CN216443670U

CN216443670U - Collapsible omnidirectional vehicle

Info

Publication number: CN216443670U
Application number: CN202122886593.4U
Authority: CN
Inventors: 梁虎
Original assignee: Chongqing Three Gorges University
Current assignee: Chongqing Three Gorges University
Priority date: 2021-11-19
Filing date: 2021-11-19
Publication date: 2022-05-06
Anticipated expiration: 2031-11-19

Abstract

The utility model discloses a foldable omnidirectional vehicle, which comprises an upper support bracket and a lower support bracket, wherein the upper support bracket and the lower support bracket are arranged in an X-shaped crossed manner, and two ends of the upper support bracket and the lower support bracket are respectively provided with a walking device; the device also comprises a driving motor I, a speed reducer I and a rotating shaft I; the middle part of lower support holder is equipped with a through-hole, and the power take off end of driving motor I is connected in the power input of reduction gear I, and I fixed connection of reduction gear is connected in the lower extreme transmission of the bottom of lower support holder and its power take off end and pivot I, and fixed connection is at the middle part of upper support holder behind the through-hole is passed to the upper end of pivot I. The utility model is beneficial to improving the adjusting range of the wheel track of the walking device, meets the use requirement and simultaneously reduces the pollution to the environment.

Description

Collapsible omnidirectional vehicle

Technical Field

The utility model relates to the technical field of special vehicles, in particular to a foldable omnidirectional vehicle.

Background

The current vehicles are of a wide variety of types, and vehicle carriers of various functional types are on the rise. With the development of society, people have many new requirements on vehicle carriers, such as how to improve the utilization rate of occupied space of vehicles, save space to a greater extent, improve the flexibility of the vehicle carriers, and the like.

In the prior art, the applicant proposed an agricultural crossed type variable-track electric mobile platform in patent 2020230164463, it includes frame and alternately becomes wheel base device, alternately become wheel base device and include two rocking arms and a driver I, two rocking arms link to each other through a pivot and are "X" shape cross arrangement, but the output of driver I is an axial reciprocating motion's output shaft I, output shaft I is connected with two connecting rods through the connecting block, the one end of two connecting rods articulates in the connecting block, the other end articulates respectively in two rocking arms, running gear is all installed at the both ends of each rocking arm, running gear includes walking wheel and driver II, but the output of driver II is an axial reciprocating motion's output shaft II, output shaft II is connected with steering motor through the motor frame, steering motor's output is connected with the wheel seat, walking wheel and in-wheel motor are all installed in the wheel seat. However, in long-term use, the driver I of the platform adopts a hydraulic cylinder structure, and the driving stroke of the connecting rod is small, so that the adjusting range of the wheel track is narrow, the use requirement cannot be met, hydraulic oil is easy to leak, the treatment is difficult, and the environmental pollution is caused.

The above technical problems need to be solved.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a foldable omnidirectional vehicle, which is beneficial to increasing the adjustment range of the wheel track, satisfying the use requirement, and reducing the environmental pollution.

In order to achieve the purpose, the utility model particularly provides a foldable omnidirectional vehicle which comprises an upper supporting bracket and a lower supporting bracket, wherein the upper supporting bracket and the lower supporting bracket are arranged in an X-shaped crossed manner, and two ends of the upper supporting bracket and the lower supporting bracket are respectively provided with a walking device; the device also comprises a driving motor I, a speed reducer I and a rotating shaft I; the middle part of under bracing support is equipped with a through-hole, the power take off end of driving motor I is connected in the power take off end of reduction gear I, I fixed connection of reduction gear is connected in the bottom of under bracing support and its power take off end and the lower extreme transmission of pivot I, fixed connection is at the middle part of upper bracing support after the through-hole is passed to the upper end of pivot I.

As a further improvement of the technical scheme of the utility model, the middle part of the upper support bracket is provided with a plurality of connecting holes I, the upper end of the rotating shaft I is fixedly connected with a flange I, and the flange I is in threaded connection with the connecting holes I.

As a further improvement of the technical scheme of the utility model, two ends of the upper support bracket are provided with extension tables extending downwards, and the bottom surfaces of the extension tables are flush with the bottom surface of the lower support bracket.

As a further improvement of the technical scheme of the utility model, the walking device comprises a driving motor II, a speed reducer II, a rotating shaft II, a wheel seat and walking wheels; the power take off end of driving motor II is connected in the power take off end of reduction gear II, II fixed connection of reduction gear are connected in the corresponding bottom of last support frame or under bracing support frame and the upper end transmission of its power take off end and pivot II, the lower extreme fixed connection of pivot II is at the top of wheel seat, the wheel of walking and the in-wheel motor that is used for the driving wheel of walking are all installed in the wheel seat.

As a further improvement of the technical scheme of the utility model, the middle part of the top surface of the wheel seat is provided with a plurality of connecting holes II, the lower end of the rotating shaft II is fixedly connected with a flange II, and the flange II is in threaded connection with the connecting holes II.

As a further improvement of the technical scheme of the utility model, the wheel seat is of a shock absorption seat structure and is provided with a pair of shock absorbers which are bilaterally symmetrical, and the bottom ends of the shock absorbers are connected with the wheel shafts of the travelling wheels.

Compared with the prior art, the utility model has the following beneficial technical effects:

when the foldable omnidirectional vehicle is used, the driving motor I is started and transmits power to the speed reducer I, the rotating shaft I is driven to rotate after the speed reducer I decelerates and increases the moment, and the rotating shaft I is fixedly connected to the upper supporting bracket, so that the upper supporting bracket rotates relative to the lower supporting bracket, the relative distance between the traveling device of the upper supporting bracket and the lower supporting bracket is changed, and the wheel track is adjusted; the upper support bracket has a larger rotation range, so that the adjustment range of the wheel track is also improved, and the use requirement is met; simultaneously, for the pneumatic cylinder, driving motor I need not to use hydraulic oil, has both reduced the pollution to the environment, has also improved the device compactness.

Drawings

FIG. 1 is a first perspective view of the present invention;

FIG. 2 is a second perspective view of the present invention;

FIG. 3 is a schematic view of the connection structure of the upper support bracket and the lower support bracket according to the present invention;

fig. 4 is a schematic view of a connection structure of the upper support bracket and the walking device of the present invention.

Detailed Description

The technical scheme in the embodiment of the utility model will be clearly and completely described below with reference to the accompanying drawings; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

Examples

As shown in fig. 1 to 4: the embodiment provides a collapsible omnidirectional vehicle, including last support bracket 1 and lower support bracket 2, go up support bracket 1 and lower support bracket 2 and be "X" shape cross arrangement and running gear is all installed at its both ends. The upper support bracket 1 and the lower support bracket 2 can both be of a metal strip structure; according to the requirement, a supporting structure formed by the upper supporting bracket 1 and the lower supporting bracket 2 can be connected with a chassis and a vehicle body to form a complete omnidirectional vehicle structure. "Up" and "down" are based on the directions shown in FIG. 1.

The foldable omnidirectional vehicle provided by the embodiment is mainly improved in that a driving motor I31, a speed reducer I32 and a rotating shaft I33 are further arranged; the middle part of under bracing support 2 is equipped with a through-hole 2a, driving motor I31's power take off end is connected in the power input end of reduction gear I32, reduction gear I32 fixed connection is connected in the bottom of under bracing support 2 and its power take off end and the lower extreme transmission of pivot I33, fixed connection is at the middle part of last support 1 after through-hole 2a is passed to the upper end of pivot I33.

The driving motor I31 and the speed reducer I32 form a speed reducing motor structure, and have large output torque; the speed reducer I32 can be fixed on the lower support bracket 2 in a threaded manner; the rotating shaft I33 is arranged perpendicular to the horizontal plane; the aperture of the through hole 2a is larger than the outer diameter of the rotating shaft I33, so that the rotating shaft I33 and the lower support bracket 2 are prevented from interfering; of course, a bearing can be arranged in the through hole 2a to improve the rotation flexibility of the rotating shaft I33; the rotating shaft I33 and the speed reducer I32 can be connected through a coupling, or the rotating shaft I33 is directly connected with an output gear of the speed reducer I32.

When the device is used, as shown in a state shown in fig. 1, the driving motor I31 is started and transmits power to the speed reducer I32, the rotating shaft I33 is driven to rotate after the speed reducer I32 decelerates and increases torque, and the rotating shaft I33 is fixedly connected to the upper supporting bracket 1, so that the upper supporting bracket 1 rotates relative to the lower supporting bracket 2, the relative distance between the traveling device of the upper supporting bracket 1 and the lower supporting bracket 2 is further changed, namely, the wheel distance is adjusted, as shown in a state shown in fig. 2; the upper support bracket 1 has a larger rotation range, so that the adjustment range of the wheel track is also improved, and the use requirement is met; simultaneously, for the pneumatic cylinder, driving motor I31 need not to use hydraulic oil, has both reduced the pollution to the environment, has also improved the device compactness.

In this embodiment, the middle part of the upper supporting bracket 1 is provided with a plurality of connecting holes i 1a, the upper end of the rotating shaft i 33 is fixedly connected with a flange plate i 34, and the flange plate i 34 is screwed with the connecting holes i 1 a. The number of the connecting holes I1 a can be four, the connecting holes are distributed on the same circumference, and the connecting holes are in screw hole structures; screw holes in the flange plate I34 correspond to the connecting holes I1 a one by one, and the flange plate I34 can be fixedly connected to the bottom of the upper supporting bracket 1 through bolts or screws.

In this embodiment, two ends (specifically, the left and right ends) of the upper support frame 1 are provided with extension tables 1b extending downward, and the bottom surfaces of the extension tables 1b are flush with the bottom surface of the lower support frame 2. The extension table 1b can be integrally formed with the upper support bracket 1; under the condition that the running gear structures are the same, the extension table 1b is convenient for enabling all the running gears to be located at the same height position, and enables the running gears to run smoothly.

In this embodiment, the traveling device includes a driving motor ii 41, a speed reducer ii 42, a rotating shaft ii 43, a wheel seat 44, and a traveling wheel 45; the power take off end of driving motor II 41 is connected in the power take off end of reduction gear II 42, reduction gear II 42 fixed connection is connected in the corresponding bottom of last support bracket 1 or lower support bracket 2 and the upper end transmission of its power take off end and pivot II 43, the lower extreme fixed connection of pivot II 43 is at the top of wheel seat 44, walking wheel 45 and the in-wheel motor 48 that is used for walking wheel 45 all install in wheel seat 44. The driving motor II 41 is used for driving the travelling wheels 45 to steer, and the hub motor 48 drives the travelling wheels 45 to rotate; the driving motor II 41 and the speed reducer II 42 form a speed reducing motor structure, and the speed reducing motor structure has larger output torque; the speed reducer II 42 can be fixed on the upper support bracket 1 or the lower support bracket 2 in a threaded manner; the rotating shaft II 43 is arranged perpendicular to the horizontal plane; the rotating shaft II 43 and the speed reducer II 42 can be connected through a coupling, for example, or the rotating shaft II 43 is directly connected with an output gear of the speed reducer II 42.

In this embodiment, the middle of the top surface of the wheel seat 44 is provided with a plurality of connecting holes ii (not shown in the figure), the lower end of the rotating shaft ii 43 is fixedly connected with a flange ii 46, and the flange ii 46 is screwed with the connecting holes ii. The number of the connecting holes II can be four, the connecting holes II are distributed on the same circumference and are in screw hole structures; the screw holes on the flange II 46 correspond to the connecting holes II one by one, and the flange II 46 can be fixedly connected to the wheel seat 44 through bolts or screws.

In this embodiment, the wheel base 44 is a shock-absorbing base structure and is provided with a pair of left and right symmetrical shock absorbers 47, and the bottom ends of the shock absorbers 47 are connected to the wheel shafts of the travelling wheels 45. The shock absorber 47 is of a spring type structure, and can absorb the shock of the travelling wheel 45, so that the device can move more stably.

The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. A foldable omnidirectional vehicle comprises an upper support bracket and a lower support bracket, wherein the upper support bracket and the lower support bracket are arranged in an X-shaped crossed manner, and two ends of the upper support bracket and the lower support bracket are respectively provided with a walking device; the method is characterized in that: the device also comprises a driving motor I, a speed reducer I and a rotating shaft I; the middle part of under bracing support is equipped with a through-hole, the power take off end of driving motor I is connected in the power take off end of reduction gear I, I fixed connection of reduction gear is connected in the bottom of under bracing support and its power take off end and the lower extreme transmission of pivot I, fixed connection is at the middle part of upper bracing support after the through-hole is passed to the upper end of pivot I.

2. The omni-directional foldable vehicle according to claim 1, wherein: the middle part of going up the support holder is equipped with a plurality of connecting holes I, the upper end fixedly connected with of pivot I ring flange I, I spiro union in connecting hole I of ring flange.

3. The omni-directional foldable vehicle according to claim 1, wherein: the both ends of going up the support holder are equipped with the extension platform that extends down, the bottom surface that extends the platform is parallel and level with the bottom surface of lower support holder.

4. The omni-directional foldable vehicle according to any one of claims 1 to 3, wherein: the walking device comprises a driving motor II, a speed reducer II, a rotating shaft II, a wheel seat and walking wheels; the power take off end of driving motor II is connected in the power take off end of reduction gear II, II fixed connection of reduction gear are connected in the corresponding bottom of last support frame or under bracing support frame and the upper end transmission of its power take off end and pivot II, the lower extreme fixed connection of pivot II is at the top of wheel seat, the wheel of walking and the in-wheel motor that is used for the driving wheel of walking are all installed in the wheel seat.

5. The omni-directional foldable vehicle according to claim 4, wherein: the middle of the top surface of the wheel seat is provided with a plurality of connecting holes II, the lower end of the rotating shaft II is fixedly connected with a flange plate II, and the flange plate II is in threaded connection with the connecting holes II.

6. The omni-directional foldable vehicle according to claim 4, wherein: the wheel seat is of a shock absorption seat structure and is provided with a pair of bilaterally symmetrical shock absorbers, and the bottom ends of the shock absorbers are connected to wheel shafts of the travelling wheels.