CN216443671U - Omnidirectional vehicle with adjustable wheel track - Google Patents
Omnidirectional vehicle with adjustable wheel track Download PDFInfo
- Publication number
- CN216443671U CN216443671U CN202122891051.6U CN202122891051U CN216443671U CN 216443671 U CN216443671 U CN 216443671U CN 202122891051 U CN202122891051 U CN 202122891051U CN 216443671 U CN216443671 U CN 216443671U
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- rotating
- wheel
- vehicle body
- speed reducer
- walking
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000035939 shock Effects 0.000 claims description 10
- 239000006096 absorbing agent Substances 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses an omnidirectional vehicle with an adjustable wheel track, which comprises a vehicle body, wherein the vehicle body is connected with a walking device for walking through a rotating device, the vehicle body is of a rectangular frame structure, and the four rotating devices are respectively arranged at four corners of the vehicle body; each rotating device comprises a driving motor I, a speed reducer I, a rotating shaft I and a rotating arm, wherein the speed reducer I is fixedly connected in a vehicle body, the rotating arm is rotatably connected to the bottom of the vehicle body, a power output end of the driving motor I is connected to a power input end of the speed reducer I, a power output end of the speed reducer I is in transmission connection with the upper end of the rotating shaft I, and the lower end of the rotating shaft I penetrates through the vehicle body and then is fixedly connected to the rotating arm; the number of the walking devices is four and the walking devices are respectively connected to the bottoms of the corresponding rotating arms. The utility model can fully adjust the wheel track between the walking devices according to the needs, improve the adjustment flexibility, meet the use requirements and reduce the pollution to the environment.
Description
Technical Field
The utility model relates to the technical field of special vehicles, in particular to an omnidirectional vehicle with an adjustable wheel track.
Background
At present, the types of conventional vehicles on the market are various, but few vehicles can adjust the wheel track, in particular the wheel track of the front wheel, the rear wheel, the left wheel and the right wheel of the vehicle; the track of the four-wheel vehicle is not adjustable, so that the track of the four-wheel vehicle is too large when passing through a narrow road surface, and the four-wheel vehicle cannot pass through the narrow road surface; in order to improve the mobility of the vehicle, it is necessary that the vehicle can move omni-directionally.
In the prior art, the applicant proposed in patent 2020230163545 an agricultural composite variable-wheel-track electric moving platform, which includes a vehicle body and a variable-wheel-track device, wherein the variable-wheel-track device includes two adjusting supports, the two adjusting supports are connected through a wheel track adjusting hydraulic cylinder and a guide cylinder assembly, a fixed end of the wheel track adjusting hydraulic cylinder is fixed to one adjusting support, a movable end of the wheel track adjusting hydraulic cylinder is fixed to the other adjusting support, the guide cylinder assembly includes two optical axis sleeves, the two optical axis sleeves are fixed to the vehicle body and are correspondingly provided with sliding shafts capable of sliding along the axial direction of the sleeves, and the sliding shafts are fixed to the adjusting supports; the front side and the rear side of the adjusting support are both provided with a walking device.
However, the applicant found in long-term practice that, since the platform performs the track adjustment by driving the two adjusting supports to move through the hydraulic cylinder, the platform can only adjust the track of the traveling device between the two adjusting supports, but cannot adjust the track of the traveling device on the same adjusting support, that is, the track between the traveling devices cannot be sufficiently adjusted according to needs, the platform is not flexible enough, and hydraulic oil of the hydraulic cylinder is easy to leak, so that the platform is difficult to handle, and causes environmental pollution.
The above technical problems need to be solved.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides an omni-directional vehicle with an adjustable wheel track, which can fully adjust the wheel track between each traveling device according to the requirement, improve the adjustment flexibility, meet the use requirement, and reduce the environmental pollution.
In order to achieve the purpose, the utility model particularly provides an omnidirectional vehicle with an adjustable wheel track, which comprises a vehicle body, wherein the vehicle body is connected with a walking device for walking through a rotating device, the vehicle body is of a rectangular frame type structure, and the four rotating devices are respectively arranged at four corners of the vehicle body; each rotating device comprises a driving motor I, a speed reducer I, a rotating shaft I and a rotating arm, wherein the speed reducer I is fixedly connected in a vehicle body, the rotating arm is rotatably connected to the bottom of the vehicle body, the power output end of the driving motor I is connected to the power input end of the speed reducer I, the power output end of the speed reducer I is in transmission connection with the upper end of the rotating shaft I, and the lower end of the rotating shaft I penetrates through the vehicle body and then is fixedly connected to the rotating arm; the number of the walking devices is four, and the four walking devices are respectively connected to the bottoms of the corresponding rotating arms.
As a further improvement of the technical scheme of the utility model, the rotating arm is of a long plate structure, the rotating shaft I is connected to the inner end of the rotating arm, and the walking device is connected to the outer end of the rotating arm.
As a further improvement of the technical scheme of the utility model, the vehicle body is provided with a mounting plate for mounting a driving motor I and a speed reducer I.
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 transmission of the bottom of corresponding rocking arm and its power take off end and the upper end of 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 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 omni-directional vehicle with the adjustable wheel track is used, the driving motor I is started, power is transmitted to the speed reducer I, the rotating shaft I is driven to rotate after the speed reducer I decelerates and increases the torque, and the rotating shaft I is fixedly connected to the rotating arms, so that the rotating arms rotate relative to a vehicle body, the relative distance between the traveling devices of the rotating arms is changed, and the wheel track is adjusted; the rotating arms can rotate according to the requirements, so that the wheel track between the walking devices is fully adjusted, the adjustment flexibility is improved, and the use requirements are 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 schematic perspective view of the present invention;
FIG. 2 is a front mechanical schematic view of the present invention;
FIG. 3 is a first mechanical top plan view of the present invention;
fig. 4 is a second mechanical top view diagram 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 omni-directional vehicle with the adjustable wheel track comprises a vehicle body 1, wherein the vehicle body 1 is connected with a walking device 3 for walking through a rotating device 2, the vehicle body 1 is of a rectangular frame structure, and the four rotating devices 2 are respectively arranged at four corners of the vehicle body 1; each rotating device 2 comprises a driving motor I21, a speed reducer I22, a rotating shaft I (not shown in the figure) and a rotating arm 23, wherein the speed reducer I22 is fixedly connected in the vehicle body 1, the rotating arm 23 is rotatably connected to the bottom of the vehicle body 1, the power output end of the driving motor I21 is connected to the power input end of the speed reducer I22, the power output end of the speed reducer I22 is in transmission connection with the upper end of the rotating shaft I, and the lower end of the rotating shaft I penetrates through the vehicle body 1 and then is fixedly connected to the rotating arm 23; the number of the walking devices 3 is four and the walking devices are respectively connected to the bottom of the corresponding rotating arm 23.
The walking devices 3 and the rotating devices 2 are arranged in a one-to-one correspondence mode, and the quantity of the walking devices and the rotating devices is the same; the driving motor I21 and the speed reducer I22 form a speed reducing motor structure, and have large output torque; the driving motor I21 and the speed reducer I22 can be fixed on the vehicle body 1 in a threaded manner, and in order to facilitate installation, the vehicle body 1 can be specially provided with an installation plate 4 for installing the driving motor I21 and the speed reducer I22; the mounting plate 4 can be connected to the vehicle body 1 in a welding or screwing mode, and the mounting plate 4 is further provided with a through hole for the rotating shaft I to pass through.
The rotating shaft I is arranged perpendicular to the horizontal plane; the rotating shaft I and the speed reducer I22 can be connected through a coupling, or the rotating shaft I is directly connected with an output gear of the speed reducer I22. The vehicle body 1 can be arranged on a bearing matched with the rotating shaft I; the rotation axis i and the rotation arm 23 can be connected by screwing or welding, for example. The swivel arm 23 may be designed in a specific shape as needed, for example, the swivel arm 23 in this embodiment has a long plate structure in which the rotation shaft i is connected to the inner end of the swivel arm 23 (i.e., the end near the vehicle body 1) and the traveling device 3 is connected to the outer end of the swivel arm 23.
When the device is used, as shown in the states of fig. 1 to fig. 3, the driving motor i 21 is started and transmits power to the speed reducer i 22, the rotating shaft i is driven to rotate after the speed reducer i 22 decelerates and increases torque, and the rotating shaft i is fixedly connected to the rotating arms 23, so that the rotating arms 23 rotate relative to the vehicle body 1, the relative distance between the traveling devices 3 of the rotating arms 23 is changed, namely the wheel track is adjusted, as shown in the state of fig. 4; the rotating arms 23 can rotate according to requirements, so that the wheel track between the walking devices 3 is fully adjusted, the adjustment flexibility is improved, and the use requirements are met; meanwhile, compared with a hydraulic cylinder, the driving motor I21 does not need hydraulic oil, so that the pollution to the environment is reduced, and the compactness of the device is improved.
In this embodiment, the traveling device 3 includes a driving motor ii 31, a speed reducer ii 32, a rotating shaft ii (not shown in the figure), a wheel seat 33 and a traveling wheel 34; the power take off end of driving motor II 31 is connected in the power take off end of reduction gear II 32, reduction gear II 32 fixed connection is connected in the transmission of the upper end of the bottom of corresponding rocking arm 23 and its power take off end and pivot II, the lower extreme fixed connection of pivot II is at the top of wheel seat 33, walking wheel 34 and the in-wheel motor 35 that is used for walking wheel 34 are all installed in wheel seat 33. The driving motor II 31 is used for driving the travelling wheels 34 to steer, and the hub motor 35 drives the travelling wheels 34 to rotate; the driving motor II 31 and the speed reducer II 32 form a speed reducing motor structure, and the speed reducing motor structure has larger output torque; the speed reducer II 32 can be fixed on the rotating arm 23 in a threaded manner; the rotating shaft II is vertical to the horizontal plane; the rotating shaft II and the speed reducer II 32 can be connected through a coupling, or the rotating shaft II is directly connected with an output gear of the speed reducer II 32. The rotating shaft II and the wheel seat 33 can be connected through screwing or welding.
In this embodiment, the wheel base 33 is a shock-absorbing base structure and is provided with a pair of left and right symmetrical shock absorbers 36, and the bottom ends of the shock absorbers 36 are connected to the wheel shafts of the travelling wheels 34. The shock absorber 36 is of a spring type structure, and can absorb the shock of the travelling wheel 34, so that the vehicle body 1 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 (5)
1. The utility model provides an adjustable omnidirectional vehicle of wheel tread, includes the automobile body, the automobile body is connected with the running gear who is used for the walking through rotating device, its characterized in that: the vehicle body is of a rectangular frame type structure, and the number of the rotating devices is four and the rotating devices are respectively arranged at four corners of the vehicle body; each rotating device comprises a driving motor I, a speed reducer I, a rotating shaft I and a rotating arm, wherein the speed reducer I is fixedly connected in a vehicle body, the rotating arm is rotatably connected to the bottom of the vehicle body, the power output end of the driving motor I is connected to the power input end of the speed reducer I, the power output end of the speed reducer I is in transmission connection with the upper end of the rotating shaft I, and the lower end of the rotating shaft I penetrates through the vehicle body and then is fixedly connected to the rotating arm; the number of the walking devices is four, and the four walking devices are respectively connected to the bottoms of the corresponding rotating arms.
2. The omni-directional vehicle with the adjustable wheel track according to claim 1, wherein: the rocking arm is long plate structure, pivot I is connected in the inner of rocking arm, running gear connects in the outer end of rocking arm.
3. The omni-directional vehicle with the adjustable wheel track according to claim 1, wherein: the automobile body is provided with a mounting plate for mounting a driving motor I and a speed reducer I.
4. The omni-directional vehicle with the adjustable wheel track 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 input end of reduction gear II, II fixed connection of reduction gear are connected in the transmission of the upper end of the bottom of corresponding rocking arm and its power take off end and pivot II, the lower extreme fixed connection of pivot II is at the top of wheel seat, the in-wheel motor who walks wheel and be used for the road wheel of driving all installs in the wheel seat.
5. The omni-directional vehicle with the adjustable wheel track 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122891051.6U CN216443671U (en) | 2021-11-19 | 2021-11-19 | Omnidirectional vehicle with adjustable wheel track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122891051.6U CN216443671U (en) | 2021-11-19 | 2021-11-19 | Omnidirectional vehicle with adjustable wheel track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216443671U true CN216443671U (en) | 2022-05-06 |
Family
ID=81352998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122891051.6U Expired - Fee Related CN216443671U (en) | 2021-11-19 | 2021-11-19 | Omnidirectional vehicle with adjustable wheel track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216443671U (en) |
-
2021
- 2021-11-19 CN CN202122891051.6U patent/CN216443671U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220506 |
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| CF01 | Termination of patent right due to non-payment of annual fee |