CN206885207U - It is a kind of with can lift structure omni-directional mobile robots chassis - Google Patents
It is a kind of with can lift structure omni-directional mobile robots chassis Download PDFInfo
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- CN206885207U CN206885207U CN201720297133.9U CN201720297133U CN206885207U CN 206885207 U CN206885207 U CN 206885207U CN 201720297133 U CN201720297133 U CN 201720297133U CN 206885207 U CN206885207 U CN 206885207U
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- China
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- mobile robots
- chassis
- omni
- lift structure
- push rod
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Abstract
The utility model discloses it is a kind of with can lift structure omni-directional mobile robots chassis, including drive module, straight-side frame, also include push rod hoisting module, push rod hoisting module is fixedly mounted on straight-side frame, corresponding drive module can be lifted as needed, to adapt to the running environment of different load-carryings.More particularly suitable type of drive can be selected according to the running environment of different load-carryings using the Omni-mobile chassis of the technical solution of the utility model, have and effectively save power output, extend cruising time, and have good shock-proof effect.
Description
Technical field
The utility model belongs to Omni-mobile platform technology field, and in particular to it is a kind of with can lift structure omnidirectional move
Mobile robot chassis, including drive module, push rod hoisting module, straight-side frame.
Background technology
Omni-directional moving platform based on Mecanum wheel is current omnibearing moving platform scheme the most ripe, Mai Kena
Nurse wheel typically has two frees degree:One is in tangentially fixed angles with surface along the tangential active drive free degree of wheel face and one
The servo-actuated free degree of degree, omnidirectional moving is realized by the control can rotated to single wheel.
The Omni-mobile platform chassis being made up of Mecanum wheel is generally by the driving structure of 4 independent Mecanum wheels
Composition, is made up of under heavy-duty applications occasion 8 independent Mecanum wheel driving structures, according to different use condition need
Will, select different configuration of chassis structure.Once a kind of mobile platform of specific structure is arranged in the work environment, if carrying
Goods weight change, mobile platform will mismatch with loading capacity, cause 4 Mecanums when carrying heavy goods
The mobile platform of wheel can not normal operation, the mobile platforms of the 8 Mecanum wheels then power output mistake when carrying compared with low-density cargo
Greatly, cause to waste battery power, shorten the cruising time of mobile platform.
Utility model content
For above-mentioned the deficiencies in the prior art, the technical problems to be solved in the utility model is that how to solve by Mecanum
Wheel composition Omni-mobile platform chassis adapt to the running environment of different load-carryings, while avoid because power output is excessive and caused by
Battery power waste shorten mobile platform cruising time.
In order to solve the above technical problems, technical scheme provided by the utility model be it is a kind of with can lift structure omnidirectional
Mobile robot chassis, including drive module, push rod hoisting module and straight-side frame, push rod hoisting module are fixedly mounted on frame
On longeron fuselage, push rod hoisting module can lift corresponding drive module as needed, to adapt to the running environment of different load-carryings.
The drive module includes motor, shaft coupling, Mecanum wheel, electric machine support, damper, independent suspension and shaken
Arm and bearing, motor are arranged on electric machine support, and power is output into Mecanum wheel, Mecanum wheel by shaft coupling
By bearing be arranged on on the rigidly connected support of rocking arm.
As further improvement of the utility model, Mecanum wheel uses independent suspension structure to weaken to face wheel body
Impact and caused by chassis shake.
The push rod hoisting module includes electric pushrod and the fixed support at push rod both ends, and wherein electric pushrod head is installed
There is the anchor tip with bearing, one end of electric pushrod is fixed on straight-side frame by pusher bar support, and the other end passes through solid
Determine joint to be fixed on lifting bracket, each push rod hoisting module controls a pair of drive modules.
Preferably, in straight-side frame front and rear part, respectively one push rod hoisting module of installation, the drive module quantity are 8
It is individual.
The straight-side frame includes main body frame and lifting bracket, and main body frame and lifting bracket are by bearing and with turning
Axis connection.
Had the advantages that using the technical solution of the utility model：
1st, the height of front and rear two pairs of Mecanum wheels is individually adjusted by electric pushrod, controls Mecanum wheel ground state
And motion state, it is possible to achieve four-wheel drive either eight wheel drives or six wheel drives, adapt under various driving conditions not
With load.It can realize that total power exports under fully loaded transportation condition, and energy is saved in light load, extend the continuation of the journey of mobile platform
Time.
2nd, using the Mecanum wheel construction with independent suspension, rushing for wheel body is faced with can weakening in motion process
Shake on chassis caused by hitting.
Brief description of the drawings
Fig. 1 is the utility model global design schematic diagram；
Fig. 2 is the utility model top view；
Fig. 3 is drive module design diagram；
Fig. 4 is the utility model operation schematic diagram in four-wheel drive；
Fig. 5 is the utility model operation schematic diagram in eight wheel drives；
Fig. 6 is the utility model operation schematic diagram in six wheel drives；
Fig. 7 is Expanding design schematic diagram of the present utility model.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples, but is not to limit of the present utility model
It is fixed.
Fig. 1 to Fig. 3 shows structure of the present utility model, wherein：1, No. 6 Mike of No. 8 Mecanum wheel drive modules receives
Nurse wheel drive module 2, straight-side frame 3, preceding lifting push rod fixed support 4, preceding lifting 5, No. 4 Mecanum wheel drive moulds of push rod
6, No. 2 Mecanum wheel drive modules 7 of block, preceding lifting rotating shaft 8, preceding lifting bracket 9, preceding push rod anchor tip 10, lifting rotating shaft
11, No. 1 Mecanum wheel drive modules 12 of bearing, rear lifting push rod fixed support 13, rear lifting push rod 14, rear push-rod are fixed and connect
First 15, rear lifting bracket 16, the rear lifting Mecanum wheel drive module of Mecanum wheel drive module 18,5 of rotating shaft 17,7
19th, 20, No. 3 Mecanum wheel drive module suspension 21, No. 3 Mikes of rotating shaft of No. 5 Mecanum wheel drive module suspension rotating shafts receive
Nurse wheel drive module 22, Mecanum wheel 23, Mecanum wheel fixing bearing 24, shaft coupling 25, Mecanum wheel fixed support
26th, motor fixed rack 27, bearing 28, independent suspension shaft bearing 29, independent suspension rocking arm 30, damper are connected on damper
Lower connecting shaft 31, damper 32, motor 33.
Fig. 4 shows the first embodiment：
In the case of light load, lifting push rod 5, rear lifting push rod 14 are adjusted to minimum by length is released before controlling, preceding
Push rod 5 is lifted by preceding lifting bracket 9 around the preceding lifting pull-up of rotating shaft 8, due to No. 1 Mecanum wheel drive module 12 and No. 2 Mikes
The independent suspension rocking arm 30 of nurse wheel drive module 7 received is connected with preceding lifting rotating shaft 8 by bearing, and Mecanum wheel drive module
Damper be fixed on by connecting bearing 31 on damper before on lifting bracket 9, therefore No. 1 and No. 2 Mecanum wheels can leave
Ground, it is promoted to extreme higher position.No. 7 of chassis afterbody and No. 8 Mecanum wheel drive modules and No. 1 and No. 2 Mecanums
Wheel drive module symmetry, extreme higher position is equally promoted to by rear lifting push rod 14.
When the Mecanum wheel of No. 1, No. 2, No. 7, No. 8 Mecanum wheel drive module all leaves ground, chassis enters light
Load pattern, the motor 33 of No. 1, No. 2, No. 7, No. 8 Mecanum wheel drive module are stopped, by No. 3, No. 4, No. 5,
The output control of engine power bobbin movement of No. 6 Mecanum wheel drive modules.In this case, it is possible to reduce the wheat being lifted up
The abrasion of Ke Namu wheels, also reduces power output, can save energy.
Fig. 5 shows second of embodiment：
In the case of heavier loads, No. 3, No. 4, No. 5, No. 6 Mecanum wheels due to pressure is excessive and output power not
Foot, can not proper motion.The front and rear lifting push rod 5,14 of now control will release length and be adjusted to maximum, and the preceding push rod 5 that lifted is by premise
Ascending branch frame 9 around it is preceding lifting rotating shaft 8 put down, due to No. 1 and No. 2 Mecanum wheel drive module 12,7 independent suspension rocking arm 30 and
Preceding lifting rotating shaft 8 is connected by bearing, and the damper of Mecanum wheel drive module is solid by connecting bearing 31 on damper
Before being scheduled on lifting bracket 9, therefore No. 1 and No. 2 Mecanum wheels can contact ground, be lowered into extreme lower position.The 7 of chassis afterbody
Number and No. 8 Mecanum wheel drive modules and No. 1 and No. 2 Mecanum wheel drive modules it is symmetrical, equally by it is rear lifting push rod 14
It is lowered into extreme lower position.
When the Mecanum wheel of No. 1, No. 2, No. 7, No. 8 Mecanum wheel drive module all contacts ground, chassis enters
Heavily loaded pattern, the motor of all Mecanum wheel drive modules work simultaneously, control bobbin movement.In this case, may be used
So that eight motors 33 on chassis work simultaneously, relatively high power is exported, completes the work of carry heavier load.
Fig. 6 shows the third embodiment：
In the case where load barycentre offset is larger, No. 3, No. 4, No. 5, No. 6 Mecanum wheel drives are existed due to center of gravity
Center chassis, the support force at both ends is insufficient, is easily overturned in motion process.The now preceding push rod 5 that lifted is by preceding lifting bracket 9
Put down around preceding lifting rotating shaft 8, due to independent suspension rocking arm 30 and the preceding lifting of No. 1 and No. 2 Mecanum wheel drive module 12,7
Before rotating shaft 8 is connected by bearing, and the damper of Mecanum wheel drive module is by the way that connection bearing 31 is fixed on damper
On lifting bracket 9, therefore No. 1 and No. 2 Mecanum wheels can contact ground, be lowered into extreme lower position.Push rod 14 is lifted after control
Length will be released and be adjusted to minimum, it is rear to lift push rod 14 by rear lifting bracket 16 around the rear lifting pull-up of rotating shaft 17, due to No. 7 and No. 8
The independent suspension rocking arm 30 of Mecanum wheel drive module 18,1 is connected with rear lifting rotating shaft 17 by bearing, and Mecanum wheel
The damper of drive module is fixed on rear lifting bracket 9 by connecting bearing 31 on damper, therefore No. 7 and No. 8 Mecanums
Wheel can leave ground, be promoted to extreme higher position.
When the Mecanum wheel of No. 1, No. 2 Mecanum wheel drive module contacts ground, No. 7, No. 8 Mecanum wheel drives
The Mecanum wheel of module leaves ground, and chassis enters six wheel drive mode, all contact ground Mecanum wheel drive modules
Motor 33 work simultaneously, control bobbin movement.In this case, six motors 33 on chassis work simultaneously, defeated
Go out relatively high power, the ground connection strong point can also be increased, can complete to transport the work of centre-of gravity shift relatively large load.
Fig. 7 shows the 4th kind of embodiment.
A lifting push rod is only provided with, the first half or latter half of of straight-side frame can be located at as needed, work is former
Reason is as first three embodiment, and push rod hoisting module can equally lift corresponding drive module as needed, to adapt to not
With the running environment of load-carrying.
It can be selected more according to the running environment of different load-carryings using the Omni-mobile chassis of the technical solution of the utility model
For suitable type of drive, have and effectively save power output, extend cruising time, and have good shock-proof effect.
The utility model is described in detail above in association with drawings and embodiments, but the utility model is not limited to
Described embodiment.For a person skilled in the art, the feelings of principle and spirit of the present utility model are not being departed from
Under condition, various change, modification, replacement and modification are carried out to these embodiments and still fallen within the scope of protection of the utility model
It is interior.
Claims (8)
1. it is a kind of with can lift structure omni-directional mobile robots chassis, including drive module, straight-side frame, its feature exist
In：Also include push rod hoisting module, the push rod hoisting module is fixedly mounted on straight-side frame, can lift phase as needed
The drive module answered, to adapt to the running environment of different load-carryings.
2. it is according to claim 1 with can lift structure omni-directional mobile robots chassis, it is characterised in that：It is described to push away
Bar hoisting module includes electric pushrod and the fixed support at push rod both ends, and wherein electric pushrod head is provided with the fixation of bearing
Joint, one end of electric pushrod are fixed on straight-side frame by pusher bar support, and the other end is fixed on by anchor tip and carried
On ascending branch frame, each push rod hoisting module controls a pair of drive modules.
3. it is according to claim 2 with can lift structure omni-directional mobile robots chassis, it is characterised in that：The drive
Dynamic model block includes motor, shaft coupling, Mecanum wheel, electric machine support, damper, independent suspension rocking arm and bearing, driving
Motor is arranged on electric machine support, power is output into Mecanum wheel by shaft coupling, Mecanum wheel is installed by bearing
With on the rigidly connected support of rocking arm.
4. it is according to claim 3 with can lift structure omni-directional mobile robots chassis, it is characterised in that：It is described to push away
Bar hoisting module at least 1, installed in the first half or latter half of of the straight-side frame.
5. it is according to claim 4 with can lift structure omni-directional mobile robots chassis, it is characterised in that：The drive
Dynamic model number of blocks at least 6.
6. it is according to claim 3 with can lift structure omni-directional mobile robots chassis, it is characterised in that：It is described to push away
Bar hoisting module is 2, and 1 first half for being arranged on the straight-side frame, another 1 is arranged on the straight-side frame
It is latter half of.
7. it is according to claim 6 with can lift structure omni-directional mobile robots chassis, it is characterised in that：The drive
Dynamic model number of blocks is 8.
8. according to any one of claim 3 to 7 with can lift structure omni-directional mobile robots chassis, its feature exists
In：The Mecanum wheel uses independent suspension structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720297133.9U CN206885207U (en) | 2017-03-24 | 2017-03-24 | It is a kind of with can lift structure omni-directional mobile robots chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720297133.9U CN206885207U (en) | 2017-03-24 | 2017-03-24 | It is a kind of with can lift structure omni-directional mobile robots chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206885207U true CN206885207U (en) | 2018-01-16 |
Family
ID=61329173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720297133.9U Expired - Fee Related CN206885207U (en) | 2017-03-24 | 2017-03-24 | It is a kind of with can lift structure omni-directional mobile robots chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206885207U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528565A (en) * | 2018-03-06 | 2018-09-14 | 上海大学 | A kind of mountain exploitation offroad vehicle based on six bar mechanism |
| CN112118966A (en) * | 2019-09-05 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Omnidirectional wheel, power device and movable platform |
-
2017
- 2017-03-24 CN CN201720297133.9U patent/CN206885207U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528565A (en) * | 2018-03-06 | 2018-09-14 | 上海大学 | A kind of mountain exploitation offroad vehicle based on six bar mechanism |
| CN112118966A (en) * | 2019-09-05 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Omnidirectional wheel, power device and movable platform |
| CN112118966B (en) * | 2019-09-05 | 2022-01-14 | 深圳市大疆创新科技有限公司 | Omnidirectional wheel, power device and movable platform |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20210324 |