CN214822578U

CN214822578U - Friction piece type omnidirectional moving working platform

Info

Publication number: CN214822578U
Application number: CN202120802385.9U
Authority: CN
Inventors: 叶华平; 王佺
Original assignee: Hsoar Group Co ltd
Current assignee: Hsoar Group Co ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2021-11-23
Anticipated expiration: 2031-04-19

Abstract

The utility model discloses a friction piece formula omnidirectional movement work platform, including platform body, the rotor of at least three platykurtic, be used for driving these rotors independently rotate separately and change the rotational speed and the actuating mechanism who turns to, these rotors are along the bottom of same centre of a circle circumference symmetry equipartition at the platform body, and the respective axis of rotation of these rotors for the perpendicular axis at centre of a circle place is the slope setting, the rotor including be used for with ground contact complex working part, based on independent rotation control separately of these rotors and the frictional contact cooperation of slope is in order to drive between working part and the ground the platform is along the linear motion of ground omnidirectional or turns to, and can be right simultaneously ground carries out functional processing.

Description

Friction piece type omnidirectional moving working platform

Technical Field

The utility model relates to an omnidirectional movement work platform specifically is a friction piece formula omnidirectional movement work platform.

Background

For years, the omnidirectional moving platform constructed based on Mecanum wheels and omnidirectional wheels, and various omnidirectional AGVs and autonomous omnidirectional moving robots formed on the basis have been developed in the fields of material transportation, assembly butt joint, routing inspection and the like in low-speed and narrow and complex spaces, but have been greatly limited in the fields of intelligent nursing of commercial marble floors such as homes, hotels and the like, leveling, light collecting and grinding of building floors, and special purpose work fields needing to be completed by means of friction and giving full play to the friction characteristics of sand beach, wetland playing platforms and the like, the omnidirectional platform constructed by adopting the Mecanum wheels and the omnidirectional wheels is greatly limited in application in the aspects, and besides the factors that the cost is high due to the complex and precise structures of the Mecanum wheels and the omnidirectional wheels, the huge body sizes and the complex chassis and walking systems of the Mecanum wheels and the omnidirectional wheels, and also seriously hampers its further use.

Firstly, because of this, in the above fields, various application platforms, such as the existing intelligent floor sweeping, dragging and floor washing robots, driving type and remote control type floor light-collecting and grinding robots, have to be constructed by adopting a differential gear train with smaller cost and volume.

In recent years, double-disc rotary floor mopping robots manufactured by some enterprises at home and abroad appear in the market successively, but the robot still realizes the movement in the preset direction by using a differential principle and a relative rotation method by considering the essence of the robot, but the working efficiency and the floor mopping effect are still somewhat unsatisfactory.

SUMMERY OF THE UTILITY MODEL

In order to solve the above-mentioned problem that prior art exists, the utility model provides an utilize the working part of rotor and the frictional contact cooperation on ground to realize whole omnidirectional movement and carry out the piece formula omnidirectional movement work platform that rubs that corresponding functional processing was handled simultaneously to ground.

In order to realize the above-mentioned purpose, the utility model provides a friction piece formula omnidirectional movement work platform, including platform body, the rotor of at least three platykurtic, be used for driving these rotors independently rotate separately and change the rotational speed and turn to actuating mechanism, these rotors along the bottom of same centre of a circle circumference symmetry equipartition at the platform body, the axis of rotation of these rotors for the axis at centre of a circle place is the slope setting, the rotor including be used for with ground contact complex working part, based on independent rotation control separately of these rotors and the friction contact cooperation of slope is in order to drive between working part and the ground the platform is along the linear motion of ground omnidirectional or turns to, and can be right simultaneously ground carries out functional processing.

The utility model has the advantages that: through the respective independent rotation of each rotor of drive to rely on the working member of rotor and the frictional contact cooperation on ground, realize the holistic omnidirectional movement of platform, working member can also carry out corresponding functional processing to ground simultaneously. The utility model discloses combine and utilize the walking function of platform and the processing function to ground, can use to the practical scene such as cleaning, cleaning and marble waxing nursing to ground to can create "do not" the novel multipurpose intelligent robot such as omni-directional movement intelligence house that drags the ground and marble waxing nursing etc. of wiping of walking wheel, save the independent wheel traveling system that similar robot had in the past was necessary, not only greatly save robot manufacturing cost, greatly reduced the volume and the space occupation volume of robot moreover.

Furthermore, the rotor includes circular supporting disk, and the working member includes the attached friction pad who fixes on the supporting disk.

Through the arrangement, the supporting disc can provide a better supporting effect for the friction pad, the stability of the integral form of the friction pad is ensured, and the friction pad can perform cleaning, polishing, scrubbing, smearing and other treatments on the ground while the platform moves along the ground.

Furthermore, the peripheral edges of the supporting disc and the friction pad are turned up to be arc surfaces or inclined surfaces, so that the shape with the upturned edges is formed.

Through the arrangement, the peripheral edges of the supporting plate and the friction pad are made into the upwarping shape for processing, and the obstacle crossing capability of the platform can be improved.

Furthermore, the rotor is including at least three radial outside bracing piece that stretches out, and these bracing pieces are along the axis of rotation circumference equipartition of rotor, the working part including at least three with the bracing piece corresponds the fixed blade of cooperation installation.

With the above arrangement, the blade is able to perform processes such as trowelling (burnishing), compacting, etc. on the ground (e.g. concrete ground) while the platform is moving along the ground.

Further, the working component also comprises a grinding disc sleeved and fixed below the blades.

Through the arrangement, the grinding disc is sleeved under the blades on the basis of not changing the original blade structure, so that the working component can also perform processing such as grinding, compacting and the like on the ground (such as concrete ground) while the platform moves along the ground.

In another preferred scheme, the working component is a grinding disc which is fixedly installed on the rotating body, namely the grinding disc can be directly installed on the rotating body without blades, so that the cost can be reduced.

Further, the driving mechanism comprises at least three electric motors or internal combustion engines which are respectively correspondingly matched with the rotating bodies in a driving mode.

Through the arrangement, the motor or the internal combustion engine is used as a power source for respectively controlling the independent operation of each rotating body, and the operability and the accuracy of the platform motion are improved.

Furthermore, an included angle between the rotating axis of the rotating body and the vertical axis of the circle center is 1.5 degrees to 30 degrees.

Through the arrangement, the whole walking speed of the platform can be improved by adopting the angle, and meanwhile, the working parts can be contacted with the ground as far as possible, so that the treatment effect on the ground is improved.

Furthermore, the rotor is three or four, and adjacent rotor is for when the rotor is three the interval of centre of a circle is 120 degrees, and adjacent rotor is for when the rotor is four the interval of centre of a circle is 90 degrees.

Through the arrangement, the three or four rotating bodies are adopted as a preferable scheme, so that the integral cost control, the structural optimization, the platform advancing control and the like of the platform are facilitated.

Drawings

FIG. 1 is a structural diagram 1 of embodiment 1 of the present invention;

FIG. 2 is a structural diagram 2 of embodiment 1 of the present invention;

fig. 3 is a front view of embodiment 1 of the present invention;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

fig. 5 is a structural view of embodiment 2 of the present invention;

fig. 6 is a structural diagram of the assembly grinding disc of embodiment 2 of the invention;

fig. 7 is a front view of embodiment 3 of the present invention;

fig. 8 is a structural view of embodiment 3 of the present invention;

FIG. 9 is a cross-sectional view taken along line B-B of FIG. 7;

fig. 10 is a structural diagram 1 of embodiment 4 of the present invention;

fig. 11 is a structural diagram 2 of embodiment 4 of the present invention;

fig. 12 is an assembly view of a first embodiment of the working member, rotor and drive mechanism of the present invention;

fig. 13 is an assembly view of the working element, rotor and drive mechanism of a second embodiment of the present invention, schematically illustrated in fig. 1;

fig. 14 is an assembly view of a second embodiment of the working element, rotor and drive mechanism of the present invention, schematically illustrated in fig. 2;

fig. 15 is an assembly view of a third embodiment of the working element, rotor and drive mechanism of the present invention;

FIG. 16 is a schematic diagram of the operation of the present invention with three rotors;

fig. 17 is a working principle diagram of the present invention adopting four rotors.

Detailed Description

The embodiment 1 of the friction sheet type omnidirectional moving working platform of the utility model is shown in figures 1-4: including platform body 1, the rotor 2 of three platykurtic, be used for driving these rotors 2 independent rotation respectively and change the rotational speed and the actuating mechanism 3 that turns to, three rotor 2 is in the bottom of platform body 1 along same centre of a circle circumference symmetry equipartition, and the adjacent rotor 2 of circumference is for the interval of centre of a circle is 120 degrees, the preferred central point of putting of platform body in the centre of a circle, the axis of rotation x of three rotor 2 for the vertical axis y at centre of a circle place is the slope setting, and the homoenergetic is located the coplanar that all can correspond between the axis of rotation x of every rotor 2 and the axis y, rotor 2 is including being used for with ground contact complex working member, based on these rotor 2 independent rotation control respectively, and the frictional contact cooperation of slope between working member and the ground, drive the platform is along the straight-line motion of ground qxcomm or turn to, and the functional treatment can be simultaneously carried out on the ground, and the functional treatment refers to the corresponding functional treatment on the surface of the ground, such as cleaning, grinding, smoothing (polishing), polishing, compacting, smearing, crystal plating, waxing and the like on the ground, which are realized by means of actions such as wiping, friction, pressing and the like between different types of working components and the ground.

In the present invention, the ground includes marble, tile, wooden floor, cement/asphalt pavement, etc. having relatively hard texture, and may also include cement, concrete, gravel, mudflat, wetland, etc. having colloidal/liquid/granular powder.

The driving mechanism 3 includes three servo motors respectively connected to the rotating bodies 2, the rotating bodies 2 can be driven to rotate by the servo motors, and the rotation speed and the rotation direction of each rotating body 2 can be adjusted and controlled. The platform also comprises a power supply and control module for realizing the work control and energy supply of the driving mechanism 3, and the power supply and control module is arranged at the upper part of the platform body 1.

In embodiment 1, the rotating body 2 and the working components are configured as shown in fig. 12, specifically, the rotating body 2 includes a circular support plate 21, and the working components include a friction pad 22 attached and fixed to the bottom of the support plate. The support plate 21 and the friction pad 22 can be connected by glue or a fastener, and a magic tape can be used for conveniently detaching, cleaning or replacing the friction pad 22. The circular support disc 21 can provide sufficient support for the flexible friction pad 22, keeping its overall form stable.

The friction pad 22 as a working component can perform cleaning, polishing, scrubbing, smearing and other treatments on the ground while the platform moves along the ground, and can be applied to the application scenes of intelligent nursing robots for household and commercial marble floor crystal plating, waxing, dry cleaning and the like.

In order to prevent the uneven ground or obstacles such as stones from affecting the operation of the platform, the peripheral edges of the supporting disk 21 and the friction pad 22 are turned up to be arc surfaces or inclined surfaces to form a shape with the edges turned up, so that the obstacle crossing effect of the rotating body 2 can be improved.

The included angle between the rotation axis x of the rotating body 2 and the vertical axis y of the circle center is preferably 80 degrees to 88 degrees, and the included angle alpha between the vertical axes y is 1.5 degrees to 30 degrees. The whole walking speed of the platform can be improved, the working parts can be in contact with the ground as far as possible, and the ground treatment effect is improved.

The utility model discloses embodiment 2 of friction piece formula omnidirectional movement work platform is as shown in fig. 5-6, and its omnidirectional movement and the principle of work with embodiment 1 are the same for embodiment 2, and the main difference lies in embodiment 2 in rotor 2 and working part adopt as shown in fig. 13, 14 structure, specifically, rotor 2 is including three radial outside bracing piece 23 that stretches out, three bracing piece 23 is along rotor 2's axis of rotation circumference equipartition, working part corresponds fixed the setting including three respectively and is in blade 24 of three bracing piece 23 lower part. Similarly, to enhance the obstacle crossing effect during operation, the blades 24 may be slightly raised on both sides in the circumferential direction. In other embodiments, four or more support rods 23 and blades 24 may be used to further improve the reliability and stability or structural strength of the platform during operation.

In embodiment 2, as shown in fig. 15, the working component further comprises a grinding disc 25 sleeved and fixed around the blades 24, so that the working component can also perform processing such as grinding, compacting and the like on the ground (such as concrete ground) while the platform moves along the ground by sleeving the grinding disc 25 below the blades 24 on the basis of not changing the structure of the original blades 24. The blades 24 and the grinding disc 25 are detachably connected.

Of course, in other embodiments, the structural design of the blades 24 or the supporting rods 23 can be omitted, and the grinding disc 25 can be directly used as the rotor 2 or the grinding disc 25 can be mounted through a bracket similar to that in embodiment 1. Similarly, the grinding disc 25 may also be designed to have a slightly raised peripheral edge in order to improve the obstacle crossing effect during its operation.

The utility model discloses embodiment 3 of friction piece formula omnidirectional movement work platform is as shown in fig. 7-9, and its omnidirectional movement and the principle of work with embodiment 1 are the same for embodiment 3, and the concrete structure of its rotor 2 also is the same with embodiment 1, and the main difference lies in embodiment 3 rotor 2 is four, four rotor 2 along same centre of a circle circumference symmetry equipartition in platform body 1's bottom, adjacent rotor 2 for the interval of the centre of a circle is 90 degrees, the preferred central point of putting of platform body bottom in the centre of a circle, the axis of rotation x of these rotor 2 for the axis y at centre of a circle place is the slope setting, and the homoenergetic between the axis of rotation x of every rotor 2 and the axis y is corresponding on the coplanar. Correspondingly, the driving mechanism 3 also comprises four servo motors which are respectively and correspondingly connected with the rotating bodies 2.

Embodiment 4 of the friction sheet type omnidirectional moving working platform of the present invention is shown in fig. 10 to 11, which is the same as the omnidirectional moving and working principle of embodiment 3, and the main difference is that the rotor 2 and the working components of embodiment 4 are designed as shown in fig. 13 to 15, like the rotor 2 and embodiment 2.

The working principle of the utility model is shown in figures 16-17 respectively when three and four rotors are used: the steering, rotating speed and rotation of the three/four rotating bodies are controlled individually by the driving mechanism, according to a specific rule, the working part of each rotating body forms friction force and driving thrust in different directions at the contact position of the working part and the ground, and finally, the combination of various forces at the respective contact points forms thrust force or rotating couple in a specific direction, so that the whole platform is pushed to transversely move (upwards, downwards, leftwards and rightwards), obliquely move (upwards, downwards, upwards and rightwards) and rotate in place (clockwise and anticlockwise) along the direction of resultant force. Due to the fact that the platform is driven to move in a rotating mode based on the rotating body, functional processing such as cleaning, grinding, smoothing (polishing), polishing, compacting, smearing and the like can be correspondingly conducted on the ground through matching of different types of working components.

It should be noted that, the embodiment of the present invention only shows the three and four rotating bodies, but theoretically, the rotating bodies can also adopt five or more rotating bodies, and the same effect can be achieved, and the design of specific quantity needs to be combined with the requirements of practical application and various considerations such as product weight and cost.

The utility model discloses except can using on wiping ground, dragging ground, the intelligent house multipurpose intelligent robot of omnidirectional movement of usage such as marble waxing nursing, can also use on someone drives the ground functional processing mechanical equipment who controls or the remote control.

The above embodiment is only one of the preferred embodiments of the present invention, and the general changes and substitutions performed by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims

1. The utility model provides a friction piece formula omnidirectional movement work platform which characterized in that: including the rotor of platform body, at least three platykurtic, be used for driving these rotors independently rotate respectively and change the rotational speed and the actuating mechanism who turns to, these rotors are along the bottom of same centre of a circle circumference symmetry equipartition at the platform body, the axis of rotation of these rotors for the vertical axis at centre of a circle place is the slope setting, the rotor including be used for with ground contact complex working member, based on independent rotation control respectively of these rotors and the frictional contact cooperation of slope is in order to drive between working member and the ground the platform is along the linear motion of ground qxcomm direction or turn to, and can be right simultaneously ground carries out functional processing.

2. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the rotor is including circular shape supporting disk, the working member is including the attached friction pad of fixing on the supporting disk.

3. The friction plate type omnidirectional moving working platform according to claim 2, wherein: the peripheral edges of the supporting disk and the friction pad are turned up to be arc surfaces or inclined surfaces to form a shape with upturned edges.

4. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the rotor is including at least three radial outside bracing piece that stretches out, and these bracing pieces are along the axis of rotation circumference equipartition of rotor, the working part including at least three with the bracing piece corresponds the fixed blade of cooperation installation.

5. The friction plate type omnidirectional moving working platform according to claim 4, wherein: the working component also comprises a grinding disc sleeved and fixed below the blades.

6. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the working component is a grinding disc which is fixedly arranged on the rotating body.

7. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the driving mechanism comprises at least three electric motors or internal combustion engines which are respectively in corresponding driving fit with the rotating bodies.

8. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the included angle between the rotating axis of the rotating body and the vertical axis of the circle center is 1.5 degrees to 30 degrees.

9. A friction plate type omni-directional mobile working platform according to any one of claims 1 to 8, wherein: the rotor is three or four, and the adjacent rotor is for three when the rotor is the interval of centre of a circle is 120 degrees, and the adjacent rotor is for when the rotor is four the interval of centre of a circle is 90 degrees.