CN106091814A - Projectile robot of a kind of Mecanum wheel omnidirectional - Google Patents
Projectile robot of a kind of Mecanum wheel omnidirectional Download PDFInfo
- Publication number
- CN106091814A CN106091814A CN201610712874.9A CN201610712874A CN106091814A CN 106091814 A CN106091814 A CN 106091814A CN 201610712874 A CN201610712874 A CN 201610712874A CN 106091814 A CN106091814 A CN 106091814A
- Authority
- CN
- China
- Prior art keywords
- fixed
- yaw
- mecanum wheel
- trigger mechanism
- spindle motor
- 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
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F7/00—Launching-apparatus for projecting missiles or projectiles otherwise than from barrels, e.g. using spigots
Abstract
The invention discloses projectile robot of a kind of Mecanum wheel omnidirectional, including Mecanum wheel mobile platform, The Cloud Terrace and trigger mechanism, The Cloud Terrace is fixed on Mecanum wheel mobile platform top, and trigger mechanism is fixed on The Cloud Terrace.Described The Cloud Terrace includes Yaw axle swivel mount, Yaw spindle motor, Pitch spindle motor, pitching frame, Yaw spindle motor is fixed on Mecanum wheel mobile platform top, the output shaft of Yaw spindle motor is connected with Yaw axle swivel mount bottom surface by connector, Yaw axle swivel mount top is rotationally connected with pitching frame, both form trigger mechanism fixed mount after connecting, trigger mechanism is fixed in trigger mechanism fixed mount, and Pitch spindle motor is fixed on Yaw axle swivel mount, and its output shaft is connected with pitching frame.The present invention can carry out Omni-mobile, it is possible to emission bullet, and the The Cloud Terrace of lift-launch can rotate around horizontal and vertical axle, and then adjusts the aiming of trigger mechanism.
Description
Technical field
The invention belongs to robot field, be specifically related to projectile robot of a kind of Mecanum wheel omnidirectional.
Background technology
At present, in the tasks such as Mecanum wheel is widely used in storage, and harbour, airport are loaded and unloaded, patrol.Mecanum wheel has oblique
Roller, side force can be produced, Mecanum wheel is by the cooperation of four wheels rotating speed, it is possible to achieve transverse shifting, level
Mobile, around merits such as self rotations, Omni-mobile can be realized by the cooperation of three degree of freedom.But the energy of Mecanum wheel
Loss is big, and the control accuracy of motion is required height.At present cradle head control has reached the degree of five axles, six axles etc., domestic
High level can carry out six-axis linkage, abroad can reach nine axles the most multi-shaft interlocked, but generally exist range of application little,
Cost requirement is high, the problem of limited precision.And critical piece dependence on import, domestic cannot independently manufacture.Ejection robot at present
Actuator generally there is the problems such as simple structure, poor reliability, manufacturing process is poor, novelty is poor, launching of degree of precision
The predominantly imitated firearms of mechanism, lethal big and danger coefficient is high, it is unsuitable for civilian.
It is high that the robot of the most same class predominantly stays in small lot, the level manufactured on a small scale, and price, audient
Little, technical threshold is higher, and the only high-caliber school of minority and student can touch this class robot.Along with motor, control
The reduction of the various hardware device costs such as coremaking sheet, motor driving, the contact threshold of the robot of this class reduces, starts to expedite the emergence of
Go out the game robot of some low costs.
Summary of the invention
It is an object of the invention to provide projectile robot of a kind of Mecanum wheel omnidirectional, it is possible to carry out Omni-mobile, energy
Enough emission bullets, the The Cloud Terrace of lift-launch can rotate around horizontal and vertical axle, and then adjusts the aiming of trigger mechanism.
The technical solution realizing the object of the invention is: projectile robot of a kind of Mecanum wheel omnidirectional, including Mike
Na Mu wheel mobile platform, The Cloud Terrace and trigger mechanism, The Cloud Terrace is fixed on Mecanum wheel mobile platform top, and trigger mechanism is fixed on
On The Cloud Terrace.
Described The Cloud Terrace includes Yaw axle swivel mount, Yaw spindle motor, Pitch spindle motor, pitching frame, and Yaw spindle motor is fixed on
Mecanum wheel mobile platform top, the output shaft of Yaw spindle motor is connected with Yaw axle swivel mount bottom surface by connector, Yaw axle
Swivel mount top is rotationally connected with pitching frame, and both form trigger mechanism fixed mount after connecting, and trigger mechanism is fixed on transmitter
In structure fixed mount, Pitch spindle motor is fixed on Yaw axle swivel mount, and its output shaft is connected with pitching frame.
Described connector is cylinder, and one end has the groove that the output shaft with Yaw spindle motor mates, the other end and Yaw
Axle swivel mount bottom surface is connected.
Described Yaw axle swivel mount and pitching frame are U-shaped frame, and both openings are relative, are rotationally connected by bearing, shape
Become trigger mechanism fixed mount.
Described trigger mechanism includes transmitting tube, friction pulley motor, dials bullet motor, transmitting storehouse protective cover and launch storehouse, launches
Pipe is fixed on bottom transmitting storehouse, and both junctions have a Lou bullet mouth, launches storehouse protective cover and is connected in transmitting top, storehouse, launch storehouse and
The Yaw axle swivel mount of trigger mechanism fixed mount is connected；Dial bullet motor and be fixed on transmitting storehouse bottom centre, dial the output shaft of bullet motor
Stretching into transmitting storehouse, the thumb wheel dialling bullet motor is corresponding with the leakage bullet mouth position of transmitting tube so that bullet is rotated into sending out by thumb wheel
Penetrate pipe；Transmitting tube outer wall has window, and friction pulley motor is fixed on transmitting storehouse outer wall by motor fixing frame, friction pulley motor
Two friction pulleys stretch into transmitting tube window, and the bullet of entrance transmitting tube, after two friction pulleys, is launched from emission port.
Described projectile robot of Mecanum wheel omnidirectional, also includes battery, photographic head, MiniPC machine and several is ultrasonic
Wave sensor, wherein, battery is fixed on Mecanum wheel mobile platform by battery carrier, and photographic head is fixed on outside transmitting storehouse
Wall, several ultrasonic sensors are uniformly distributed and are fixed on Mecanum wheel mobile platform surrounding, photographic head, supersonic sensing
Device, Yaw spindle motor and Pitch spindle motor are connected with MiniPC machine respectively, and MiniPC machine is fixed on Mecanum wheel mobile platform
On.
Compared with prior art, its remarkable advantage is the present invention: (1) can be real by Mecanum wheel mobile platform
Existing Omni-mobile, close to target.
(2) by the transmitting angle of cradle head control trigger mechanism, by the way of friction pulley opposite direction rotating is to the acceleration of BB bullet
Emission bullet, mode is simple and reliable.
(3) simple in construction, cost of manufacture is low.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of projectile robot of Mecanum wheel omnidirectional of the present invention.
Fig. 2 is the trigger mechanism top view of projectile robot of Mecanum wheel omnidirectional of the present invention.
Fig. 3 is the trigger mechanism side view of projectile robot of Mecanum wheel omnidirectional of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
In conjunction with Fig. 1 to Fig. 3, projectile robot of a kind of Mecanum wheel omnidirectional, including Mecanum wheel mobile platform 8, cloud
Platform and trigger mechanism, The Cloud Terrace is bolted and is fixed on Mecanum wheel mobile platform 8 top, and trigger mechanism is by bolt even
Connect and be fixed on The Cloud Terrace.
Described The Cloud Terrace includes Yaw axle swivel mount 12, Yaw spindle motor 11, Pitch spindle motor 4, pitching frame 13, Yaw axle electricity
Machine 11 is fixed on Mecanum wheel mobile platform top, and the output shaft of Yaw spindle motor 11 is by connector and Yaw axle swivel mount 12
Bottom surface is connected, and Yaw axle swivel mount 12 top is rotationally connected by bearing with pitching frame 13, and it is solid that both form trigger mechanism after connecting
Determining frame, trigger mechanism is bolted and is fixed in trigger mechanism fixed mount, and Pitch spindle motor 4 is fixed on Yaw axle swivel mount
On 12, its output shaft is connected with pitching frame 13.
Described connector is cylinder, and one end has a groove that the output shaft with Yaw spindle motor 11 mates, the other end with
Yaw axle swivel mount 12 bottom surface is connected, and its function is equivalent to shaft coupling.
Described Yaw axle swivel mount 12 and pitching frame 13 are U-shaped frame, and both openings are relative, are rotated even by bearing
Connect, form trigger mechanism fixed mount.
Described trigger mechanism includes transmitting tube 6, friction pulley motor 5, dials bullet motor 14, transmitting storehouse protective cover 2 and launch storehouse
3, transmitting tube 6 is fixed on bottom transmitting storehouse 3, launches storehouse 3 and has Lou bullet mouth with transmitting tube 4 connecting place, is communicated by leakage bullet mouth, sends out
Penetrating storehouse protective cover 2 and be connected in the top launching storehouse 3, the Yaw axle swivel mount 12 launching storehouse 3 and trigger mechanism fixed mount passes through bolt
It is connected；Dial bullet motor 14 and be arranged on transmitting storehouse 3 bottom centre, be connected with launching storehouse 3 by bolt, dial the output shaft of bullet motor 14
Stretching into transmitting storehouse 3, it is corresponding that the thumb wheel of group bullet motor 14 leaks bullet mouth position with transmitting tube 6 so that bullet is rotated from leakage by thumb wheel
Bullet mouth is emitted into transmitting tube 6；Transmitting tube 6 outer wall has window, and friction pulley motor 5 is fixed on transmitting storehouse by motor fixing frame
3 outer walls, two friction pulleys of friction pulley motor 5 stretch into transmitting tube 6 window, enter the bullet of transmitting tube 6 after two friction pulleys,
Launch from emission port.
Robot of described Mecanum wheel omnidirectional, also includes battery 1, photographic head, MiniPC machine 10 and several ultrasound wave
Sensor, wherein, battery 1 is fixed on Mecanum wheel mobile platform 8 by special battery carrier, powers to whole system,
Battery carrier is connected by compressing with battery 1, and battery carrier is bolted to connection with Mecanum wheel mobile platform 8.Photographic head
Being fastened on transmitting storehouse 3 outer wall by bolt presses, several ultrasonic sensors are uniformly distributed and are fixed on Mecanum wheel
Mobile platform 8 surrounding, photographic head, ultrasonic sensor, Yaw spindle motor 11 and Pitch spindle motor 4 are respectively with MiniPC machine 10 even
Connecing, MiniPC machine 10 is bolted and is fixed on Mecanum wheel mobile platform 8.
Photographic head is used for collection site ambient image information.
Ultrasonic sensor is used for finding range.
Described Mecanum wheel mobile platform 8 is prior art, in document " a kind of comprehensive shifting based on Mecanum wheel
Moving platform " in disclosed.
Work process is as follows:
Work process is broadly divided into four parts, is the movement of Mecanum wheel mobile platform 8, the pitching of The Cloud Terrace, transmitter respectively
The percussion of structure and other job contents such as content such as target recognition, ultrasonic ranging.
The Cloud Terrace realizes being rotated and trunnion axis pitching around vertical axis by The Cloud Terrace, and then drives trigger mechanism to adjust attitude, from
And adjust the function that transmitting tube 6 points to.Yaw spindle motor 11 is fixed on Mecanum wheel mobile platform 8, its output shaft and Yaw
Axle swivel mount 12 is connected, and the rotation of Yaw spindle motor 11 trunnion axis can drive The Cloud Terrace to horizontally rotate.Pitch spindle motor 4 and Yaw
Axle swivel mount 12 is connected by screw, and is connected on Yaw axle swivel mount 12, and its output shaft is then solid with pitching frame 13 by shaft coupling
Even, rotating in like manner with Yaw axle, Pitch axle can also control the pitching of pitching frame 13 by Pitch spindle motor 4, it addition, launch
Mechanism's all parts is the most directly or indirectly connected on transmitting storehouse 3, and launches storehouse 3 and be connected with pitching frame 13.Therefore, pass through
Pitch spindle motor 4 drives pitching frame 13 pitching can drive the pitching of trigger mechanism, and Yaw spindle motor 11 then can be by controlling
The horizontal rotation of Pitch shaft portion, and then control overall horizontal rotation and pitching rotation.
The principle of trigger mechanism is two friction pulley opposite direction rotatings (to external rotation) of friction pulley motor 5, and then gives bullet
Accelerate to make bullet quickly leave gun barrel.It is cased with friction pulley outside friction pulley motor 5, can be driven by friction pulley motor 5 and rub
Wiping wheel high speed rotating, group bullet motor 14 is fixed with bullet driver plate, driver plate and the transmitting leakage bullet mouth in storehouse 3, transmitting tube and enters bullet mouth phase
Join, dial bullet motor 14 and drive the rotation of driver plate that bullet can be made to enter transmitting tube by leakage bullet mouth, then accelerated by friction pulley,
Transmitting tube 6 can be left at a high speed launch.
The movement of Mecanum wheel mobile platform 8 is prior art.Additionally, it is believed by ultrasound wave etc. by MiniPC machine 10
Breath processes, and then obtains the distance of distance obstacle.Its photographic head is connected on transmitting storehouse 3 outer wall, can gather image with
MiniPC machine 10 communicates, and then realizes target recognition and the function automatically launched.
Claims (5)
1. a projectile robot of Mecanum wheel omnidirectional, it is characterised in that: include Mecanum wheel mobile platform (8), The Cloud Terrace
And trigger mechanism, The Cloud Terrace is fixed on Mecanum wheel mobile platform (8) top, and trigger mechanism is fixed on The Cloud Terrace；
Described The Cloud Terrace includes Yaw axle swivel mount (12), Yaw spindle motor (11), Pitch spindle motor (4), pitching frame (13), Yaw
Spindle motor (11) is fixed on Mecanum wheel mobile platform (8) top, the output shaft of Yaw spindle motor (11) by connector with
Yaw axle swivel mount (12) bottom surface is connected, and Yaw axle swivel mount (12) top is rotationally connected with pitching frame (13), shape after both connections
Becoming trigger mechanism fixed mount, trigger mechanism is fixed in trigger mechanism fixed mount, and Pitch spindle motor (4) is fixed on Yaw axle and rotates
On frame (12), its output shaft is connected with pitching frame (13).
Projectile robot of Mecanum wheel omnidirectional the most according to claim 1, it is characterised in that: described connector is cylinder
Body, one end has the groove that the output shaft with Yaw spindle motor (11) mates, and the other end is connected with Yaw axle swivel mount (12) bottom surface.
Projectile robot of Mecanum wheel omnidirectional the most according to claim 1, it is characterised in that: described Yaw axle swivel mount
And pitching frame (13) is U-shaped frame (12), both openings are relative, are rotationally connected by bearing, form trigger mechanism and fix
Frame.
Projectile robot of Mecanum wheel omnidirectional the most according to claim 1, it is characterised in that: described trigger mechanism includes
Transmitting tube (6), friction pulley motor (5), group bullet motor (14), transmitting storehouse protective cover (2) and transmitting storehouse (3), transmitting tube (6) is fixed
Launching bottom, storehouse (3), both junctions have Lou bullet mouth, launch storehouse protective cover (2) and are connected in transmitting storehouse (3) top, launch
Storehouse (3) is connected with Yaw axle swivel mount (12) of trigger mechanism fixed mount；Dial bullet motor (14) to be fixed in transmitting storehouse (3) bottom
The heart, the output shaft dialling bullet motor (14) stretches into transmitting storehouse (3), dials the thumb wheel of bullet motor (14) and the leakage bullet mouth position of transmitting tube (6)
Put correspondence so that bullet is rotated into transmitting tube (6) by thumb wheel；Transmitting tube (6) outer wall has window, friction pulley motor (5)
Being fixed on transmitting storehouse (3) outer wall by motor fixing frame, two friction pulleys of friction pulley motor (5) stretch into transmitting tube (6) window,
The bullet of entrance transmitting tube (6), after two friction pulleys, is launched from emission port.
Projectile robot of Mecanum wheel omnidirectional the most according to claim 1, it is characterised in that: also include battery (1), take the photograph
As head, MiniPC machine (10) and several ultrasonic sensors, wherein, battery (1) is fixed on Mecanum wheel by battery carrier
On mobile platform (8), photographic head is fixed on transmitting storehouse (3) outer wall, and several ultrasonic sensors are uniformly distributed and are fixed on Mike
Na Mu takes turns mobile platform (8) surrounding, photographic head, ultrasonic sensor, Yaw spindle motor (11) and Pitch spindle motor (4) respectively with
MiniPC machine (10) connects, and MiniPC machine (10) is fixed on Mecanum wheel mobile platform (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610712874.9A CN106091814A (en) | 2016-08-23 | 2016-08-23 | Projectile robot of a kind of Mecanum wheel omnidirectional |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610712874.9A CN106091814A (en) | 2016-08-23 | 2016-08-23 | Projectile robot of a kind of Mecanum wheel omnidirectional |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106091814A true CN106091814A (en) | 2016-11-09 |
Family
ID=57224884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610712874.9A Pending CN106091814A (en) | 2016-08-23 | 2016-08-23 | Projectile robot of a kind of Mecanum wheel omnidirectional |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106091814A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106730714A (en) * | 2016-12-19 | 2017-05-31 | 绍兴凯健科技有限公司 | A kind of table tennis training mate robot |
| CN106904227A (en) * | 2017-04-05 | 2017-06-30 | 电子科技大学 | A kind of obstacle detouring mobile robot |
| CN106903719A (en) * | 2017-04-06 | 2017-06-30 | 东南大学 | Confrontation humanoid robot hair based on friction pulley plays device |
| CN106924955A (en) * | 2017-03-01 | 2017-07-07 | 三峡大学 | A kind of tennis service machine people of Omni-mobile and application method |
| CN106949784A (en) * | 2017-04-05 | 2017-07-14 | 电子科技大学 | A kind of robot emitter |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
| CN107009370A (en) * | 2017-04-26 | 2017-08-04 | 电子科技大学 | Shoot robot |
| CN107053199A (en) * | 2017-04-05 | 2017-08-18 | 电子科技大学 | A kind of robot for the function that fed intake with feeding |
| CN107253201A (en) * | 2017-06-14 | 2017-10-17 | 电子科技大学 | Material shoots robot |
| CN107791256A (en) * | 2017-10-24 | 2018-03-13 | 西安航空学院 | Imitative spider-shaped rescue robot |
| CN107825432A (en) * | 2017-10-24 | 2018-03-23 | 西安航空学院 | Imitative spider-type robot for rescue |
| CN108215654A (en) * | 2016-12-22 | 2018-06-29 | 北京京东尚科信息技术有限公司 | Wheel and transport vehicle |
| CN109654941A (en) * | 2018-11-15 | 2019-04-19 | 东南大学 | Lower feed machanism |
| CN109654947A (en) * | 2018-12-18 | 2019-04-19 | 南京理工大学 | A kind of magazine separate type trigger mechanism |
| CN109702755A (en) * | 2019-01-08 | 2019-05-03 | 中国矿业大学 | A kind of holder and chassis can 360 degree rotation mobile shooting robot |
| CN111741835A (en) * | 2019-04-30 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Mobile robot |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106730714A (en) * | 2016-12-19 | 2017-05-31 | 绍兴凯健科技有限公司 | A kind of table tennis training mate robot |
| CN108215654A (en) * | 2016-12-22 | 2018-06-29 | 北京京东尚科信息技术有限公司 | Wheel and transport vehicle |
| CN108215654B (en) * | 2016-12-22 | 2023-11-03 | 北京京东乾石科技有限公司 | Wheel and transport vehicle |
| CN106924955A (en) * | 2017-03-01 | 2017-07-07 | 三峡大学 | A kind of tennis service machine people of Omni-mobile and application method |
| CN106904227A (en) * | 2017-04-05 | 2017-06-30 | 电子科技大学 | A kind of obstacle detouring mobile robot |
| CN106949784A (en) * | 2017-04-05 | 2017-07-14 | 电子科技大学 | A kind of robot emitter |
| CN107053199A (en) * | 2017-04-05 | 2017-08-18 | 电子科技大学 | A kind of robot for the function that fed intake with feeding |
| CN106949784B (en) * | 2017-04-05 | 2021-05-04 | 电子科技大学 | Robot launcher |
| CN106904227B (en) * | 2017-04-05 | 2020-08-18 | 电子科技大学 | Obstacle-crossing mobile robot |
| CN106903719A (en) * | 2017-04-06 | 2017-06-30 | 东南大学 | Confrontation humanoid robot hair based on friction pulley plays device |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
| CN107009370A (en) * | 2017-04-26 | 2017-08-04 | 电子科技大学 | Shoot robot |
| CN107253201A (en) * | 2017-06-14 | 2017-10-17 | 电子科技大学 | Material shoots robot |
| CN107825432A (en) * | 2017-10-24 | 2018-03-23 | 西安航空学院 | Imitative spider-type robot for rescue |
| CN107791256A (en) * | 2017-10-24 | 2018-03-13 | 西安航空学院 | Imitative spider-shaped rescue robot |
| CN109654941A (en) * | 2018-11-15 | 2019-04-19 | 东南大学 | Lower feed machanism |
| CN109654941B (en) * | 2018-11-15 | 2021-04-27 | 东南大学 | Lower ammunition feeding device |
| CN109654947A (en) * | 2018-12-18 | 2019-04-19 | 南京理工大学 | A kind of magazine separate type trigger mechanism |
| CN109702755A (en) * | 2019-01-08 | 2019-05-03 | 中国矿业大学 | A kind of holder and chassis can 360 degree rotation mobile shooting robot |
| CN111741835A (en) * | 2019-04-30 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Mobile robot |
| WO2020220336A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Mobile robot |
| JP2022530387A (en) * | 2019-04-30 | 2022-06-29 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッド | Mobile robot |
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Application publication date: 20161109 |
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