阅读说明：本技术 一种可全向移动的平台 (Omnidirectional mobile platform ) 是由 胡耀华 王寅 党满意 于 2018-08-25 设计创作，主要内容包括：本专利涉及一种可全向移动的平台,由支撑机构、动力输出机构、动力传递系统、制动机构和移动执行机构组成,支撑机构由：机架组成；动力输出机构由：四个移动执行机构驱动电机、直流电源和齿轮传动驱动电机组成；动力传递系统由：齿轮传动机构、四个花键轴联轴器、八个大轴承、十个小轴承、两个小轴套、齿轮轴联轴器和两个大轴套组成；制动机构由：四个制动装置组成；移动执行机构由：四个万向轮组成。移动时,可通过控制电磁铁的通断来控制小齿轮与花键轴的动力传递,制动系统可保证移动平台沿直线移动。四个万向轮由四个电机独立驱动,且始终保持同速。本专利可使移动平台沿全向直线移动,使移动平台在狭小空间内更灵活地作业。(This patent relates to a platform that can omnidirectional movement comprises supporting mechanism, power take off mechanism, power transmission system, arrestment mechanism and removal actuating mechanism, and supporting mechanism comprises: a frame assembly; the power output mechanism is composed of: the four-gear transmission driving mechanism consists of four moving actuating mechanism driving motors, a direct-current power supply and a gear transmission driving motor; the power transmission system is composed of: the gear transmission mechanism, four spline shaft couplings, eight large bearings, ten small bearings, two small shaft sleeves, a gear shaft coupling and two large shaft sleeves; the brake mechanism is composed of: the four braking devices are arranged; the mobile executing mechanism comprises: four universal wheels. When the movable platform moves, the power transmission between the pinion and the spline shaft can be controlled by controlling the on-off of the electromagnet, and the brake system can ensure that the movable platform moves along a straight line. The four universal wheels are independently driven by four motors and always keep the same speed. This patent can make moving platform follow omnidirectional straight line and remove, makes moving platform work in narrow and small space more nimble.)

1. A platform that is omni-directionally movable, comprising: the device consists of a supporting mechanism, a power output mechanism, a power transmission system, a braking mechanism and a mobile executing mechanism, wherein the supporting mechanism consists of: a frame (1); the power output mechanism is composed of: the four-wheel-drive; the power transmission system is composed of: the gear transmission mechanism, four spline shaft couplings (13), eight large bearings (14), ten small bearings (15), two small shaft sleeves (17), a gear shaft coupling (20) and two large shaft sleeves (22); the brake mechanism is composed of: four braking devices (7); the mobile executing mechanism comprises: four universal wheels (11).

2. The omni-directionally movable platform of claim 1, wherein: the gear transmission mechanism is composed of: the gear comprises four pinions (2), four pinion bearings (3), two lower spline shafts (4), four spline shaft sleeves (5), two upper spline shafts (6), four large gears (8), four large gear shafts (9), a gear shaft (10) with two gears, four fixed trays (18) and four electromagnets (19).

3. The omni-directionally movable platform of claim 1, wherein: spline shafts of the gear transmission mechanism are all partially splines and partially optical axes, wherein a pinion (2) is internally connected with a pinion bearing (3), and the pinion bearing (3) is connected with the spline shaft part with the splines through a spline shaft sleeve (5); four arresting gear (7) are located the optical axis part of four integral key shafts, four unable ferromagnetic material of fixed tray (18), four inside key ways of blooming of electro-magnet (19), when moving platform needs the craspedodrome, four electro-magnet (19) outage and leave four pinion (2) and fall into on fixed tray (18), thereby make no longer carry out power transmission between pinion (2) and the integral key shaft, four arresting gear (7) among the arrestment mechanism brake four integral key shafts simultaneously, and then reach the direction of fixed universal wheel (11) and prevent that external force from spreading into gear drive's purpose.

4. The omni-directionally movable platform of claim 1, wherein: when the mobile platform needs to turn, the four electromagnets (19) are electrified and adsorbed on the four pinions (2), so that the torque of the pinions (2) is transmitted to the spline shaft through the electromagnets (19), and then the rotating shafts of the four universal wheels (11) are driven, and the four universal wheels rotate in the same direction and at the same angle.

5. The omni-directionally movable platform of claim 1, wherein: the four mobile actuating mechanism driving motors (12) of the mobile actuating mechanism are arranged on transmission shafts of the four universal wheels (11), so that each universal wheel (11) is driven independently, the four mobile actuating mechanism driving motors (12) are of the same type and the same specification, and are supplied with power by the same direct current power supply (16), so that the four motors are ensured to have the same rotating speed, and further the four universal wheels (11) are enabled to have the same rotating speed.

Technical Field

This patent relates to the mechanical engineering field.

Background

With the development of society, controllable mobile platforms are required to work in narrow space in more and more occasions. At present main moving platform's transmission scheme has that turning radius is big, the flexibility is low grade shortcoming, and this makes moving platform be difficult for turning to in narrow and small road, reduces the operating efficiency, for solving above-mentioned problem, promotes moving platform's flexibility and operating efficiency, and this patent designs one kind can follow the platform of qxcomm technology straight line removal.

Disclosure of Invention

This patent provides a platform that can nimble remove in narrow and small road, has the straight line of can qxcomm technology and removes, advantage that the flexibility is high.

In order to achieve the purpose, the following technical scheme is adopted in the patent: the power transmission device consists of a supporting mechanism, a power output mechanism, a power transmission system, a braking mechanism and a mobile executing mechanism. The support mechanism is composed of: a frame (1); the power output mechanism is composed of: the four-wheel-drive; the power transmission system is composed of: the gear transmission mechanism, four spline shaft couplings (13), eight large bearings (14), ten small bearings (15), two small shaft sleeves (17), a gear shaft coupling (20) and two large shaft sleeves (22); the brake mechanism is composed of: four braking devices (7); the mobile executing mechanism comprises: four universal wheels (11).

The gear transmission mechanism is composed of: the gear comprises four pinions (2), four pinion bearings (3), two lower spline shafts (4), four spline shaft sleeves (5), two upper spline shafts (6), four large gears (8), four large gear shafts (9), a gear shaft (10) with two gears, four fixed trays (18) and four electromagnets (19).

Spline shafts of the gear transmission mechanism are all partially splines and partially optical axes, wherein a pinion (2) is internally connected with a pinion bearing (3), and the pinion bearing (3) is connected with the spline shaft part with the splines through a spline shaft sleeve (5); four arresting gear (7) are located the optical axis part of four integral key shafts, four unable ferromagnetic material of fixed tray (18), four inside key ways of blooming of electro-magnet (19), when moving platform needs the craspedodrome, four electro-magnet (19) outage and leave four pinion (2) and fall into on fixed tray (18), thereby make no longer carry out power transmission between pinion (2) and the integral key shaft, four arresting gear (7) among the arrestment mechanism brake four integral key shafts simultaneously, and then reach the direction of fixed universal wheel (11) and prevent that external force from spreading into gear drive's purpose.

The platform capable of moving in all directions is characterized in that: when the mobile platform needs to turn, the four electromagnets (19) are electrified and adsorbed on the four pinions (2), so that the torque of the pinions (2) is transmitted to the spline shaft through the electromagnets (19), and then the rotating shafts of the four universal wheels (11) are driven, and the four universal wheels rotate in the same direction and at the same angle.

The four mobile actuating mechanism driving motors (12) of the mobile actuating mechanism are arranged on transmission shafts of the four universal wheels (11), so that each universal wheel (11) is driven independently, the four mobile actuating mechanism driving motors (12) are of the same type and the same specification, and are supplied with power by the same direct current power supply (16), so that the four motors are ensured to have the same rotating speed, and further the four universal wheels (11) are enabled to have the same rotating speed.

Drawings

Fig. 1 is a top full sectional view of an omni-directionally movable platform according to the present invention.

Fig. 2 is a full sectional view of the upper gear transmission mechanism of the omni-directional movable platform according to the present invention.

Fig. 3 is a full sectional view of the lower gear assembly of the omni-directional movable platform according to the present invention.

Detailed description of the preferred embodiments

The platform capable of moving in all directions consists of a supporting mechanism, a power output mechanism, a power transmission system, a braking mechanism and a moving execution mechanism, wherein the supporting mechanism is a rack and supports a direct-current power supply (16), a gear transmission driving motor (21) and shafts; four moving execution mechanism driving motors (12) and gear transmission driving motors (21) in the power output mechanism are all powered by a direct current power supply (16).

As shown in figure 1, the large gear (8) is divided into an upper layer and a lower layer in consideration of interference generated between the large gears (8), the large gears are arranged diagonally, the small gear (2) is internally connected with the small gear bearing (3), the small gear bearing (3) is connected with a spline part of the spline shaft through a spline shaft sleeve (5), so that torque cannot be directly transmitted between the gear shaft and the small gear (2) during rotation, four braking devices (7) are fixed on a frame, and a working part is arranged on optical axes of the four spline shafts.

As shown in fig. 2 and 3, which are full sectional views of the upper and lower gear mechanisms, two upper large gears (8) are engaged with an upper gear of a gear shaft (10) with two gears, and then engaged with two upper small gears (2); the two lower-layer large gears (8) are meshed with a lower-layer gear with a gear shaft (10) with two gears and then meshed with the two lower-layer small gears (2), and when the gear shaft (10) with the two gears rotates, the four small gears (2) rotate in the same direction and at the same angle through two times of gear meshing.

As shown in fig. 2 and 3, a fixed tray (18) and an electromagnet (19) are arranged below each pinion (2), the fixed tray (18) cannot use ferromagnetic materials, and the electromagnet (19) is made into a disc shape so as to be adsorbed on the pinion and be internally provided with a splined groove.

As shown in fig. 2 and 3, the bottom ends of the spline shafts are connected with the universal wheels (11) through the couplings (13), so that the spline shafts and the rotating shafts of the universal wheels synchronously rotate, the driving motors (12) of the mobile executing mechanisms of the same type are installed inside the four universal wheels (11), power is supplied by one power source (16), and the rotating speeds of the four universal wheels are guaranteed to be equal.

When the moving platform does not need to turn to, consider that the external resistance for the universal wheel comes from equidirectional, so make electro-magnet (19) deenergization, fall into fixed tray (18), because of can directly not transmit the moment of torsion between gear shaft and pinion (2), thereby external resistance can not spread into in the gear drive mechanism, protect inner structure with this, simultaneously, four arresting gear (7) of arrestment mechanism begin to work, guarantee that the gear shaft can not take place the rotation under the external resistance effect, thereby reach the effect of going straight.

When moving platform needs adjustment direction of motion, adsorb on four pinion (2) after four electro-magnets (19) circular telegrams, make electro-magnet (19) and pinion (2) synchronous rotation, because of opening the spline groove in electro-magnet (19), so can transmit the integral key shaft with the moment of torsion on pinion (2), and then transmit the axis of rotation of universal wheel (11), make four universal wheel (11) syntropy with the angular rotation, because of four universal wheel (11) are the same through four models, and drive by same power driven motor (12), so four universal wheels are synchronous along slope linear motion, thereby realize anticipated direction of motion.

When the mobile platform needs to turn 90 degrees, the four universal wheels (11) can be made to turn 90 degrees in situ and then walk linearly, so that right-angle turning in a narrow space is realized.

When the mobile platform needs to turn by 180 degrees, the four universal wheels (11) can be made to rotate by 180 degrees in situ and then walk linearly, and the motor can be directly reversed by changing the position of the power supply electrode, so that the purpose of turning by 180 degrees is achieved.

This patent can make moving platform replace the motion of turning to through omnidirectional linear motion through above embodiment, does not need turning radius promptly and can realize 360 degrees turns to, has saved the space of road greatly, makes moving platform can remove in narrow and small space more nimble.