阅读说明：本技术 一种全向移动平台车及其驱动方法 (Omnidirectional mobile platform truck and driving method thereof ) 是由 张海华 张嘉诚 于 2020-07-21 设计创作，主要内容包括：本发明公开了一种全向移动平台车,包括平台以及位于该平台底面的一个车架座,所述车架座上均布有N个驱动轮组件,所述N个驱动轮组件排列成任意多边形,其中N为大于等于三的自然数,所述车架座上还设有转向驱动轴组件、转向传动链机构、移位驱动轴组件和移位传动链机构,每个所述驱动轮组件均包括中心轴、套轴、轮子、侧向小轴、轴承座和两个伞齿轮；可360°全向转向、移动灵活,定位精准,能在空间高度低的场合使用,承载能力大,可在一般平整度的地面上使用,加装少量附件,可适用于多种不同用途的,制造成本低,维护方便。本发明还公开了一种全向移动平台车的驱动方法。(The invention discloses an omnidirectional moving platform truck, which comprises a platform and a truck frame seat positioned on the bottom surface of the platform, wherein N driving wheel assemblies are uniformly distributed on the truck frame seat, the N driving wheel assemblies are arranged into any polygon, N is a natural number more than or equal to three, a steering driving shaft assembly, a steering transmission chain mechanism, a shifting driving shaft assembly and a shifting transmission chain mechanism are also arranged on the truck frame seat, and each driving wheel assembly comprises a central shaft, a sleeve shaft, wheels, a lateral small shaft, a bearing seat and two bevel gears; the novel multifunctional automobile seat has the advantages of 360-degree omni-directional steering, flexible movement, accurate positioning, capability of being used in occasions with low space height, high bearing capacity, capability of being used on the ground with general flatness, small quantity of accessories, suitability for various purposes, low manufacturing cost and convenience in maintenance. The invention also discloses a driving method of the omnidirectional mobile platform truck.)

1. An omnidirectional moving platform truck comprises a platform and a truck frame seat positioned on the bottom surface of the platform, wherein N driving wheel assemblies are uniformly distributed on the truck frame seat and are arranged into any polygon, wherein N is a natural number more than or equal to three;

each driving wheel assembly comprises a central shaft, a sleeve shaft, wheels, a lateral small shaft, a bearing seat and two bevel gears; the central shaft and the sleeve shaft are coaxially arranged from inside to outside in sequence; the lateral small shaft is arranged on the outer side wall of the lower part of the sleeve shaft; the wheels are mounted on the lateral small shafts through bearings; one of the bevel gears is mounted on one side of the wheel in the axial direction, the other bevel gear is mounted on the lower end of the central shaft, and the two bevel gears are engaged with each other; the middle part of the sleeve shaft is arranged in the bearing seat; the bearing seat comprises an upper bearing seat and a lower bearing seat arranged below the upper bearing seat, and the lower bearing seat is arranged on a bearing bottom plate of the frame seat;

the intersection point of the central line of the lateral small shaft and the central line of the central shaft and the connecting line between the central points of the wheels and the ground contact surface are overlapped with the meshing lines of the two bevel gears;

the steering driving shaft assembly comprises a steering driving motor, a steering shaft and a steering support, and the steering support is fixed on the frame seat; the steering shaft is coaxially and rotatably supported at the radial inner side of the steering support; a driving shaft of the steering driving motor is horizontally arranged and is connected with the bottom end of the steering shaft through a worm gear and a worm, and the steering driving motor drives the steering shaft to rotate;

the shifting driving shaft assembly comprises a shifting driving motor, a shifting shaft, a shifting support and two shifting bevel gears, and the shifting support is fixed on the frame seat; the displacement shaft is coaxially and rotatably supported at the radial inner side of the displacement support; the driving shaft of the displacement driving motor is horizontally arranged, and one displacement bevel gear is arranged on the driving shaft of the displacement driving motor; the other shifting bevel gear is arranged at the lower end of the shifting shaft, and the two shifting bevel gears are meshed with each other; the displacement driving motor drives the displacement shaft to rotate through the two displacement bevel gears;

the steering transmission chain mechanism is a linkage system which is used for connecting sleeve shafts of all the driving wheel assemblies with the steering driving shaft assemblies and enabling the sleeve shafts of all the driving wheel assemblies to synchronously rotate in the same direction;

the shifting transmission chain mechanism is a linkage system which is used for connecting the central shafts of all the driving wheel assemblies with the shifting driving shaft assemblies and enabling the central shafts of all the driving wheel assemblies to synchronously rotate in the same direction.

2. The omni-directional mobile platform cart according to claim 1, wherein the steering shaft drives the sleeve shafts of all the driving wheel assemblies to synchronously rotate in the same direction through the steering transmission chain mechanism;

the shifting shaft drives the central shafts of all the driving wheel assemblies to synchronously rotate in the same direction through the shifting transmission chain mechanism.

3. The omni-directional mobile platform cart according to claim 1, wherein the steering driving motor and the shifting driving motor are both adjustable speed motors, and the steering driving motor and the shifting driving motor are dc motors, servo motors or stepping motors.

4. The omni-directional mobile platform according to claim 1, wherein the steering driving chain mechanism comprises a steering double chain wheel sleeved on the top end of the sleeve shaft of all the driving wheel assemblies and sleeved on the top end of the steering shaft of the steering driving shaft assembly, the steering double chain wheel is divided into an upper chain wheel and a lower chain wheel which are coaxially arranged up and down, the N +1 steering double chain wheels are sequentially connected in series through a steering driving upper chain and a steering driving lower chain which are alternately arranged, the steering driving upper chain is connected with the upper chain wheel of any two adjacent steering double chain wheels, and the steering driving lower chain is sequentially connected with the lower chain wheel of any two adjacent steering double chain wheels.

5. The omni-directional mobile platform truck according to claim 1, wherein the shift driving chain mechanism comprises a shift double chain wheel sleeved on the top end of the central shaft of all the driving wheel assemblies and a shift double chain wheel sleeved on the top end of the shift shaft of the shift driving shaft assembly, the shift double chain wheel is divided into an upper chain wheel and a lower chain wheel which are coaxially arranged up and down, the N +1 shift double chain wheels are alternately connected in series through a shift driving upper chain and a shift driving lower chain which are sequentially arranged, the shift driving upper chain wheel connects upper chain wheels of any two adjacent shift double chain wheels, and the shift driving lower chain wheel sequentially connects lower chain wheels of any two adjacent shift double chain wheels.

6. The omni-directional mobile platform truck according to claim 1, wherein the steering driving chain mechanism comprises a steering synchronous pulley sleeved on the top end of the sleeve shaft of all the driving wheel assemblies and on the top end of the steering shaft of the steering driving shaft assembly, and a synchronous belt for connecting the N +1 steering synchronous pulleys in series in sequence;

the shifting transmission chain mechanism comprises shifting synchronous belt wheels sleeved at the top ends of the central shafts of all the driving wheel assemblies and the top end of the shifting shaft of the shifting driving shaft assembly, and synchronous belts used for sequentially connecting the N +1 shifting synchronous belt wheels in series.

7. The omni-directional mobile platform cart according to claim 1, wherein the steering transmission chain mechanism comprises a steering pulley sleeved on the top end of the sleeve shaft of all the driving wheel assemblies and on the top end of the steering shaft of the steering driving shaft assembly, and a belt for connecting the N +1 steering pulleys in series in sequence;

the shifting transmission chain mechanism comprises shifting belt pulleys sleeved at the top ends of the central shafts of all the driving wheel assemblies and the shifting shaft of the shifting driving shaft assembly, and belts used for sequentially connecting the N +1 shifting belt pulleys in series.

8. A method of driving an omni-directional mobile platform cart, the method being implemented on an omni-directional mobile platform cart as claimed in claim 1:

when the omnidirectional moving platform truck is driven to steer, sleeve shafts of all the driving wheel assemblies synchronously rotate in the same direction through a steering driving shaft assembly and a steering transmission chain mechanism; then in each driving wheel assembly, the sleeve shaft drives the lateral small shaft fixed on the side wall of the sleeve shaft to rotate so as to drive the wheels to rotate, and the steering of the omnidirectional moving platform truck is realized;

when the omnidirectional moving platform truck is driven to move, central shafts of all the driving wheel assemblies synchronously rotate in the same direction through a moving driving shaft assembly and a moving transmission chain mechanism; then, the wheel is driven to rotate in each driving wheel assembly through the meshing between a bevel gear arranged on one axial side of the wheel and a bevel gear arranged at the lower end of the central shaft, so that the omnidirectional moving platform car is displaced.

9. The method as claimed in claim 8, wherein the steering driving shaft assembly is equipped with a speed-adjustable steering driving motor, the displacement driving shaft assembly is equipped with a speed-adjustable displacement driving motor, and the sleeve shafts and the central shafts on all the driving wheel assemblies rotate synchronously at the same direction and the same angular speed by adjusting the rotation speed of the steering driving motor and the displacement driving motor, so as to achieve the in-situ 360 ° steering of the omnidirectional moving platform vehicle.

Technical Field

The invention relates to an omnidirectional mobile platform truck and a driving method thereof.

Background

At present, most of moving modes such as a moving platform or a vehicle adopt a wheel structure, and a small amount of air flotation structures and magnetic levitation structures are adopted. The wheel structure is simpler, therefore uses more generally, and air supporting structure and magnetic levitation structure are more complicated, and the technical degree of difficulty is great, and is very high to the requirement on ground, maintains the difficulty, and is with high costs height, consequently uses not generally.

The driving wheel and the steering wheel of the mobile platform and the wheels with the wheel structure used at present are separated, and the steering wheel can only steer in a small range, can not do 360-degree full steering rotation, and can not all the wheels synchronously rotate in 360-degree all directions, so that most of mobile platforms and vehicles can not do 360-degree all-direction movement or can not do 360-degree all-direction rotation in situ during movement. This will cause the narrow place, the road is crooked changeable place and can not use, has reduced the application range greatly.

At present, an omnidirectional vehicle driven by Mecanum wheels with a special structure is provided in the industry, although the omnidirectional vehicle is flexible in steering and can be omni-directionally steered and moved in 360 degrees on site, the omnidirectional vehicle has high requirements on the flatness and the smoothness of the ground, cannot be suitable for the ground of common workshops, warehouses, squares and the like with common flatness, and is complex in structure, difficult to operate and incapable of being popularized and used comprehensively.

The applicant discloses in patents cn201510025300.x and CN201520036292.4 an omnidirectional mobile platform cart, but with two disadvantages:

(1) when the steering shaft is turned, the steering shaft interferes with the shifting shaft, so that the shifting shaft is shifted and rotated, and the accurate positioning of the omnidirectional moving platform truck is influenced. And therefore cannot be used in applications requiring precise positioning.

(2) And the omnidirectional wheel is high in longitudinal height due to the structure, is not suitable for being used in occasions with low space height, and limits the application range of the omnidirectional moving platform truck.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an omnidirectional mobile platform truck which can₃₆₀The angle omnidirectional steering, the flexible movement, the accurate positioning, the ability of using in the low space height occasion, the bearing capacity is big, can use on the ground of general roughness, installs a small amount of annex additional, applicable in many different usage, low in manufacturing cost, the maintenance is convenient.

Another object of the present invention is to provide a driving method for an omni-directional mobile platform truck, which can also achieve the above effects.

One technical scheme for achieving the purpose is as follows: an omnidirectional moving platform truck comprises a platform and a truck frame seat positioned on the bottom surface of the platform, wherein N driving wheel assemblies are uniformly distributed on the truck frame seat and are arranged into any polygon, N is a natural number more than or equal to three, and a steering driving shaft assembly, a steering transmission chain mechanism, a shifting driving shaft assembly and a shifting transmission chain mechanism are further arranged on the truck frame seat;

each driving wheel assembly comprises a central shaft, a sleeve shaft, wheels, a lateral small shaft, a bearing seat and two bevel gears; the central shaft and the sleeve shaft are coaxially arranged from inside to outside in sequence; the lateral small shaft is arranged on the outer side wall of the lower part of the sleeve shaft; the wheels are mounted on the lateral small shafts through bearings; one of the bevel gears is mounted on one side of the wheel in the axial direction, the other bevel gear is mounted on the lower end of the central shaft, and the two bevel gears are engaged with each other; the middle part of the sleeve shaft is arranged in the bearing seat; the bearing seat comprises an upper bearing seat and a lower bearing seat arranged below the upper bearing seat, and the lower bearing seat is arranged on a bearing bottom plate of the frame seat;

the intersection point of the central line of the lateral small shaft and the central line of the central shaft and the connecting line between the central points of the wheels and the ground contact surface are overlapped with the meshing lines of the two bevel gears;

the steering driving shaft assembly comprises a steering driving motor, a steering shaft and a steering support, and the steering support is fixed on the frame seat; the steering shaft is coaxially and rotatably supported at the radial inner side of the steering support; a driving shaft of the steering driving motor is horizontally arranged and is connected with the bottom end of the steering shaft through a worm gear and a worm, and the steering driving motor drives the steering shaft to rotate;

the shifting driving shaft assembly comprises a shifting driving motor, a shifting shaft, a shifting support and two shifting bevel gears, and the shifting support is fixed on the frame seat; the displacement shaft is coaxially and rotatably supported at the radial inner side of the displacement support; the driving shaft of the displacement driving motor is horizontally arranged, and one displacement bevel gear is arranged on the driving shaft of the displacement driving motor; the other shifting bevel gear is arranged at the lower end of the shifting shaft, and the two shifting bevel gears are meshed with each other; the displacement driving motor drives the displacement shaft to rotate through the two displacement bevel gears;

the steering transmission chain mechanism is a linkage system which is used for connecting sleeve shafts of all the driving wheel assemblies with the steering driving shaft assemblies and enabling the sleeve shafts of all the driving wheel assemblies to synchronously rotate in the same direction;

the shifting transmission chain mechanism is a linkage system which is used for connecting the central shafts of all the driving wheel assemblies with the shifting driving shaft assemblies and enabling the central shafts of all the driving wheel assemblies to synchronously rotate in the same direction.

The above omnidirectional moving platform vehicle, wherein the steering shaft drives the sleeve shafts of all the driving wheel assemblies to synchronously rotate in the same direction through the steering transmission chain mechanism;

the shifting shaft drives the central shafts of all the driving wheel assemblies to synchronously rotate in the same direction through the shifting transmission chain mechanism.

The above omnidirectional moving platform vehicle is characterized in that the steering driving motor and the shifting driving motor are both adjustable-speed motors, and the steering driving motor and the shifting driving motor are direct-current motors, servo motors or stepping motors.

Foretell omnidirectional movement platform car, wherein, turn to driving chain mechanism including cup joint at the sleeve axle top of all drive wheel subassemblies, cup joint and be in turn to the double sprocket that turns to on the steering spindle top of drive axle subassembly, the last sprocket and the lower sprocket that turns to the double sprocket and divide into coaxial setting from top to bottom, N +1 turn to the double sprocket, through turn to the drive chain that sets up in turn and turn to the drive chain down and establish ties in proper order and get up, turn to the drive chain and connect two arbitrary adjacent cochain wheels that turn to the double sprocket, the chain connects two arbitrary adjacent lower sprockets that turn to the double sprocket down in proper order under the drive of turning to.

The omnidirectional moving platform truck comprises a driving wheel assembly, a shifting driving chain mechanism, a shifting double chain wheel, a shifting driving shaft assembly and a shifting driving shaft, wherein the shifting driving chain mechanism comprises a central shaft top end sleeved on all the driving wheel assemblies and a shifting double chain wheel sleeved on the shifting shaft top end of the shifting driving shaft assembly, the shifting double chain wheel is divided into an upper chain wheel and a lower chain wheel which are coaxially arranged up and down, and the upper chain wheel and the lower chain wheel are arranged on the_N+1 two sprockets of shifting, the chain is established ties in turn with the drive chain down through the drive of shifting that sets gradually, the chain is connected on the drive chain arbitrary two adjacent sprocket of shifting, the drive chain connects the lower sprocket of arbitrary two adjacent two sprockets of shifting in proper order down in the drive of shifting.

The above omnidirectional moving platform vehicle, wherein the steering transmission chain mechanism includes a steering synchronous pulley sleeved on the top end of the sleeve shaft of all the driving wheel assemblies and a steering synchronous pulley sleeved on the top end of the steering shaft of the steering driving shaft assembly, and a synchronous belt for connecting the N +1 steering synchronous pulleys in series in sequence;

the shifting transmission chain mechanism comprises shifting synchronous belt wheels sleeved at the top ends of the central shafts of all the driving wheel assemblies and the top end of the shifting shaft of the shifting driving shaft assembly, and synchronous belts used for sequentially connecting the N +1 shifting synchronous belt wheels in series.

The above omnidirectional moving platform vehicle, wherein the steering transmission chain mechanism comprises a steering belt pulley sleeved at the top end of the sleeve shaft of all the driving wheel assemblies and a steering shaft of the steering driving shaft assembly, and a belt for connecting the N +1 steering belt pulleys in series in sequence;

the shifting transmission chain mechanism comprises shifting belt pulleys sleeved at the top ends of the central shafts of all the driving wheel assemblies and the shifting shaft of the shifting driving shaft assembly, and belts used for sequentially connecting the N +1 shifting belt pulleys in series.

The invention also provides a driving method of the omnidirectional moving platform truck, which is implemented on the omnidirectional moving platform truck and comprises the following steps:

when the omnidirectional moving platform truck is driven to steer, sleeve shafts of all the driving wheel assemblies synchronously rotate in the same direction through a steering driving shaft assembly and a steering transmission chain mechanism; then in each driving wheel assembly, the sleeve shaft drives the lateral small shaft fixed on the side wall of the sleeve shaft to rotate so as to drive the wheels to rotate, and the steering of the omnidirectional moving platform truck is realized;

when the omnidirectional moving platform truck is driven to move, central shafts of all the driving wheel assemblies synchronously rotate in the same direction through a moving driving shaft assembly and a moving transmission chain mechanism; then, the wheel is driven to rotate in each driving wheel assembly through the meshing between a bevel gear arranged on one axial side of the wheel and a bevel gear arranged at the lower end of the central shaft, so that the omnidirectional moving platform car is displaced.

The driving method of the omnidirectional moving platform truck comprises the steps that the steering driving shaft assembly is provided with the speed-adjustable steering driving motor, the shifting driving shaft assembly is provided with the speed-adjustable shifting driving motor, and sleeve shafts and central shafts on all the driving wheel assemblies synchronously rotate at the same angular speed in the same direction by adjusting the rotating speeds of the steering driving motor and the shifting driving motor, so that the omnidirectional moving platform truck is steered in a 360-degree manner in situ.

Compared with the prior art, the technical scheme of the omnidirectional mobile platform truck has the following advantages:

(1) the steering wheel can steer for 360 degrees, is flexible in steering, and is particularly suitable for narrow and small occasions to use: because the steering of each group of wheels is realized by the rotation of the sleeve shaft, the vertically arranged sleeve shaft can rotate for 360 degrees, and the vertical sleeve shaft chain wheels of each wheel group are connected into a linkage system by chains; therefore, the wheels of various wheel sets rotate synchronously for 360 degrees, and the mutual direction can not generate interference; therefore, the whole vehicle can synchronously steer at any angle under the driving of the steering motor, and the effect of flexible steering is achieved;

(2) the height is shorter, and the applicable application range is wider: compared with the 'omnidirectional moving platform vehicle and the driving method thereof' disclosed by CN201510025300.X in the prior art, the structure of the driving wheel is greatly improved, the height of the omnidirectional moving platform vehicle formed by the driving wheel is greatly reduced under the condition that the diameter of the wheel is the same, so that the height of the omnidirectional moving platform vehicle is obviously reduced, the omnidirectional moving platform vehicle is more suitable for being used in a space with a low height, and the application range of the omnidirectional moving platform vehicle is wider;

(3) the positioning is more accurate: compared with the "omnidirectional moving platform car and driving method thereof" disclosed by cn201510025300.x in the prior art, the omnidirectional moving platform car and driving method thereof have the following obvious effects: in the prior art, when a driving wheel turns, the driving wheel is driven to shift and rotate at the same time, so that the omnidirectional moving platform car can shift a small amount when turning, and the positioning accuracy of the omnidirectional moving platform car is influenced; in the application, the center of the sleeve shaft cannot be displaced when the steering is driven, so that the omnidirectional moving platform car cannot be displaced when the omnidirectional moving platform car is driven to steer alone, and the omnidirectional moving platform car is accurately positioned;

(4) the omnidirectional moving platform truck has the advantages of being high in bearing capacity, low in requirement on ground flatness, simple in structure, easy to control, convenient to maintain and low in cost compared with an omnidirectional truck with Mecanum wheels;

the technical scheme of the driving method of the omnidirectional moving platform truck can also realize the aim.

Drawings

FIG. 1 is a bottom view of an omnidirectional mobile platform cart according to the present invention;

FIG. 2 is a front view of an omnidirectional mobile platform cart in accordance with the present invention;

FIG. 3 is a block diagram of a drive wheel assembly of an omni-directional mobile platform cart in accordance with the present invention;

FIG. 4 is a block diagram of the steering drive axle assembly of an omni-directional mobile platform cart in accordance with the present invention;

FIG. 5 is a block diagram of the shift drive axle assembly of an omni-directional mobile platform cart in accordance with the present invention;

FIG. 6 is a block diagram of the steering drive chain mechanism of an omni-directional mobile platform cart in accordance with the present invention;

fig. 7 is a structural diagram of a shifting transmission chain mechanism of the omnidirectional moving platform truck.

Detailed Description

In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:

referring to fig. 1 to 7, in an embodiment of the present invention, an omni-directional mobile platform vehicle includes a platform and a vehicle frame base 100 located at a bottom surface of the platform, wherein a plurality of driving wheel assemblies are uniformly distributed on the vehicle frame base 100, and the plurality of driving wheel assemblies are arranged in any polygon, such as a triangle, a quadrangle, a hexagon, a heptagon or more.

In this embodiment, the number of the driving wheel assemblies 1 is four, the four driving wheel assemblies are arranged in a rectangular shape, and the frame base 100 is further provided with a steering driving shaft assembly 2, a steering transmission chain mechanism 3, a displacement driving shaft assembly 4 and a displacement transmission chain mechanism 5.

Referring to fig. 3, each driving wheel assembly 1 comprises a central shaft 11, a sleeve shaft 12, wheels 13, a lateral small shaft 14, a bearing block and two bevel gears 15; the central shaft 11 and the sleeve shaft 12 are coaxially arranged from inside to outside in sequence; the lateral small shaft 14 is arranged on the outer side wall of the lower part of the sleeve shaft 12, the central line of the lateral small shaft 14 is mutually vertical to the central line of the central shaft 11, and the intersection point is A; the wheels 13 are mounted on the lateral small shafts 14 through bearings; one bevel gear 15 is installed at one side of the wheel 13 in the axial direction, the other bevel gear 15 is installed at the lower end of the center shaft 11, and the two bevel gears 15 are engaged with each other; the middle part of the sleeve shaft 12 is arranged in the bearing seat; the bearing seat comprises an upper bearing seat 161 and a lower bearing seat 162 arranged below the upper bearing seat, and the lower bearing seat 162 is arranged on the bearing bottom plate 101 of the frame seat 100.

In order to ensure that rotation of the central shaft 11 does not occur when the sleeve shaft 12 is rotated alone, the intersection point a between the centre line of the lateral stub shaft 14 and the centre line of the central shaft 11 and the connecting line AB between the centre points B of the wheel 13 and the ground contact surface overlap the line of engagement C D of the two bevel gears; the top end of the central shaft 12 is provided with a shifting double chain wheel 51, the top end of the sleeve shaft is provided with a steering double chain wheel 31, and when the shifting double chain wheel 51 rotates, the shifting double chain wheel 51 drives the wheels 13 to rotate through the bevel gears 15, so that the whole omnidirectional moving platform truck is driven to move. When the steering double chain wheel 31 above the sleeve shaft rotates, the steering double chain wheel 31 passes through the sleeve shaft 12, and the sleeve shaft 12 drives the wheels 14 to perform steering movement through the lateral small shaft 14 arranged on the side wall of the sleeve shaft 12.

Referring to fig. 4, the steering driving shaft assembly 2 includes a steering driving motor 21, a steering shaft 22 and a steering support 23, and the steering support 23 is fixed on the frame base 100; the steering shaft 22 is coaxially and rotatably supported radially inside the steering mount 23; the driving shaft of the steering driving motor 21 is horizontally arranged and connected with the bottom end of the steering shaft 22 through a worm gear 24, and the steering driving motor 21 drives the steering shaft 22 to rotate. The steering shaft 22 drives the sleeve shafts 12 of all the driving wheel assemblies 1 to synchronously rotate in the same direction through the steering transmission chain mechanism 3.

Referring to fig. 5, the shift driving shaft assembly 4 includes a shift driving motor 41, a shift shaft 42, a shift support 43 and two shift bevel gears 44, wherein the shift support 43 is fixed on the frame base 100; the displacement shaft 42 is coaxially and rotatably supported radially inside the displacement support 43; the driving shaft of the shift driving motor 41 is horizontally disposed, and a shift bevel gear 44 is disposed on the driving shaft of the shift driving motor 41; another shift bevel gear 44 is provided at the lower end of the shift shaft 42, and the two shift bevel gears 44 are engaged with each other; the shift drive motor 41 drives the shift shaft 42 to rotate via two shift bevel gears 44 that mesh with each other. The shift shaft 42 drives the central shafts 11 of all the driving wheel assemblies 1 to synchronously rotate in the same direction through the shift transmission chain mechanism 5.

The steering transmission chain mechanism 3 is a linkage system which is used for connecting sleeve shafts 12 of all the driving wheel assemblies 1 with the steering driving shaft assembly 2 and enabling the sleeve shafts 12 of all the driving wheel assemblies 1 to synchronously rotate in the same direction;

the shift transmission chain mechanism 5 is a linkage system for connecting the central shafts 11 of all the driving wheel assemblies 1 and the shift driving shaft assembly 3 and enabling the central shafts 11 of all the driving wheel assemblies 1 to synchronously rotate in the same direction.

The steering driving motor 21 and the displacement driving motor 41 are both speed-adjustable motors, and the steering driving motor 21 and the displacement driving motor 41 may be dc motors, servo motors or stepping motors, in addition to the conventional motors.

Referring to fig. 6, the steering transmission chain mechanism 3 includes a steering twin chain wheel 31 (see fig. 1 and 4) sleeved on the top end of the sleeve 12 of all the driving wheel assemblies 1 and sleeved on the top end of the steering shaft 22 of the steering driving shaft assembly 2. The central axis 11 of the drive wheel assembly 1 and the steering axis 22 of the steering drive shaft assembly 2 are perpendicular and parallel to each other. The steering double chain wheels 31 are all in a horizontal rotating state, the steering double chain wheels 31 are divided into upper chain wheels and lower chain wheels which are coaxially arranged up and down, all the upper chain wheels are located in the same horizontal plane, and all the lower chain wheels are located in the same horizontal plane. In the present embodiment, there are five steering twin sprockets, five steering twin sprockets 31 are sequentially connected in series through the steering driving upper chain 32 and the steering driving lower chain 33 which are alternately arranged, the steering driving upper chain 32 is connected with the upper sprockets of any two adjacent steering twin sprockets 31, and the steering driving lower chain 33 is sequentially connected with the lower sprockets of any two adjacent steering twin sprockets 31. Thus, the chains and the steering double sprocket 31 form a linkage system mutually. When the steering driving motor 21 works, the steering double chain wheel 31 at the top end of the steering shaft 22 drives the steering double chain wheel 31 at the top end of the sleeve shaft 12 of the left and right adjacent driving wheel assemblies 1 to rotate through a chain, the steering double chain wheel 31 at the top end of the sleeve shaft 12 of the adjacent driving wheel assembly 1 drives the steering double chain wheel 31 at the top end of the sleeve shaft 12 of the adjacent driving wheel assembly 1 to rotate, and so on, the steering double chain wheels 31 at the top ends of all the sleeve shafts 12 synchronously rotate in the same direction, so that all the wheels 13 synchronously rotate in the same direction.

Referring to fig. 7, the shifting transmission chain mechanism 5 includes a shifting double sprocket 51 (see fig. 1 and 5) sleeved on the top ends of the central shafts 11 of all the driving wheel assemblies 1 and the shifting shaft 42 of the shifting driving shaft assembly 4, and the central shafts 11 of the driving wheel assemblies 1 and the shifting shaft 42 of the shifting driving shaft assembly 4 are perpendicular and parallel to each other. The shifting double chain wheels 51 are in a horizontal transmission state, each shifting double chain wheel 51 is divided into an upper chain wheel and a lower chain wheel which are coaxially arranged up and down, all the upper chain wheels are positioned in the same horizontal plane, and all the lower chain wheels are positioned in the same horizontal plane. In the present embodiment, there are five shifting double sprockets, five shifting double sprockets 51 are alternately connected in series by a shifting driving upper chain 52 and a shifting driving lower chain 53 which are sequentially arranged, the shifting driving upper chain 52 is connected with the upper sprockets of any two adjacent shifting double sprockets, and the shifting driving lower chain 53 is sequentially connected with the lower sprockets of any two adjacent shifting double sprockets. Thus, each chain and the shifting twin sprocket 51 form a linkage system with each other. When the shifting driving motor 41 works, the shifting double chain wheels 51 on the shifting shaft 42 respectively drive the shifting double chain wheels 51 at the top ends of the central shafts 11 of the left and right driving wheel assemblies 1 to rotate, the shifting double chain wheels 51 on the adjacent driving wheel assemblies 1 drive the adjacent shifting double chain wheels 51 to rotate, and so on, so that the shifting double chain wheels 51 of all the driving wheel assemblies 1 synchronously rotate in the same direction, all the wheels 13 synchronously shift and rotate, and the whole omnidirectional platform truck shifts.

The above-mentioned chain wheel and chain transmission can also be replaced by belt pulley belt transmission, synchronous belt pulley transmission or gear transmission, for example: the steering transmission chain mechanism comprises steering synchronous belt wheels sleeved at the top ends of sleeve shafts of all the driving wheel assemblies and the top ends of steering shafts of the steering driving shaft assemblies, and synchronous belts used for sequentially connecting all the steering synchronous belt wheels in series; the shifting transmission chain mechanism comprises shifting synchronous belt wheels sleeved at the top ends of the central shafts of all the driving wheel assemblies and the shifting shaft of the shifting driving shaft assembly, and synchronous belts used for sequentially connecting all the shifting synchronous belt wheels in series.

Or the steering transmission chain mechanism comprises steering belt pulleys sleeved at the top ends of sleeve shafts of all the driving wheel assemblies and the top end of a steering shaft of the steering driving shaft assembly, and belts used for sequentially connecting all the steering belt pulleys in series; the shifting transmission chain mechanism comprises shifting belt pulleys sleeved at the top ends of central shafts of all driving wheel assemblies and the top ends of shifting shafts of all shifting driving shaft assemblies, and belts used for sequentially connecting all shifting belt pulleys in series.

The number of the driving wheel assemblies 1 can be 3 groups, 4 groups, 5 groups, 6 groups, 7 groups and the like, and is determined according to needs and is not limited; the arrangement of the driving wheel assemblies 1 may be a polygonal arrangement, or may be other arrangements as required.

A driving method of an omnidirectional moving platform vehicle comprises the following steps:

when the omnidirectional moving platform truck is driven to steer, sleeve shafts 12 of all driving wheel assemblies 1 synchronously rotate in the same direction through a steering driving shaft assembly 2 and a steering transmission chain mechanism 3; then, in each driving wheel assembly 1, the sleeve shaft 12 drives the lateral small shaft 14 fixed on the side wall of the driving wheel assembly to rotate, so as to drive the wheels 13 to rotate, and the steering of the omnidirectional moving platform truck is realized;

when the omnidirectional moving platform truck is driven to move, central shafts 11 of all driving wheel assemblies 1 synchronously rotate in the same direction through a moving driving shaft assembly 4 and a moving transmission chain mechanism 5; the wheels 13 are then rotated in each drive wheel assembly 1 by engagement between a bevel gear 15 mounted on one axial side of the wheels 13 and a bevel gear 15 mounted on the lower end of the central shaft 11 to effect displacement of the omni-directional mobile dolly.

The steering driving shaft assembly 2 is provided with a speed-adjustable steering driving motor 21, the shifting driving shaft assembly 4 is provided with a speed-adjustable shifting driving motor 41, and the sleeve shafts 12 and the central shaft 11 on all the driving wheel assemblies 1 synchronously rotate at the same direction and the same angular speed by adjusting the rotating speeds of the steering driving motor 21 and the shifting driving motor 41, so that the omnidirectional moving platform car can steer in situ at 360 degrees.

The omnidirectional moving platform truck has the advantages that:

(1) the movement and the steering are flexible: generally, only part of wheels of a moving platform or a vehicle can be steered in a small range, and all the wheels of the omnidirectional moving platform vehicle are steered synchronously; therefore, the steering range is large, the steering and the movement are flexible, and the device is suitable for various narrow occasions, curved and changeable channels and the like;

(2) the height is low, and the device is suitable for being used in space occasions with low height;

(3) the accurate height of location: the steering drive and the shifting drive are not interfered with each other, and the shifting is not influenced during steering, so that the positioning accuracy is high;

(4) is suitable for multiple purposes: the omnidirectional moving platform truck has the advantages of low platform surface, large area, suitability for mounting various accessories and wide application; such as maintenance vehicles for special purposes, assembly vehicles for various machines, transfer vehicles for workshops and warehouses, lifting vehicles and the like;

(5) the bearing capacity is large: the omnidirectional moving platform truck has high wheel arrangement density and all wheels are driven synchronously during driving, so the omnidirectional moving platform truck has high bearing capacity;

(6) the requirement on the flatness of the ground is not high: because the number of the wheels is large and all the wheels are driving wheels, the influence of the defects caused by uneven ground on the single wheel is small, and the requirement on the ground is low;

(7) simple structure, low manufacturing cost and convenient maintenance.

In conclusion, the omnidirectional moving platform truck and the driving method thereof can realize 360-degree omnidirectional steering, are flexible to move, accurate to position, large in bearing capacity, capable of being used in occasions with low space height, capable of being used on the ground with general flatness, additionally provided with a small number of accessories, suitable for various purposes, low in manufacturing cost and convenient to maintain.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.