CN103303391B - A kind of mobile platform of taking turns based on air cushion and Mai Kanamu - Google Patents
A kind of mobile platform of taking turns based on air cushion and Mai Kanamu Download PDFInfo
- Publication number
- CN103303391B CN103303391B CN201310258066.6A CN201310258066A CN103303391B CN 103303391 B CN103303391 B CN 103303391B CN 201310258066 A CN201310258066 A CN 201310258066A CN 103303391 B CN103303391 B CN 103303391B
- Authority
- CN
- China
- Prior art keywords
- swing arm
- frame
- air
- mai
- kanamu
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 239000000725 suspension Substances 0.000 claims abstract description 15
- 230000000694 effects Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 5
- 229910000831 Steel Inorganic materials 0.000 abstract description 3
- 239000010959 steel Substances 0.000 abstract description 3
- 239000007787 solid Substances 0.000 abstract description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The present invention proposes a kind of mobile platform of taking turns based on air cushion and Mai Kanamu, by vehicle frame, air-cushion unit, air bellow, swing arm type suspension, Mai Kanamu takes turns and electromagnet forms, and swing arm type suspension is made up of swing arm, upper hinge, lower hinge, vehicle bridge, spring damper, motor, retarder and wheel hub butt flange; In moving process, whole mobile platform and load weight thereof are carried by air-cushion unit, and Mai Kanamu wheel is only used to play driving effect, not main bearing load.So both can play the advantage that Mai Kanamu takes turns Omni-mobile, turns to space little, the wearing and tearing of Mai Kanamu wheel can have been reduced again.After moving to assigned address, the steel plate can preset by the electromagnet of bottom and ground is adsorbed, and whole platform is fixed solid and reliable.
Description
Technical field
The present invention relates to omni-directional wheel application, specifically a kind of mobile platform of taking turns based on air cushion and Mai Kanamu.
Background technology
Mai Kanamu wheel is a kind of comprehensive four-wheel travel mechanism.This wheel is made up of two parts, i.e. wheel hub initiatively and multiple driven rollers of being uniform-distribution with in certain direction along wheel hub outer rim.When the wheels turn, core wheel is the synthesis of wheel hub speed and roller rolled speed relative to the speed on ground, has a distortion angle between two angles.Because each wheel all has this feature, after appropriately combined, just can realize all-around mobile and the pivot stud motion of car body.Owing to having Omni-mobile, the advantage such as turn to space little, the mobile platform of Mai Kanamu wheel is widely used in the occasion such as warehouse, factory building.
But the shortcoming of Mai Kanamu wheel also clearly, due to the existence of the little roller in edge, the load-carrying capacity of Mai Kanamu wheel is not by force and easily wear and tear.For needing the Mai Kanamu of large supporting power to take turns mobile platform, general terms of settlement is the number increasing wheel, and this method can solve the problem of bearing capacity but the problem of wearing and tearing still exists.Thus have impact on the service life that Mai Kanamu takes turns mobile platform.
Summary of the invention
The technical matters solved
The present invention is directed to Mai Kanamu and take turns load-carrying capacity drawback that is strong, that easily wear and tear, propose a kind of mobile platform of taking turns based on air cushion and Mai Kanamu, whole mobile platform and load thereof are carried by air-cushion unit, and Mai Kanamu wheel is only used to play driving effect, not main bearing load.So both can play the advantage that Mai Kanamu takes turns Omni-mobile, turns to space little, the wearing and tearing of Mai Kanamu wheel can have been reduced again.
Technical scheme
Technical scheme of the present invention is:
Described a kind of mobile platform of taking turns based on air cushion and Mai Kanamu, is characterized in that: by vehicle frame, air-cushion unit, air bellow, swing arm type suspension, Mai Kanamu takes turns and electromagnet forms; Vehicle frame is divided into side arm, middle frame and after-frame, and side arm, middle frame are connected by upper support plate with after-frame top; At side arm and after-frame bottom, air-cushion unit is installed; In middle frame bottom, electromagnet is installed; Between side arm and middle frame and between after-frame and middle frame, be separately installed with one group of swing arm type suspension; Described swing arm type suspension is made up of swing arm, upper hinge, lower hinge, vehicle bridge, spring damper, motor, retarder and wheel hub butt flange; Swing arm top is connected with the upper support plate of vehicle frame by air bellow, and swing arm side and side arm trailing flank or after-frame leading flank are connected through the hinge; Swing arm bottom is fixedly connected with upper hinge, and lower hinge is fixedly connected with vehicle bridge, upper hinge and lower hinge; Bottom, swing arm two ends is connected respectively by spring damper with top, vehicle bridge two ends; Vehicle bridge two ends are fixed with wheel hub butt flange respectively, take turns and are connected, be connected successively inside wheel hub butt flange with retarder, motor outside wheel hub butt flange with Mai Kanamu.
Beneficial effect
Present invention achieves a kind of mobile platform structure of taking turns based on air cushion and Mai Kanamu, in moving process, whole mobile platform and load weight thereof are carried by air-cushion unit, and Mai Kanamu wheel is only used to play driving effect, main bearing load.So both can play the advantage that Mai Kanamu takes turns Omni-mobile, turns to space little, the wearing and tearing of Mai Kanamu wheel can have been reduced again.After moving to assigned address, the steel plate can preset by the electromagnet of bottom and ground is adsorbed, and whole platform is fixed solid and reliable.
Accompanying drawing explanation
Fig. 1: based on the structural representation of the mobile platform structure that air cushion and Mai Kanamu are taken turns;
Fig. 2: based on the backplan of the mobile platform structure that air cushion and Mai Kanamu are taken turns;
Fig. 3: vehicle frame schematic diagram;
Fig. 4: the lateral plan of swing arm type suspension;
Fig. 5: the front elevation of swing arm type suspension;
Wherein: 1, vehicle frame; 2, air-cushion unit; 3, air bellow; 4, swing arm type suspension; 5, Mai Kanamu wheel; 6, electromagnet; 7, side arm; 8, middle frame; 9, after-frame; 10, upper support plate; 11, swing arm; 12, upper hinge; 13, lower hinge; 14, vehicle bridge; 15, spring damper; 16, motor; 17, retarder; 18, wheel hub butt flange.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described:
With reference to accompanying drawing 1, the mobile platform based on air cushion and Mai Kanamu wheel in the present embodiment is made up of vehicle frame 1, air-cushion unit 2, air bellow 3, swing arm type suspension 4, Mai Kanamu wheel 5 and electromagnet 6.Symmetrical, symmetrical before and after integral structure.Be divided into side arm 7, middle frame 8 and after-frame 9 with reference to vehicle frame described in accompanying drawing 3, side arm, middle frame are connected by upper support plate 10 with the top of after-frame.
Described air-cushion unit 2 has four, is fixedly connected with vehicle frame, is arranged on the both sides bottom the side arm of vehicle frame and after-frame respectively.Described electromagnet 6 is arranged on bottom middle frame uniformly.
Between side arm and middle frame and between after-frame and middle frame, be separately installed with one group of swing arm type suspension.With reference to accompanying drawing 4 and accompanying drawing 5, described swing arm type suspension is made up of swing arm 11, upper hinge 12, lower hinge 13, vehicle bridge 14, spring damper 15, motor 16, retarder 17 and wheel hub butt flange 18.Swing arm both upper ends thereof is connected with the upper support plate of vehicle frame respectively by air bellow, drives swing arm type suspension to swing by the fore and aft motion of air bellow; Swing arm side and side arm trailing flank or after-frame leading flank are connected through the hinge.Swing arm bottom is welded with upper hinge, and lower hinge welds with vehicle bridge, upper hinge and lower hinge; Bottom, swing arm two ends is connected respectively by spring damper with top, vehicle bridge two ends, spring damper two ends respectively with swing arm and vehicle bridge hinged; Vehicle bridge two ends are welded with wheel hub butt flange respectively, take turns and are connected, be connected successively inside wheel hub butt flange with retarder, motor outside wheel hub butt flange with Mai Kanamu.
Air cushion module is distributed in below car body on four angles, and in Platform movement process, car body and load weight bear primarily of air cushion module, and by regulating the stroke of air bellow, Mai Kanamu takes turns kiss the earth, for mobile platform provides propulsive effort.Such mobile platform can have very large load-carrying capacity, due under the effect of air cushion, required propulsive effort is smaller again, Mai Kanamu wheel wearing and tearing smaller.Spring damper can ensure that platform four wheels in moving process land simultaneously, and has certain shock absorbing effect.After mobile platform moves to assigned address, control air bellow shrinks, Mai Kanamu wheel departs from ground, air cushion module quits work subsequently, the steel plate that the electromagnet installed bottom middle frame and ground are preset adsorbs, be fixed on by mobile platform and specify ground, whole like this platform is fixing firm, reliable.
Claims (1)
1. based on the mobile platform that air cushion and Mai Kanamu are taken turns, it is characterized in that: be made up of vehicle frame, air-cushion unit, air bellow, swing arm type suspension, Mai Kanamu wheel, Mai Kanamu wheel drive unit and electromagnet; Vehicle frame is divided into side arm, middle frame and after-frame, and side arm, middle frame are connected by upper support plate with after-frame top; At side arm and after-frame bottom, air-cushion unit is installed; In middle frame bottom, electromagnet is installed; Between side arm and middle frame and between after-frame and middle frame, be separately installed with one group of swing arm type suspension; Described swing arm type suspension is made up of swing arm, upper hinge, lower hinge, vehicle bridge, spring damper and wheel hub butt flange; Swing arm top is connected with the upper support plate of vehicle frame by air bellow, and swing arm side and side arm trailing flank or after-frame leading flank are connected through the hinge; Swing arm bottom is fixedly connected with upper hinge, and lower hinge is fixedly connected with vehicle bridge, upper hinge and lower hinge; Bottom, swing arm two ends is connected respectively by spring damper with top, vehicle bridge two ends; Vehicle bridge two ends are fixed with wheel hub butt flange respectively, take turns be connected outside wheel hub butt flange with Mai Kanamu; Mai Kanamu wheel drive unit is made up of motor and retarder, is connected successively inside wheel hub butt flange with retarder, motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310258066.6A CN103303391B (en) | 2013-06-25 | 2013-06-25 | A kind of mobile platform of taking turns based on air cushion and Mai Kanamu |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310258066.6A CN103303391B (en) | 2013-06-25 | 2013-06-25 | A kind of mobile platform of taking turns based on air cushion and Mai Kanamu |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103303391A CN103303391A (en) | 2013-09-18 |
| CN103303391B true CN103303391B (en) | 2015-08-12 |
Family
ID=49129210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310258066.6A Expired - Fee Related CN103303391B (en) | 2013-06-25 | 2013-06-25 | A kind of mobile platform of taking turns based on air cushion and Mai Kanamu |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103303391B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103894813A (en) * | 2014-04-14 | 2014-07-02 | 西北工业大学 | Mobile robot hole forming platform based on composite axle structure |
| DK3034323T3 (en) * | 2014-12-16 | 2017-07-03 | Omniroll Ag | MECANUM WHEEL VEHICLE AND PROCEDURE TO OPERATE THIS |
| EP3034324A1 (en) * | 2014-12-16 | 2016-06-22 | Omniroll AG | Mecanum wheel vehicle |
| CN104786771B (en) * | 2015-04-28 | 2017-08-25 | 深圳市大疆创新科技有限公司 | Wheel damping and the remote-controlled movement device with the wheel damping |
| CN107020614A (en) * | 2017-06-12 | 2017-08-08 | 南京工程学院 | A kind of all-around mobile transportation robot |
| CN108556580A (en) * | 2018-02-02 | 2018-09-21 | 福建（泉州）哈工大工程技术研究院 | A kind of Mecanum wheel Omni-mobile platform independent suspension structure |
| CN108945538A (en) * | 2018-08-31 | 2018-12-07 | 天津航天机电设备研究所 | A kind of super-large space capsule expansion zero-g simulator |
| GB201901297D0 (en) * | 2019-01-30 | 2019-03-20 | Univ Sheffield | Vehicle |
| CN111348123B (en) * | 2020-03-20 | 2021-05-18 | 长安大学 | Indoor navigation mobile robot |
| CN111994184B (en) * | 2020-09-01 | 2022-09-16 | 途作林杰科技有限公司 | Front impact safety protection buffer system |
| CN112078688A (en) * | 2020-09-28 | 2020-12-15 | 苏州盈科电子有限公司 | Vehicle chassis |
| CN112498352A (en) * | 2020-10-10 | 2021-03-16 | 北京特种机械研究所 | Control method for omnidirectional traction of air floatation platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4949573A (en) * | 1989-11-13 | 1990-08-21 | Lord Corporation | Velocity transducer for vehicle suspension system |
| JPH0930784A (en) * | 1995-07-14 | 1997-02-04 | Nippon Yusoki Co Ltd | Steering wire tensioner |
| CN201753188U (en) * | 2010-02-25 | 2011-03-02 | 彭云 | Device for transporting and positioning large parts |
| CN202728220U (en) * | 2012-08-06 | 2013-02-13 | 山东豪迈重型机械有限公司 | High-capacity self-propelled type air cushion transport car |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
-
2013
- 2013-06-25 CN CN201310258066.6A patent/CN103303391B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4949573A (en) * | 1989-11-13 | 1990-08-21 | Lord Corporation | Velocity transducer for vehicle suspension system |
| JPH0930784A (en) * | 1995-07-14 | 1997-02-04 | Nippon Yusoki Co Ltd | Steering wire tensioner |
| CN201753188U (en) * | 2010-02-25 | 2011-03-02 | 彭云 | Device for transporting and positioning large parts |
| CN202728220U (en) * | 2012-08-06 | 2013-02-13 | 山东豪迈重型机械有限公司 | High-capacity self-propelled type air cushion transport car |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103303391A (en) | 2013-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103303391B (en) | A kind of mobile platform of taking turns based on air cushion and Mai Kanamu | |
| CN202896207U (en) | All-dimensional mobile chassis | |
| CN106004312A (en) | Stable mobile platform of indoor service robot | |
| CN105150791B (en) | A kind of double-front axle structure with lift bridge of heavy goods vehicle | |
| CN104608573A (en) | Leaf spring suspension system of air bag lifting bridge structure and car | |
| CN206870775U (en) | Mobile platform | |
| KR101364703B1 (en) | Shock absorbing apparatus for guide wheel of light electric motor car | |
| CN105365841A (en) | Rotary arm type positioning driving axle device for suspension type single-rail bogie | |
| CN204149799U (en) | A kind of AIRMATIC Dual Control | |
| CN210971081U (en) | Non-power bogie system of railway vehicle and railway vehicle | |
| CN103496407A (en) | Two-step independent cantilever band suspension chassis system | |
| CN102190002B (en) | Steering frame of linear motor | |
| WO2014074031A1 (en) | Independent rear suspension with lifting device | |
| CN205203751U (en) | Supporting structure of automobile tire deposits machine | |
| CN102243157A (en) | Fatigue test loading device of transportation on bridge | |
| CN210101236U (en) | Suspension mechanism of omnidirectional mobile platform | |
| CN212556255U (en) | Bogie for tourist coach | |
| CN104309429A (en) | Four-wheel environment-friendly electric vehicle | |
| CN201931955U (en) | Compound type air suspension system taking variable-section plate springs as guide arms | |
| CN201900954U (en) | Downward-pressing spring type shock absorption device | |
| CN204095429U (en) | A kind of four-wheel Environmental-friendelectric electric vehicle | |
| CN102910175A (en) | Suspension device for side-mounted double-power driven rail trolley bus | |
| CN104015858A (en) | Front wheel shock absorption structure and road sweeper | |
| CN210680315U (en) | Steering wheel and translation vehicle | |
| CN204037708U (en) | A kind of cabin front suspension puts system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150812 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |