022940394.2U CN214356233U (en) | 2020-12-11 | 2020-12-11 | Mobile platform with steering and lifting functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022940394.2U CN214356233U (en) | 2020-12-11 | 2020-12-11 | Mobile platform with steering and lifting functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214356233U true CN214356233U (en) | 2021-10-08 |
Family
ID=77982250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022940394.2U Active CN214356233U (en) | 2020-12-11 | 2020-12-11 | Mobile platform with steering and lifting functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214356233U (en) |
-
2020
- 2020-12-11 CN CN202022940394.2U patent/CN214356233U/en active Active
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