CN110015357A - Single-motor-driven universal carriage - Google Patents

Abstract

The invention discloses a universal carriage driven by a single motor. The motor is connected to the reducer, the first main pulley is coaxially connected to the reducer, the top plate is open to install the central turntable, the central turntable is installed on the slewing bearing, the slewing bearing is meshed with the driving gear, and the driving gear is connected to the first through the central turntable clutch. The slave pulley is connected; the first and the second master pulley are connected through the driving wheel clutch, and the brake disc is installed on the second main pulley; the second slave pulley is sleeved on the driving shaft of the driving wheel, and the driving shaft of the driving wheel It is connected to the differential through the bottom plate, and the two output half shafts of the differential are respectively connected to the driving wheels; a steering assembly is installed between the two driving wheels, and one end of the axles of the two driving wheels is respectively installed with the driving and driven bogies. The two bogies are hinged through a steering link, the steering push rod is installed at the bottom of the vehicle platform, and the piston rod of the steering push rod is hinged with the active bogie. The invention has the advantages of simple structure, robust control, flexible and stable movement.

Description

Single-motor-driven universal carriage

technical field

The invention relates to the field of universal carriages, and in particular is designed for application environments such as stage material handling, prop movement, performance scene control, actor movement and the like, with slow movement speed, flexible and stable movement, and simple control.

Background technique

At present, the plane full-degree-of-freedom operation of the current universal platform design is realized by specially designed wheels. These wheels have problems such as complex design, short life, and vibration in operation; some also use differential control to realize turning. This control method makes The vehicle is vibrating in motion, and the friction between the wheels and the ground is serious; there is also a multi-motor drive method, and the rotation and turning of the wheels are controlled by motors respectively. This method is relatively complicated to control and has a high cost. The central turntable of the universal car platform is mainly used for slow rotation of props or actors to create special visual effects. Most of them are designed to be driven by a separate motor to drive a worm gear and worm. This method has low transmission efficiency and high cost.

SUMMARY OF THE INVENTION

In order to solve the problems in the background art, the present invention provides a motor to simultaneously or separately realize the full-degree-of-freedom motion of the universal carriage and the rotation of the central turntable. The structure is simple, the movement is flexible and stable, and the control is simple.

The technical scheme adopted in the present invention is as follows:

The invention includes a vehicle platform frame, a power assembly, a central turntable assembly, a wheel drive assembly and a steering assembly. The vehicle platform frame is mainly composed of a top plate and a bottom plate arranged up and down horizontally, and the top plate and the bottom plate are fixedly connected by vertically arranged side plates. Frame structure, the interior of the frame structure is provided with a first mounting plate and a second mounting plate horizontally up and down; the power assembly is installed on the bottom plate, and the power assembly includes a coaxially connected motor and a reducer, and the reducer is driven by the first belt and the central turntable. The components are connected; the first belt drive includes a first driving pulley and a first driven pulley that form a transmission pair, the first driving pulley is coaxially connected to the output shaft of the reducer, and the first driven pulley and the central turntable assembly connect.

The central turntable assembly includes a central turntable, a slewing bearing, a driving gear, a central turntable electromagnetic brake and a central turntable driving electromagnetic clutch. The first mounting plate is provided with a central turntable electromagnetic brake for braking the central turntable, and the top plate has a hole for installing the central turntable. , the central turntable is installed on the first mounting plate through the slewing bearing, the outer ring of the slewing bearing is provided with a ring gear for meshing with the driving gear, the driving gear is mounted on the first mounting plate and meshes with the outer ring of the slewing bearing for transmission, driving The gear is sleeved on the upper end of the gear shaft, and the lower end of the gear shaft is coaxially connected with the wheel shaft of the first driven pulley through the central turntable driving the electromagnetic clutch.

The wheel drive assembly includes a driving wheel, a driven wheel, a differential, a driving wheel driving electromagnetic clutch, a driving wheel driving shaft, a driving wheel electromagnetic brake and a second belt drive. Two driving pulleys and a second driven pulley are formed. The second driving pulley and the second driven pulley are connected by a belt to form a second belt transmission pair. The wheel drives the brake disc, and a driving wheel electromagnetic brake is installed between the driving wheel driving brake disc and the first mounting plate; the second driving pulley and the first driving pulley are coaxially connected through the driving wheel driving electromagnetic clutch, The two driven pulleys are coaxially connected to the upper end of the driving shaft of the driving wheel, and the lower end of the driving shaft of the driving wheel goes down through the first mounting plate and the bottom plate in turn and is coaxially connected to the input shaft of the differential. Each output half shaft is connected to a driving wheel respectively; two driving wheels and two driven wheels are symmetrically installed on both sides of the bottom plate, and a steering assembly is installed between the two driving wheels, and the steering assembly includes a steering link, a steering push rod, a driving The bogie and the driven bogie, the opposite ends of the axles of the two driving wheels are respectively installed with the active bogie and the driven bogie, the active bogie and the driven bogie are hinged through the steering link, and the steering push rod is turned through the steering The push rod installation shaft is installed at the bottom of the vehicle platform, and the piston rod of the steering push rod is hinged with the active bogie.

Preferably, the electromagnetic brake of the central turntable is installed between the central turntable and the first mounting plate. The electromagnetic brake of the central turntable includes an electromagnet base plate, a spring, a mounting support, a pin and an electromagnet, and the mounting support is fixed on the first mounting plate. The electromagnet and the pin shaft are set on the mounting support. There is a gap between the upper end face of the electromagnet and the lower surface of the central turntable. The bottom end of the electromagnet and the pin shaft are fixedly connected to the base plate of the electromagnet. The noodle set has springs.

Preferably, the second mounting plate is horizontally fixed above the bottom plate by a plurality of second support rods, the first mounting plate is horizontally fixed above the second mounting plate by a plurality of first support rods, the upper end of the driving shaft of the driving wheel, the first mounting plate The axles and gear shafts of the two driving pulleys are mounted on the first mounting plate through bearings, and the axles of the first driving pulley and the first driven pulley are mounted on the second mounting plate through bearings.

Preferably, the differential housing is provided with a differential frame, and the two output half shafts of the differential are respectively connected to the axles of the respective driving wheels through their respective ball joints.

Preferably, the platform frame is mainly made of aluminum alloy and stainless steel.

Preferably, the universal carriage is used for material handling on the stage or the movement of props and actors in a performance scene or stage.

The beneficial effects of the present invention are as follows:

The invention can realize the single or simultaneous linear walking, steering and central turntable rotation of the universal carriage only under the driving of one motor, and has the advantages of simple structure, robust control and flexible and stable movement.

Description of drawings

Fig. 1 is the general assembly schematic diagram of the present invention;

Fig. 2 is the driving part schematic diagram of the present invention;

FIG. 3 is a schematic diagram of the straight travel and steering assembly of the present invention;

Figure 4 is a schematic diagram of the structure of the electromagnetic brake of the rotating platform.

In the picture: 1. Differential frame; 2. Ball joint coupling; 3. Driven bogie; 4. Driving wheel; 5. Side plate; 6. Top plate; 7. Central turntable; 8. Driven wheel 9. The first support rod; 10. The second support rod; 11. The drive shaft of the driving wheel; 12. The motor; 17. Slewing bearing; 18. Central turntable electromagnetic brake; 19. First mounting plate; 20. Bottom plate; 21. Second mounting plate; 22. Central turntable driving electromagnetic clutch; 23. First belt drive; 24. Driving wheel Electromagnetic clutch; 25. Differential; 26. Steering connecting rod; 27. Steering push rod mounting shaft; 28. Steering push rod; 29. Active bogie; 30. Electromagnet base plate; 31. Spring; 32. Mounting support ; 33. Pin; 34. Electromagnet.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and embodiments.

As shown in Figures 1 and 2, the platform frame is mainly composed of a top plate 6 and a bottom plate 20 arranged up and down horizontally. The top plate 6 and the bottom plate 20 are connected by vertically arranged side plates 5 to form a frame structure. The first mounting plate 19 and the second mounting plate 21 , the second mounting plate 21 is horizontally fixed above the bottom plate 20 by a plurality of second support rods 10 , and the first mounting plate 19 is horizontally fixed on the first mounting plate 19 by a plurality of first support rods 9 . above the two mounting plates 21 .

The power assembly is installed on the base plate 20, the whole device is powered by the motor 12, the motor 12 is coaxially connected with the reducer 13, and the reducer 13 is connected with the central turntable assembly through the first belt drive 23; the first belt drive 23 includes a first drive The pulley and the first driven pulley, the first driving pulley and the first driven pulley are connected by a transmission belt to form a first belt transmission pair. The first driving pulley is coaxially connected with the output shaft of the reducer 13, and the first driven pulley is connected with the central turntable assembly.

As shown in FIG. 2 , the central opening of the top plate 6 is used to install the central turntable 7 , the upper surface of the central turntable 7 is on the same plane as the top plate 6 , and the lower surface of the central turntable 7 is installed on the first mounting plate 19 through the slewing bearing 17 . , the inner ring of the slewing bearing 17 is fixedly connected with the central turntable 7, the outer ring of the slewing bearing 17 is provided with a ring gear for meshing with the driving gear 16, and the driving gear 16 is installed on the first mounting plate 19 close to the position of the slewing bearing 17, The driving gear 16 meshes with the outer ring of the slewing bearing 17 for transmission. The driving gear 16 is sleeved on the upper end of the gear shaft. The lower end of the gear shaft passes through the first mounting plate 19 downward, and then drives the electromagnetic clutch 22 and the first driven through the central turntable. Coaxial connection of pulleys.

The motor 12 starts and drives the first driving pulley to rotate through the output shaft of the reducer 13. The first driving pulley drives the first driven pulley to rotate through the first belt transmission pair. When the central turntable drives the electromagnetic clutch 22 to connect, the central The turntable drives the electromagnetic clutch 22 to drive the gear shaft to rotate around its own axis, so that the drive gear 16 meshes with the slewing bearing 17 for transmission, and the slewing bearing 17 rotates to drive the central turntable 7 to rotate. When the electromagnetic clutch 22 for driving the central turntable is disconnected, the first driven pulley is disconnected from the gear shaft, and the central turntable 7 does not move.

As shown in FIG. 2 , the second belt drive 14 includes a second driving pulley and a second driven pulley, and the second driving pulley and the second driven pulley are connected by a transmission belt to form a second belt transmission pair. The upper end of the axle of the second driving pulley is coaxially installed with a driving wheel drive brake disc, and a driving wheel electromagnetic brake 15 is installed between the lower surface of the driving wheel driving brake disc and the upper surface of the first mounting plate 19 . When the driving wheel electromagnetic brake 15 is braked, the driving wheel electromagnetic brake 15 is in frictional contact with the driving brake disc of the driving wheel to stop the rotation of the second driving pulley; when the driving wheel electromagnetic brake 15 is released, the driving wheel electromagnetic brake 15 and the driving wheel drive The brake disc is not in contact, and the rotation of the second driving pulley is not affected by the electromagnetic brake 15 of the driving wheel.

The first driving pulley and the second driving pulley are coaxially connected through the driving pulley driving electromagnetic clutch 24, the second driven pulley is sleeved on the upper end of the driving wheel driving shaft 11, and the lower end of the driving wheel driving shaft 11 passes through the bottom plate After 20, it is connected with the input shaft of the differential 25, and the two output half shafts of the differential 25 are respectively connected with a driving wheel 4. Two driving wheels 4 and two driven wheels 8 are symmetrically installed on the front and rear sides below the bottom plate 20 .

When the driving pulley drives the electromagnetic clutch 24 to be connected, since the first driving pulley and the second driving pulley are coaxially connected, when the first driving pulley rotates, the second driving pulley is driven to rotate synchronously, and the second driving pulley then passes through the second driving pulley. The second belt drive pair drives the second driven pulley to rotate, and the second driven pulley drives the driving wheel drive shaft 11 to rotate around its own axis. The half shaft drives the two driving wheels 4 to rotate. When the driving electromagnetic clutch 24 of the driving wheel is disconnected, the first driving pulley and the second driving pulley are disconnected and disconnected, and the driving wheel 4 does not rotate.

As shown in FIG. 3 , a steering assembly is installed between the two driving wheels 4 . The steering assembly includes a steering link 26 , a steering push rod mounting shaft 27 , a steering push rod 28 , an active bogie 29 , and a driven bogie 3 . A driving bogie 29 and a driven bogie 3 are respectively installed on the opposite ends of the axles of the driving wheels 4. The driving bogie 29 and the driven bogie 3 are hingedly connected by a steering link 26, and the fixed end of the steering push rod 28 passes through The steering push rod installation shaft 27 is installed at the bottom of the vehicle platform, and the piston rod (ie the active end) of the steering push rod 28 is hinged with the active bogie 29; the piston rod of the steering push rod 28 extends to drive the active bogie 29 to rotate, and The bogie 29 drives the driven bogie 3 to rotate through the steering link 26 , thereby driving the two driving wheels 4 to turn.

The active bogie 29 and the driven bogie 3 are both L-shaped bogies, one end of the L-shaped bogie is mounted on the lower surface of the bottom plate 20 through a bearing, and the other end of the L-shaped bogie is hinged with the steering link 26 .

As shown in FIG. 4 , the electromagnetic brake 18 of the central turntable is installed between the central turntable 7 and the first mounting plate 19 , and the mounting support 32 is a “ji”-shaped bent part, and the bent part includes a protruding part in the middle and a The bending recesses located on both sides, the mounting support 32 is fixedly installed on the first mounting plate 19 through the bending recesses on both sides, and the spring 31, the pin 33 and the electromagnet 34 are installed in the middle of the mounting support 32 , the lower end of the electromagnet 34 is fixed on the electromagnet base plate 30, the upper end of the electromagnet 34 penetrates upward to the outside of the installation support 32, and the protruding parts are respectively provided with pins 33 on both sides of the installation electromagnet 34 for installing the pin shafts 33. The outer peripheral surface of each pin shaft 33 is compressively sheathed with a spring 31 .

In the specific implementation, the central turntable 7 is a magnetic plate, and the electromagnet 34 is energized to make the electromagnet 34 move upward and the central turntable 7 to attract each other, and the central turntable 7 stops rotating under the effect of adsorption to realize braking. At this time, the spring 31 is in a compressed state, When the electromagnet 34 is powered off, the electromagnet 34 moves downward under the action of the spring 31 , and the electromagnet 34 is separated from the central turntable 7 , so that the rotation of the central turntable 7 is no longer affected by the electromagnet 34 .

The present invention has four working modes, and the specific working processes of the four modes are as follows:

1. The universal carriage moves in a straight line, and the central turntable 7 does not move: the driving wheel electromagnetic brake 15 is released, and the driving wheel drives the electromagnetic clutch 24 to connect the first driving pulley and the second driving pulley, so that the motor 12 drives the driving wheel 4 to rotate ; The central turntable drive electromagnetic clutch 22 is disconnected, the central turntable electromagnetic brake 18 is braked, and the steering push rod 28 is controlled to make the driving wheel 4 in a straight driving state.

2. The universal platform turns and the central turntable 7 does not move: the driving wheel electromagnetic brake 15 is released, the driving wheel driving electromagnetic clutch 24 is connected; the central turntable driving electromagnetic clutch 22 is disconnected, the central turntable electromagnetic brake 18 is braked, and the steering push is controlled. The piston rod of the rod 28 telescopically moves, and the two driving wheels 4 are driven to turn by the steering connecting rod 26 to realize the turning function.

3. The universal car platform does not move and the central turntable rotates: the driving wheel drives the electromagnetic clutch 24 to disconnect, and the driving wheel electromagnetic brake 15 brakes; the central turntable drives the electromagnetic clutch 22 to connect, the central turntable electromagnetic brake 18 is released, and the motor 12 passes through the first The belt drive pair drives the drive gear 16 to rotate, which in turn drives the slewing bearing 17 and the central turntable 7 to rotate.

4. The universal carriage moves while the central turntable rotates: the driving wheel electromagnetic brake 15 is released, and the driving wheel driving electromagnetic clutch 24 is connected; at the same time, the central turntable driving electromagnetic clutch 22 is connected, and the central turntable electromagnetic brake 18 is released; when steering is required The steering push rod 28 is controlled to achieve the turning movement.

The above-mentioned specific embodiments are used to explain the present invention, rather than limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims all fall into the protection scope of the present invention.

Claims (6)

1. the universal ride of single motor driving, it is characterised in that: including ride frame, Power Component, central rotary disc assembly, wheel drive Component and steering assembly, ride frame are mainly made of upper and lower horizontally disposed top plate (6) and bottom plate (20), top plate (6) and bottom plate (20) frame structure is fixedly connected to form by the side plate (5) arranged vertically between, level is equipped with up and down for the inside of frame structure First mounting plate (19) and the second mounting plate (21)；

Power Component is mounted on bottom plate (20), and Power Component includes coaxially connected motor (12) and retarder (13), is slowed down Device (13) is connect by the first V belt translation (23) with central rotary disc assembly；First V belt translation (23) includes to form transmission first Driving pulley and the first driven pulley, the first driving pulley and the output shaft of retarder (13) are coaxially connected, the first driven pulley It is connect with central rotary disc assembly；

Central rotary disc assembly includes central turntable (7), pivoting support (17), driving gear (16), central turntable electromagnetic brake (18) and central turntable drives electromagnetic clutch (22), is equipped on the first mounting plate (19) for braking central turntable (7) Central turntable electromagnetic brake (18), for installing central turntable (7), central turntable (7) passes through pivoting support for top plate (6) aperture (17) it is mounted on the first mounting plate (19), the outer ring of pivoting support (17) is equipped with the tooth for engaging with driving gear (16) Circle, driving gear (16) be mounted on the first mounting plate (19) and with the outer ring of pivoting support (17) engaged transmission, drive gear (16) it is sleeved on the upper end of gear shaft, the lower end of gear shaft passes through central turntable driving electromagnetic clutch (22) and the first driven belt The wheel shaft of wheel is coaxially connected；

Wheel drive component includes driving wheel (4), driven wheel (8), differential mechanism (25), active wheel drive electromagnetic clutch (24), master Driving wheel drive shaft (11), driving wheel electromagnetic brake (15) and the second V belt translation (14), the second V belt translation (14) is mainly by installing The second driving pulley and the second driven pulley composition, the second driving pulley and the second driven pulley on the first mounting plate (19) Between by band connection formed the second V belt translation pair, the wheel shaft upper end of the second driving pulley be coaxially installed with active wheel drive braking Disk is equipped with driving wheel electromagnetic brake (15) between active wheel drive brake disc and the first mounting plate (19)；Second main belt It is coaxially connected by active wheel drive electromagnetic clutch (24) between wheel and the first driving pulley, the second driven pulley and driving wheel The upper end of drive shaft (11) is coaxially connected, and the lower end of active wheel drive shaft (11) sequentially passes through downwards the first mounting plate (19), bottom Plate (20) is coaxially connected with the input shaft of differential mechanism (25) afterwards, and two output axle shafts of differential mechanism (25) are separately connected an active It takes turns (4)；Two driving wheels (4) and two driven wheels (8) are symmetrically mounted on the two sides of bottom plate (20), between two driving wheels (4) Steering assembly is installed, steering assembly includes steering link (26), turns to push rod (28), priving bogie (29) and driven steering Frame (3), the opposite one end of the wheel shaft of two driving wheels (4) are separately installed with priving bogie (29) and driven bogie (3), main Between dynamic bogie (29) and driven bogie (3) hingedly by steering link (26), push rod (28) are turned to by turning to push rod Installation axle (27) is mounted on the bottom of ride frame, and piston rod and priving bogie (29) for turning to push rod (28) are hinged.

2. the universal ride of single motor driving according to claim 1, it is characterised in that: the central turntable electromagnetic system Dynamic device (18) are mounted between central turntable (7) and the first mounting plate (19), and central turntable electromagnetic brake (18) includes electromagnetism Iron bottom plate (30), spring (31), erection support (32), pin shaft (33) and electromagnet (34), erection support (32) are fixed on first On mounting plate (19), electromagnet (34) and pin shaft (33) are set on erection support (32), the upper surface of electromagnet (34) is in Entreating has gap between the lower surface of turntable (7), the bottom end of electromagnet (34) and pin shaft (33) is fixedly connected with electromagnet bottom On plate (30), the outer peripheral surface of pin shaft (33) is set with spring (31).

3. the universal ride of single motor driving according to claim 1, it is characterised in that: second mounting plate (21) The top of bottom plate (20) is horizontally fixed on by multiple second support bars (10), the first mounting plate (19) is supported by multiple first Bar (9) is horizontally fixed on the top of the second mounting plate (21), the upper end of active wheel drive shaft (11), the second driving pulley wheel Axis, gear shaft pass through bearing and are mounted on the first mounting plate (19), the wheel shaft of the first driving pulley and the first driven pulley Wheel shaft passes through bearing and is mounted on the second mounting plate (21).

4. the universal ride of single motor driving according to claim 1, it is characterised in that: described differential mechanism (25) housing Equipped with differential gear frame (1), it is each that two output axle shafts of differential mechanism (25) pass through respective bulb Hooks coupling universal coupling (2) connection respectively Wheel shaft from driving wheel (4).

5. the universal ride of single motor driving according to claim 1, it is characterised in that: the ride frame mainly uses Aluminium alloy and stainless steel are made.

6. the universal ride of single motor according to claim 1 driving, it is characterised in that: the universal ride for pair Stage material is carried or the stage property movement and performer's movement of performance scene or stage.