Wheat wheel rear-mounted mobile chassis and omni-directional shifting device

Abstract

The utility model relates to an omni-directional mobile chassis, in particular to a wheat wheel rear-mounted mobile chassis which comprises a chassis frame, a front wheel mounting position is arranged on the front portion of the chassis frame, and a rear wheel mounting position is arranged on the rear portion of the chassis frame. Universal wheels are mounted at the front wheel mounting positions, and Mecanum wheel groups are arranged at the rear wheel mounting positions; the Mecanum wheel group comprises four Mecanum wheels which are the Mecanum wheel I, the Mecanum wheel II, the Mecanum wheel III and the Mecanum wheel assembly IV in sequence from left to right, any two adjacent Mecanum wheels are mirror images of each other, and all the Mecanum wheels are coaxially installed. By comprehensively controlling the Mecanum wheel II, the Cecanum wheel III, the Mecanum wheel I and the Cecanum wheel assembly IV, the movement modes of advancing, retreating, steering and the like of the movable chassis can still be achieved, the inherent cognition that the Mecanum wheels can only be used in a rectangular distribution mode is broken through, the use mode of the Mecanum wheels is widened, and the application range of the Mecanum wheels is widened. And the movable chassis can meet more use requirements.

Description

TECHNICAL FIELD

[0001] The utility model relates to omnidirectional mobile chassis, specifically including the rear wheel formula mobile chassis of macadamia nut and all -round displacement device. BACKGROUND

[0002] As an omnidirectional mobile device, four macadamia nuts are needed to play the function of omnidirectional movement, and the traditional view believes that the four macadamia nuts must be distributed in a rectangle, and in fact, they are also strictly used in a rectangular distribution mode, which undoubtedly limits the more application mode of macadamia nut. CONTENT OF THE UTILITY MODEL

[0003] The utility model aims at providing a mobile chassis with four macadamia nuts all placed at the rear, coaxially installing the four macadamia nuts, and increasing universal wheels at the front part of the chassis, realizing omnidirectional movement by comprehensively controlling the movement direction of macadamia nut, expanding the application mode of macadamia nut, and meeting more use requirements.

[0004] In order to realize the above-mentioned purpose, the utility model provides the following technical scheme: the rear wheel formula mobile chassis includes chassis frame, the front part of chassis frame is provided with front wheel installation site, and the rear part is provided with rear wheel installation site, the universal wheel is installed at the front wheel installation site, and the macadamia nut group is arranged at the rear wheel installation site.

[0005] In the above technical scheme, the traveling wheel of the mobile chassis includes the universal wheel and the four macadamia nuts, and the four macadamia nuts are coaxially installed at the rear wheel installation site, compared with the traditional rectangular distribution mode of macadamia nut, the scheme first increases the universal wheel, reduces the load of single macadamia nut, improves the carrying capacity of the mobile chassis, in addition, the macadamia nut II and macadamia nut III arranged in the middle are equivalent to two front wheels in the traditional rectangular distribution mode, and the macadamia nut I and macadamia nut assembly IV are equivalent to rear wheels, by comprehensively controlling the macadamia nut II and macadamia nut III and the macadamia nut I and macadamia nut assembly IV, the movement mode such as advancing, retreating and turning of the mobile chassis can still be realized, the inherent cognition that macadamia nut can only be used in a rectangular distribution mode is broken, the use mode of macadamia nut is widened, and the mobile chassis can meet more use requirements.

[0006] As a preferred scheme, the universal wheel has two, and the two universal wheels are symmetrically arranged on the left side and the right side of the front wheel installation site, ensuring that the whole mobile chassis is more stable.

[0007] As a preferred solution, the distance between the Mecanum wheel II and the Mecanum wheel III is less than the distance between the Mecanum wheel I and the Mecanum wheel II.

[0008] As a preferred solution, all the four Mecanum wheels in the Mecanum wheel group are provided with the Mecanum wheel servo module, i.e. including self-driven wheel hub motors, which can avoid using independent wheel hub motor assemblies and meet the coaxial installation requirement of the four Mecanum wheels without additional increase of the width of the mobile chassis.

[0009] As a preferred solution, the Mecanum wheel I, the Mecanum wheel II, the Mecanum wheel III and the Mecanum wheel assembly IV are all provided with electromagnetic brake mechanisms, and the electromagnetic brake mechanisms are used to brake when the corresponding Mecanum wheel is powered off, so as to avoid continuous movement of the entire mobile chassis after power-off and prevent accidents caused by out-of-control Mecanum wheels.

[0010] As a preferred solution, the Mecanum wheel group includes four shock-absorbing frames, and the four Mecanum wheels are all installed on the corresponding shock-absorbing frames, which can effectively reduce the influence of the vibration of the Mecanum wheels on the chassis.

[0011] As a preferred solution, the mobile chassis further includes an obstacle clearing mechanism, which is arranged at the rear wheel mounting position and the four Mecanum wheels are all within the surrounding range of the obstacle clearing mechanism. After the coaxial installation of the four Mecanum wheels, the obstacle avoidance capability of the Mecanum wheels is weakened when the mobile chassis moves, and when one of the Mecanum wheels overcomes an obstacle, the adjacent Mecanum wheels will also be affected, which will interfere with the movement direction of the mobile chassis. The obstacle clearing mechanism can clear the affected obstacles in all directions, so as to ensure that the movement of the mobile chassis is not affected. Preferably, the lower part of the obstacle clearing mechanism is a brush, and the lower end of the brush is 3-10 mm away from the ground, which can clear the obstacles affecting the Mecanum wheels and will not cause wear between the obstacle clearing mechanism and the ground.

[0012] As a preferred solution, a bottom compartment is arranged at the back of the chassis frame, a battery module for supplying power to the Mecanum wheel group is arranged in the bottom compartment, and a controller for controlling the Mecanum wheel group is further included.

[0013] Another purpose of the utility model is to provide a novel omnidirectional displacement device with coaxial installation of all Mecanum wheels, and in order to achieve this purpose, the utility model provides the following technical scheme: the omnidirectional displacement device comprises a helping mechanism at the upper part and a moving mechanism at the lower part, and the moving mechanism adopts the aforementioned Mecanum wheel rear-mounted mobile chassis. BRIEF DESCRIPTION OF DRAWINGS

[0014] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, and the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0015] Figure 1 The side structure schematic view of the mobile chassis provided by the embodiment of the utility model is provided.

[0016] Figure 2 The three-dimensional structure schematic view of the mobile chassis is shown. Figure 1

[0017] Figure 3 The distribution structure schematic view of the four Mecanum wheels is shown. Figure 2

[0018] The installation structure schematic view of the Mecanum wheel I51 on the damping frame 55 is shown. Figure 4

[0019] The structure schematic view of the all-directional displacement device provided by the embodiment of the utility model is shown. Figure 5 In the figure, chassis frame 1, front wheel mounting position 2, rear wheel mounting position 3, universal wheel 4, Mecanum wheel group 5, clearing mechanism 6, bottom bin 7, helping mechanism 8, moving mechanism 9, Mecanum wheel I51, Mecanum wheel II52, Mecanum wheel III53, Mecanum wheel IV54, damping frame 55, electromagnetic brake mechanism 56, hoisting frame 61, brush 62, hoisting rod 63, Mecanum wheel module 511.

[0020] DETAILED DESCRIPTION

[0021] The embodiment of the application will be described in detail below with the aid of the accompanying drawings and embodiments, so that the realization process of how the application applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented.

[0022] Figure 1 And Figure 2 The mobile chassis provided by the embodiment of the utility model is a rear-mounted Mecanum wheel type mobile chassis. The mobile chassis comprises a chassis frame 1, two front wheel mounting positions 2 are symmetrically arranged on the front part of the chassis frame 1, and a universal wheel 4 is arranged at each front wheel mounting position 2; a rear wheel mounting position 3 is arranged on the rear part of the chassis frame 1, and a Mecanum wheel group 5 is arranged at the rear wheel mounting position 3; a bottom bin 7 is arranged on the back of the chassis frame 1, and a battery module for supplying power to the Mecanum wheel group 5 is arranged in the bottom bin 7, and the mobile chassis further comprises a controller for controlling the Mecanum wheel group 5.

[0023] As Figure 2 ​​As shown, the group of Mecanum wheels 5 in the embodiment includes four coaxially installed Mecanum wheels, from left to right, they are Mecanum wheel I 51, Mecanum wheel II 52, Mecanum wheel III 53 and Mecanum wheel assembly IV 54, any two adjacent Mecanum wheels are mirror images, the four Mecanum wheels are symmetrically distributed on both sides of the center line of the moving chassis, and the distance between Mecanum wheel II 52 and Mecanum wheel III 53 is less than the distance between Mecanum wheel I 51 and Mecanum wheel II 52.

[0024] In the embodiment, the four Mecanum wheels are coaxially installed, and the trajectory coverage area increases when the side-by-side arranged Mecanum wheels move, so the obstacle avoidance ability of the entire moving chassis is weakened, and the special structure of the Mecanum wheel may cause obstacles such as small stones to be stuck in the roller gap and cause the Mecanum wheel to not move in the preset manner. To solve this problem, a clearing mechanism 6 is arranged at the rear wheel mounting position 3, which can clear the obstacles in the moving path of the Mecanum wheels. Figure 2 As can be seen, the clearing mechanism 6 used in the embodiment includes a rectangular lifting frame 61, which is fixedly installed on the chassis frame 1 through a lifting rod 63, and a brush 62 is arranged at the lower part of the lifting frame 61, and the lower end of the brush is 5mm away from the ground. This can not only remove obstacles higher than 5mm, but also will not cause wear between the clearing mechanism 6 and the ground; as shown in Figure 3 As shown, the four Mecanum wheels described above are arranged within the rectangular range of the lifting frame 61, so no matter which direction the moving chassis moves, the clearing mechanism 6 can clear the obstacles on the road surface that may affect the movement of the Mecanum wheels.

[0025] In the embodiment, the four Mecanum wheels all use Mecanum wheel servo modules, that is, the Mecanum wheels include self-driven hub motors, which can avoid using independent hub motor assemblies and meet the demand for coaxial installation of the four Mecanum wheels without additional increase in the width of the moving chassis; and the Mecanum wheel servo module also includes an external electromagnetic brake mechanism 56, which can brake the hub motor assembly when the hub motor assembly is powered off. In the embodiment, if any one Mecanum wheel loses power, the remaining Mecanum wheels will also lose power synchronously, so the moving chassis as a whole can achieve the purpose of power loss braking and avoid accidents caused by sudden power loss of the Mecanum wheels.

[0026] In addition, the structure of the Mecanum wheel itself causes it to vibrate slightly intermittently when moving, in order to reduce the influence of vibration on the entire chassis, four shock absorbing frames 55 are installed at the rear wheel mounting position 3, and the four Mecanum wheels are installed on the corresponding shock absorbing frames 55. Figure 4 The installation structure of the Mecanum wheel I 51 on the shock absorbing frame 55 is shown.

[0027] Four Mecanum wheels are coaxially installed at the rear wheel installation position 3, compared with the use mode of the traditional rectangular distribution of Mecanum wheels, the scheme firstly increases the universal wheel, reduces the load of a single Mecanum wheel, improves the carrying capacity of the mobile chassis, in addition, the centrally arranged Mecanum wheel II 52 and Mecanum wheel III 53 are equivalent to two front wheels in the traditional rectangular distribution mode, and the Mecanum wheel I 51 and Mecanum wheel assembly IV 54 are equivalent to rear wheels, by comprehensively controlling the Mecanum wheel II 52 and Mecanum wheel III 53 and the Mecanum wheel I 51 and Mecanum wheel assembly IV 54, the forward movement, backward movement, steering and other movement modes of the mobile chassis can still be realized.

[0028] For example, in the embodiment, the rollers of the Mecanum wheel I 51 and the Mecanum wheel III 53 are left-handed, and the rollers of the Mecanum wheel II 52 and the Mecanum wheel assembly IV 54 are right-handed. When the mobile chassis needs to move forward, the four Mecanum wheels all rotate forward, when the mobile chassis needs to move backward, the four Mecanum wheels all rotate backward, on this basis, when the mobile chassis needs to turn, by controlling the rotating speeds of the left two and the right two Mecanum wheels, a rotating speed difference is generated between the left and right sides, so that the turning can be realized; by controlling the Mecanum wheel I 51 and the Mecanum wheel III 53 to rotate forward, the Mecanum wheel II 52 and the Mecanum wheel IV 54 to rotate backward, and under the cooperation of the universal wheel 4, the mobile chassis translates to the left, and similarly, the mobile chassis can also translate to the right; the embodiment also supports the mobile chassis to make a U-turn in place, taking the left U-turn as an example, the Mecanum wheel I 51 and the Mecanum wheel II 52 can be controlled to rotate backward, and the Mecanum wheel assembly IV 54 and the Mecanum wheel III 53 can be controlled to rotate forward, at this time, since the front part of the chassis frame 1 is the universal wheel 4, the entire mobile chassis will rotate to the left with the midpoint of the Mecanum wheel group 5 as the center until the U-turn is realized. Therefore, the novel mobile chassis provided in the embodiment breaks the inherent cognition that the Mecanum wheels can only be used in a rectangular distribution, widens the use mode of the Mecanum wheels, and also enables the mobile chassis to meet more use requirements.

[0029] Based on the mobile chassis with the above characteristics, the utility model also provides a Figure 5 As shown in the figure, the omnidirectional displacement device comprises a helping mechanism 8 at the upper part, a mobile mechanism 9 at the lower part, and a control button or a control lever for controlling the mobile mechanism 9 is arranged on the control table of the helping mechanism 8.

[0030] As used in the specification and claims, some terms can have special meanings. Those of skill in the art will understand that a hardware manufacturer can use a different name for the same component. Accordingly, the specification and claims should not be construed as limiting the component based on the name used for the component. Rather, the specification and claims should be construed based on the component's function. The term "comprising" as used herein is an open term, and should be construed to cover "comprising but not limited to" or "comprising at least the elements recited." The term "substantially" as used herein is intended to allow for a degree of error, and is intended to cover variations that fall within the scope of what is claimed. The term "comprising" as used herein is an open term, and should be construed to cover "comprising but not limited to" or "comprising at least the elements recited." The term "substantially" as used herein is intended to allow for a degree of error, and is intended to cover variations that fall within the scope of what is claimed.

[0031] It is to be understood that the terms "including", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0032] The above description illustrates and describes several preferred embodiments of the present application, but as stated above, the present application is not limited to the described forms, but instead can be used in various other combinations, modifications, and environments, and can be used in other embodiments without departing from the spirit and scope of the present application. Changes and modifications can be made to the above described embodiments without departing from the spirit and scope of the present application, and the scope of the present application is not to be limited to the specific examples described herein.

Claims

1. A rear-wheel-mounted mobile chassis, comprising a chassis frame (1), a front wheel mounting position (2) is arranged at the front of the chassis frame (1), and a rear wheel mounting position (3) is arranged at the rear of the chassis frame (1), characterized in that: The front wheel mounting position is provided with a universal wheel, and the rear wheel mounting position is provided with a Mecanum wheel group; the Mecanum wheel group comprises four Mecanum wheels, which are sequentially Mecanum wheel I, Mecanum wheel II, Mecanum wheel III and Mecanum wheel assembly IV from left to right, any two adjacent Mecanum wheels are mirror images, and all the Mecanum wheels are coaxially mounted.

2. The wheel rear-mounted mobile chassis according to claim 1, characterized in that: The universal wheels are two, and the two universal wheels are symmetrically arranged on the left side and the right side of the front wheel mounting position.

3. The wheel rear-mounted mobile chassis according to claim 2, characterized in that: The distance between the Mecanum wheel II and the Mecanum wheel III is less than the distance between the Mecanum wheel I and the Mecanum wheel II.

4. The wheel rear-mounted mobile chassis according to claim 2, characterized in that: The four Mecanum wheels in the Mecanum wheel group all adopt a Mecanum wheel servo module, that is, a self-driven in-wheel motor.

5. The wheel rear-mounted mobile chassis according to claim 4, characterized in that: The Mecanum wheel I, the Mecanum wheel II, the Mecanum wheel III and the Mecanum wheel assembly IV are all provided with an electromagnetic brake mechanism, and the electromagnetic brake mechanism realizes braking when the corresponding Mecanum wheel is powered off.

6. The wheel rear-mounted mobile chassis according to claim 2, characterized in that: The Mecanum wheel group comprises four shock-absorbing frames, and the four Mecanum wheels are all mounted on the corresponding shock-absorbing frames.

7. The wheel rear-mounted mobile chassis according to claim 2, characterized in that: The mobile chassis further comprises a barrier clearing mechanism, the barrier clearing mechanism is arranged at the rear wheel mounting position, and the four Mecanum wheels are all within the surrounding range of the barrier clearing mechanism.

8. The wheel rear-mounted mobile chassis according to claim 7, characterized in that: The lower part of the barrier clearing mechanism is a brush, and the lower end of the brush is 3-10 mm away from the ground.

9. The wheel rear-mounted mobile chassis according to claim 2, characterized in that: A bottom bin is arranged on the back of the chassis frame, the bottom bin is provided with a battery module for supplying power to the Mecanum wheel group, and further comprises a controller for controlling the Mecanum wheel group.

10. A full range shifting device comprising an upper assist mechanism and a lower movement mechanism, characterized in that: The mobile mechanism adopts the rear-mounted Mecanum wheel mobile chassis in any one of claims 2-9.

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