Omnidirectional mobile chassis
By introducing a timing belt and timing pulley into the mounting and drive structure of the Mecanum wheel, the problem of high stress during omnidirectional movement of the Mecanum wheel is solved, thus improving its impact resistance and service life.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-23
- Publication Date
- 2026-04-07
AI Technical Summary
In the existing technology, Mecanum wheels are subjected to large mechanical stresses during omnidirectional movement and have poor impact resistance.
The system employs an installation and drive structure, including a mounting box, mounting base, drive motor, synchronous pulley, synchronous belt, support shaft, and Mecanum pulley. The synchronous belt and synchronous pulley work together to absorb the impact force of the drive motor and reduce the stress on the Mecanum pulley.
This effectively reduces the stress on the Mecanum wheel, improving its impact resistance and service life.
Smart Images
Figure CN224090033U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of mobile chassis, and more specifically, to an omnidirectional mobile chassis. Background Technology
[0002] Forklifts are needed when moving glass panels. To enable flexible steering, Mecanum wheels can be installed on the bottom of the forklift, allowing it to move in all directions.
[0003] After installing the Mecanum wheel, a corresponding drive device needs to be added to drive the Mecanum wheel (e.g., authorization announcement number: CN22059638U; name: A Mecanum wheel drive device), including a mounting frame, axle, Mecanum wheel, and drive assembly; the mounting frame includes a vertically and parallel left side plate and a right side plate, the upper ends of the left side plate and the right side plate are fixedly connected by a connecting plate; a first axle support is provided on the left side plate, and a second axle support is provided on the right side plate; the first axle support and the second axle support are used to support the axle and limit the axle to a single degree of freedom state of movement along the rotation direction; the Mecanum wheel is sleeved on the axle; the right end of the axle is connected to the drive assembly, which is used to drive the axle to rotate, so that the axle drives the Mecanum wheel to move. This type of drive device can effectively reduce transmission losses. However, since the drive assembly consists of a servo motor and a reducer, the servo motor drives the wheel axle to rotate through the reducer, which in turn drives the Mecanum wheel to move. The Mecanum wheel is subjected to high mechanical stress, and the reducer drive needs to transmit power through rigid gears or couplings. Under long-term operation, this can easily lead to bearing wear. This configuration also results in poor shock resistance. Utility Model Content
[0004] This application provides an omnidirectional moving chassis to solve the problem that the Mecanum wheels bear a large stress when using them to achieve omnidirectional movement in the prior art.
[0005] An omnidirectional mobile chassis according to this application includes: a mounting structure and a drive structure. The mounting structure includes a mounting box and two sets of mounting seats. The mounting box is located between and connected to the two sets of mounting seats. The drive structure includes a drive motor, a first synchronous pulley, a synchronous belt, a second synchronous pulley, a support shaft, and a Mecanum wheel. The drive motor is mounted inside the mounting seat. The first synchronous pulley is sleeved on the drive shaft of the drive motor. The synchronous belt meshes with both the first and second synchronous pulleys. The two ends of the support shaft are respectively disposed corresponding to the opposite side walls of the mounting seat. The second synchronous pulley and the Mecanum wheel are both sleeved on the circumferential outer side of the support shaft and are connected.
[0006] In some embodiments, the omnidirectional mobile chassis further includes a fixing structure, which includes a support horizontal plate, two sets of support vertical plates and two sets of optical axis fixing rings. The support horizontal plate is connected to the side wall of the mounting base, the two sets of support vertical plates are connected to the support horizontal plate and are arranged opposite to each other, the two sets of optical axis fixing rings are respectively fixed on the two sets of support vertical plates, and the two ends of the support shaft are respectively arranged in the two sets of optical axis fixing rings.
[0007] In some embodiments, the fixing structure further includes a deep groove ball bearing and a pressure bearing. The deep groove ball bearing is installed on the circumferential outer side of the support shaft and is disposed between the support shaft and the Mecanum wheel. The pressure bearing is installed on the circumferential outer side of the support shaft and is disposed close to the support vertical plate.
[0008] In some embodiments, a support crossbar divides the mounting base into an upper receiving chamber and a lower receiving chamber, a drive motor is mounted on the support crossbar, the drive motor is located in the upper receiving chamber, and the Mecanum wheel is located in the lower receiving chamber.
[0009] In some embodiments, the drive structure further includes a speed regulator located in the upper receiving chamber and mounted on the support cross plate. The speed regulator adjusts the output torque of the drive motor through wiring terminals.
[0010] In some embodiments, the second synchronous pulley has an mounting section and an engagement section, the diameter of the mounting section being larger than the diameter of the engagement section, the mounting section and the Mecanum pulley being connected by screws, and the engagement section engaging with the synchronous belt.
[0011] In some embodiments, the drive structure further includes a motor mounting plate, which is vertically disposed on the support cross plate, and the drive motor is mounted on the motor mounting plate.
[0012] In some embodiments, the projection of the mounting base in the vertical direction is an inverted U-shape.
[0013] In some embodiments, the omnidirectional mobile chassis further includes a control module, which includes a development board, an ESC center board, and a control switch. The development board and the ESC center board are both disposed inside the mounting box, and the control switch is disposed on the outer wall of the mounting box.
[0014] In some embodiments, the mounting box has a receiving space, and the control module further includes a battery, which is removably disposed within the mounting box.
[0015] The omnidirectional mobile chassis, applying the technical solution of this application, includes a mounting structure and a drive structure. The mounting structure includes a mounting box and two sets of mounting seats. The mounting box is located between and connected to the two sets of mounting seats. The drive structure includes a drive motor, a first synchronous pulley, a synchronous belt, a second synchronous pulley, a support shaft, and a Mecanum wheel. The drive motor is mounted inside the mounting seat. The first synchronous pulley is sleeved on the drive shaft of the drive motor and rotates synchronously with the rotation of the drive shaft. The synchronous belt meshes with both the first and second synchronous pulleys, enabling the rotation of the second synchronous pulley. The two ends of the support shaft are respectively positioned corresponding to the opposite side walls of the mounting seat. The second synchronous pulley and the Mecanum wheel are both sleeved on the circumferential outer side of the support shaft and are connected. The second synchronous pulley drives the Mecanum wheel to rotate synchronously. Through the cooperation of the synchronous belt, the first synchronous pulley, and the second synchronous pulley, the impact force of the drive motor starting and stopping can be absorbed, reducing the stress on the Mecanum wheel. The technical solution of this application effectively solves the problem of high stress on the Mecanum wheel when using it to achieve omnidirectional movement in the prior art. Attached Figure Description
[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 A schematic diagram of the structure of an omnidirectional mobile chassis according to an embodiment of this application is shown;
[0019] Figure 2 It shows Figure 1 Schematic diagram of the cross-sectional structure at point AA;
[0020] Figure 3 A schematic diagram of the driving structure according to an embodiment of this application is shown.
[0021] The above figures include the following reference numerals:
[0022] 10. Mounting structure; 11. Mounting box; 12. Mounting base; 20. Drive structure; 21. Drive motor; 22. First synchronous pulley; 23. Synchronous belt; 24. Second synchronous pulley; 241. Mounting section; 242. Meshing section; 25. Support shaft; 26. Mecanum pulley; 27. Speed controller; 28. Motor mounting plate; 30. Fixing structure; 31. Support horizontal plate; 32. Support vertical plate; 33. Optical shaft fixing ring; 34. Deep groove ball bearing; 35. Pressure bearing; 40. Control module; 41. Development board; 42. ESC center board; 43. Control switch; 44. Battery. Detailed Implementation
[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.
[0024] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.
[0025] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, rotated 90 degrees, or in other orientations, and the spatial relative descriptions used herein will be interpreted accordingly.
[0026] like Figures 1 to 3As shown, the embodiment relates to an omnidirectional mobile chassis, including: a mounting structure 10 and a drive structure 20. The mounting structure 10 includes a mounting box 11 and two sets of mounting seats 12. The mounting box 11 is located between and connected to the two sets of mounting seats 12. The drive structure 20 includes a drive motor 21, a first synchronous pulley 22, a synchronous belt 23, a second synchronous pulley 24, a support shaft 25, and a Mecanum wheel 26. The drive motor 21 is mounted inside the mounting seat 12. The first synchronous pulley 22 is sleeved on the drive shaft of the drive motor 21. The synchronous belt 23 meshes with both the first synchronous pulley 22 and the second synchronous pulley 24. The two ends of the support shaft 25 are respectively disposed corresponding to the opposite side walls of the mounting seat 12. The second synchronous pulley 24 and the Mecanum wheel 26 are both sleeved on the circumferential outer side of the support shaft 25 and are connected to each other.
[0027] Using the technical solution of this embodiment, the omnidirectional mobile chassis includes: a mounting structure 10 and a drive structure 20. The mounting structure 10 includes a mounting box 11 and two sets of mounting seats 12. The mounting box 11 is located between the two sets of mounting seats 12 and is connected to the two sets of mounting seats 12. The drive structure 20 includes a drive motor 21, a first synchronous pulley 22, a synchronous belt 23, a second synchronous pulley 24, a support shaft 25, and a Mecanum wheel 26. The drive motor 21 is mounted inside the mounting base 12. The first synchronous pulley 22 is sleeved on the drive shaft of the drive motor 21 and rotates synchronously with the rotation of the drive shaft. The synchronous belt 23 meshes with both the first synchronous pulley 22 and the second synchronous pulley 24, enabling the rotation of the second synchronous pulley 24. The two ends of the support shaft 25 are respectively positioned corresponding to the opposite side walls of the mounting base 12. The second synchronous pulley 24 and the Mecanum wheel 26 are both sleeved on the circumferential outer side of the support shaft 25 and are connected. The second synchronous pulley 24 drives the Mecanum wheel 26 to rotate synchronously. Through the cooperation of the synchronous belt 23, the first synchronous pulley 22, and the second synchronous pulley 24, the impact force of starting and stopping the drive motor 21 can be absorbed, reducing the stress on the Mecanum wheel 26. The technical solution of this embodiment effectively solves the problem that the Mecanum wheel 26 bears a large stress when using it to achieve omnidirectional movement in the prior art.
[0028] like Figure 1As shown, in some embodiments, the omnidirectional mobile chassis further includes a fixing structure 30. The fixing structure 30 includes a supporting horizontal plate 31, two sets of supporting vertical plates 32, and two sets of optical axis fixing rings 33. The supporting horizontal plate 31 is connected to the side wall of the mounting base 12. Both sets of supporting vertical plates 32 are connected to the supporting horizontal plate 31 and are arranged opposite to each other. The supporting horizontal plate 31 is used to separate the internal space of the mounting base 12, and the supporting vertical plates 32 are used to support the supporting shaft 25. The two sets of optical axis fixing rings 33 are respectively fixed on the two sets of supporting vertical plates 32. The two ends of the supporting shaft 25 are respectively set in the two sets of optical axis fixing rings 33. The optical axis fixing rings 33 are used to restrict the axial movement of the supporting shaft 25. The rotation of the supporting shaft 25 can also be restricted by adding an expansion sleeve or by interference fit.
[0029] like Figure 1 As shown, in some embodiments, the fixing structure 30 further includes a deep groove ball bearing 34 and a pressure bearing 35. The deep groove ball bearing 34 is installed on the circumferential outer side of the support shaft 25 and is positioned between the support shaft 25 and the Mecanum wheel 26. The deep groove ball bearing 34 enables smoother rotation of the Mecanum wheel 26 and can efficiently bear the radial force during the rotation of the Mecanum wheel 26, thus improving the lifespan of the Mecanum wheel 26. The pressure bearing 35 is installed on the circumferential outer side of the support shaft 25 and is positioned close to the support vertical plate 32. The pressure bearing 35 can share the combined load on the support shaft 25 during the rotation of the Mecanum wheel 26, thereby reducing the risk of deformation of the support shaft 25.
[0030] like Figure 2 and Figure 3 As shown, in some embodiments, the support plate 31 divides the mounting base 12 into an upper receiving chamber and a lower receiving chamber. The drive motor 21 is mounted on the support plate 31 and is located in the upper receiving chamber. The Mecanum wheel 26 is located in the lower receiving chamber. The separation of the upper and lower receiving chambers makes the internal partitioning of the mounting base 12 more reasonable and the operation is complementary and does not interfere with each other.
[0031] It should be noted that the support plate 31 has an opening, through which the timing belt 23 passes and meshes with the second timing pulley 24.
[0032] like Figure 3 As shown, in some embodiments, the drive structure 20 also includes a speed regulator 27, which is located in the upper receiving chamber and is mounted on the support cross plate 31. The speed regulator 27 adjusts the output torque of the drive motor 21 through wiring terminals.
[0033] like Figure 1 and Figure 2As shown, in some embodiments, the second synchronous pulley 24 has a mounting section 241 and a meshing section 242. The diameter of the mounting section 241 is larger than the diameter of the meshing section 242. The mounting section 241 and the Mecanum pulley 26 are connected by screws. The meshing section 242 meshes with the synchronous belt 23. Driven by the synchronous belt 23, the meshing section 242 rotates, which drives the mounting section 241 to rotate, thereby causing the Mecanum pulley 26 to rotate.
[0034] like Figure 2 and Figure 3 As shown, in some embodiments, the drive structure 20 further includes a motor mounting plate 28, which is vertically mounted on the support cross plate 31. The drive motor 21 is mounted on the motor mounting plate 28, making the installation of the drive motor 21 more stable and less prone to shaking during operation.
[0035] like Figure 2 As shown, in some embodiments, the projection of the mounting base 12 in the vertical direction is an inverted U-shape. This arrangement enables the mounting base 12 to protect the Mecanum wheel 26 and also to act as a mudguard to reduce mud and sand falling onto the Mecanum wheel 26.
[0036] It should be noted that both the drive structure 20 and the fixed structure 30 are provided with two sets, each corresponding to one of the two sets of mounting seats 12. In this configuration, the two sets of Mecanum wheels 26 rotate in opposite directions. In actual use, the two omnidirectional sliding chassis are positioned at both ends of the forklift chassis, so that the four sets of Mecanum wheels 26 are located at the four corners of the forklift chassis. After installation, the two sets of Mecanum wheels 26 located on one side of the forklift chassis rotate in opposite directions; that is, the two sets of Mecanum wheels 26 located diagonally opposite to each other rotate in the same direction.
[0037] like Figure 3 As shown, in some embodiments, the omnidirectional mobile chassis also includes a control module 40. The control module 40 includes a development board 41, an ESC center board 42, and a control switch 43. Both the development board 41 and the ESC center board 42 are housed within the mounting box 11, while the control switch 43 is mounted on the outer wall of the mounting box 11. The development board 41 converts commands into target speeds for the four drive motors 21, thereby achieving omnidirectional motion control. It can also be equipped with corresponding ultrasonic sensors to achieve obstacle avoidance during movement. The ESC center board 42 receives signals from the development board 41 and controls the drive motors 21 to operate. The control switch 43 can autonomously activate emergency measures such as the power-off brake in case of an emergency.
[0038] like Figure 1 As shown, in some embodiments, the mounting box 11 has a receiving space, and the control module 40 also includes a battery 44, which is detachably disposed in the mounting box 11 and is used to supply power to the drive motor 21 or other power modules.
[0039] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0041] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. An omnidirectional mobile chassis, characterized in that, include: The mounting structure (10) includes a mounting box (11) and two sets of mounting seats (12). The mounting box (11) is located between the two sets of mounting seats (12) and is connected to the two sets of mounting seats (12). The drive structure (20) includes a drive motor (21), a first synchronous pulley (22), a synchronous belt (23), a second synchronous pulley (24), a support shaft (25), and a Mecanum wheel (26). The drive motor (21) is installed in the mounting base (12). The first synchronous pulley (22) is sleeved on the drive shaft of the drive motor (21). The synchronous belt (23) meshes with the first synchronous pulley (22) and the second synchronous pulley (24). The two ends of the support shaft (25) are respectively arranged corresponding to the opposite side walls of the mounting base (12). The second synchronous pulley (24) and the Mecanum wheel (26) are both sleeved on the circumferential outer side of the support shaft (25). The second synchronous pulley (24) and the Mecanum wheel (26) are connected.
2. The omnidirectional mobile chassis according to claim 1, characterized in that, The omnidirectional mobile chassis also includes a fixed structure (30), which includes a support horizontal plate (31), two sets of support vertical plates (32) and two sets of optical axis fixing rings (33). The support horizontal plate (31) is connected to the side wall of the mounting base (12). The two sets of support vertical plates (32) are connected to the support horizontal plate (31) and the two sets of support vertical plates (32) are arranged opposite to each other. The two sets of optical axis fixing rings (33) are respectively fixed on the two sets of support vertical plates (32). The two ends of the support shaft (25) are respectively set in the two sets of optical axis fixing rings (33).
3. The omnidirectional mobile chassis according to claim 2, characterized in that, The fixing structure (30) also includes a deep groove ball bearing (34) and a pressure bearing (35). The deep groove ball bearing (34) is installed on the circumferential outer side of the support shaft (25) and is located between the support shaft (25) and the Mecanum wheel (26). The pressure bearing (35) is installed on the circumferential outer side of the support shaft (25) and is located close to the support vertical plate (32).
4. The omnidirectional mobile chassis according to claim 2, characterized in that, The support plate (31) divides the mounting base (12) into an upper receiving chamber and a lower receiving chamber. The drive motor (21) is mounted on the support plate (31). The drive motor (21) is located in the upper receiving chamber, and the Mecanum wheel (26) is located in the lower receiving chamber.
5. The omnidirectional mobile chassis according to claim 4, characterized in that, The drive structure (20) also includes a speed regulator (27), which is located in the upper receiving chamber and is mounted on the support cross plate (31). The speed regulator (27) adjusts the output torque of the drive motor (21) through wiring terminals.
6. The omnidirectional mobile chassis according to claim 1, characterized in that, The second synchronous pulley (24) has an mounting section (241) and an engagement section (242). The diameter of the mounting section (241) is larger than the diameter of the engagement section (242). The mounting section (241) and the Mecanum pulley (26) are connected by screws. The engagement section (242) engages with the synchronous belt (23).
7. The omnidirectional mobile chassis according to claim 2, characterized in that, The drive structure (20) also includes a motor mounting plate (28), which is vertically arranged on the support cross plate (31), and the drive motor (21) is mounted on the motor mounting plate (28).
8. The omnidirectional mobile chassis according to claim 1, characterized in that, The projection of the mounting base (12) in the vertical direction is an inverted U-shape.
9. The omnidirectional moving chassis according to any one of claims 1 to 8, characterized in that, The omnidirectional mobile chassis also includes a control module (40), which includes a development board (41), an electronic control center board (42), and a control switch (43). The development board (41) and the electronic control center board (42) are both located inside the mounting box (11), and the control switch (43) is located on the outer wall of the mounting box (11).
10. The omnidirectional mobile chassis according to claim 9, characterized in that, The mounting box (11) has a receiving space, and the control module (40) also includes a battery (44), which is detachably disposed in the mounting box (11).