CN103640496A - 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform - Google Patents
8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform Download PDFInfo
- Publication number
- CN103640496A CN103640496A CN201310272565.0A CN201310272565A CN103640496A CN 103640496 A CN103640496 A CN 103640496A CN 201310272565 A CN201310272565 A CN 201310272565A CN 103640496 A CN103640496 A CN 103640496A
- Authority
- CN
- China
- Prior art keywords
- battery pack
- mobile platform
- mecanum wheel
- omni
- power battery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform which comprises a manual operation rod and a control link. The control link is connected with a main control unit, and a microprocessor is arranged inside the main control unit. The manual operation rod is connected with an integrated controller, and the integrated controller is connected with a power battery pack. The power battery pack is connected with 8 groups of Mecanum wheel mobile devices through power cables, and sensors are arranged on the periphery of the 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform and are ultrasonic wave sensors. The sensors are arranged on the periphery of the platform, emergency braking can be performed when an accident occurs, and the safety performance is greatly improved. In addition, the power battery pack of the platform is a low-voltage lead-acid battery pack and is cheap and low in cost, a low-voltage strategy is taken, required single batteries are few, and the volume and the weight of a whole system can be effectively reduced.
Description
Technical field
The present invention relates to Omni-mobile platform field, especially relate to 8Mecanum and take turns heavily loaded coordinated drive Omni-mobile platform.
Background technology
Omnidirectional moving refers to that kinematic scheme has three degree of freedom in plane, can be simultaneously independently at all around and three square upward movement of original place rotation, and the motion characteristics moving to any direction in the situation that not changing self pose.Omnidirectional moving structure overcome common wheeled travel mechanism have turn radius, cannot transverse shifting and the limitation of original place rotation.Mecanum(Mecanum) omnidirectional's train and driving control system thereof can be realized horizontal, longitudinal, oblique any direction in plane and move and zero turn radius rotation.Omni-mobile platform can shuttle back and forth easily in narrow crowded and space that obstacle is more, and the flexible multiple-task that completes has clear superiority in many application scenarios.At present, domestic omnidirectional mobile device is mainly used in carrying the underloading small scale robot aspect of several kilograms to tens kilograms, as omnidirectional's chassis Soccer robot, omnidirectional's vehicle-bottom inspection robot etc.Heavy-load type Omni-mobile platform that can industrial applications seldom, the Omnidirectional movement forklift that only has armored force engineering institute and Mei Kesi fork truck joint research and development of open report at present, this kind of fork truck maximum is carried as 2 tons, more large-tonnage product is not reported.
The Omni-mobile platform of the current larger load for industrial circle is mainly 4 omni-directional wheel mobile platforms.The driving torque needing due to the wheeled Omni-mobile platform of heavily loaded Mecanum is large, adopting under storage battery DC supply pattern, adopt 4 motors to drive 4 Mecanum wheels to be difficult to meet heavily loaded requirement, adopting a plurality of Mecanum wheel coordinated drive technology is rational selections.Therefore, the application designs and adopts 8 Mecanum omni-directional wheel coordinated drive, and the maximum load that can carry in theory will reach more than 10 tons, and the present invention brings convenience the inter process transhipment for large-scale workpiece and assembling docking.
Summary of the invention
Goal of the invention: for the deficiencies in the prior art, applicant, through long-term practical exploration, has designed 8Mecanum and taken turns heavily loaded coordinated drive Omni-mobile platform.
Technical scheme: in order to realize foregoing invention object, the technical solution adopted in the present invention is: 8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform, comprise: manual lever and control link, described control link is connected with main control unit, and described main control unit inside is provided with microprocessor.Described manual lever is connected with general controller, and described general controller is connected with power battery pack.Described microprocessor adopts TMS320F28027 chip, described power battery pack is connected with 8 groups of Mecanum wheel mobile devices by power cable, described 8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform body surrounding and is provided with sensor, and described sensor adopts ultrasonic transduter.
Described Mecanum wheel mobile device is comprised of electric machine controller, drive motor, reductor and Mecanum wheel, and described drive motor is provided with coder, and described coder is connected with electric machine controller by signal connecting line.
Further, described drive motor and electric machine controller adopt low-voltage alternating-current motor and ac driver, this kind of scheme can be selected low-voltage alternating-current servomotor or asynchronous dynamo, and supporting ac driver, this kind of actuator adopts pulse or total line control, be easy to be connected with the unit interface of general controller, and rotating speed control accuracy is high, can realizes comparatively accurate motion control.In the present invention, between 8 drive motor and electric machine controller, can adopt pulse to control or CAN communication interface is controlled.
This device adopts power battery pack to provide electric energy for whole system, and described power battery pack is connected with 8 electric machine controllers with power cable respectively, for drive motor provides electric energy.Main control unit, according to the given all around of manual lever and rotative speed order, by the comprehensive computing of internal processor, obtains 8 rotating speeds that motor is corresponding, by control link, inputs to 8 electric machine controllers.
Specifically be expressed as, general controller is obtained the speed command of left and right (vx direction), front and back (vy direction) and rotation (ω direction) three directions from M/C bar unit, this speed command is analog signal, micro controller system by general controller carries out digital to analogy conversion, utilize RS485 interface to transfer to main control unit the digital signal obtaining, microprocessor in main control unit carries out computing according to following kinematical equation, obtains the actual motion speed (θ 1-θ 8) of 8 Mecanum wheels.
Electric machine controller obtains after speed signal, according to the speed ratio of speed reduction gearing, is converted into the actual speed of drive motor, then by differential pulse signal, controls corresponding 8 drive motor, to realize the Collaborative Control of 8 drive motor.
Further, described control link can be passed through CAN bus, RS485 bus or differential pulse signal transmission and realize, and the application's control link realizes by RS485 bus transfer.
Further, described power battery pack adopts low pressure lead-acid battery power battery pack.
Beneficial effect: compared with prior art, its beneficial effect is as follows in the present invention:
1, the microprocessor in the present invention adopts the TMS320F28027 of TI company to realize, so this controller fast operation, rich interface, comprises the modules such as AD sampling, CAN communication interface, pulse signal genration, and comprehensive utilization ratio is higher;
2, body surrounding of the present invention is provided with sensor, this sensor adopts ultrasonic transduter, when car body being detected and around object be within the scope of certain distance, output emergency mobile forces stop signal is to main control unit, main control unit obtains after emergency mobile forces stop signal, carry out emergency braking, prevent collision accident, safety performance is promoted greatly;
3, power battery pack of the present invention adopts low pressure lead-acid battery power battery pack, can be 48V, 60V or 72V, this kind of battery pack low price, cost is low, and adopt low pressure strategy, the cell needing is few, can effectively reduce volume and the weight of whole system.
Accompanying drawing explanation
Fig. 1 is that system architecture of the present invention is always schemed.
Fig. 2 is the circuit diagram of main control unit.
Fig. 3 is the interface circuit of manual lever.
The specific embodiment
Below by a most preferred embodiment, the technical program is elaborated, but protection scope of the present invention is not limited to described embodiment.
As shown in Figure 1, 8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform, comprise manual lever 9 and control link 11, described manual lever 9 is connected with general controller 1, described general controller 1 is connected with power battery pack 2, described control link 11 is connected with main control unit, described main control unit inside is provided with microprocessor, described microprocessor adopts TMS320F28027 chip, described power battery pack 2 is connected with 8 groups of Mecanum wheel mobile devices by power cable, described 8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform body surrounding and is provided with sensor 7, described sensor 7 adopts ultrasonic transduter.Described power battery pack 2 adopts low pressure lead-acid battery power battery pack.
Described Mecanum wheel mobile device is comprised of electric machine controller 3, drive motor 4, reductor 5 and Mecanum wheel 6, and described drive motor 4 is provided with coder, and described coder is connected with electric machine controller 3 by signal connecting line 8.Described control link 11 is connected with RS485 interface 10 in general controller 1 by RS485 bus, and transmission realizes.
As shown in Figure 2, the microprocessor in main control unit adopts the TMS320F28027 of TI company to realize, this controller fast operation, and rich interface, comprises the modules such as AD sampling, CAN communication interface, pulse signal genration, is very suitable for native system application.In Fig. 2, DIR_M1～M8 represents the rotative speed direction of motor, and PWM_M1～M8 represents the pulse of output, and the frequency of pulse is corresponding with the actual speed of motor, and this 8 road signal is controlled respectively the speed of 8 motors.
As shown in Figure 3, manual lever and main control unit adopt RS485 bus communication, the signal of manual lever output is analog signal, need to carry out AD conversion by the micro controller system of general controller, be quantified as digital quantity, then by the RS485 interface of micro controller system, data are dealt in main control unit.As shown in Figure 3, described micro controller system adopts ATmega48 chip to the detailed circuit of control lever sampling.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1.8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform, comprise manual lever (9) and control link (11), described manual lever (9) is connected with general controller (1), described general controller (1) is connected with power battery pack (2), described control link (11) is connected with main control unit, described main control unit inside is provided with microprocessor, it is characterized in that: described microprocessor adopts TMS320F28027 chip, described power battery pack (2) is connected with 8 groups of Mecanum wheel mobile devices by power cable, described 8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform body surrounding and is provided with sensor (7), described sensor (7) adopts ultrasonic transduter.
2. 8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform according to claim 1, it is characterized in that: described Mecanum wheel mobile device is comprised of electric machine controller (3), drive motor (4), reductor (5) and Mecanum wheel (6), described drive motor (4) is provided with coder, and described coder is connected with electric machine controller (3) by signal connecting line (8).
3. 8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform according to claim 1, it is characterized in that: described control link (11) is connected by the upper RS485 interface (10) of RS485 bus and general controller (1), and transmission realizes.
4. 8Mecanum takes turns heavily loaded coordinated drive Omni-mobile platform according to claim 1, it is characterized in that: described power battery pack (2) adopts low pressure lead-acid battery power battery pack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310272565.0A CN103640496A (en) | 2013-07-01 | 2013-07-01 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310272565.0A CN103640496A (en) | 2013-07-01 | 2013-07-01 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103640496A true CN103640496A (en) | 2014-03-19 |
Family
ID=50245841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310272565.0A Pending CN103640496A (en) | 2013-07-01 | 2013-07-01 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103640496A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059410A (en) * | 2015-07-22 | 2015-11-18 | 新疆三力智能科技有限公司 | Omnidirectional intelligent mobile robot capable of automatically balancing lifting chassis |
| CN106495056A (en) * | 2016-11-10 | 2017-03-15 | 北京特种机械研究所 | For the omni-directional mobile robots that platen changes the outfit |
| CN107121984A (en) * | 2017-05-31 | 2017-09-01 | 西北工业大学 | Mecanum based on contract net protocol takes turns the cluster method of Omni-mobile system |
| CN107991941A (en) * | 2017-12-27 | 2018-05-04 | 北京卫星制造厂 | A kind of II bus-type driving control systems of MECHATROLINK- |
| CN112498352A (en) * | 2020-10-10 | 2021-03-16 | 北京特种机械研究所 | Control method for omnidirectional traction of air floatation platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152767A (en) * | 2011-04-11 | 2011-08-17 | 浙江美科斯叉车有限公司 | Omni-directional moving platform |
| JP2011250691A (en) * | 2011-08-10 | 2011-12-08 | Toyota Motor Corp | Vehicle |
| JP2012050158A (en) * | 2010-08-24 | 2012-03-08 | Suzuki Motor Corp | Electric vehicle |
| CN202641909U (en) * | 2012-07-25 | 2013-01-02 | 成都联腾动力控制技术有限公司 | Omni-directional mobile platform |
| CN202847324U (en) * | 2012-09-12 | 2013-04-03 | 凯迈（洛阳）测控有限公司 | Omni-directional wheel and omni-directional mobile platform using omni-directional wheel |
| CN202911836U (en) * | 2012-10-24 | 2013-05-01 | 武汉汉迪机器人科技有限公司 | Omni-directional moving platform |
-
2013
- 2013-07-01 CN CN201310272565.0A patent/CN103640496A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012050158A (en) * | 2010-08-24 | 2012-03-08 | Suzuki Motor Corp | Electric vehicle |
| CN102152767A (en) * | 2011-04-11 | 2011-08-17 | 浙江美科斯叉车有限公司 | Omni-directional moving platform |
| JP2011250691A (en) * | 2011-08-10 | 2011-12-08 | Toyota Motor Corp | Vehicle |
| CN202641909U (en) * | 2012-07-25 | 2013-01-02 | 成都联腾动力控制技术有限公司 | Omni-directional mobile platform |
| CN202847324U (en) * | 2012-09-12 | 2013-04-03 | 凯迈（洛阳）测控有限公司 | Omni-directional wheel and omni-directional mobile platform using omni-directional wheel |
| CN202911836U (en) * | 2012-10-24 | 2013-05-01 | 武汉汉迪机器人科技有限公司 | Omni-directional moving platform |
Non-Patent Citations (1)
| Title |
|---|
| 刘洲，吴洪涛: "Mecanum四轮全方位移动机构运动分析与仿真", 《现代设计与先进制造技术》, vol. 40, no. 5, 31 March 2011 (2011-03-31), pages 43 - 44 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059410A (en) * | 2015-07-22 | 2015-11-18 | 新疆三力智能科技有限公司 | Omnidirectional intelligent mobile robot capable of automatically balancing lifting chassis |
| CN105059410B (en) * | 2015-07-22 | 2018-06-29 | 新疆三力智能科技有限公司 | Can autobalance lifting chassis omnidirectional's intelligent mobile robot |
| CN106495056A (en) * | 2016-11-10 | 2017-03-15 | 北京特种机械研究所 | For the omni-directional mobile robots that platen changes the outfit |
| CN106495056B (en) * | 2016-11-10 | 2018-10-12 | 北京特种机械研究所 | The omni-directional mobile robots to change the outfit for platen |
| CN107121984A (en) * | 2017-05-31 | 2017-09-01 | 西北工业大学 | Mecanum based on contract net protocol takes turns the cluster method of Omni-mobile system |
| CN107991941A (en) * | 2017-12-27 | 2018-05-04 | 北京卫星制造厂 | A kind of II bus-type driving control systems of MECHATROLINK- |
| CN107991941B (en) * | 2017-12-27 | 2020-03-24 | 北京卫星制造厂 | MECHANTROLINK-II bus type drive control system |
| CN112498352A (en) * | 2020-10-10 | 2021-03-16 | 北京特种机械研究所 | Control method for omnidirectional traction of air floatation platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103640496A (en) | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform | |
| CN101817182B (en) | Intelligent moving mechanical arm control system | |
| CN102910203B (en) | Wheel-type differential driving-steering device with changeable mounting height | |
| CN201494532U (en) | Omnibearing movable vehicle with Mecanum wheels | |
| CN109823427B (en) | Vehicle-snake combined variable-structure mobile robot | |
| CN208149477U (en) | A kind of full revolute pair modularization robot shipping platform | |
| CN101734302B (en) | Unmanned remote control transfer cart | |
| CN207256220U (en) | A kind of omnidirectional of substation crusing robot | |
| CN106200646A (en) | A kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system | |
| CN202542380U (en) | All-directional AGV (Automatic Guided Vehicle) modular system structure | |
| CN203726486U (en) | Snakelike detection robot | |
| CN204622042U (en) | There is the loading-unloading vehicle of Multi-freedom-degreemanipulator manipulator | |
| CN105375828A (en) | Automotive four-motor controller and control system | |
| CN202879270U (en) | Purely motor-driven rubber-tyred vehicle | |
| US20110297486A1 (en) | Forklift | |
| CN207523474U (en) | A kind of pure electric vehicle road sweeper electric drive system | |
| CN203332262U (en) | Extensible robot chassis | |
| CN101733745B (en) | Solar modularized mobile robot | |
| CN203093708U (en) | Pure power-driven rubber-tired vehicle | |
| CN210149444U (en) | Two-section type crawler wall-climbing robot | |
| CN109747728A (en) | A kind of full revolute pair modularization robot shipping platform | |
| Ye et al. | Research on an intelligent electric inspection robot | |
| CN202929484U (en) | Intelligent logistical vehicle based on motion control card | |
| CN203294226U (en) | Modular robot capable of being assembled into multi-leg wheel-legged robot automatically | |
| CN202965993U (en) | Self-electricity-generating device of electric vehicles and self-electricity-generating electric vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhu Jianjiang Inventor after: Yang Haodong Inventor after: Hua Qiang Inventor before: Zhu Jianjiang Inventor before: Yang Haodong Inventor before: Hua Qiang Inventor before: Zhao Xiulan |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: ZHU JIANJIANG YANG HAODONG HUA QIANG ZHAO XIULAN TO: ZHU JIANJIANG YANG HAODONG HUA QIANG |
|
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140319 |