CN109911058A - A kind of mobile platform, its damping drive system and the photography mechanical arm containing it - Google Patents
A kind of mobile platform, its damping drive system and the photography mechanical arm containing it Download PDFInfo
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- CN109911058A CN109911058A CN201910196117.4A CN201910196117A CN109911058A CN 109911058 A CN109911058 A CN 109911058A CN 201910196117 A CN201910196117 A CN 201910196117A CN 109911058 A CN109911058 A CN 109911058A
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- shock
- damping
- car body
- mobile platform
- absorbing support
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Abstract
The invention discloses a kind of damping drive system of mobile platform, for being connect with the car body of mobile platform and wheel, including damping, shock-absorbing support mechanism and driving mechanism；For the damping for being fixedly connected with the vehicle body, the nearly car body side of the shock-absorbing support mechanism is used for, the remote car body side connection driving mechanism of the shock-absorbing support mechanism directly or indirectly hinged by connecting shaft and car body；Damping described in the shock-absorbing support mechanism supports；The driving mechanism is provided with the main drive shaft for connecting with wheel, and the main drive shaft of the driving mechanism is arranged in a mutually vertical manner with the connecting shaft；The connecting shaft is used to be arranged along car body front-rear direction.The invention also discloses a kind of mobile platform containing above-mentioned damping drive system and the photography mechanical arms containing the mobile platform；When the load change on platform or when not flat ground, the present invention can guarantee that wheel and ground have larger contact angle (plumbness) moment, so as to keep platform stable to run.
Description
Technical field
The present invention relates to mobile platform fields, more particularly to a kind of mobile platform, its damping drive system and contain it
Photography mechanical arm.
Background technique
Film industry develops along with state-of-the-art technology always.The movement control technology of video camera is digital effects key skill
One of art.The large space free movement of video camera generally uses the form of bottom track, in order to be more in line with showing for movies-making
Field demand can use mobile platform to replace bottom track, and torque can be generated when due to manipulator motion or changes the position of gravity,
Need the mobile platform based on Mecanum wheel that there is the ability for adapting to live load.
The shock mitigation system of mobile platform only has the shock-absorbing one-wheel effect perpendicular to car body mostly at present.On only having
The shock mitigation system of lower movement, cannot adjust the angle, and when the load change on platform or when not flat ground, have some or certain
Several wheels enter non-sustained height contact surface, and the bearing plane of platform is caused to tilt, and Mecanum wheel and ground are inclined at this time
Become smaller from plumbness, effective contact angle.Mecanum wheel and effective contact angle on ground are natively smaller.When this
When angle deviating is larger, it will cause Mecanum wheel and lose road holding, not instead of generation kinematic error is so simple, essence
Damage.
It can be seen that above-mentioned existing mobile platform damping drive system in structure and use there is also have it is inconvenient with it is scarce
It falls into.Can guarantee that wheel and ground have larger contact angle when how to found a kind of load change when on platform or not flat ground
Mobile platform and its damping drive system, which become current industry pole, needs improved target.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of damping drive systems of mobile platform, when the load on platform
Variation or ground can not usually guarantee wheel the moment and there is larger contact angle on ground, keep platform stable operation.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of damping drive system of mobile platform, for being connect with the car body of mobile platform and wheel, including damping machine
Structure, shock-absorbing support mechanism and driving mechanism；The damping for being fixedly connected with the vehicle body, the shock-absorbing support mechanism it is close
Car body side is used for, the remote car body side connection drive of the shock-absorbing support mechanism directly or indirectly hinged by connecting shaft and car body
Motivation structure；Damping described in the shock-absorbing support mechanism supports；The driving mechanism is provided with the master for connecting with wheel
Drive shaft, the main drive shaft of the driving mechanism are arranged in a mutually vertical manner with the connecting shaft；The connecting shaft is used for before car body
Rear direction setting.
It is further improved as the present invention, the damping includes spring mounting bracket, shock absorber support and elasticity
Damper；The lower surface of the spring mounting bracket with car body for connecting, the upper surface of the spring mounting bracket and damping
The lower surface of device bracket one end connects, and the other end lower surface of the shock absorber support is equipped with the elastic dampers.
Further, the spring mounting bracket is in I-shaped, and the shock absorber support is inverted T-type structure, the I-shaped
The spring mounting bracket of type is mounted on one end lower surface of inverted T-type structure, and the damper is mounted on the inverted T-type structure other end
Lower surface.
Further, the shock-absorbing support mechanism includes main supporting plate and shock-absorbing support height adjustment component；The main branch
The side of fagging by the connecting shaft with car body for directly or indirectly being connect；The shock-absorbing support height adjustment component and master
Support plate is connected and be can be movable relatively；Damping described in the top braces of the shock-absorbing support height adjustment component.
Further, the shock-absorbing support mechanism further includes inner support frame, the inner support frame by the connecting shaft with
Main shoe plate one end is hinged, and the inner support frame is for being fixedly connected with the vehicle body；The shock-absorbing support height adjusts component
Including height adjustment main thread structural member and servo actuated cover board, the height adjustment main thread structural member and main supporting plate screw thread connect
It connects；The servo actuated cover board is mounted on the top that height adjusts main thread structural member.
Further, the main supporting plate is in analog-U shaped, described recessed in being provided in analog-U shaped Main shoe plate one side wall
One end of slot, the inner support frame is installed by the groove and hinged by the connecting shaft and main supporting plate, the connection
It is also locked by locking nut axis one end；The other end of the inner support frame is for being fixedly mounted on the car body；Described is in analog-U shaped
Main supporting plate, the level board along car body front-rear direction extension is provided on another side wall, the driving mechanism is fixedly mounted
Below the level board.
Further, the driving mechanism further includes main mounting rack, driving motor and retarder；The driving motor subtracts
Fast device is mounted in shock-absorbing support mechanism by main mounting rack, and the driving motor connects retarder, the retarder it is defeated
Outlet is connect with the main drive shaft.
Further, the mobile platform is the AGV trolley using Mecanum wheel.
The present invention also provides a kind of mobile platforms, include car body and wheel, and the car body and wheel are subtracted by above-mentioned
Shake drive system connection.
The present invention also provides a kind of photography mechanical arms, including photography mechanical arm body and pedestal, and the pedestal is using upper
The mobile platform stated.
By using above-mentioned technical proposal, the present invention has at least the following advantages:
The damping drive system of mobile platform of the present invention, it is directly or indirectly hinged with car body by connecting shaft, connecting shaft
It is arranged along car body front-rear direction, main drive shaft and the connecting shaft of driving mechanism are arranged in a mutually vertical manner；When bottom surface is not slightly flat, subtract
It shakes supporting mechanism to rotate around connecting shaft, is absorbed and vibrated by elastic dampers；When platform load variation, torque load is symmetrical
It is distributed on the two pairs of wheels in left and right, the shock-absorbing support mechanism rotation angle for being supported on elastic dampers is in the same size, and eccentric force carries
Lotus was equivalent to the load applied moment load at car body center, and the shock-absorbing support mechanism rotation angle for being supported on elastic dampers is big
It is small still consistent, so as to guarantee the angle of wheel and ground face contact always, it is ensured that when car body plane tilts, four wheels can
It with load-bearing simultaneously and keeps wheel and ground in vertical state, keeps platform stable operation.
Detailed description of the invention
The above is merely an overview of the technical solutions of the present invention, in order to better understand the technical means of the present invention, below
In conjunction with attached drawing, the present invention is described in further detail with specific embodiment.
Fig. 1 is the overall structure diagram of mobile platform of the present invention；
Fig. 2 is damping structural schematic diagram；
Fig. 3 is shock-absorbing support mechanism structure schematic diagram；
Fig. 4 is another angle schematic diagram of shock-absorbing support mechanism；
Fig. 5 is the structural schematic diagram of driving mechanism；
Fig. 6 is cross-sectional view of the driving mechanism along main drive shaft direction.
Specific embodiment
A kind of mobile platform (such as AGV trolley-automated guided vehicle) is present embodiments provided, which can use
In various transportational processes or as the mobile base of video camera, as shown in Figure 1, the mobile platform includes car body 10 and four vehicles
Wheel 20, four wheels 20 can choose conventional vehicle wheel, but preferably Mecanum wheel, and wherein car body 10 and wheel 20 pass through damping
Drive system connection.
As shown in Figure 1, the damping drive system of above-mentioned mobile platform, including damping 1, shock-absorbing support mechanism 2 and drive
Motivation structure 3；Damping 1 is fixedly connected with car body 10, and the nearly car body side of shock-absorbing support mechanism 2 passes through connecting shaft 4 and car body 10
Directly or indirectly hinged, the remote car body side of shock-absorbing support mechanism 2 connects driving mechanism 3；Shock-absorbing support mechanism 2 supports damping
1；Driving mechanism 3 is provided with the main drive shaft 306 (shown in cooperation Fig. 5) connecting with wheel 20, the main drive shaft of driving mechanism 3
306 are arranged in a mutually vertical manner with connecting shaft 4；Connecting shaft 4 is arranged along 10 front-rear direction of car body.
Mobile platform work when, when its load change above or encounter ground it is not flat when, since connecting shaft 4 is along car body
The setting of 10 front-rear directions, main drive shaft 306 and the connecting shaft 4 of driving mechanism 3 are arranged in a mutually vertical manner, and wheel 20 can be in time around along vehicle
The connecting shaft 4 of 10 front-rear direction of body setting rotates, and acts on the damping being fixedly connected with car body 10 by shock-absorbing support mechanism 2
Relative motion can occur for mechanism 1, damping 1 and shock-absorbing support mechanism 2；Therefore, by similar deformable quadrangular mechanism,
Wheel 20 can adjust the angle in time, keep with ground being plumbness always, larger with effective contact angle on ground to guarantee,
Ensure that mobile platform can stablize execution movement instruction.
As shown in Fig. 2, damping 1 includes spring mounting bracket 101, shock absorber support 102 and damper 103；Wherein,
For spring mounting bracket 101 in I-shaped, shock absorber support 102 is inverted T-type structure, I-shaped 101 following table of spring mounting bracket
Face is connect with car body 10 by screw bolt；The upper surface of spring mounting bracket 101 passes through screw thread and 102 one end of shock absorber support
Lower surface is fixedly connected, and damper 103 is fixedly connected by screw thread with the lower surface in the wide portion of 102 other end of shock absorber support.Its
In, the damper that elastic dampers etc. have displacement buffering cushioning effect can be used in damper 103.
As shown in Figure 3,4, shock-absorbing support mechanism 2 includes inner support frame 201, main supporting plate 202 and shock-absorbing support height tune
Whole group part 204, being previously used for hinged connecting shaft 4 can be used as a composition portion of independent component or shock-absorbing support mechanism 2
Point.Inner support frame 201 is hinged by connecting shaft 4 and one end of main supporting plate 202, and inner support frame 201 also passes through with car body 10
Be screwed connection, and such mode forms main supporting plate 202 indirectly by the hinged of inner support frame 201 and car body 10；Certainly,
Main supporting plate 202 can also be directly hinged by connecting shaft 4 and the car body with raised installation position.The adjustment of shock-absorbing support height
Component 204 connect and can be movable relatively with main supporting plate 202；The top braces damping machine of shock-absorbing support height adjustment component 204
The damper 103 of structure 1.
As preferred mode, above-mentioned main supporting plate 202 is in analog-U shaped, in the one side wall in analog-U shaped main supporting plate 202
It is arranged fluted, inner support frame 201 is L-shaped, and one end is mounted in groove and hinged by connecting shaft 4 and main supporting plate 202,
One end of connecting shaft 4 also passes through locking nut 41 and locks, and the two is connected with one heart by screw thread.In analog-U shaped main supporting plate 202,
The level board along car body front-rear direction extension is provided on its another side wall, driving mechanism 3 is fixedly mounted below level board.
As preferred mode, shock-absorbing support height adjust component 204 include height adjustment main thread structural member 2041 and
Servo actuated cover board 2042, height adjust main thread structural member 2041 and are threadedly coupled with main supporting plate 202, by rotating adjustable subtract
Shake the height of the supporting surface of mechanism；The top of height adjustment main thread structural member 2041 passes through cylinder mounting surface and servo actuated cover board
2042 connections.
Before mobile platform work starts, it can adjust the height of shock-absorbing support height adjustment component 204, guarantee in original state
Under, four wheels of mobile platform are perpendicular to the ground, while the loading end of mobile platform is also parallel to the ground.When on mobile platform
Not usually, which can still guarantee that wheel is vertical with the contact surface moment on when the load change position of face or ground.
Ensure that mobile platform can stablize execution movement instruction.
As shown in Figure 5,6, driving mechanism 3 further includes main mounting rack 301, driving motor other than including main drive shaft 306
307 and retarder 308；Driving motor 307, retarder 308 are mounted in shock-absorbing support mechanism 2 by main mounting rack 301, are driven
Dynamic motor 307 connects retarder 308, and the output end of retarder 308 is connect with main drive shaft 306, and main drive shaft 306 is used for and vehicle
20 connection of wheel, driving wheel 20 rotate.
Driving mechanism 3 further includes bearing mounts 302, bearing cover 303, ball ball bearing 304, locking nut 305；It is main
Mounting rack 301 is fixedly connected by screw thread with the mounting surface of bearing cover 303, and ball ball bearing 304 is concentrically mounted on bearing peace
Inside piece installing 302；Bearing cover 303 is fixedly connected by screw thread with the mounting surface of bearing mounts 302；Locking nut 305 is logical
The screw thread crossed on main drive shaft 306 presses against on the inside race of ball ball bearing 304；Main drive shaft 306 passes through key and retarder
308 output ends connect with one heart.Certainly, driving of the invention could alternatively be the driving of other forms.
In the present embodiment, the damper 103 of damping 1 passes through the shock-absorbing support height of pressure and shock-absorbing support mechanism 2
The servo actuated cover board contact of component 204 is adjusted, the 101 underrun screw thread of spring mounting bracket of damping 1 is connect with car body 10.
The inner support frame 201 of shock-absorbing support mechanism 2 is connect by screw thread with car body 10.202 end of main supporting plate of shock-absorbing support mechanism 2
It is fixedly connected by screw thread with the main mounting rack 301 of driving mechanism.Wheel 20 and the fixed company of the main drive shaft 306 of driving mechanism 3
It connects.
The present invention changes by using the damping drive system of adjustable angle when ground slightly has uneven or platform load
When, which is adapted to this variation, and wheel is made to be in the plumbness with contact surface always, and the moment keeps wheel and ground
The angle of contact, and then keep the stable operation of platform.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, this
Field technical staff makes a little simple modification, equivalent variations or modification using the technology contents of the disclosure above, all falls within this hair
In bright protection scope.
Claims (10)
1. the damping drive system of a kind of mobile platform, for being connect with the car body of mobile platform and wheel, which is characterized in that packet
Include damping, shock-absorbing support mechanism and driving mechanism；
The damping for being fixedly connected with the vehicle body, the nearly car body side of the shock-absorbing support mechanism be used for by connecting shaft with
Car body is directly or indirectly hinged, and the remote car body side of the shock-absorbing support mechanism connects the driving mechanism；The shock-absorbing support machine
Structure supports the damping；
The driving mechanism is provided with the main drive shaft for connecting with wheel, the main drive shaft of the driving mechanism and the company
Spindle is arranged in a mutually vertical manner；The connecting shaft is used to be arranged along car body front-rear direction.
2. the damping drive system of mobile platform according to claim 1, which is characterized in that the damping includes subtracting
Shake device mounting rack, shock absorber support and elastic dampers；The lower surface of the spring mounting bracket is described for connecting with car body
The upper surface of spring mounting bracket is connect with the lower surface of shock absorber support one end, the other end lower surface of the shock absorber support
The elastic dampers are installed.
3. the damping drive system of mobile platform according to claim 2, which is characterized in that the spring mounting bracket is in
I-shaped, the shock absorber support is inverted T-type structure, and the I-shaped spring mounting bracket is mounted on the one of inverted T-type structure
Lower surface is held, the damper is mounted on the lower surface of the inverted T-type structure other end.
4. the damping drive system of mobile platform according to claim 1, which is characterized in that shock-absorbing support mechanism packet
Include main supporting plate and shock-absorbing support height adjustment component；The Main shoe plate side be used for by the connecting shaft it is direct or
It connects and is connect with car body；The shock-absorbing support height adjustment component connect and can be movable relatively with main supporting plate；The shock-absorbing support
Damping described in the top braces of height adjustment component.
5. the damping drive system of mobile platform according to claim 4, which is characterized in that the shock-absorbing support mechanism is also
Including inner support frame, the inner support frame is hinged by the connecting shaft and Main shoe plate one end, and the inner support frame is used
In being fixedly connected with the vehicle body；
The shock-absorbing support height adjustment component includes height adjustment main thread structural member and servo actuated cover board, the height adjustment master
Helicitic texture part is threadedly coupled with main supporting plate；The servo actuated cover board is mounted on the top that height adjusts main thread structural member.
6. the damping drive system of mobile platform according to claim 5, which is characterized in that the main supporting plate is in class U
Type, described fluted in being arranged in analog-U shaped Main shoe plate one side wall, one end of the inner support frame is mounted on the groove
Interior and hinged by the connecting shaft and main supporting plate, the one end of the connecting shaft is also locked by locking nut；The inner support
The other end of frame is for being fixedly mounted on the car body；
Described is in analog-U shaped main supporting plate, is provided with the level board along car body front-rear direction extension, the drive on another side wall
Motivation structure is fixedly mounted below the level board.
7. the damping drive system of mobile platform according to claim 1, which is characterized in that the driving mechanism further includes
Main mounting rack, driving motor and retarder；
The driving motor, retarder are mounted in shock-absorbing support mechanism by main mounting rack, and the driving motor connection subtracts
Fast device, the output end of the retarder are connect with the main drive shaft.
8. the damping drive system of mobile platform according to claim 1-7, which is characterized in that the movement is flat
Platform is the AGV trolley using Mecanum wheel.
9. a kind of mobile platform includes car body and wheel, which is characterized in that the car body and wheel are appointed by claim 1-8
The connection of damping drive system described in one.
10. a kind of photography mechanical arm, including photography mechanical arm body and pedestal, the pedestal use shifting as claimed in claim 9
Moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910196117.4A CN109911058A (en) | 2019-03-15 | 2019-03-15 | A kind of mobile platform, its damping drive system and the photography mechanical arm containing it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910196117.4A CN109911058A (en) | 2019-03-15 | 2019-03-15 | A kind of mobile platform, its damping drive system and the photography mechanical arm containing it |
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| Publication Number | Publication Date |
|---|---|
| CN109911058A true CN109911058A (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910196117.4A Pending CN109911058A (en) | 2019-03-15 | 2019-03-15 | A kind of mobile platform, its damping drive system and the photography mechanical arm containing it |
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| Country | Link |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2335812Y (en) * | 1998-01-08 | 1999-09-01 | 梁进 | Adjustable axle |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
| CN206871217U (en) * | 2017-04-26 | 2018-01-12 | 昆明理工大学 | A kind of robot mobile device |
| WO2018165907A1 (en) * | 2017-03-15 | 2018-09-20 | Hong Kong R & D Centre for Logistics and Supply Chain Management Enabling Technologies Limited | Self leveling autonomous guided vehicle |
| CN108909864A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of chassis structure of greenhouse robot |
-
2019
- 2019-03-15 CN CN201910196117.4A patent/CN109911058A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2335812Y (en) * | 1998-01-08 | 1999-09-01 | 梁进 | Adjustable axle |
| WO2018165907A1 (en) * | 2017-03-15 | 2018-09-20 | Hong Kong R & D Centre for Logistics and Supply Chain Management Enabling Technologies Limited | Self leveling autonomous guided vehicle |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
| CN206871217U (en) * | 2017-04-26 | 2018-01-12 | 昆明理工大学 | A kind of robot mobile device |
| CN108909864A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of chassis structure of greenhouse robot |
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Application publication date: 20190621 |