CN103303391A - Moving platform based on air cushions and Mecanum wheels, - Google Patents

Abstract

The invention proposes a mobile platform based on an air cushion and a Mecanum wheel, which is composed of a vehicle frame, an air cushion unit, an air spring, a swing arm suspension, a Mecanum wheel and an electromagnet, and the swing arm suspension consists of The swing arm, the upper hinge, the lower hinge, the axle, the spring shock absorber, the motor, the reducer and the hub connection flange are composed; during the movement, the entire mobile platform and its load weight are carried by the air cushion unit, while the Mecana The Mu wheel is only used for driving, not mainly for carrying loads. In this way, the advantages of omnidirectional movement and small steering space of the Mecanum wheel can be brought into play, and the wear of the Mecanum wheel can be reduced. After moving to the designated position, the electromagnet at the bottom can be adsorbed to the preset steel plate on the ground, and the entire platform is fixed firmly and reliably.

Description

A Mobile Platform Based on Air Cushion and Mecanum Wheel

technical field

The invention relates to the application field of omnidirectional wheels, in particular to a mobile platform based on an air cushion and a Mecanum wheel.

Background technique

The Mecanum wheel is an omnidirectional four-wheel mobile mechanism. This wheel is made up of two parts, namely the driving hub and a plurality of driven rollers that are evenly distributed in a certain direction along the outer edge of the hub. When the wheel rotates, the speed of the wheel center relative to the ground is the synthesis of the hub speed and the rolling speed of the roller, and there is a deviation angle between the two angles. Because each wheel has this feature, it can realize all-round movement and in-situ steering movement of the car body after being properly combined. Due to the advantages of omnidirectional movement and small steering space, the mobile platform of the Mecanum wheel has been widely used in warehouses, factories and other occasions.

However, the disadvantages of the Mecanum wheel are also obvious. Due to the existence of small rollers on the edge, the Mecanum wheel has a weak load-bearing capacity and is easy to wear. For the Mecanum wheel mobile platform that needs a large load-bearing capacity, the general solution is to increase the number of wheels. This method can solve the problem of bearing capacity but the problem of wear still exists. Thereby affecting the service life of the Mecanum wheel mobile platform.

Contents of the invention

technical problem to be solved

Aiming at the disadvantages of weak bearing capacity and easy wear of Mecanum wheels, the present invention proposes a mobile platform based on air cushions and Mecanum wheels. The entire mobile platform and its load are carried by the air cushion unit, while the Mecanum wheels The Mu wheel is only used for driving, not mainly for carrying loads. In this way, the advantages of omnidirectional movement and small steering space of the Mecanum wheel can be brought into play, and the wear of the Mecanum wheel can be reduced.

Technical solutions

Technical scheme of the present invention is:

The mobile platform based on air cushion and Mecanum wheel is characterized in that: it is composed of vehicle frame, air cushion unit, air spring, swing arm suspension, Mecanum wheel and electromagnet; the vehicle frame is divided into The front frame, the middle frame and the rear frame are connected by the upper support plate; the air cushion unit is installed at the lower part of the front frame and the rear frame; the electromagnet is installed at the lower part of the middle frame; Between the frames and between the rear frame and the middle frame, a group of swing arm suspensions are respectively installed; the swing arm suspension consists of swing arms, upper hinges, lower hinges, axles, spring shock absorbers, motors, The upper part of the swing arm is connected with the upper support plate of the frame through an air spring, the side of the swing arm is connected with the rear side of the front frame or the front side of the rear frame through a hinge; the lower part of the swing arm is fixedly connected with the upper hinge, and the lower The hinge is fixedly connected to the axle, and the upper hinge is hinged to the lower hinge; the lower parts of both ends of the swing arm and the upper parts of both ends of the axle are respectively connected by spring shock absorbers; the two ends of the axle are respectively fixed with hub connecting flanges, and the outer sides of the hub connecting flanges It is connected with the Mecanum wheel, and the inner side of the connecting flange of the hub is connected with the reducer and the motor in turn.

Beneficial effect

The invention realizes a mobile platform structure based on an air cushion and a Mecanum wheel. During the moving process, the entire mobile platform and its load weight are carried by the air cushion unit, and the Mecanum wheel is only used for driving , does not mainly carry the load. In this way, the advantages of omnidirectional movement and small steering space of the Mecanum wheel can be brought into play, and the wear of the Mecanum wheel can be reduced. After moving to the designated position, the electromagnet at the bottom can be adsorbed to the preset steel plate on the ground, and the entire platform is fixed firmly and reliably.

Description of drawings

Figure 1: Structural schematic diagram of the mobile platform structure based on air cushion and Mecanum wheel;

Figure 2: Bottom view of the mobile platform structure based on air cushions and Mecanum wheels;

Figure 3: Schematic diagram of the frame;

Figure 4: Side view of the swing arm suspension;

Figure 5: Front view of the swing arm suspension;

Among them: 1. Frame; 2. Air cushion unit; 3. Air spring; 4. Swing arm suspension; 5. Mecanum wheel; 6. Electromagnet; 7. Front frame; 8. Middle frame; 9. Rear frame; 10. Upper support plate; 11. Swing arm; 12. Upper hinge; 13. Lower hinge; 14. Axle; 15. Spring shock absorber; 16. Motor; 17. Reducer; 18. Hub connection method orchid.

Detailed ways

Describe the present invention below in conjunction with specific embodiment:

With reference to accompanying drawing 1, the mobile platform based on air cushion and Mecanum wheel in the present embodiment is made of vehicle frame 1, air cushion unit 2, air spring 3, swing arm type suspension 4, Mecanum wheel 5 and electromagnet 6 composition. The overall structure is front-to-back and left-right symmetrical. Described vehicle frame with reference to accompanying drawing 3 is divided into front frame 7, middle frame 8 and rear frame 9, and the top of front frame, middle frame and rear frame is connected by upper support plate 10.

There are four air cushion units 2, which are fixedly connected with the vehicle frame and installed on both sides of the front frame and the bottom of the rear frame of the vehicle frame respectively. The electromagnet 6 is evenly installed on the bottom of the middle frame.

Between the front frame and the middle frame and between the rear frame and the middle frame, a group of swing arm suspensions are installed respectively. With reference to accompanying drawing 4 and accompanying drawing 5, described swing arm type suspension is connected flange by swing arm 11, upper hinge 12, lower hinge 13, vehicle axle 14, spring shock absorber 15, motor 16, speed reducer 17 and wheel hub 18 compositions. The two ends of the upper part of the swing arm are respectively connected to the upper support plate of the vehicle frame through the air spring, and the telescopic movement of the air spring drives the swing arm type suspension to swing; the side of the swing arm is connected to the rear side of the front frame or the front side of the rear frame through a hinge. The lower part of the swing arm is welded to the upper hinge, the lower hinge is welded to the axle, and the upper hinge is hinged to the lower hinge; The arm and the axle are hinged; the two ends of the axle are respectively welded with hub connecting flanges, the outer side of the hub connecting flange is connected with the Mecanum wheel, and the inner side of the hub connecting flange is connected with the reducer and the motor in turn.

The air cushion modules are distributed on the four corners below the vehicle body. During the movement of the platform, the weight of the vehicle body and load is mainly borne by the air cushion modules. By adjusting the expansion and contraction of the air spring, the Mecanum wheels contact the ground to provide driving force for the mobile platform. . In this way, the mobile platform can have a large load capacity, and due to the effect of the air cushion, the required driving force is relatively small, and the wear of the Mecanum wheel is relatively small. The spring shock absorber can ensure that the four wheels of the platform touch the ground at the same time during the moving process, and has a certain buffering and shock-absorbing effect. When the mobile platform moves to the specified position, the air spring is controlled to contract, the Mecanum wheel is off the ground, and then the air cushion module stops working, and the electromagnet installed at the bottom of the middle frame is adsorbed to the preset steel plate on the ground to fix the mobile platform on the specified ground , so that the entire platform is fixed and reliable.

Claims (1)

1. A mobile platform based on an air cushion and a Mecanum wheel, characterized in that: it is made up of a vehicle frame, an air cushion unit, an air spring, a swing arm suspension, a Mecanum wheel and an electromagnet; the vehicle frame is divided into The front frame, the middle frame and the rear frame are connected by the upper support plate; the air cushion unit is installed at the lower part of the front frame and the rear frame; the electromagnet is installed at the lower part of the middle frame; Between the frames and between the rear frame and the middle frame, a group of swing arm suspensions are respectively installed; the swing arm suspension consists of swing arms, upper hinges, lower hinges, axles, spring shock absorbers, motors, The upper part of the swing arm is connected with the upper support plate of the frame through an air spring, the side of the swing arm is connected with the rear side of the front frame or the front side of the rear frame through a hinge; the lower part of the swing arm is fixedly connected with the upper hinge, and the lower The hinge is fixedly connected to the axle, and the upper hinge is hinged to the lower hinge; the lower parts of both ends of the swing arm and the upper parts of both ends of the axle are respectively connected by spring shock absorbers; the two ends of the axle are respectively fixed with hub connecting flanges, and the outer sides of the hub connecting flanges It is connected with the Mecanum wheel, and the inner side of the connecting flange of the hub is connected with the reducer and the motor in turn.

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