CN109703652A - A kind of Omni-mobile platform of foundry robot - Google Patents
A kind of Omni-mobile platform of foundry robot Download PDFInfo
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- CN109703652A CN109703652A CN201910140530.9A CN201910140530A CN109703652A CN 109703652 A CN109703652 A CN 109703652A CN 201910140530 A CN201910140530 A CN 201910140530A CN 109703652 A CN109703652 A CN 109703652A
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Abstract
The present invention relates to the Omni-mobile platforms of foundry robot a kind of, belong to Omni-mobile platform technology field.Including platform chassis vehicle frame, platform hull, radar, vehicle-mounted computer, Mecanum wheel, hydraulic leveling system, Motor execution unit and on-vehicle battery group, the present invention uses walking mechanism of four Mecanum wheels as Omni-mobile platform, four Mecanum wheels are operated alone by four DC servo motors respectively, direction of rotation and revolving speed of the vehicle-mounted computer by each servo motor of control, realize the advance, retrogressing and original place spinning motion of Omni-mobile platform；Radar of the present invention is laser radar, realizes the accurate positioning to platform automatically walk key point position, realizes the laser self-navigation of Omni-mobile platform；Hydraulic leveling system of the present invention includes four vertical solution cylinder pressures and two horizontal hydraulic cylinders, realizes the adjusting to plateau levels degree, increases the stability of platform.
Description
Technical field
The present invention relates to Omni-mobile platform technology field, in particular to the Omni-mobile platform of a kind of foundry robot.
Background technique
With the increasingly dependence of counterweight mold casting robot, modern society, completing needed for heavy foundry robot for task is more
Complicated, more arduous, more accurate, environment is also more harsh.This needs heavy foundry robot to have very strong adaptability and move
Property, just as people, if the work that can be only completed with arm that plants oneself is very limited, also to have leg to match enough could be complete
At more more complicated tasks, while efficiency also can be promoted accordingly.Therefore other than the execution unit of heavy foundry robot,
Designing and manufacturing for mobile platform is also particularly important.Wherein for the movement of crawler type, leg foot formula, the common forms of motion such as wheeled
The research of platform is more deep, however the spatial complex and narrow in double teeming workshop, and double teeming robot itself is very stupid
Weight, common mobile platform are difficult to meet application demand.
Summary of the invention
In view of the above-mentioned problems, the technical problem to be solved by the present invention is to how design the Omni-mobile of foundry robot a kind of
Platform, the movement in complicated narrow double teeming workshop of the existing common mobile platform of solution is not flexible, and position attainability is poor
The problems such as.
In order to solve the above-mentioned technical problems, the present invention provides the Omni-mobile platforms of foundry robot a kind of, including flat
Platform chassis frame, platform hull, radar, vehicle-mounted computer, Mecanum wheel, hydraulic leveling system, on-vehicle battery group, WIFI module
With Motor execution unit, it is characterised in that: the platform chassis vehicle frame is rectangle, and four Mecanum wheels are separately mounted to
The quadrangle of platform chassis vehicle frame, the walking mechanism as Omni-mobile platform；The platform hull is stepped cuboid, high
Part be platform front end, low part is platform rear end；The vehicle-mounted computer is mounted on the front end of platform hull, as whole
The control unit of a platform；The radar is mounted on the middle part of platform hull, realizes to platform automatically walk key point
The accurate positioning set realizes the laser self-navigation of Omni-mobile platform；The hydraulic leveling system includes four vertical
Hydraulic cylinder and two horizontal hydraulic cylinders, wherein four vertical solution cylinder pressures are separately mounted to the quadrangle of platform chassis vehicle frame, two sleeping
Formula hydraulic cylinder is separately mounted at the two corners of platform chassis frame interior rear end, after two horizontal hydraulic cylinders are respectively used to control and regulation
The lateral position for holding two vertical solution cylinder pressures increases Omni-mobile platform to the adaptedness of different operating environment；Described
On-vehicle battery group is mounted on the middle part of platform chassis vehicle frame；The WIFI module is mounted on the middle part of platform chassis vehicle frame rearward
End；The Motor execution unit includes four groups of DC servo motors, retarder and shafting, is separately mounted to platform chassis vehicle frame
Inside four corners, the DC servo motor connection retarder at each angle is again by decelerator connection shaft system, and then each shafting is distinguished
It is attached with the Mecanum wheel at each angle.
The operating system is ROS Kinetic version robot operating system.
The radar is laser radar.
The shafting include axis, bearing block, first bearing, axle sleeve, second bearing, round nut stop washer, round nut,
Bolt and retarder mounting rack by bearing block, first bearing, axle sleeve, second bearing, round nut stop washer, round nut and subtract
Fast device mounting rack is successively gone here and there on axis, and blending bolt fastening constitutes shafting, for connecting retarder and Mecanum wheel.
By using above-mentioned technical proposal, the beneficial effects of the present invention are:
1. the present invention uses walking mechanism of four Mecanum wheels as Omni-mobile platform, four Mecanum wheels point
It is not operated alone by four DC servo motors, direction of rotation and revolving speed of the vehicle-mounted computer by each servo motor of control are realized
The advance of Omni-mobile platform, retrogressing and original place spinning motion, increase the mobility and position attainability of mobile platform.
2. radar of the present invention is laser radar, realize to the accurate fixed of platform automatically walk key point position
Position, realizes the laser self-navigation of Omni-mobile platform.
3. hydraulic leveling system of the present invention includes four vertical solution cylinder pressures and two horizontal hydraulic cylinders, wherein four
Vertical solution cylinder pressure is separately mounted to the quadrangle of platform chassis vehicle frame, and two horizontal hydraulic cylinders are separately mounted in platform chassis vehicle frame
At the two corners of portion rear end, for controlling to adjust the lateral position of the two vertical solution cylinder pressures in rear end, increase when mobile platform works
Stability realizes the adjustment to mobile platform levelness.
Detailed description of the invention
Fig. 1 is the overall structure diagram of an embodiment of the present invention；
Fig. 2 is the schematic diagram of internal structure of an embodiment of the present invention；
Fig. 3 is the internal structure schematic top plan view of an embodiment of the present invention；
Fig. 4 is the Motor execution cellular construction schematic diagram of an embodiment of the present invention.
Figure label are as follows: 1- chassis frame, 2- shell, 3- radar supports, 4- radar, 5- vehicle-mounted computer, 6- Mecanum
Wheel, 7- vertical solution cylinder pressure, 8-WIFI module, 9- on-vehicle battery group, 10- shafting, 11- retarder, 12- DC servo motor, 13-
Horizontal hydraulic cylinder, 14- servo-driver, 1001- axis, 1002- bearing block, 1003- first bearing, 1004- axle sleeve, 1005-
Two bearings, 1006- round nut drag washer, 1007- round nut, 1008- bolt, 1009- retarder mounting rack.
Specific embodiment
In order to illustrate more clearly of technical solution of the present invention, below in conjunction with Detailed description of the invention specific implementation of the invention
Example.It should be evident that drawings in the following description are only some embodiments of the invention, for those of ordinary skill in the art
For, under the premise of not paying creation labour, it can also be obtained according to these attached drawings other attached drawings, and obtain other real
Apply mode.
It should be noted that there is the component of identical structure or function in some figures to be easy to understand simplified form,
One of those is only symbolically denoted, or only depicts one of those.Herein, "one" not only indicate " only this
One ", the case where can also indicating " more than one ".
As shown in Figure 1, Figure 2, Figure 3 shows, it is (referred to as " flat that the present invention provides the Omni-mobile platforms of foundry robot a kind of
Platform "), including platform chassis vehicle frame 1, platform hull 2, radar supports 3, radar 4, vehicle-mounted computer 5, Mecanum wheel 6, vertical solution
Cylinder pressure 7, WIFI module 8, on-vehicle battery group 9, shafting 10, retarder 11, DC servo motor 12, horizontal hydraulic cylinder 13 and servo
Driver 14, which is characterized in that the platform chassis vehicle frame 1 is rectangle, and Mecanum wheel 6 is separately mounted to platform chassis
The quadrangle of vehicle frame 1, the walking mechanism as Omni-mobile platform；The platform hull 2 is stepped cuboid, high part
It is platform rear end for platform front end, low part；The vehicle-mounted computer 5 is mounted on the front end of platform hull 2, as entire flat
The control unit of platform；The radar 4 is mounted on the middle part of platform hull 2 by radar supports 3, realizes to the automatic row of platform
The accurate positioning for walking key point position realizes the laser self-navigation of Omni-mobile platform；The vertical solution cylinder pressure 7 is distinguished
It is mounted on the quadrangle of platform chassis vehicle frame 1, horizontal hydraulic cylinder 13 is separately mounted at 1 Internal back end two corners of platform chassis vehicle frame,
Wherein vertical solution cylinder pressure 7 is used to adjust the levelness of platform, and horizontal hydraulic cylinder 13 is for controlling to adjust the vertical hydraulic of rear end two
The lateral position of cylinder 7 increases Omni-mobile platform to the adaptedness and stability of different operating environment；The vehicle mounted electric
Pond group 9 is mounted on the middle part of platform chassis vehicle frame 1；The WIFI module 8 is mounted on the middle part of platform chassis vehicle frame 1 rearward
End；DC servo motor 12, retarder 11 and the shafting 10, is separately mounted to the inside four corners of platform chassis vehicle frame 1,
DC servo motor 12 at each angle connects retarder 11 again by 11 connection axle series 10 of retarder, and then each shafting 10 is respectively and respectively
Mecanum wheel 6 at angle is attached, and forms the driving execution unit of platform.
Further characteristic of the invention is that the operating system of the vehicle-mounted computer 5 is ROS Kinetic version machine
People's operating system.
Further characteristic of the invention is that the radar 4 is laser radar.
Further characteristic of the invention is, as shown in figure 4, the shafting 10 includes axis 1001, bearing block 1002, the
One bearing 1003, axle sleeve 1004, second bearing 1005, round nut stop washer 1006, round nut 1007, bolt 1008 and deceleration
Device mounting rack 1009, by bearing block 1002, first bearing 1003, axle sleeve 1004, second bearing 1005, round nut stop washer
1006, round nut 1007 and retarder mounting rack 1009 are successively gone here and there on axis, and the fastening of blending bolt 1008 constitutes shafting 10, are used for
Connect retarder 11 and Mecanum wheel 6.
As can be seen that using walking mechanism of the Mecanum wheel as Omni-mobile platform, Mike in the embodiment of the present invention
Na Mu wheel is operated alone by DC servo motor respectively, direction of rotation and revolving speed of the vehicle-mounted computer by each servo motor of control,
The advance, retrogressing and original place spinning motion of Omni-mobile platform are realized, mobility and the position for increasing mobile platform are reachable
To property.Radar of the present invention is laser radar, realizes the accurate positioning to platform automatically walk key point position, is realized
The laser self-navigation of Omni-mobile platform.Vertical solution cylinder pressure of the present invention increases for adjusting the levelness of platform
Stability when mobile platform work；The horizontal hydraulic cylinder, for controlling to adjust the cross of the two vertical solution cylinder pressures in rear end
To position, Omni-mobile platform is increased to the adaptedness of different operating environment, ensure that stability when working platform.
The above is only a preferred embodiment of the present invention, it should be noted that the present invention does not address place and is suitable for
The prior art.
Claims (4)
1. the Omni-mobile platform of foundry robot a kind of, including platform chassis vehicle frame, platform hull, radar, vehicle-mounted computer, wheat
Ke Namu wheel, hydraulic leveling system, on-vehicle battery group, WIFI module and Motor execution unit, it is characterised in that: the platform
Chassis frame is rectangle, and four Mecanum wheels are separately mounted to the quadrangle of platform chassis vehicle frame, as Omni-mobile platform
Walking mechanism；The platform hull is stepped cuboid, after high part is platform front end, low part is platform
End；The vehicle-mounted computer is mounted on the front end of platform hull, the control unit as entire platform；The radar is mounted on
The middle part of platform hull realizes the accurate positioning to platform automatically walk key point position, realizes Omni-mobile platform
Laser self-navigation；The hydraulic leveling system includes four vertical solution cylinder pressures and two horizontal hydraulic cylinders, wherein four vertical
Formula hydraulic cylinder is separately mounted to the quadrangle of platform chassis vehicle frame, and two horizontal hydraulic cylinders are separately mounted to platform chassis frame interior
At the two corners of rear end, two horizontal hydraulic cylinders are respectively used to control to adjust the lateral position of the two vertical solution cylinder pressures in rear end, increase
Adaptedness of the Omni-mobile platform to different operating environment；The on-vehicle battery group is mounted in platform chassis vehicle frame
Portion；The WIFI module is mounted on the middle part of platform chassis vehicle frame by rear end；The Motor execution unit includes four groups straight
Flow servo motor, retarder and shafting are separately mounted to the inside four corners of platform chassis vehicle frame, the DC servo electricity at each angle
Machine connects retarder again by decelerator connection shaft system, and then each shafting is attached with the Mecanum wheel at each angle respectively.
2. a kind of Omni-mobile platform of foundry robot as described in claim 1, it is characterised in that: the operating system
For ROS Kinetic version robot operating system.
3. a kind of Omni-mobile platform of foundry robot as described in claim 1, it is characterised in that: the radar is laser
Radar.
4. a kind of Omni-mobile platform of foundry robot as described in claim 1, it is characterised in that: the shafting includes
Axis, bearing block, first bearing, axle sleeve, second bearing, round nut stop washer, round nut, bolt and retarder mounting rack, will
Bearing block, first bearing, axle sleeve, second bearing, round nut stop washer, round nut and retarder mounting rack are successively gone here and there in axis
On, blending bolt fastening constitutes shafting, for connecting retarder and Mecanum wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910140530.9A CN109703652A (en) | 2019-02-26 | 2019-02-26 | A kind of Omni-mobile platform of foundry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910140530.9A CN109703652A (en) | 2019-02-26 | 2019-02-26 | A kind of Omni-mobile platform of foundry robot |
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| CN109703652A true CN109703652A (en) | 2019-05-03 |
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| CN201910140530.9A Pending CN109703652A (en) | 2019-02-26 | 2019-02-26 | A kind of Omni-mobile platform of foundry robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588839A (en) * | 2019-10-17 | 2019-12-20 | 河海大学常州校区 | Service robot removes chassis based on mecanum wheel |
| CN111924021A (en) * | 2020-07-27 | 2020-11-13 | 广州哨马智能装备科技有限公司 | Full-automatic inspection robot chassis |
| CN113200103A (en) * | 2021-05-25 | 2021-08-03 | 上海润璋智能科技股份有限公司 | Novel omnidirectional mobile robot and omnidirectional mobile chassis |
| WO2021259219A1 (en) * | 2020-06-23 | 2021-12-30 | 北京卫星制造厂有限公司 | Flexible omnidirectional smart mobile device oriented to hybrid processing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588839A (en) * | 2019-10-17 | 2019-12-20 | 河海大学常州校区 | Service robot removes chassis based on mecanum wheel |
| WO2021259219A1 (en) * | 2020-06-23 | 2021-12-30 | 北京卫星制造厂有限公司 | Flexible omnidirectional smart mobile device oriented to hybrid processing robot |
| CN111924021A (en) * | 2020-07-27 | 2020-11-13 | 广州哨马智能装备科技有限公司 | Full-automatic inspection robot chassis |
| CN113200103A (en) * | 2021-05-25 | 2021-08-03 | 上海润璋智能科技股份有限公司 | Novel omnidirectional mobile robot and omnidirectional mobile chassis |
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Application publication date: 20190503 |