A new type of universal mobile transport chassis device

Abstract

The application belongs to the technical field of transport chassis and provides a novel universal mobile transport chassis device, which comprises a driving unit, a traveling gear set, a steering gear set and a wheel set. The driving unit comprises a steering motor and a traveling motor and is arranged above a base. The steering motor is connected with a first gear, and the traveling motor is connected with a second gear. The traveling gear set comprises a fourth gear. The fourth gear is rotatably arranged in the base. A plurality of third gears are annularly arranged on the outer ring of the fourth gear. The fourth gear is connected with a fifth gear which is engaged with the second gear. The steering gear set comprises a seventh gear. A plurality of sixth gears are annularly arranged on the outer ring of the seventh gear. The seventh gear is connected with an eighth gear which is engaged with the first gear. The wheel set comprises a box. A bevel gear connected with a tire is arranged in the box. An optical shaft is rotatably arranged on the box and is engaged with the bevel gear. The optical shaft is connected with the fourth gear. A shaft coupling connected with the seventh gear is arranged on the box. Thus, the application can realize four-wheel drive by using one traveling motor and can adjust the all-direction traveling direction.

Description

Technical Field

[0001] This invention relates to the field of transportation chassis technology, and in particular to a novel omnidirectional mobile transportation chassis device. Background Technology

[0002] With the continuous development of science and technology, more and more intelligent equipment is being applied to industrial production and warehousing services. The application of these intelligent devices also symbolizes the level of intelligence in a country's industrial production. With the advent of intelligence, more and more tedious and heavy manual labor will be replaced.

[0003] New omnidirectional mobile chassis are generally used for near-site material handling in warehousing and logistics. They have a narrow working range and many obstacles within their movement range. They do not require turning around and adopt a matrix transportation method. The chassis of intelligent devices used in industry and daily life can be mainly divided into three major categories: two-wheel drive omnidirectional mobile chassis, three-wheel drive omnidirectional wheel mobile chassis, and four-wheel drive Mecanum wheel mobile chassis. Among them, the two-wheel drive omnidirectional mobile chassis is currently the most commonly used chassis for intelligent devices. The two wheels are driven by two motors respectively, and steering is achieved through differential speed. However, its disadvantage is that it cannot achieve parallel movement due to its steering principle. The three-wheel drive omnidirectional wheel mobile chassis uses three omnidirectional wheels driven by three motors. By different steering directions and speeds of the three motors, parallel movement or rotation in place in various directions can be achieved. However, due to the equilateral triangle arrangement of the three wheels, its parallel movement control algorithm is relatively complex. The four-wheel drive Mecanum wheel mobile chassis uses four omnidirectional wheels driven by four motors respectively. By different steering directions and speeds of the four motors, parallel movement or rotation in place in various directions can be achieved. This structure requires the cooperation of four Mecanum wheels to work. Although the control method for left and right translation is simple, the control of diagonal translation is still relatively complex, and the cost of Mecanum wheels is relatively high.

[0004] Existing omnidirectional parallel movement transport chassis do not employ a chassis design that uses two motors for driving and can achieve parallel movement in all directions through simple control. Furthermore, the omnidirectional wheels and Mecanum wheels have high requirements for the ground surface, and this design cannot be used on some harsh ground conditions.

[0005] In conclusion, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the Invention

[0006] To address the aforementioned shortcomings, the present invention aims to provide a novel omnidirectional mobile transport chassis device. This device has a simple structure, is easy to use, achieves four-wheel drive through a single motor to ensure sufficient power during movement, and can adjust the direction of travel 360° without changing the direction of the vehicle's front. Moreover, this device has a simple structure, low manufacturing and usage costs, and strong practicality.

[0007] To achieve the above objectives, the present invention provides a novel omnidirectional mobile transport chassis device, comprising: a drive unit including a steering motor and a travel motor, the drive unit being disposed above a base; the steering motor being connected to a first gear, and the travel motor being connected to a second gear; a travel gear set including a third gear and a fourth gear, the fourth gear being rotatably disposed within the base; a plurality of the third gears being arranged around the outer ring of the fourth gear; the third gears meshing only with the fourth gear; the fourth gear being connected to a fifth gear, and the fifth gear meshing with the second gear; and a steering gear set. It includes a sixth gear and a seventh gear. The seventh gear is rotatably mounted inside the base. Several sixth gears are arranged around the outer ring of the seventh gear. The sixth gear meshes only with the seventh gear. The seventh gear is connected to an eighth gear, and the eighth gear meshes with the first gear. The wheel set includes a housing and an optical shaft. A bevel gear is provided inside the housing. The bevel gear is connected to a tire. The optical shaft is rotatably mounted on the top of the housing. A rotating component that meshes with the bevel gear is provided on the optical shaft. The optical shaft is connected to the fourth gear. A coupling connecting the seventh gear is provided on the top of the housing.

[0008] According to the novel omnidirectional mobile transport chassis device of the present invention, the base includes a top layer plate, a middle layer plate and a bottom layer plate stacked vertically from top to bottom.

[0009] According to the novel omnidirectional mobile transport chassis device of the present invention, the drive unit is disposed above the top plate, the travel gear set is disposed above the middle plate, the steering gear set is disposed below the bottom plate, and the wheel set is disposed below the bottom plate.

[0010] According to the novel omnidirectional mobile transport chassis device of the present invention, the steering motor is mounted on the steering bracket, the traveling motor is mounted on the traveling bracket, and both the steering bracket and the traveling bracket are detachably connected to the top plate.

[0011] According to the novel omnidirectional mobile transport chassis device of the present invention, a first connecting rod is connected between the fourth gear and the fifth gear, and a second connecting rod is connected between the seventh gear and the eighth gear.

[0012] According to the novel omnidirectional mobile transport chassis device of the present invention, the fifth gear and the eighth gear are concentric, and the second connecting rod is sleeved inside the first connecting rod.

[0013] According to the novel omnidirectional mobile transport chassis device of the present invention, the number of wheel sets is four, and the number of the third gear and the sixth gear that cooperate with them is also four.

[0014] According to the novel omnidirectional mobile transport chassis device of the present invention, a plurality of pillars are evenly arranged on the bottom surface of the top plate, the pillars are all arranged close to the side wall of the top plate, and the bottom end of the pillars passes through the middle plate and connects to the bottom plate.

[0015] The purpose of this invention is to provide a novel omnidirectional mobile transport chassis device. By setting up a drive unit and a travel gear set, a single travel motor can drive four sets of wheels to rotate synchronously, ensuring sufficient power during device movement and improving the device's carrying capacity. By setting up a drive unit and a steering gear set, the travel direction can be adjusted 360° without changing the vehicle's heading. The adjustment method is simple and highly practical. In summary, the beneficial effects of this invention are: this device achieves four-wheel drive through a single travel motor, ensuring sufficient power during movement; it can also adjust the travel direction 360° without changing the vehicle's heading; moreover, this device has a simple structure, low manufacturing and operating costs, and high practicality. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the drive unit structure;

[0018] Figure 3 This is a top view of the traveling gear set;

[0019] Figure 4 This is a front view of the traveling gear set;

[0020] Figure 5 This is a top view of the steering gear set;

[0021] Figure 6 This is a front view of the steering gear set;

[0022] Figure 7 This is a schematic diagram of the wheelset structure;

[0023] Figure 8 This is a structural diagram of the box body;

[0024] Figure 9 This is a structural diagram of the transmission component;

[0025] Figure 10 This is a schematic diagram of the bevel gear structure;

[0026] In the diagram: 1-Base, 11-Top plate, 12-Middle plate, 13-Bottom plate, 2-Drive unit, 21-Steering motor, 211-First gear, 212-Steering bracket, 22-Travel motor, 221-Second gear, 222-Travel bracket, 3-Travel gear set, 31-Third gear, 32-Fourth gear, 33-Fifth gear, 34-First connecting rod, 4-Steering gear set, 41-Sixth gear, 42-Seventh gear, 43-Eighth gear, 44-Second connecting rod, 5-Gear set, 51-Box, 52-Bevel gear, 521-Shaft, 53-Optical shaft, 531-Transmission component, 54-Coupling, 55-Tire. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] See Figures 1-10 The present invention provides a novel omnidirectional mobile transport chassis device, including a base 1, a drive unit 2, a travel gear set 3, a steering gear set 4, and a wheel set 5.

[0029] See Figure 1 The base 1 includes a top plate 11, a middle plate 12, and a bottom plate 13. The top plate 11, the middle plate 12, and the bottom plate 13 are stacked vertically with the same distance between adjacent plates. Several pillars are evenly arranged on the bottom surface of the top plate 11. The pillars are all located close to the side wall of the top plate 11. The bottom end of each pillar passes through the middle plate 12 and is fixed to the top surface of the bottom plate 13. The top plate 11, the middle plate 12, and the bottom plate 13 are fixed by the pillars.

[0030] See Figure 1 and Figure 2 The drive unit 2 includes a steering motor 21, a first gear 211, a travel motor 22, and a second gear 221. The steering motor 21 and the travel motor 22 are both located on the top surface of the top plate 11. The output axis of the steering motor 21 is upward and fixed to the first gear 211, while the output axis of the travel motor 22 is downward and fixed to the second gear 221.

[0031] See Figure 1 , Figure 3 and Figure 4The traveling gear set 3 includes a third gear 31, a first connecting rod 34, a fourth gear 32, and a fifth gear 33. The traveling gear set 3 is located between the top plate 11 and the middle plate 12. The fourth gear 32 is located in the middle of the top surface of the middle plate 12, and the third gear 31 is located near the four corners of the top surface of the middle plate 12. The third gear 31 meshes only with the fourth gear 32. The third gear 31 and the fourth gear 32 are both provided with fixed shafts. The third gear 31 and the fourth gear 32 are rotatably connected to the middle plate 12 through the fixed shafts. The top surface of the fourth gear 32 is connected to the first connecting rod 34. The top end of the first connecting rod 34 passes through the top plate 11 and connects to the fifth gear 33. The fifth gear 33 meshes with the second gear 221, so that the traveling motor 22 can drive the four third gears 31 to rotate synchronously.

[0032] See Figure 1 , Figure 5 and Figure 6 The steering gear set 4 includes a sixth gear 41, a seventh gear 42, an eighth gear 43, and a second connecting rod 44. The steering gear set 4 is located between the middle plate 12 and the bottom plate 13. The bottom plate 13 has a sixth gear 41 near each of its four corners on its top surface. The sixth gear 41 is rotatably connected to the bottom plate 13 through a fixed shaft passing through it. The bottom plate 13 has a seventh gear 42 in the middle of its top surface. The sixth gear 41 only meshes with the seventh gear 42. The seventh gear 42 has a second connecting rod 44 passing through it. The bottom end of the second connecting rod 44 passes into the bottom plate 13. The top end of the second connecting rod 44 passes through the middle plate 12 and the top plate 11 and connects to the eighth gear 43. The eighth gear 43 meshes with the first gear 211, so that the steering motor 21 can drive the four sixth gears 41 to rotate synchronously.

[0033] See Figure 1 , Figure 7 , Figure 8 , Figure 9 and Figure 10The wheel assembly 5 includes a housing 51, a bevel gear 52, a rotating shaft 521, a light shaft 53, a transmission component 531, a coupling 54, and a tire 55. The housing 51 is rectangular and hollow inside. The rotating shaft 521 is installed on two opposite side walls near the bottom of the housing 51. The tire 55 is fixed to the end of the rotating shaft 521 outside the housing 51, and the bevel gear 52 is fixed to the end of the rotating shaft 521 inside the housing 51. The light shaft 53 is installed on the top surface of the housing 51. The transmission component 531 is installed at the bottom end of the light shaft 53. The transmission component 531 has teeth that mesh with the bevel gear 52. The top end of the light shaft 53 passes through the bottom plate 13 and the middle plate 12 and connects to the fourth gear 32. When the travel motor 22 drives the third gear 31 to rotate, the tire 55 can be driven to rotate through the cooperation of the transmission component 531 and the bevel gear 52, thereby making the device move forward or backward. The top surface of the housing 51 is provided with a coupling 54. The top of the coupling 54 passes through the bottom plate 13 and is connected to the sixth gear 41. When the steering motor 21 drives the sixth gear 41 to rotate, it can drive the housing 51 to rotate, thereby changing the forward or backward direction of the device.

[0034] See Figure 1 The number of wheel sets 5 can be three (three sets of wheel sets 5 arranged in a triangle) or four (four sets of wheel sets 5 arranged in a square). Preferably, the number of wheel sets 5 in this invention is four, which can improve the stability of the device operation.

[0035] See Figure 1 and Figure 2 Preferably, the top surface of the top plate 11 is provided with a steering bracket 212 and a traveling bracket 222. Both the steering bracket 212 and the traveling bracket 222 are "L"-shaped. The steering motor 21 is fixed to the inner wall of the bend of the steering bracket 212, and the output shaft of the steering motor 21 passes upward through the steering bracket 212 and is fixed to the first gear 211. The traveling motor 22 is fixed to the outer wall of the bend of the traveling bracket 222, and the output shaft of the traveling motor 22 passes downward through the traveling bracket 222 and is fixed to the drop gear 221. Both the steering bracket 212 and the traveling bracket 222 are fixed to the top surface of the top plate 11 by bolts, which can fix the position of the steering motor 21 and the traveling motor 22 and realize the correct meshing operation of the gears.

[0036] See Figure 2 Preferably, the third gear 31 and the eighth gear 43 are concentric, and the second connecting rod 44 is sleeved inside the first connecting rod 34, which can improve the stability of the device operation.

[0037] In the implementation of this invention: when it is necessary to change the direction of movement of the device, the steering motor 21 is started, and the steering motor 21 drives the first gear 211 to rotate. Under the meshing action of the first gear 211 and the eighth gear 43, the second connecting rod 44 drives the seventh gear 42 to rotate, the seventh gear 42 drives the four sixth gears 41 to rotate, and the sixth gears 41 drive the housing 51 to rotate through the coupling 54, thereby changing the direction of movement of the device.

[0038] When the device needs to move forward or backward, the travel motor 22 starts, driving the second gear 221 to rotate. Under the meshing action of the second gear 221 and the fifth gear 33, the first connecting rod 34 rotates, the first connecting rod 34 drives the third gear 31 to rotate, the third gear 31 drives the optical shaft 53 to rotate, and under the cooperation of the transmission component 531 and the bevel gear 52, the tire 55 rotates, thereby causing the device to move forward or backward.

[0039] This invention provides a novel omnidirectional mobile transport chassis device. By incorporating a drive unit and a travel gear set, a single travel motor drives four sets of wheels to rotate synchronously, ensuring sufficient power during device movement and improving its carrying capacity. Furthermore, the drive unit and steering gear set allow for 360° directional adjustment without changing the vehicle's heading, offering a simple and highly practical adjustment method. In summary, the advantages of this invention are: this device achieves four-wheel drive through a single travel motor, ensuring sufficient power during movement; it also allows for 360° directional adjustment without changing the vehicle's heading; moreover, the device has a simple structure, low manufacturing and operating costs, and high practicality.

[0040] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A novel omnidirectional mobile transport chassis device, characterized in that, include: A drive unit, comprising a steering motor and a travel motor, is disposed above a base, wherein the steering motor is connected to a first gear and the travel motor is connected to a second gear; A traveling gear set includes a third gear and a fourth gear. The fourth gear is rotatably disposed within the base. A plurality of the third gears are arranged around the outer ring of the fourth gear. The third gears mesh only with the fourth gear. The fourth gear is connected to a fifth gear, and the fifth gear meshes with the second gear. A steering gear set includes a sixth gear and a seventh gear. The seventh gear is rotatably disposed within the base. A plurality of the sixth gears are arranged around the outer ring of the seventh gear. The sixth gear meshes only with the seventh gear. The seventh gear is connected to an eighth gear, and the eighth gear meshes with the first gear. A wheelset includes a housing and an optical shaft. A bevel gear is provided inside the housing and is connected to a tire. The optical shaft is rotatably mounted on the top of the housing and has a rotating component that meshes with the bevel gear on the optical shaft. The optical shaft is connected to a fourth gear, and a coupling connecting a seventh gear is provided on the top of the housing. The base includes a top layer plate, a middle layer plate, and a bottom layer plate stacked vertically from top to bottom; The steering motor is mounted on the steering bracket, and the travel motor is mounted on the travel bracket. Both the steering bracket and the travel bracket can be detachably connected to the top plate. A first connecting rod connects the fourth gear and the fifth gear, and a second connecting rod connects the seventh gear and the eighth gear; The fifth gear is concentric with the eighth gear, and the second connecting rod is sleeved inside the first connecting rod.

2. The novel omnidirectional mobile transport chassis device according to claim 1, characterized in that, The drive unit is located above the top plate, the travel gear set is located above the middle plate, the steering gear set is located below the bottom plate, and the wheel set is located below the bottom plate.

3. The novel omnidirectional mobile transport chassis device according to claim 1, characterized in that, The number of the wheel set is four, and the number of the third gear and the sixth gear that cooperate with it is also four.

4. The novel omnidirectional mobile transport chassis device according to claim 1, characterized in that, The bottom surface of the top layer plate is evenly provided with several pillars, all of which are located close to the side wall of the top layer plate, and the bottom ends of the pillars pass through the middle layer plate and connect to the bottom layer plate.

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