Wheel-track composite omni-directional moving platform

Abstract

The utility model belongs to the technical field of automatic operation mobile platforms, and particularly relates to a wheel-track composite omnibearing mobile platform, four swing arms are symmetrically mounted on a vehicle body, the left swing arm and the right swing arm are structurally distributed in a mirror image manner, and four Mecanum wheels on the four swing arms are mounted diagonally; the four swing arms achieve rotation of the crawler driving wheels and the Mecanum wheels and pitching actions of the swing arms through driving systems installed on the swing arms and a pitching system in the vehicle body. The mobile platform can realize conversion of a crawler type motion mode, an omnibearing wheel type motion mode and a leg type motion mode through pitching actions of the four swing arms; a driving motor of the driving system is installed in the Mecanum wheels, the size of the vehicle body is relatively reduced, and the space utilization rate of the whole robot moving platform is increased. The utility model provides a mobile platform for the inspection and investigation work of the robot, is particularly suitable for various complex non-structural environments, and has the characteristics of modularization, compactness, flexible movement and wide adaptability.

Description

TECHNICAL FIELD

[0001] The utility model belongs to automation operation mobile platform technical field, specifically, a wheel-track compound omnidirectional mobile platform can provide mobile platform for completing various operation tasks in complex environment. BACKGROUND

[0002] With the development of science and technology, many fields need mobile platforms that can carry operation tools, especially in places where the environment is complex, there are many obstacles, and manual operation is difficult. There is an urgent need for multifunctional mobile platforms that can adapt to various complex environments. Breakthroughs in the problems of wheel-type platforms that cannot overcome obstacles and track-type platforms that are inefficient and inflexible are needed. Wheel-track compound omnidirectional mobile platforms that can smoothly pass through complex environments are developed. They can replace manual labor to efficiently complete various operation tasks, which is of great significance for improving operation efficiency. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the problem of low operation efficiency in complex environments and meet the demand for smoothly passing through non-structured environments, the purpose of the utility model is to provide a wheel-track compound omnidirectional mobile platform that can smoothly pass through complex environments.

[0004] The purpose of the utility model is achieved through the following technical solutions:

[0005] The utility model includes a vehicle body, swing arms, a pitch system, a front drive system, and a rear drive system. The left and right sides of the front and rear ends of the vehicle body are each provided with a swing arm. The front and rear ends of the vehicle body are each provided with a pitch system. The pitch system at the front end of the vehicle body is connected to the swing arms on the left and right sides of the front end, and the pitch system at the rear end of the vehicle body is connected to the swing arms on the left and right sides of the rear end. The swing arms on the left and right sides of the front end are each provided with a front drive system, and the swing arms on the left and right sides of the rear end are each provided with a rear drive system.

[0006] The pitch system includes a pitch power source, and the left and right sides of the pitch power source are each connected to a pitch output end for connecting to a swing arm.

[0007] The front drive system and the rear drive system each include a driving power source, a Mecanum wheel, a transmission mechanism, a main track, a swing arm track and a swing arm wheel, one of the front drive system and the rear drive system has a main drive wheel A and a main drive wheel B, and the other has a main drive wheel A and a driven wheel, the swing arm is connected with the pitch output end, the driving power source is located in the Mecanum wheel and connected with one end of the swing arm, the output end of the driving power source is connected with the Mecanum wheel to drive the Mecanum wheel to rotate; the main drive wheel A and the main drive wheel B in the front drive system or the rear drive system are connected and rotatably installed on the pitch output end, and the Mecanum wheel in the same drive system is connected with the main drive wheel A through the transmission mechanism; the main drive wheel A and the driven wheel in the rear drive system or the front drive system can rotate relative to each other and are rotatably installed on the pitch output end, and the Mecanum wheel in the same drive system is connected with the main drive wheel A through the transmission mechanism; the other end of the swing arm is rotatably installed with the swing arm wheel, the swing arm wheel is connected with the main drive wheel A through the swing arm track, and the main drive wheel B and the driven wheel are connected through the main track.

[0008] Wherein: each of the swing arms and the left and right sides of the vehicle body is provided with a support system, the support system comprises a support frame and a support wheel system, one side of the support frame is fixed on the vehicle body or the swing arm, and the other side of the support frame is provided with a plurality of support wheel systems along the length direction of the vehicle body or along the length direction of the swing arm.

[0009] The support wheel system comprises a sliding shaft, a limiting nut, a support seat, a compression spring, a support shaft and a support wheel, one end of the sliding shaft is slidably penetrated by the support frame and connected with the limiting nut, the other end of the sliding shaft is fixedly connected with the support seat, the compression spring is sleeved on the sliding shaft, and the two ends of the compression spring are respectively abutted with the support frame and the support seat, the support seat is provided with the support shaft, and the support wheel is rotatably installed on the support shaft.

[0010] The support seat is fixedly connected with a guide shaft parallel to the sliding shaft, and the guide shaft is penetrated by a guide hole formed in the other side of the support frame.

[0011] The pitch power source comprises a pitch motor and a speed reducer, the pitch output end comprises a pitch output shaft, a pitch output flange and a pitch support shaft, the speed reducer is fixed in the vehicle body, the pitch motor is connected with the input end of the speed reducer, the output end of the speed reducer is connected with the pitch output shaft, and the two ends of the pitch output shaft are connected with the pitch support shaft through the pitch output flange.

[0012] The two side plates of the vehicle body are fixedly provided with pitch base flanges, one end of the pitch output flange is rotatably connected with the pitch base flange, and the other end of the pitch output flange is tightly connected with the pitch support shaft and the swing arm.

[0013] The transmission mechanism comprises an output sprocket, a chain and an input sprocket, the output sprocket is fixedly connected with the Mecanum wheel, when the front drive system or the rear drive system has a main drive wheel A and a main drive wheel B, the input sprocket is fixedly connected with the main drive wheel A, and the input sprocket, the main drive wheel A and the main drive wheel B are fastened into one body through bolts; when the rear drive system or the front drive system has the main drive wheel A and a driven wheel, the input sprocket is fixedly connected with the main drive wheel A, and a thrust bearing is arranged between the driven wheel and the main drive wheel A; the output sprocket and the input sprocket are connected through the chain.

[0014] The driving power source is a driving motor, the driving motor is fixed at one end of the swing arm through a driving motor base, an output shaft of the driving motor is connected with an end input hole of the Mecanum wheel, and both ends of the Mecanum wheel are rotatably arranged on the fixed end and the output end shaft of the driving motor through bearings.

[0015] The wheel-track composite omnidirectional mobile platform drives the swing arm to change the inclination angle under the action of the inclination system, and the wheel-track composite omnidirectional mobile platform can realize the conversion of the omnidirectional wheel type, the track type and the leg type movement mode.

[0016] The front and rear swing arms on the left side of the vehicle body are mirror image distributed with the front and rear swing arms on the right side.

[0017] The utility model discloses the advantages and positive effects are:

[0018] 1. The driving system of the utility model adopts the mode of separate driving, and the four-wheel drive mode can provide greater driving force, and under the condition of carrying large load, the mobile platform can still smoothly pass through various obstacles.

[0019] 2. The driving motor in the driving system of the utility model is installed inside the Mecanum wheel, the driving efficiency is higher, and meanwhile, the internal space of the vehicle body is saved, so that the whole mobile platform is more compact and small.

[0020] 3. The inclination system of the utility model can realize the conversion of the omnidirectional wheel type, the track type and the leg type movement mode of the mobile platform by changing the angle of the swing arm, the obstacle surmounting ability is strong, the turning is more flexible, and the environmental adaptability is stronger.

[0021] 4. The driving system of the utility model is mirror image distributed left and right, the inclination system is mirror image distributed front and back, adopts the modular design, the structure is compact, the movement is flexible, the adaptability is extensive, is easy to install, and the control precision is high. DRAWINGS

[0022] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0023] Figure 2 It is the horizontal section plan view of the utility model;

[0024] Figure 3 It is the structure schematic view of the tilting system connected with the front (rear) drive system of the utility model;

[0025] Figure 4 It is the structure schematic view of the rear (front) drive system of the utility model;

[0026] Figure 5 It is the structure schematic view of the support system of the utility model;

[0027] Among them: 1 is the car body, 2 is the swing arm, 3 is the tilting system, 4 is the front drive system, 5 is the rear drive system, 6 is the support system, 7 is the tilting motor, 8 is the speed reducer, 9 is the tilting output shaft, 10 is the tilting output flange, 11 is the tilting base flange, 12 is the tilting support shaft, 13 is the drive motor, 14 is the drive motor base, 15 is the Mecanum wheel, 16 is the output sprocket, 17 is the chain, 18 is the input sprocket, 19 is the main drive wheel A, 20 is the main drive wheel B, 21 is the main track, 22 is the driven wheel, 23 is the thrust bearing, 24 is the swing arm track, 25 is the swing arm wheel, 26 is the swing arm shaft, 27 is the support frame, 28 is the support wheel system, 29 is the sliding shaft, 30 is the guide shaft, 31 is the limit nut, 32 is the support seat, 33 is the compression spring, 34 is the support shaft, 35 is the support wheel. DETAILED DESCRIPTION

[0028] The utility model will be further described in detail below in combination with the drawings.

[0029] As Figure 1 , Figure 2 The utility model discloses a car body 1, swing arm 2, tilting system 3, front drive system 4 and rear drive system 5, wherein swing arm 2 is four, and the left and right sides of the front and rear ends of car body 1 are equipped with swing arm 2 respectively, and the front and rear swing arms 2 of car body 1 left side and the front and rear swing arms 2 of car body 1 right side are mirror image distribution in structure. Tilting system 3 is two, and the front and rear ends of car body 1 are respectively installed with tilting system 3, and the tilting system 3 at the front end of car body 1 is connected with the swing arm 2 on the left and right sides of the front end, and the tilting system 3 at the rear end of car body 1 is connected with the swing arm 2 on the left and right sides of the rear end;Front and rear swing arms 2 on the left and right sides are all installed with front drive system 4, and rear swing arms 2 on the left and right sides are all installed with rear drive system 5.

[0030] As Figures 1-3As shown, the pitching system 3 of the embodiment comprises a pitching power source, and the left and right sides of the pitching power source are connected with pitching output ends for connecting with the swing arms 2. The pitching power source of the embodiment comprises a pitching motor 7 and a speed reducer 8, and the pitching output end comprises a pitching output shaft 9, a pitching output flange 10 and a pitching support shaft 12. The speed reducer 8 is fixed on the bottom plate in the vehicle body 1, the pitching motor 7 is connected with the input end of the speed reducer 8, the output hole of the speed reducer 8 is connected with the pitching output shaft 9, and the two ends of the pitching output shaft 9 are connected with the pitching support shaft 12 through the pitching output flange 10. The two side plates of the vehicle body 1 are fixed with pitching base flanges 11, one end of the pitching output flange 10 is rotatably connected with the pitching base flange 11 through a bearing, and the other end of the pitching output flange 10 is fixedly connected with the swing arm 2 through the pitching support shaft 12.

[0031] As shown, the pitching system 3 of the embodiment comprises a pitching power source, and the left and right sides of the pitching power source are connected with pitching output ends for connecting with the swing arms 2. The pitching power source of the embodiment comprises a pitching motor 7 and a speed reducer 8, and the pitching output end comprises a pitching output shaft 9, a pitching output flange 10 and a pitching support shaft 12. The speed reducer 8 is fixed on the bottom plate in the vehicle body 1, the pitching motor 7 is connected with the input end of the speed reducer 8, the output hole of the speed reducer 8 is connected with the pitching output shaft 9, and the two ends of the pitching output shaft 9 are connected with the pitching support shaft 12 through the pitching output flange 10. The two side plates of the vehicle body 1 are fixed with pitching base flanges 11, one end of the pitching output flange 10 is rotatably connected with the pitching base flange 11 through a bearing, and the other end of the pitching output flange 10 is fixedly connected with the swing arm 2 through the pitching support shaft 12. Figures 1-4 As shown, the pitching system 3 of the embodiment comprises a pitching power source, and the left and right sides of the pitching power source are connected with pitching output ends for connecting with the swing arms 2. The pitching power source of the embodiment comprises a pitching motor 7 and a speed reducer 8, and the pitching output end comprises a pitching output shaft 9, a pitching output flange 10 and a pitching support shaft 12. The speed reducer 8 is fixed on the bottom plate in the vehicle body 1, the pitching motor 7 is connected with the input end of the speed reducer 8, the output hole of the speed reducer 8 is connected with the pitching output shaft 9, and the two ends of the pitching output shaft 9 are connected with the pitching support shaft 12 through the pitching output flange 10. The two side plates of the vehicle body 1 are fixed with pitching base flanges 11, one end of the pitching output flange 10 is rotatably connected with the pitching base flange 11 through a bearing, and the other end of the pitching output flange 10 is fixedly connected with the swing arm 2 through the pitching support shaft 12.

[0032] The driving power source of the embodiment is a driving motor 13, which is fixed to one end of the swing arm 2 through a driving motor base 14, and the output shaft of the driving motor 13 is connected to one end input hole of a Mecanum wheel 15, and the two ends of the Mecanum wheel 15 are rotatably installed on the fixed end and the output end shaft of the driving motor 13 through bearings. The driving motor 13 is installed inside the Mecanum wheel 15, which saves the space of the vehicle body 1 and makes the whole wheel-track composite omnidirectional mobile platform more compact and small.

[0033] The transmission mechanism of the embodiment includes an output sprocket 16, a chain 17 and an input sprocket 18. The output sprocket 16 is fixed to the other end flange of the Mecanum wheel 15. When the front driving system 4 or the rear driving system 5 has a main driving wheel A 19 and a main driving wheel B 20, the input sprocket 18 is fixed to one end of the main driving wheel A 19, and the input sprocket 18, the main driving wheel A 19 and the main driving wheel B 20 are fastened together by bolts. When the rear driving system 5 or the front driving system 4 has a main driving wheel A 19 and a driven wheel 22, the input sprocket 18 is fixed to one end of the main driving wheel A 19, and a thrust bearing 23 is installed between the driven wheel 22 and the main driving wheel A 19. The output sprocket 16 and the input sprocket 18 are connected by the chain 17.

[0034] As shown in Figure 1 , Figure 2 and Figure 5 , the embodiment is installed with a support system 6 on each swing arm 2 and on the left and right sides of the vehicle body 1, that is, there are six support systems 6 in total. The support system 6 includes a support frame 27 and a support wheel system 28. One side of the support frame 27 is fixed to the vehicle body 1 or the swing arm 2, and the other side of the support frame 27 is installed with a plurality of support wheel systems 28 along the length direction of the vehicle body 1 or along the length direction of the swing arm 2. The support wheel system 28 includes a sliding shaft 29, a limiting nut 31, a support seat 32, a compression spring 33, a support shaft 34 and a support wheel 35. One end of the sliding shaft 29 can pass through the support frame 27 in a relative sliding manner and is connected to the limiting nut 31, and the other end of the sliding shaft 29 is fixed to the support seat 32. The compression spring 33 is sleeved on the sliding shaft 29, and the two ends of the compression spring 33 abut against the support frame 27 and the support seat 32 respectively. The support shaft 34 is fixed to the two side plates of the support seat 32, and the support wheel 35 is rotatably installed on the support shaft 34 through a bearing. A guide shaft 30 parallel to the sliding shaft 29 is also fixed to the support seat 32, and the guide shaft 30 passes through the guide hole formed in the other side of the support frame 27.

[0035] Under the action of the tilting system 3, the tilting angle of the swing arm 2 changes, and the wheel-track composite omnidirectional mobile platform realizes the conversion of the omnidirectional wheel type, the track type and the leg type movement mode.

[0036] The working principle of the utility model is:

[0037] The pitch motor 7 in the pitch system 3 drives the pitch output shaft 9 through the speed reducer 8, so that the pitch output flange 10 at both ends of the pitch output shaft 9 rotates, and the pitch angle of the swing arm 2 fixed thereto changes.

[0038] The drive motor 13 in the rear drive system 5 directly drives the Mecanum wheel 15 to rotate, and at the same time provides the output sprocket 16 fixed on the Mecanum wheel 15 with rotary power, under the action of the chain 17, drives the input sprocket 18 to rotate, so that the main drive wheel A 19 and the main drive wheel B 20 fixed thereto rotate; through the action of the swing arm track 24 connected with the main drive wheel A 19, the swing arm wheel 25 rotates, through the action of the main track 21 connected with the main drive wheel B 20, the driven wheel 22 rotates, so as to drive the swing arm track 24 at the front end and the main track 21 on both sides to rotate at the same time.

[0039] The front drive system 4 and the rear drive system 5 are consistent in principle, only the swing arm track 24 at the front end is driven to rotate alone, the main drive wheel A 19 and the driven wheel 22 at the front end are driven by different drive motors 13, so there is a speed difference, the thrust bearing 23 eliminates the friction between them, without wasting the output torque of the drive motor 13.

[0040] Each support wheel system 28 in the support system 6 provides elastic force for the support system 6 by the compression spring 33, which plays a shock-absorbing effect on the whole mobile platform, reduces the vibration of the load on the mobile platform, and improves the stability.

[0041] The drive motor 13 in the mobile platform drive system is installed in the interior of the Mecanum wheel 15, which effectively saves the size of the vehicle body 1, so that the mobile platform is more compact and small.

[0042] Under the action of the pitch system 3, the mobile platform realizes the conversion of omnidirectional wheel type, track type and leg type movement mode, so as to adapt to different external environment, achieve the purpose of barrier-free rapid passing and smooth obstacle crossing.

Claims

1. A wheel-track composite omnidirectional mobile platform, characterized by: The vehicle comprises a vehicle body (1), a swing arm (2), a pitch system (3), a front drive system (4) and a rear drive system (5), wherein the swing arms (2) are respectively provided on the left and right sides of the front and rear ends of the vehicle body (1), and the pitch systems (3) are respectively installed on the front and rear ends of the vehicle body (1); the pitch system (3) located at the front end of the vehicle body (1) is connected to the swing arms (2) on the left and right sides of the front end, and the pitch system (3) located at the rear end of the vehicle body (1) is connected to the swing arms (2) on the left and right sides of the rear end; the front drive system (4) is installed on the swing arms (2) on the left and right sides of the front end, and the rear drive system (5) is installed on the swing arms (2) on the left and right sides of the rear end; The pitch system (3) includes a pitch power source, and both left and right sides of the pitch power source are connected to pitch output ends for connecting to the swing arm (2); The front drive system (4) and the rear drive system (5) both include a driving power source, a Mecanum wheel (15), a transmission mechanism, a main crawler (21), a swing arm crawler (24) and a swing arm wheel (25). One of the front drive system (4) and the rear drive system (5) has a main driving wheel A (19) and a main driving wheel B (20), and the other has a main driving wheel A (19) and a driven wheel (22). The swing arm (2) is connected to the pitch output end. The driving power source is located in the Mecanum wheel (15) and is connected to one end of the swing arm (2). The output end of the driving power source is connected to the Mecanum wheel (15) to drive the Mecanum wheel (15) to rotate. The main driving wheel A (19) in the front drive system (4) or the rear drive system (5) is connected to the main driving wheel B (20). 9) and the main drive wheel B (20), and is rotatably mounted on the pitch output end, and is connected to the main drive wheel A (19) through a transmission mechanism in the same drive system through the Mecanum wheel (15); the main drive wheel A (19) and the driven wheel (22) in the rear drive system (5) or the front drive system (4) can rotate relative to each other, and are respectively rotatably mounted on the pitch output end, and are connected to the main drive wheel A (19) through a transmission mechanism in the same drive system through the Mecanum wheel (15); the other end of the swing arm (2) is rotatably mounted with a swing arm wheel (25), and the swing arm wheel (25) is connected to the main drive wheel A (19) through a swing arm crawler (24), and the main drive wheel B (20) and the driven wheel (22) are connected through a main crawler (21).

2. The wheel-track composite omnidirectional mobile platform according to claim 1, characterized in that: A support system (6) is installed on each of the swing arms (2) and on the left and right sides of the vehicle body (1). The support system (6) includes a support frame (27) and a support wheel system (28). One side of the support frame (27) is fixed to the vehicle body (1) or the swing arm (2), and the other side of the support frame (27) is equipped with a plurality of support wheel systems (28) along the length direction of the vehicle body (1) or along the length direction of the swing arm (2).

3. The wheel-track composite omnidirectional mobile platform according to claim 2, characterized in that: The support wheel system (28) comprises a sliding shaft (29), a limiting nut (31), a support seat (32), a compression spring (33), a support shaft (34) and a support wheel (35). One end of the sliding shaft (29) can pass through the support frame (27) in a relatively sliding manner and is connected to the limiting nut (31). The other end of the sliding shaft (29) is fixedly connected to the support seat (32). The compression spring (33) is sleeved on the sliding shaft (29). The two ends of the compression spring (33) are respectively in contact with the support frame (27) and the support seat (32). The support seat (32) is equipped with a support shaft (34), and the support wheel (35) is rotatably installed on the support shaft (34).

4. The wheel-track composite omnidirectional mobile platform according to claim 3, characterized in that: A guide shaft (30) parallel to the sliding shaft (29) is fixedly connected to the support seat (32), and the guide shaft (30) passes through a guide hole opened on the other side of the support frame (27).

5. The wheel-track composite omnidirectional mobile platform according to claim 1, characterized in that: The pitch power source comprises a pitch motor (7) and a reducer (8); the pitch output end comprises a pitch output shaft (9), a pitch output flange (10) and a pitch support shaft (12); the reducer (8) is fixed in the vehicle body (1); the pitch motor (7) is connected to the input end of the reducer (8); the output end of the reducer (8) is connected to the pitch output shaft (9); and both ends of the pitch output shaft (9) are connected to the pitch support shaft (12) via the pitch output flange (10).

6. The wheel-track composite omnidirectional mobile platform according to claim 5, characterized in that: A pitch base flange (11) is fixed on both side plates of the vehicle body (1), one end of the pitch output flange (10) is rotatably connected to the pitch base flange (11), and the other end of the pitch output flange (10) is fastened to the pitch support shaft (12) to connect the swing arm (2).

7. The wheel-track composite omnidirectional mobile platform according to claim 1, characterized in that: The transmission mechanism includes an output sprocket (16), a chain (17) and an input sprocket (18), wherein the output sprocket (16) is fixedly connected to the Mecanum wheel (15); when the front drive system (4) or the rear drive system (5) has a main drive wheel A (19) and a main drive wheel B (20), the input sprocket (18) is fixedly connected to the main drive wheel A (19), and the input sprocket (18), the main drive wheel A (19) and the main drive wheel B (20) are fastened together by bolts; when the rear drive system (5) or the front drive system (4) has a main drive wheel A (19) and a driven wheel (22), the input sprocket (18) is fixedly connected to the main drive wheel A (19), and a thrust bearing (23) is installed between the driven wheel (22) and the main drive wheel A (19); and the output sprocket (16) and the input sprocket (18) are connected by a chain (17).

8. The wheel-track composite omnidirectional mobile platform according to claim 1, characterized in that: The driving power source is a driving motor (13), which is fixed to one end of the swing arm (2) through a driving motor base (14), and an output shaft of the driving motor (13) is connected to an input hole at one end of a Mecanum wheel (15), and two ends of the Mecanum wheel (15) are rotatably mounted on the fixed end and output end shaft of the driving motor (13) through bearings.

9. The wheel-track composite omnidirectional mobile platform according to claim 1, characterized in that: The wheel-track composite omnidirectional mobile platform drives the pitch angle of the swing arm (2) to change under the action of the pitch system (3), thereby realizing the conversion of the wheel-track composite omnidirectional mobile platform's omnidirectional wheel-type, crawler-type and leg-type movement modes.

10. The wheel-track composite omnidirectional mobile platform according to claim 1, characterized in that: The front and rear two swing arms (2) on the left side of the vehicle body (1) and the front and rear two swing arms (2) on the right side are distributed in a mirror image in structure.

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