CN207565728U - The comprehensive obstacle detouring platform of drive lacking manifold type - Google Patents
The comprehensive obstacle detouring platform of drive lacking manifold type Download PDFInfo
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- CN207565728U CN207565728U CN201721757268.5U CN201721757268U CN207565728U CN 207565728 U CN207565728 U CN 207565728U CN 201721757268 U CN201721757268 U CN 201721757268U CN 207565728 U CN207565728 U CN 207565728U
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- platform
- wheel
- drive lacking
- vertical pivot
- manifold type
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Abstract
The utility model discloses a kind of comprehensive obstacle detouring platforms of drive lacking manifold type, and including main platform body, the main platform body includes front platform and rear platform；The front platform is connected with rear platform by hanging axle bed with suspension axis suspension, and roller is provided between the front platform and rear platform；By vertical pivot setting, there are one drive lacking planetary gear trains respectively at four angles of the main platform body.The comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model, adaptation to the ground ability is strong, can ascend the larger barrier such as stair, step.Mobile platform has environment self-adaption.Using " under-driven adaptive train ", stability is high；The range for adapting to barrier is big；The voluntarily conversion of level land and obstacle-overpass only can be realized away with the stressing conditions of wheel body, according to the operating status of the stressing conditions adjust automatically train of steamboat, there is very strong adaptivity.
Description
Technical field
The utility model is related to a kind of comprehensive obstacle detouring platforms of drive lacking manifold type.
Background technology
Mecanum wheel：This all-around mobile mode is based on a center there are many wheel shaft for being located at wheel periphery
In the principle of wheel, these angled periphery wheel shafts are transformed into the wheel steering force of a part above one wheel normal force.
Direction and speed by respective wheel, the final synthesis of these power generated on the direction of any requirement a resultant force vector from
And ensure that this platform can move freely through on the direction of final resultant force vector, the direction without changing wheel itself.
Diagonally distribute many small rollers on its wheel rim, therefore wheel being capable of horizontal sliding.The busbar of small roller is very special, works as wheel
When being rotated around fixed wheel arbor, the envelope of each small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.
Mecanum wheel is compact-sized, and movement is flexible, is a kind of very successful directional wheel.There are 4 this novel wheels to be combined,
It being capable of more flexible convenient realization all-around mobile function.
Omnibearing movable equipment based on Mecanum wheel technology can realize forward, traversing, diagonal, rotation and combinations thereof
Wait motion modes.The Omni-directional forklift and comprehensive shipping platform developed on this basis be very suitable for transhipment space it is limited, make
The narrow ships environment of industry channel ensures efficiency, increases naval vessel space availability ratio and reduces human cost side improving naval vessel
Mask has obvious effects on.
But existing Mecanum wheel selling at exorbitant prices, kinetic stability is weaker, and road conditions adaptability is weaker, pose retentivity
Poor, Energy Efficiency Ratio is low.
Invention content
According to the technical issues of set forth above, and provide a kind of drive lacking manifold type comprehensive obstacle detouring platform, to solve
Existing Mecanum wheel selling at exorbitant prices, kinetic stability is weaker, and road conditions adaptability is weaker, and pose retentivity is poor, Energy Efficiency Ratio
The shortcomings that low.The technological means that the utility model uses is as follows：
A kind of comprehensive obstacle detouring platform of drive lacking manifold type, including main platform body, the main platform body includes front platform
And rear platform；The front platform is connected with rear platform by hanging axle bed with suspension axis suspension, and the front platform is put down with rear
Roller is provided between platform；By vertical pivot setting, there are one drive lacking planetary gear trains respectively at four angles of the main platform body；
The drive lacking planetary gear train includes train frame, driving motor, wheel carrier, wheel, wheel shaft, sprocket wheel and chain；The wheel
It is that frame top is provided with driving motor, lower part is equipped with wheel shaft by axle block, and the wheel carrier and sprocket wheel are consolidated respectively by key
Be scheduled on wheel shaft, on the wheel carrier assembling there are three or four wheels；Work as vertical axis, drive drive lacking planetary gear
It is original place commutation.
It is fixed in main platform body by vertical pivot seat as the preferably described vertical pivot, on each vertical pivot there are one settings
Synchronous sprocket wheel, four synchronous sprocket wheels are connected by chain drive.
It is set to below vertical pivot top or main platform body as the preferably described synchronous sprocket wheel.
There is the vertical pivot axle clamp for connecting vertical pivot bottom as the preferred train top of the trellis.
As preferably described front platform and rear platform, the sweep of vehicle frame and frame interior including periphery.
Compared with prior art, the comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model, adaptation to the ground
Ability is strong, can ascend the larger barrier such as stair, step.Mobile platform has environment self-adaption.Using " under-driven adaptive
Train ", stability are high；The range for adapting to barrier is big；Level land and obstacle-overpass only can be realized away with the stressing conditions of wheel body
It voluntarily converts, according to the operating status of the stressing conditions adjust automatically train of steamboat, there is very strong adaptivity.
The comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model can realize that (main platform body is or not original place commutation
Need to move) so that entire platform can be moved in smaller space without colliding with foreign object.Without steering motor, only with
Omni-mobile function can be realized to the bonding force for holding up rotary shaft in ground reaction force.
The comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model during for the disaster relief, is commutated, more using original place
It reconnoitred, shot, transport goods and materials in the disaster area that barrier function enters road conditions complexity；During for scouting, the obstacle detourings work(such as stair climbing is utilized
Small scale robot can be reconnoitred, shot or be transported into working region enter scene.
Description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the structure diagram of the utility model.
Fig. 2 is the bottom view that the utility model moves along the vertical direction.
Fig. 3 is the bottom view that the utility model is moved along any angle.
Fig. 4 is the bottom view that the utility model moves in left-right direction.
Fig. 5 is the front view of the utility model wheel and wheel carrier.
Fig. 6 is the explosive view of the utility model.
Fig. 7 is the explosive view of the utility model drive lacking planetary gear train.
Fig. 8 is the structure diagram of the utility model wheel and wheel carrier.
Wherein：1st, wheel carrier, 2, wheel, 3, driving motor, 4, vertical pivot axle clamp, 5, vertical pivot seat, 6, synchronous sprocket wheel, 7, vehicle
Frame, 8, vertical pivot, 9, sweep, 10, suspension axle bed, 11, suspended axle, 12, roller, 13, minor sprocket, 14, axle block.
Specific embodiment
As shown in Fig. 1 to Fig. 8, a kind of comprehensive obstacle detouring platform of drive lacking manifold type, including main platform body, the platform
Main body includes front platform and rear platform；The front platform and rear platform, including the sweep inside peripheral vehicle frame 7 and vehicle frame 7
9。
The front platform and rear platform are by hanging axle bed 10 and the suspension connection of suspended axle 11, vehicle frame when encountering barrier
7 forward and backward can be reversed around suspended axle 11, platform when encountering barrier can be effectively ensured remain to four-wheel and land.
Roller 12 is provided between the front platform and rear platform, for ensureing forward and backward 7 spacing of vehicle frame, makes the two not
Generate friction and contact.
By the setting of vertical pivot 8, there are one drive lacking planetary gear trains respectively at four angles of the main platform body；Described is perpendicular
Axis 8 is fixed on by vertical pivot seat 5 in main platform body, and there are one synchronous sprocket wheels 6 for setting on each vertical pivot 8, and four described same
Step sprocket wheel 6 is connected by chain drive, is connected between synchronous sprocket wheel 6 with chain along rectangular profile, to ensure that four-wheel rotation is begun
It is synchronous eventually.
The synchronous sprocket wheel 6 is set to below 8 top of vertical pivot or main platform body.If synchronous sprocket wheel 8 is set to platform master
Body is hereinafter, in order to which platform carries people or object.
The drive lacking planetary gear train includes train frame, driving motor 3, wheel carrier 1, wheel 2, wheel shaft, sprocket wheel and chain
Item；The train frame top is provided with driving motor 3, and lower part is equipped with wheel shaft, the wheel carrier 1 and chain by axle block 14
Wheel is fixed on by key on wheel shaft respectively, and the sprocket wheel of driving motor 3 and drive lacking planetary gear train is linked together by chain,
Realize transmission；On the wheel carrier 1 assembling there are three or four wheels 2；When having there are three during wheel 2, three arms are formed
Planetary gear, when tool has adaptation more stronger than three arm planetary gears there are four four arm planetary gears, four arm planetary gears during wheel 2, are formed
Property.
Minor sprocket 13 is separately installed on the central shaft of the wheel carrier 1 and the wheel shaft of the wheel 2, is led between minor sprocket 13
Cross chain connection.
The wheel carrier 1 includes side plate, riser and vertical pivot 8, and the side plate and riser are by being welded to connect fixation, such as Fig. 7
Shown, the wheel carrier 1 is made of five pieces of plate welding, and a block length square plate and two pieces of trapezoidal plates play branch in I-shaped welding
Support acts on, and as shown in figure Fig. 6 and Fig. 7, two blocks of small rectangle plates are welded in the top and bottom of wheel carrier respectively, each serve as limitation
Vertical pivot moves and the effect of fixed bearing block.
The train top of the trellis has the vertical pivot axle clamp 4 for connecting 8 bottom of vertical pivot.When vertical pivot 8 rotates, drive lacking is driven
It commutates in planetary gear train original place.
The comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model, it is each to drive using four motorized wheels
Motor 3 drives a drive lacking planetary gear train, and when encountering front obstacle, drive lacking planetary gear train ascends barrier by overturning realization
Hinder the function of object, and the voluntarily conversion of level land and obstacle-overpass only can be realized away with the stressing conditions of wheel body.
The comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model, four drive lacking planetary gear trains are rotating around each
From the rotation of 8 orientation of vertical pivot, original place commutation (main platform body need not mobile) can be realized by adjusting four-wheel orientation, by adjusting
Four-wheel steering, rotating speed can be moved along arbitrary trajectory, as shown in Fig. 2 to Fig. 4, can be realized and be moved along the vertical direction respectively, edge
Any angle moves, the bottom view moved in left-right direction.
The comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model, planetary gear train inside chain drive also are able to change
For gear drive, to ensure fixed drive ratio and to effectively reduce idle running poor.
The comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model, for there are stair, etc. barriers answer
The carrying of landform investigation, Material Transportation and small scale robot under miscellaneous road conditions, effectively improves working efficiency.
The comprehensive obstacle detouring platform of drive lacking manifold type described in the utility model, it is compared with prior art, cheap, it moves
Power source number is less, and kinetic stability is strong, and road conditions are adaptable, and flexibility is high, and pose retentivity is strong, and control model is various, efficiency
Than high, the comparison is as follows shown in table with the indices on existing train/chassis：
The preferable specific embodiment of the above, only the utility model, but the scope of protection of the utility model is not
This is confined to, in the technical scope that any one skilled in the art discloses in the utility model, according to this practicality
Novel technical solution and its inventive concept is subject to equivalent substitution or change, should all cover the scope of protection of the utility model it
It is interior.
Claims (5)
1. a kind of comprehensive obstacle detouring platform of drive lacking manifold type, it is characterised in that including main platform body, the main platform body packet
Include front platform and rear platform；
The front platform is connected with rear platform by hanging axle bed with suspension axis suspension, between the front platform and rear platform
It is provided with roller；
By vertical pivot setting, there are one drive lacking planetary gear trains respectively at four angles of the main platform body；
The drive lacking planetary gear train includes train frame, driving motor, wheel carrier, wheel, wheel shaft, sprocket wheel and chain；
The train frame top is provided with driving motor, and lower part is equipped with wheel shaft, the wheel carrier and sprocket wheel by axle block
Be fixed on wheel shaft by key respectively, on the wheel carrier assembling there are three or four wheels；
Work as vertical axis, the commutation of driving drive lacking planetary gear train original place.
2. the comprehensive obstacle detouring platform of drive lacking manifold type according to claim 1, it is characterised in that：
The vertical pivot is fixed on by vertical pivot seat in main platform body, synchronous sprocket wheel there are one settings on each vertical pivot, and four
A synchronous sprocket wheel is connected by chain drive.
3. the comprehensive obstacle detouring platform of drive lacking manifold type according to claim 2, it is characterised in that：
The synchronous sprocket wheel is set to below vertical pivot top or main platform body.
4. the comprehensive obstacle detouring platform of drive lacking manifold type according to claim 1 or 2, it is characterised in that：
The train top of the trellis has the vertical pivot axle clamp for connecting vertical pivot bottom.
5. the comprehensive obstacle detouring platform of drive lacking manifold type according to claim 1 or 2, it is characterised in that：
The front platform and rear platform, the sweep of vehicle frame and frame interior including periphery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721757268.5U CN207565728U (en) | 2017-12-15 | 2017-12-15 | The comprehensive obstacle detouring platform of drive lacking manifold type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721757268.5U CN207565728U (en) | 2017-12-15 | 2017-12-15 | The comprehensive obstacle detouring platform of drive lacking manifold type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207565728U true CN207565728U (en) | 2018-07-03 |
Family
ID=62688408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721757268.5U Expired - Fee Related CN207565728U (en) | 2017-12-15 | 2017-12-15 | The comprehensive obstacle detouring platform of drive lacking manifold type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207565728U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109282697A (en) * | 2018-10-24 | 2019-01-29 | 湖北三江航天险峰电子信息有限公司 | A kind of special pipeline automation guiding device |
| CN109515585A (en) * | 2018-11-29 | 2019-03-26 | 东北大学 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
| CN111717315A (en) * | 2020-07-15 | 2020-09-29 | 长春工业大学 | Stair climbing vehicle with triangular wheel train |
-
2017
- 2017-12-15 CN CN201721757268.5U patent/CN207565728U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109282697A (en) * | 2018-10-24 | 2019-01-29 | 湖北三江航天险峰电子信息有限公司 | A kind of special pipeline automation guiding device |
| CN109515585A (en) * | 2018-11-29 | 2019-03-26 | 东北大学 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
| CN109515585B (en) * | 2018-11-29 | 2023-11-10 | 东北大学 | Double-wheel coupling type omnidirectional inverted pendulum balance moving platform |
| CN111717315A (en) * | 2020-07-15 | 2020-09-29 | 长春工业大学 | Stair climbing vehicle with triangular wheel train |
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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: 20180703 Termination date: 20181215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |