CN206336350U - A kind of merchandising machine people's body structure based on Mecanum wheel - Google Patents
A kind of merchandising machine people's body structure based on Mecanum wheel Download PDFInfo
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- CN206336350U CN206336350U CN201621408757.5U CN201621408757U CN206336350U CN 206336350 U CN206336350 U CN 206336350U CN 201621408757 U CN201621408757 U CN 201621408757U CN 206336350 U CN206336350 U CN 206336350U
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- fixed support
- single longitudenal
- longitudenal arm
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Abstract
The utility model discloses a kind of merchandising machine people's body structure based on Mecanum wheel, including：Vehicle frame, the placing platform for being fixed on top of frame, four drive wheel assemblies installed in vehicle frame bottom surface.Vehicle frame is made up of horizontal fixed support and two vertical fixed supports, and drive wheel assemblies include：To top single longitudenal arm, Mecanum wheel, motor and damper.Being parallel to each other to top single longitudenal arm in four drive wheel assemblies, two of homonymy can swing up and down to top single longitudenal arm in same perpendicular.The utility model energy all driection running and with superpower road surface adaptability.
Description
Technical field
The utility model is related to logistics machinery equipment technical field, more particularly to a kind of logistics machine based on Mecanum wheel
Device people's body structure.
Background technology
With continuing to develop for robot technology, AGV (Automated Guided Vehicle) is automatic in manufacturing industry
It is widely used in change field and automated warehousing logistics system.Before wherein all-around mobile AGV is due to that can realize
Afterwards, the motion and its compound motion of left and right and 3 frees degree of rotation and by more and more extensive concern.
Compared with traditional AGV, all-around mobile AGV can be rotated along any direction translation with any radius, therefore very
It is adapted to be operated in limited, high to the maneuverability requirement occasion of narrow space.All-around mobile AGV has diversified forms, wherein base
Transfer do not needed due to each wheel in the all-around mobile AGV of Mecanum wheel, and with its remarkable all-around mobile
Performance and as one research focus.
Major advantage based on Mecanum wheel motion platform is：
1）Can be along longitudinally, laterally and oblique translation at any angle；
2）Radius of turn is zero, you can turned to around Platform center original place any angle；
3）Whenever need not change the steering of wheel in motion process, simplify Design of Mechanical Structure.
Common AGV on the market generally uses pneumatic rubber wheel and steering wheel at present, the former pneumatic tire energy bullet when being pressurized
Property deformation, it is ensured that multiple wheels are non-slip in ground running, and the latter can only travel in smooth-riding surface.Both the above structure
Ground can not effectively be contacted so as to produce skidding, and Mecanum wheel is the direction of the control motion of making a concerted effort by 4 wheels
And speed, skidded once there is a wheel to depart from ground, the compound direction and size of whole power will be influenceed, moving of car will
It is out of control.
Utility model content
In order to solve the above technical problems, the utility model proposes a kind of merchandising machine people's vehicle body knot based on Mecanum wheel
Structure, the body structure energy all driection running and with superpower road surface adaptability.
The technical solution adopted in the utility model is to design a kind of merchandising machine people's vehicle body knot based on Mecanum wheel
Structure, including：Vehicle frame, the placing platform for being fixed on top of frame, four drive wheel assemblies installed in vehicle frame bottom surface.Vehicle frame is by water
Flat fixed support and two vertical fixed supports compositions for being vertically fixed on horizontal fixed support bottom surface, two vertical fixed supports
On the center line of horizontal fixed support bottom surface.
Drive wheel assemblies include：One end be hinged on vertical fixed support to top single longitudenal arm, be hinged on to top single longitudenal arm
Mecanum wheel on the other end, located at the motor to top single longitudenal arm side, tilt and be connected to top single longitudenal arm and level
Damper between fixed support.Being parallel to each other to top single longitudenal arm in four drive wheel assemblies, on same vertical fixed support
It is symmetrical to be hinged with two to pushing up single longitudenal arm, and this two swing up and down to top single longitudenal arm in same perpendicular.
Wherein, the top of damper is hinged with the upper mounting seat for being fixed on horizontal fixed support bottom surface, the bottom of damper
It is hinged with the lower mounting seat being fixed on on the single longitudenal arm of top.
Vertical fixed support is made up of transverse slat with the stringer board for being fixed on transverse slat one end, and stringer board is mutually perpendicular to transverse slat, transverse slat
Two sides be provided with the hinged ear parallel with stringer board.Hinged seat is provided with to one end away from Mecanum wheel on the single longitudenal arm of top, it is right
Top single longitudenal arm crosses the hinge of stringer board, hinged seat and hinged ear on vertical fixed support by one.
It is preferred that, the transverse slat in two vertical fixed supports is connected as one.
Compared with prior art, the utility model has advantages below：
1st, using the characteristic of Mecanum wheel, can be achieved along longitudinally, laterally and oblique translation at any angle, can original place appoint
Angle of anticipating is turned to, no radius of turn；
2nd, without transfer, it enormously simplify the mechanical structure of system；
3rd, front and back wheel is hinged on same vertical support bracket fastened two sides, constitutes the longitudinal rod connection design of original creation,
The internal structure of dolly is taken full advantage of, structure is simplified very much；
4th, four wheels are designed using independent suspension, it is ensured that each wheel all fully contacts with ground, it is to avoid existing AGV
Common skidding.
Brief description of the drawings
The utility model is described in detail with reference to embodiment and accompanying drawing, wherein：
Fig. 1 is schematic perspective view of the present utility model；
Fig. 2 is horizontal schematic diagram of the present utility model；
Fig. 3 is fractionation schematic diagram of the present utility model；
Fig. 4 is the structural representation of drive wheel assemblies in the utility model；
Fig. 5 is the structural representation of vehicle frame in the utility model.
Embodiment
As shown in Figure 1, 2, the utility model proposes merchandising machine people's body structure, including：Vehicle frame 1, it is fixed on vehicle frame 1
The placing platform 2 of top surface, four drive wheel assemblies 3 installed in the bottom surface of vehicle frame 1.
As shown in Figure 3,4, drive wheel assemblies 3 include：To pushing up single longitudenal arm 31, Mecanum wheel 32, motor 33 and subtracting
Device 34 is shaken, Mecanum wheel 32 is hinged one end to pushing up single longitudenal arm 31, and the other end for pushing up single longitudenal arm 31 is hinged on vehicle frame 1,
Motor 33 is located on the inner side to pushing up single longitudenal arm 31, the output shaft of motor 33 pass through to push up the side wall of single longitudenal arm 31 with
Mecanum wheel 32 is connected, and to drive the forward or reverse of Mecanum wheel 32, the inclined shore of damper 34 is to top Dan Zong
Between arm 31 and vehicle frame 1, the upper and lower ends of damper 34 have been respectively articulated with upper mounting seat 35 and lower mounting seat 36, upper mounting seat 35
The bottom surface of vehicle frame 1 is screwed in, lower mounting seat 36 is screwed in the top surface to pushing up single longitudenal arm 31.
As shown in figure 5, vehicle frame 1 is made up of horizontal fixed support 11 and two vertical fixed supports 12, placing platform 2 is fixed
In the top surface of horizontal fixed support 1, the upper mounting seat 35 of damper is fixed on the bottom surface of horizontal fixed support 11.For the ease of table
State, the bottom surface of horizontal fixed support 11 is rectangle, be laterally two by longitudinal direction, short side direction of rectangular long side direction
Vertical fixed support 12 is vertically fixed on the bottom surface of horizontal fixed support 11, and this two vertical fixed supports 12 are solid positioned at level
In the transversal centerline of the bottom surface of fixed rack 11.
As shown in Figures 1 to 3, it is longitudinally disposed to top single longitudenal arm 31 in four drive wheel assemblies 3, same vertical fixed branch
It is symmetrical on frame 12 to be hinged with two to top single longitudenal arm 31, and this two to top single longitudenal arm 31 in same perpendicular on the bottom
It is dynamic.Direction by each Mecanum wheel 32 and speed when using, produce a resultant force vector to ensure vehicle body final
It can be moved freely through on the direction of resultant force vector, and without changing the direction of wheel itself, compact conformation, motion are flexible.It is each to drive
It is separately provided in drive wheel assemblies 3 to top vertical arms 31 and damper 34, this independent suspension design structure so that each wheel
Fully contacted with ground under steam, with superpower road surface adaptability, it is to avoid skidding.
As shown in Figure 4,5, it is to the concrete structure that top single longitudenal arm 31 is hinged with vertical fixed support 12, vertical fixed support
12 are made up of the transverse slat 121 and longitudinally disposed stringer board 122 laterally set, and stringer board 122 is fixed on the outer end of transverse slat 121, two
Transverse slat 121 in vertical fixed support is connected as one, to increase the structural strength of vehicle body.Longitudinally opposed two on transverse slat 121
Face is equipped with hinged ear 123, and the hinged ear 123 is parallel with stringer board 122, and hinged ear 123 and stringer board 122 are provided with aligned in position
Hinge hole.Hinged seat 37 is provided with to one end away from Mecanum wheel 32 on the single longitudenal arm 31 of top, hinged seat 37 is set provided with horizontal
The through hole put, the hinge of stringer board 122, hinged seat 37 and hinged ear 123 is crossed solid vertically to top single longitudenal arm 31 by one
On fixed rack 12.Two drive wheel assemblies 3 of the same side are hinged on the longitudinally opposed face of transverse slat 121, form the longitudinal direction of original creation
Attachment structure, takes full advantage of inner space and the structure of dolly, and the mechanical part used is few, and travels more stable reliability.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (4)
1. a kind of merchandising machine people's body structure based on Mecanum wheel, including：Vehicle frame, it is fixed on putting for the top of frame
It is laid flat platform, four drive wheel assemblies installed in vehicle frame bottom surface, it is characterised in that the vehicle frame is by horizontal fixed support and vertically
Two vertical fixed supports for being fixed on the horizontal fixed support bottom surface are constituted, and described two vertical fixed supports are located at described
On the center line of horizontal fixed support bottom surface；
The drive wheel assemblies include：One end be hinged on the vertical fixed support to top single longitudenal arm, be hinged on it is described right
Described in Mecanum wheel on the single longitudenal arm other end of top, the motor located at described pair of top single longitudenal arm side, inclination are connected to
To the damper between top single longitudenal arm and the horizontal fixed support；
Being parallel to each other to top single longitudenal arm in four drive wheel assemblies, symmetrically two are hinged with same vertical fixed support
To pushing up single longitudenal arm, and this two swing up and down to top single longitudenal arm in same perpendicular.
2. merchandising machine people body structure as claimed in claim 1, it is characterised in that the top of the damper is hinged with solid
The upper mounting seat of the horizontal fixed support bottom surface is scheduled on, the bottom of the damper, which is hinged with, is fixed on described pair of top single longitudenal arm
On lower mounting seat.
3. merchandising machine people body structure as claimed in claim 1 or 2, it is characterised in that the vertical fixed support is by horizontal stroke
Plate and the stringer board composition for being fixed on transverse slat one end, the stringer board are mutually perpendicular to transverse slat, and the two sides of the transverse slat is provided with indulging
The parallel hinged ear of plate；
One end away from Mecanum wheel is provided with hinged seat on described pair of top single longitudenal arm, and described pair of top single longitudenal arm crosses institute by one
The hinge of stringer board, hinged seat and hinged ear is stated on the vertical fixed support.
4. merchandising machine people body structure as claimed in claim 3, it is characterised in that in described two vertical fixed supports
Transverse slat is connected as one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621408757.5U CN206336350U (en) | 2016-12-21 | 2016-12-21 | A kind of merchandising machine people's body structure based on Mecanum wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621408757.5U CN206336350U (en) | 2016-12-21 | 2016-12-21 | A kind of merchandising machine people's body structure based on Mecanum wheel |
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| Publication Number | Publication Date |
|---|---|
| CN206336350U true CN206336350U (en) | 2017-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621408757.5U Expired - Fee Related CN206336350U (en) | 2016-12-21 | 2016-12-21 | A kind of merchandising machine people's body structure based on Mecanum wheel |
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| Country | Link |
|---|---|
| CN (1) | CN206336350U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN109551984A (en) * | 2018-12-18 | 2019-04-02 | 江汉大学 | A kind of mobile carrying platform |
| CN110498060A (en) * | 2019-08-15 | 2019-11-26 | 燕山大学 | Mecanum wheel series connection branch leg and its Omni-mobile posture adjustment platform |
| CN112208652A (en) * | 2020-10-27 | 2021-01-12 | 北京特种机械研究所 | Integral AGV follow-up suspension mechanism and use its AGV |
| CN112693272A (en) * | 2020-12-31 | 2021-04-23 | 大连理工大学 | Parallel adaptive dependent suspension Mecanum wheel chassis system |
| US11584460B2 (en) * | 2017-08-09 | 2023-02-21 | Hangzhou Hikrobot Co., Ltd. | Auto-guide transport vehicle |
-
2016
- 2016-12-21 CN CN201621408757.5U patent/CN206336350U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| US11584460B2 (en) * | 2017-08-09 | 2023-02-21 | Hangzhou Hikrobot Co., Ltd. | Auto-guide transport vehicle |
| CN109551984A (en) * | 2018-12-18 | 2019-04-02 | 江汉大学 | A kind of mobile carrying platform |
| CN109551984B (en) * | 2018-12-18 | 2024-01-16 | 江汉大学 | Mobile bearing platform |
| CN110498060A (en) * | 2019-08-15 | 2019-11-26 | 燕山大学 | Mecanum wheel series connection branch leg and its Omni-mobile posture adjustment platform |
| CN110498060B (en) * | 2019-08-15 | 2022-06-28 | 燕山大学 | Mecanum wheel series branched chain leg and omnidirectional moving posture adjusting platform thereof |
| CN112208652A (en) * | 2020-10-27 | 2021-01-12 | 北京特种机械研究所 | Integral AGV follow-up suspension mechanism and use its AGV |
| CN112693272A (en) * | 2020-12-31 | 2021-04-23 | 大连理工大学 | Parallel adaptive dependent suspension Mecanum wheel chassis system |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170718 |