Travel driving device for mobile platform
The mobile platform drive system addresses the challenge of transporting large and heavy items by using adjustable support arms and controlled wheel engagement for stable, low-speed movement and precise stopping.
Patent Information
- Application Number
- CN202422120285.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-30
- Publication Date
- 2025-07-15
- Estimated Expiration
- 2034-08-30
AI Technical Summary
Existing transport trolleys cannot support large-volume and heavy objects, and it is difficult to control the objects to stop accurately at designated locations during transportation.
The driving drive device of the mobile platform is adopted, and the motor and reducer are used to achieve low speed and uniform speed through the cooperation of the support rod and the limiting parts. The positioning module and navigation module are combined to ensure that the object reaches the designated position accurately.
It realizes low-speed and uniform transfer of large-volume and heavy objects, and can stop at designated locations in a timely manner, improving the stability and accuracy of transportation.
Smart Images
Figure CN223100862U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of material transfer, in particular to a driving device for a mobile platform to travel. Background Art
[0002] At present, in the existing factory production and processing of materials, there are scenarios where materials need to be transferred between two adjacent workstations or other situations. Therefore, people often use transport trolleys for transfer to achieve the transfer of materials to be processed. However, since there are objects with large volume and large weight among the existing materials to be processed, the existing transport trolleys cannot support the transfer of such objects. Moreover, when transporting such objects, inertia needs to be considered. If the traveling speed is too high, the phenomenon of excessive movement of the object is likely to occur, and it is impossible to control the object to stop accurately at the designated position. Summary of the Utility Model
[0003] Aiming at the above deficiencies, the utility model provides a driving device for a mobile platform to travel at a constant speed, which can support the transfer of large-volume and large-weight objects at a low speed and uniformly, and the object can stop at the designated position in time after being transferred.
[0004] To achieve the above object, the utility model adopts the following technical scheme:
[0005] A driving device for a mobile platform to travel, comprising: a main body, two support rods are oppositely arranged on the main body, a moving wheel is rotatably arranged at the lower end of each support rod, each support rod is connected with a first driver, the first driver is used to drive the support rod to deflect relative to the main body, one of the moving wheels is connected with a motor through a reducer, and the motor is connected with a control module; a limiting member is rotatably arranged on the main body, the limiting member is connected with a second driver, the limiting member is used to limit the support rod to deflect relative to the main body to an unfolded state, and the second driver is used to drive the limiting member to rotate away from the support rod.
[0006] The driving device for the movement of the mobile platform according to the embodiments of the present utility model has at least the following beneficial effects: In the non-working state, the first driver drives the support rod to deflect, and then the support rod folds relative to the main body, causing the moving wheels to move away from the ground. Finally, the second driver drives the limiting member to rotate close to the support rod, so that the limiting member cooperates with the support rod, thereby achieving the limiting effect of preventing the support rod from deflecting in the reverse direction. In the working state, the second driver drives the limiting member to rotate away from the support rod, thereby releasing the limiting effect of the limiting member. Then, the first driver drives the support rod to deflect away from the main body, so that the moving wheels abut against the ground. Finally, the control module drives the motor to operate, and the motor drives the moving wheels to travel at a low speed and uniformly through a reducer, thereby driving the main body to achieve short-distance movement. With the above structure, the support rod generates the driving force for deflection by the first driver. On the one hand, it can keep the moving wheels in contact with the ground and increase the weight of the main body for supporting materials. On the other hand, it reduces the center of gravity of the main body by deflection, so that the main body travels more smoothly, which is beneficial to reducing the shaking of the main body. Among them, the motor outputs power after deceleration through the reducer, so that the moving wheels can travel at a low speed and uniformly for a short distance, which is beneficial to increasing the torque of the moving wheels to improve the load capacity and also beneficial to reducing the load inertia, so as to ensure that large-sized and heavy objects can stop at the designated position in time.
[0007] Further, the main body is provided with a first mounting seat, the limiting member is a hook, the hook is rotatably arranged on the first mounting seat through a pivot, the output end of the second driver is connected to the hook, and the support rod is provided with a limiting shaft that cooperates with the hook.
[0008] Further, the hook includes a U-shaped part, both ends of the U-shaped part are connected with ring parts, the ring parts are movably sleeved on the pivot, nuts are arranged at both ends of the pivot, and the ring parts are clamped between the first mounting seat and the nuts. When the U-shaped part rotates to abut against the support rod, the limiting shaft abuts against the inner wall of the U-shaped part.
[0009] Further, the second driver is a cylinder, the cylinder is provided with a second telescopic rod, and the U-shaped part is provided with a cross bar rotatably connected to the second telescopic rod.
[0010] Further, an elastic member is obliquely connected between the first mounting seat and the cross bar, and the elastic member and the second telescopic rod are distributed on both sides of the cross bar.
[0011] Further, the lower end of the support rod is connected with a rotating shaft, both ends of the rotating shaft are connected with the moving wheels, and the moving wheels are solid wheels.
[0012] Further, the main body includes a frame, an installation box is connected to the lower end of the frame, the frame is provided with a second mounting seat, and one end of the support rod is rotatably arranged on the second mounting seat.
[0013] Further, it further includes a positioning module and a navigation module electrically connected to the control module. The positioning module includes a transmitter and a receiver. The transmitter is used to set the starting position and the ending position of the main body. The receiver is arranged on the main body, and the receiver is used to receive the signal of the transmitter. The navigation module is arranged on the main body, and the navigation module is used to receive satellite navigation signals to perform the movement navigation of the main body.
[0014] Further, two second transmitters are arranged between the two first transmitters. The first driver is a hydraulic cylinder. The hydraulic cylinder is provided with a first telescopic rod. The first telescopic rod is connected to the middle of the support rod. The hydraulic cylinder is connected to a pipeline with a flow valve. The flow valve is electrically connected to the control module. The control module is used to change the output of the flow valve so that the first telescopic rod adjusts the deflection angle of the support rod.
[0015] The additional aspects and advantages of the present utility model will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present utility model. Description of the Drawings
[0016] The above and / or additional aspects and advantages of the present utility model will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:
[0017] Figure 1 is a schematic structural diagram of an embodiment of a driving device for a mobile platform to travel;
[0018] Figure 2 is Figure 1 a schematic structural diagram of the main body removed;
[0019] Figure 3 is Figure 2 a schematic structural diagram of the limit member assembled in;
[0020] Figure 4 is a structural block diagram of the module control of a driving device for a mobile platform to travel according to the present utility model.
[0021] In the figure: main body 100, frame 101, mounting box 102, support rod 110, moving wheel 111, limiting shaft 112, first driver 120, speed reducer 121, motor 122, first telescopic rod 123, third mounting seat 124, first mounting seat 130, pivot 131, nut 132, side extension block 133, second mounting seat 140, limiting member 200, U-shaped portion 201, circular ring portion 202, cross bar 203, elastic member 204, mounting rod 205, second driver 210, second telescopic rod 211, control module 300, positioning module 400, first transmitter 410, receiver 420, second transmitter 430, navigation module 500, flow valve 600, laser rangefinder 700. Detailed implementation manner
[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.
[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "inside", "front", "rear", "left", "right", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.
[0024] In the description of the present invention, the meaning of "several" is one or more, the meaning of "multiple" is two or more, understandings such as "greater than", "less than", "exceeding" do not include the present number, and understandings such as "above", "below", "within" include the present number. If the terms "first" and "second" are described, they are only for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0025] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.
[0026] See Figures 1 to 4, A driving device for a mobile platform, comprising: a main body 100 and a limiting member 200. Among them, two support rods 110 are oppositely arranged on the main body 100. A moving wheel 111 is rotatably arranged at the lower end of each support rod 110. Each support rod 110 is connected with a first driver 120, and the first driver 120 is used to drive the support rod 110 to deflect relative to the main body 100. One of the moving wheels 111 is connected with a motor 122 through a reducer 121, and the motor 122 is connected with a control module 300; the limiting member 200 is rotatably arranged on the main body 100, the limiting member 200 is connected with a second driver 210, the limiting member 200 is used to limit the support rod 110 to deflect relative to the main body 100 to an unfolded state, and the second driver 210 is used to drive the limiting member 200 to rotate away from the support rod 110.
[0027] For the driving device of the mobile platform with the above structure, in the non-working state, the first driver 120 drives the support rod 110 to deflect, then the support rod 110 folds relative to the main body 100, and finally the second driver 210 drives the limiting member 200 to rotate until it abuts against the support rod 110, so that the limiting member 200 cooperates with the support rod 110, thereby achieving the limiting effect of preventing the support rod 110 from deflecting in the reverse direction. In the working state, the second driver 210 drives the limiting member 200 to rotate away from the support rod 110, thereby releasing the limiting effect of the limiting member 200. Then the first driver 120 drives the support rod 110 to deflect away from the main body 100, so that the moving wheel 111 abuts against the ground. Finally, the control module 300 drives the motor 122 to operate, and the motor 122 drives the moving wheel 111 to travel at a low speed and uniformly through the reducer 121, thereby driving the main body 100 to achieve short-distance movement. With the above structure, the support rod 110 generates a driving force for deflection by the first driver 120. On the one hand, it can keep the moving wheel 111 in contact with the ground and increase the weight of the material supported by the main body 100. On the other hand, it reduces the center of gravity of the main body 100 by deflection, so that the main body 100 travels more smoothly and is conducive to reducing the shaking of the main body 100. Among them, the motor 122 is decelerated and output through the reducer 121, so that the moving wheel 111 can travel at a low speed and uniformly for a short distance, which is conducive to increasing the torque of the moving wheel 111 to improve the load capacity and also conducive to reducing the load inertia of the moving wheel 111, so as to ensure that large-volume and heavy objects can stop at the specified position in time.
[0028] It can be understood that the motor 122 can be a servo motor 122, and the control module 300 can be a PLC. Among them, after the moving wheel 111 abuts against the ground, the PLC controls the servo motor to output torque, so as to achieve the automatic control of the driving of the main body 100. In addition, the mobile platform can include a truck used for heavy-duty transportation. The main body 100 is installed on the frame of the existing truck. By adding this driving device at the rear of the truck, the support rod 110 can be unfolded to make the moving wheel 111 abut against the ground, so as to ensure that the truck runs more smoothly and reduce shaking. When this device is not in use, the support rod 110 can also be folded to make the moving wheel 111 away from the ground.
[0029] See Figures 1 to 3 , further, the main body 100 is provided with a first mounting seat 130, the limiting member 200 is a hook, the hook is rotatably arranged on the first mounting seat 130 through a pivot 131, the output end of the second driver 210 is connected to the hook, and the support rod 110 is provided with a limiting shaft 112 matching with the hook. Specifically, when the first driver 120 drives the support rod 110 to deflect to the folded state, the second driver 210 drives the hook to rotate to abut against the support rod 110, so that the limiting shaft 112 cooperates with the hook, so that the support rod 110 can be hung on the hook to achieve the limiting effect of restricting the dropping of the support rod 110. When it is necessary to unlock the limiting function of the limiting member 200, only the second driver 210 needs to drive the hook to rotate away from the support rod 110, so that the hook and the limiting shaft 112 are separated from each other.
[0030] See Figures 1 to 3 , further, the hook includes a U-shaped portion 201, both ends of the U-shaped portion 201 are connected with a circular ring portion 202, the circular ring portion 202 is movably sleeved on the pivot 131, nuts 132 are arranged at both ends of the pivot 131, the circular ring portion 202 is clamped between the first mounting seat 130 and the nuts 132, and when the U-shaped portion 201 rotates to abut against the support rod 110, the limiting shaft 112 abuts against the inner wall of the U-shaped portion 201. Specifically, during installation, the pivot 131 is first movably passed through the first mounting seat 130, then the circular ring portion 202 is sleeved on one end of the corresponding pivot 131, the nut 132 is screwed onto the pivot 131, and finally the position of the nut 132 is adjusted so that the circular ring portion 202 is located between the nut 132 and the first mounting seat 130 in a clearance fit manner, so that the hook can rotate relative to the main body 100. Among them, when the hook rotates to abut against the support rod 110, the limiting shaft 112 is placed inside the U-shaped portion 201, so that the limiting shaft 112 abuts against the inner bottom wall of the U-shaped portion 201.
[0031] See Figure 3, Further, the second driver 210 is a cylinder, the cylinder is provided with a second telescopic rod 211, and the U-shaped part 201 is provided with a cross bar 203 rotatably connected to the second telescopic rod 211. Specifically, two side extension blocks 133 are oppositely arranged on the first mounting seat 130, the tail end of the cylinder is fixed between the two side extension blocks 133 through bolt parts, one end of the second telescopic rod 211 is connected with a mounting rod 205, and one end of the mounting rod 205 is provided with a through hole that can be sleeved on the cross bar 203, so that the mounting rod 205 and the cross bar 203 form a rotational connection.
[0032] See Figures 1 to 3 , Further, an elastic member 204 is obliquely connected between the first mounting seat 130 and the cross bar 203, and the elastic member 204 and the second telescopic rod 211 are distributed on both sides of the cross bar 203. Specifically, the cylinder is a single-acting pneumatic actuator, which drives and maintains the retraction movement of the second telescopic rod 211 through a gas source, so that the hook can rotate away from the support rod 110. After the gas source is disconnected, the elastic member 204 restores its elastic deformation to drive the second telescopic rod 211 to extend, thereby driving the hook to reset. The structure is simple, and the maintenance and installation are relatively convenient. In some embodiments, the cylinder can also be a double-acting pneumatic actuator, which does not use the elastic member 204 for resetting, and changes the output direction of the gas source through a steering valve, so that the second telescopic rod 211 can perform telescopic movement relative to the support rod 110.
[0033] See Figure 1 and Figure 2 , Further, a rotating shaft is connected to the lower end of the support rod 110, and moving wheels 111 are connected to both ends of the rotating shaft. The moving wheels 111 are solid wheels. Specifically, the setting of single-side double wheels and solid wheels is adopted. Not only do multiple moving wheels 111 contact the ground to increase the contact area, but also the weight borne by the main body 100 can be distributed by multiple moving wheels 111, thereby improving the driving stability of the main body 100.
[0034] See Figure 1 , Further, the main body 100 includes a frame 101, a mounting box 102 is connected to the lower end of the frame 101, the frame 101 is provided with a second mounting seat 140, and one end of the support rod 110 is rotatably arranged on the second mounting seat 140. Specifically, the frame 101 can be installed on the vehicle frame of some trucks for heavy-duty transportation. The mounting box 102 is used to place the drive source and arrange pipeline connections. When the support rod 110 is in a folded state relative to the mounting box 102, the moving wheels 111 are away from the ground. When the support rod 110 is in an unfolded state relative to the mounting box 102, the moving wheels 111 abut against the ground, so as to facilitate the subsequent smooth driving of the truck.
[0035] See Figure 4, Further, it further includes a positioning module 400 and a navigation module 500 electrically connected to the control module 300. The positioning module 400 includes a first transmitter 410 and a receiver 420. The first transmitter 410 is used to set the starting position and the ending position of the main body 100. The receiver 420 is disposed on the main body 100 and is used to receive the signal of the first transmitter 410. The navigation module 500 is disposed on the main body 100 and is used to receive satellite navigation signals for moving navigation of the main body 100. Specifically, based on satellite navigation technology, the navigation module 500 pre-plans a route between the starting position and the ending position. The main body 100 travels to the starting position, and the receiver 420 receives the starting signal of the transmitter, thereby determining that the main body 100 enters the route planning range. Then, the main body 100 travels according to the planned route of the navigation module 500 until the receiver 420 receives the ending signal sent by the transmitter, and the main body 100 stops traveling to complete the transfer of materials. It can be understood that the first transmitter 410 can adopt an optical or electromagnetic signal transmitter, and the receiver 420 can receive the light beam or electromagnetic signal emitted by the first transmitter 410, so as to ensure the response efficiency.
[0036] See Figures 1 to 4, Further, two second emitters 430 are arranged between the two first emitters 410. The first driver 120 is a hydraulic cylinder. The hydraulic cylinder is provided with a first telescopic rod 123. The first telescopic rod 123 is connected to the middle of the support rod 110. The hydraulic cylinder is connected to a pipeline with a flow valve 600. The flow valve 600 is electrically connected to the control module 300. The control module 300 is used to change the output of the flow valve 600 so that the first telescopic rod 123 adjusts the deflection angle of the support rod 110. Specifically, the second emitter 430 is arranged between the two first emitters 410, thereby dividing the route into an acceleration stage, a constant-speed stage, and a deceleration stage. When the receiver 420 receives the starting signal of the first first emitter 410, the control module 300 controls the motor 122 to operate, so that the moving wheel 111 first accelerates until the receiver 420 receives the signal of the first second emitter 430. The motor 122 drives the moving wheel 111 to accelerate to a constant speed to achieve uniform motion. Finally, the receiver 420 receives the signal of the second second emitter 430, and the motor 122 drives the moving wheel 111 to decelerate until the receiver 420 receives the signal of the second first emitter 410, and the main body 100 stops moving. Among them, when the moving wheel 111 is decelerating, the control module 300 controls the flow valve 600 to increase the output, thereby increasing the decomposition force of the output torque of the hydraulic cylinder in the vertical direction, which is beneficial to increasing the friction force of the main body 100, thereby accelerating the deceleration of the main body 100, enabling the main body 100 to stop in time at the end position, and being beneficial to reducing the displacement transition phenomenon caused by inertia. Among them, with the setting of the hydraulic cylinder, the output torque of the hydraulic cylinder is large, and the first telescopic rod 123 can always maintain the maximum output stroke of extension, which is beneficial to avoiding the phenomenon that the moving wheel 111 retracts when encountering uneven surfaces, so as to maintain good load-bearing capacity of the support rod 110. It can be understood that there are also two third mounting seats 124. One of the third mounting seats 124 is mounted on the main body 100, and the other third mounting seat 124 is mounted on the support rod 110. The tail of the hydraulic cylinder is rotatably mounted on one of the third mounting seats, and one end of the first telescopic rod 123 away from the main body 100 is rotatably connected to the other third mounting seat 124.
[0037] See Figure 4, Further, it further includes a laser rangefinder 700 electrically connected to the control module 300. The laser rangefinder 700 is disposed on the outer periphery of the main body 100 and is used to identify obstacles around the main body 100. Specifically, the present device can be installed on a mobile platform with a steering assembly. The laser rangefinder 700 is used to identify obstacles around the main body 100, so that the navigation component can modify the route in real time. The control module 300 controls the steering assembly to adjust the orientation according to the new route, thereby achieving the effect of automatic driving. It can be understood that the steering assembly can adopt the existing steering system of a vehicle, which includes a steering wheel, an actuator, and a power mechanism. The power mechanism is connected to the control module 300, and the control module 300 drives the power mechanism to output, so that the actuator drives the steering wheel to turn. Details are not described herein.
[0038] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.
[0039] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.
Claims
1. A driving device for a mobile platform, characterized in that, Comprising: A main body (100) is provided with two support rods (110) oppositely arranged. A moving wheel (111) is rotatably arranged at the lower end of each support rod (110). Each support rod (110) is connected to a first driver (120). The first driver (120) is used to drive the support rod (110) to deflect relative to the main body (100). One of the moving wheels (111) is connected to a motor (122) through a speed reducer (121). The motor (122) is connected to a control module (300); A limiting member (200) is rotatably arranged on the main body (100). The limiting member (200) is connected to a second driver (210). The limiting member (200) is used to limit the support rod (110) to deflect relative to the main body (100) to an unfolded state. The second driver (210) is used to drive the limiting member (200) to rotate away from the support rod (110).
2. The driving device for a mobile platform according to claim 1, wherein The main body (100) is provided with a first mounting seat (130). The limiting member (200) is a hook. The hook is rotatably arranged on the first mounting seat (130) through a pivot (131). The output end of the second driver (210) is connected to the hook. The support rod (110) is provided with a limiting shaft (112) that cooperates with the hook.
3. A driving device for a mobile platform according to claim 2, characterized in that, The hook includes a U-shaped portion (201). Both ends of the U-shaped portion (201) are connected with circular ring portions (202). The circular ring portions (202) are movably sleeved on the pivot (131). Nuts (132) are arranged at both ends of the pivot (131). The circular ring portions (202) are clamped between the first mounting seat (130) and the nuts (132). When the U-shaped portion (201) rotates to abut against the support rod (110), the limiting shaft (112) abuts against the inner wall of the U-shaped portion (201).
4. A driving device for a mobile platform according to claim 3, characterized in that, The second driver (210) is a cylinder. The cylinder is provided with a second telescopic rod (211). The U-shaped portion (201) is provided with a cross bar (203) rotatably connected to the second telescopic rod (211).
5. A driving device for a mobile platform according to claim 4, characterized in that An elastic member (204) is obliquely connected between the first mounting seat (130) and the cross bar (203). The elastic member (204) and the second telescopic rod (211) are distributed on both sides of the cross bar (203).
6. The traveling drive device of a mobile platform according to claim 1, characterized in that, The lower end of the support rod (110) is connected with a rotating shaft (113). Both ends of the rotating shaft (113) are connected with the moving wheels (111). The moving wheels (111) are solid wheels.
7. A driving device for a mobile platform according to claim 1, characterized in that, The main body (100) includes a frame (101). The lower end of the frame (101) is connected with an installation box (102). The frame (101) is provided with a second mounting seat (140). One end of the support rod (110) is rotatably arranged on the second mounting seat (140).
8. A driving device for a mobile platform according to claim 1, characterized in that, It further includes a positioning module (400) and a navigation module (500) electrically connected to the control module (300). The positioning module includes a first transmitter (410) and a receiver (420). The first transmitter (410) is used to set the starting position and the ending position of the main body (100). The receiver (420) is disposed on the main body (100), and the receiver (420) is used to receive the signal of the first transmitter (410). The navigation module (500) is disposed on the main body (100), and the navigation module (500) is used to receive satellite navigation signals for mobile navigation of the main body (100).
9. A driving device for a mobile platform according to claim 8, characterized in that, Two second transmitters (430) are arranged between the two first transmitters (410). The first driver (120) is a hydraulic cylinder. The hydraulic cylinder is provided with a first telescopic rod (123). The first telescopic rod (123) is connected to the middle of the support rod (110). The hydraulic cylinder is connected to a pipeline having a flow valve (600). The flow valve (600) is electrically connected to the control module (300). The control module (300) is used to change the output of the flow valve (600) so that the first telescopic rod (123) adjusts the deflection angle of the support rod (110).