CN108438095A - A kind of omnidirectional's nursing mobile robot platform - Google Patents
A kind of omnidirectional's nursing mobile robot platform Download PDFInfo
- Publication number
- CN108438095A CN108438095A CN201810222547.4A CN201810222547A CN108438095A CN 108438095 A CN108438095 A CN 108438095A CN 201810222547 A CN201810222547 A CN 201810222547A CN 108438095 A CN108438095 A CN 108438095A
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- Prior art keywords
- mobile robot
- omnidirectional
- robot platform
- nursed
- platform
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of omnidirectionals to nurse mobile robot platform, including mobile mechanism, support mechanism, interlayer mechanism.The nursing mobile platform of the present invention replaces common spider gear using 90 ° of double omni-directional wheels, realizes omnibearing movable by the cooperation of rotating speed between wheel and rotation direction, movement is flexible, bearing capacity and strong environmental adaptability.Mobile mechanism is full symmetric in structure, and interlayer mechanism is located in the middle part of platform, and nursing robot's platform is compact-sized integral into cylinder, occupies little space, is suitable for the place of the narrow spaces such as ward, family.Nursing mobile robot platform is equipped with wireless telecommunications and locating module, convenient for handicapped people's real-time communication and needs the place positioned in real time.Camera can be carried on nursing mobile robot platform and realizes remote monitoring, improve care ability.The configuration of the present invention is simple is compact, and motion control is flexible, and interactivity is good, incorporates people’s lives well, meets nursing demand.
Description
Technical field
The present invention relates to nursing robot field, mobile robot platform is nursed by specifically a kind of omnidirectional.
Background technology
Mobile robot is the important branch of robot field, because its movement is flexible, mobility is high, is widely used to take
The fields such as business, medical treatment, transport.But nursing mobile robot uses two trailing wheel Differential Driving front-wheels for the common of universal wheel at present
Wheeled care platform, occupied space is big, unstable, flexibility is poor, and usually used environment is in spaces such as ward, families
Narrow place, labor intensive, it is difficult to incorporate people’s lives, cannot be satisfied nursing demand.Therefore, design is a kind of flexibly
Property it is high, economic and practical, be suitble in narrow working space and need the nursing mobile robot platform in place being accurately positioned outstanding
It is important.
Invention content
The object of the present invention is to provide a kind of omnidirectionals to nurse mobile robot platform, to solve existing nursing robot's platform
Occupy mobile space it is big, steering need to change itself posture, can not the narrow spaces such as ward, family place flexible motion,
Need artificial assistance, the problem of interactivity difference.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of omnidirectional's nursing mobile robot platform, it is characterised in that：Including mobile mechanism, support mechanism, interlayer mechanism,
In：
Mobile mechanism includes horizontally disposed circular base plate, and circumferentially top surface is uniformly distributed installation there are three be in line style circular base plate
Omnidirectional's wheel apparatus and three drivers, the encoder holder of omnidirectional's wheel apparatus be mounted on circular base plate top surface, stepping electricity
The rear axle of machine horizontal through encoder holder by the axis of shaft coupling and encoder concentrically axis be sequentially connected, stepper motor it is defeated
By the input shaft of shaft coupling and retarder, concentrically axis is sequentially connected shaft, and L-type electric machine support is fixed on circular base plate top surface,
The stepper motor is mounted at the top of L-type electric machine support, and the output shaft of retarder is solid horizontal through L-type electric machine support and ring flange
Fixed connection, concentrically axis is assemblied in 90 ° of omni-directional wheels ring flange；
Support mechanism includes horizontally disposed circular flat platen, and circular flat platen passes through six roots of sensation line style aluminium section bar and circular base plate
Parallel fixed installation, circumferentially there are three L-type ultrasonic wave holder, L-type ultrasonic wave stent outer peaces for bottom surface installation for circular flat platen
Equipped with ultrasonic sensor, there are three main control chip, main control chip copper post water respectively on the inside of three L-type ultrasonic wave holders
Safety is mounted in circular platform board bottom face；
Interlayer mechanism includes clamping plate, lithium battery, and three angles of the clamping plate are respectively and fixedly installed to L-type electric machine support top, institute
It states lithium battery and is fixed on clamping plate end face center position；
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：In mobile mechanism, circular base plate is circumferentially uniform
It opens up there are three race, three 90 ° of omni-directional wheel end faces are respectively perpendicular to circular base disk and are arranged in race, and three 90 ° complete
It is formed by circumscribed circle size to the outer end face point of contact of wheel and is not more than circular base plate.
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：In mobile mechanism, encoder, stepping electricity
Machine, retarder, L-type electric machine support, ring flange and 90 ° of omni-directional wheels share a central axes.
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：In mobile mechanism, omnidirectional's wheel apparatus is the bottom of at
Disk is uniformly distributed, and adjacent angle is 120 °, and 90 ° of omni-directional wheels use double wheel, is made of ring flange connection.
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：In support mechanism, L-type ultrasonic wave branch
Frame lateral surface is not less than 15mm from circular flat platen excircle.
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：In mobile mechanism and support mechanism, entirely
All it is circumferentially to be uniformly distributed installation to wheel apparatus, driver, main control chip, aluminium section bar and ultrasonic sensor, and omni-directional wheel
Device, main control chip, ultrasonic sensor are mounted on the same orientation, and 60 ° are offset by compared to driver installation position.
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：In interlayer mechanism, three angles of clamping plate
End face is concordant with L-type electric machine support outer end face, and clamping plate central shaft coincides with circular base plate central shaft, and clamping plate upper surface is less than driving
Device, clamping plate side are not less than 10mm away from driver, and the principal plane of clamping plate bottom surface does not contact mobile mechanism.
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：In support mechanism, six roots of sensation aluminium section bar two
Two combinations are respectively distributed to driver left and right ends, and aluminium section bar side and driver left and right ends face form an angle.
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：During circular base plate and circular flat platen are total
Mandrel is parallel and area is identical, and nursing mobile robot platform is integral into symmetrical cylinder.
Mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：Nurse the circle of mobile robot platform
Landing slab bottom is installed by wireless communication module, position sensor, velocity sensor and wireless locating module, circular flat table top
Visual sensor and camera are installed.
Advantage of the present invention is：（1）The nursing mobile robot platform is simple and compact for structure, occupies little space, can be preferable
It is applied in the smaller place in the spaces such as ward, family；（2）Using double omni-directional wheel, bigger load can be born, is realized complete
Orientation flexibly moves, and relatively more steady；（3）Flexibility is high, can multi-machine collaborative work, can preferably complete complicated nursing work
Make, realizes All-round Nursing care；（4）Easy to operate, operation and maintenance is convenient.
Description of the drawings
Fig. 1 is a kind of omnidirectional's nursing mobile robot platform overall structure diagram of the present invention.
Fig. 2 is a kind of mobile mechanism's structural schematic diagram of omnidirectional's nursing mobile robot platform of the present invention.
Fig. 3 is a kind of support mechanism structural schematic diagram of omnidirectional's nursing mobile robot platform of the present invention.
Fig. 4 is that a kind of omnidirectional's nursing mobile robot platform of the present invention removes support mechanism structural schematic diagram.
Specific implementation mode
As shown in Figure 1, mobile robot platform, including mobile mechanism 1, support mechanism 2, sandwiching machine are nursed by a kind of omnidirectional
Structure 3, wherein：
As shown in Fig. 2, mobile mechanism 1 includes horizontally disposed circular base plate 12, circumferentially top surface is uniformly distributed circular base plate 12
There are three the omnidirectional's wheel apparatus 4 and three drivers 5 that are in line style, the encoder holders 6 of omnidirectional's wheel apparatus 4 to be mounted on for installation
12 top surface of circular base plate, the rear axle of stepper motor 7 horizontal through encoder holder 6 by the axis of shaft coupling and encoder 11 altogether in
Spindle drive connects, and by the input shaft of shaft coupling and retarder 8, concentrically axis is sequentially connected the output shaft of stepper motor 7, L-type
Electric machine support 9 is fixed on 12 top surface of circular base plate, and the stepper motor 7 is mounted on 9 top of L-type electric machine support, retarder 8 it is defeated
Shaft is fixedly connected horizontal through L-type electric machine support 9 with ring flange 13, and concentrically axis is assemblied in 90 ° of omni-directional wheels 10 to ring flange 13
In；
As shown in figure 3, support mechanism 2 includes horizontally disposed circular flat platen 21, circular flat platen 21 passes through six roots of sensation line style
The fixed installation parallel with circular base plate 12 of aluminium section bar 17, circumferentially there are three L-type ultrasonic wave branch for bottom surface installation for circular flat platen 21
Frame 18,18 outside of L-type ultrasonic wave holder are equipped with ultrasonic sensor 16, respectively close to three 18 insides of L-type ultrasonic wave holder
There are three main control chip 20, the copper post 19 of main control chip 20 is horizontally arranged at 21 bottom surface of circular flat platen；
As shown in figure 4, interlayer mechanism 3 includes clamping plate 14, lithium battery 15, three angles of the clamping plate are respectively and fixedly installed to L-type
9 top of electric machine support, the lithium battery 15 are fixed on 14 end face center position of clamping plate.
The present invention relates to nursing robot fields, mainly by mobile mechanism 1, support mechanism 2,3 three portions of interlayer mechanism
It is grouped as.Substitute common spider gear care platform, using 90 ° of double omni-directional wheels, load capacity is big, can carry out it is traversing, advance, after
It moves back, rotation, realizes the omnibearing movable of three degree of freedom.Mobile robot platform symmetrically divides integral into cylinder, mobile mechanism
Cloth, interlayer mechanism is located in the middle part of platform, simple and compact for structure, is suitble to the place of the narrow spaces such as ward, family, and carries sensing
Device and camera improve the deficiency in structure and performance, are easy to incorporate the nursing life of people, can be used with other care appliances.
Claims (10)
1. mobile robot platform is nursed by a kind of omnidirectional, it is characterised in that：Including mobile mechanism, support mechanism, interlayer mechanism,
Wherein：
Mobile mechanism includes horizontally disposed circular base plate, and circumferentially top surface is uniformly distributed installation there are three be in line style circular base plate
Omnidirectional's wheel apparatus and three drivers, the encoder holder of omnidirectional's wheel apparatus be mounted on circular base plate top surface, stepping electricity
The rear axle of machine horizontal through encoder holder by the axis of shaft coupling and encoder concentrically axis be sequentially connected, stepper motor it is defeated
By the input shaft of shaft coupling and retarder, concentrically axis is sequentially connected shaft, and L-type electric machine support is fixed on circular base plate top surface,
The stepper motor is mounted at the top of L-type electric machine support, and the output shaft of retarder is solid horizontal through L-type electric machine support and ring flange
Fixed connection, concentrically axis is assemblied in 90 ° of omni-directional wheels ring flange；
Support mechanism includes horizontally disposed circular flat platen, and circular flat platen passes through six roots of sensation line style aluminium section bar and circular base plate
Parallel fixed installation, circumferentially there are three L-type ultrasonic wave holder, L-type ultrasonic wave stent outer peaces for bottom surface installation for circular flat platen
Equipped with ultrasonic sensor, there are three main control chip, main control chip copper post water respectively on the inside of three L-type ultrasonic wave holders
Safety is mounted in circular platform board bottom face；
Interlayer mechanism includes clamping plate, lithium battery, and three angles of the clamping plate are respectively and fixedly installed to L-type electric machine support top, institute
It states lithium battery and is fixed on clamping plate end face center position.
2. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The mobile mechanism
In, circular base plate is circumferentially uniformly provided with three races, and three 90 ° of omni-directional wheel end faces are respectively perpendicular to circular base disk and set
It sets in race, the outer end face point of contact of three 90 ° of omni-directional wheels is formed by circumscribed circle size and is not more than circular base plate.
3. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The mobile mechanism
In, encoder, stepper motor, retarder, L-type electric machine support, ring flange and 90 ° of omni-directional wheels share a central axes.
4. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The mobile mechanism
In, omnidirectional's wheel apparatus is uniformly distributed on chassis, and adjacent angle is 120 °, and 90 ° of omni-directional wheels use double wheel, and group is connected by ring flange
At.
5. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The support mechanism
In, L-type ultrasonic wave stent outer face is not less than 15mm from circular flat platen excircle.
6. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The mobile mechanism and
In support mechanism, omnidirectional's wheel apparatus, driver, main control chip, aluminium section bar and ultrasonic sensor are all circumferentially uniformly to divide
Cloth is installed, and omnidirectional's wheel apparatus, main control chip, ultrasonic sensor are mounted on the same orientation, compares driver installation position
Offset by 60 °.
7. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The interlayer mechanism
In, the end face at three angles of clamping plate is concordant with L-type electric machine support outer end face, and clamping plate central shaft coincides with circular base plate central shaft,
Clamping plate upper surface is less than driver, and clamping plate side is not less than 10mm away from driver, and the principal plane of clamping plate bottom surface does not contact moving machine
Structure.
8. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The support mechanism
In, six roots of sensation aluminium section bar combination of two be respectively distributed to driver left and right ends, aluminium section bar side and driver left and right ends face at
Certain angle.
9. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The circular base plate and
Concentrically axis is parallel and area is identical for circular flat platen, and nursing mobile robot platform is integral into symmetrical cylinder.
10. mobile robot platform is nursed by a kind of omnidirectional according to claim 1, it is characterised in that：The circular platform
Board bottom portion is installed by wireless communication module, position sensor, velocity sensor and wireless locating module, the installation of circular flat table top
Visual sensor and camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810222547.4A CN108438095A (en) | 2018-03-19 | 2018-03-19 | A kind of omnidirectional's nursing mobile robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810222547.4A CN108438095A (en) | 2018-03-19 | 2018-03-19 | A kind of omnidirectional's nursing mobile robot platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108438095A true CN108438095A (en) | 2018-08-24 |
Family
ID=63194932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810222547.4A Pending CN108438095A (en) | 2018-03-19 | 2018-03-19 | A kind of omnidirectional's nursing mobile robot platform |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481194A (en) * | 2018-12-20 | 2019-03-19 | 辽宁福之卉科技发展有限公司 | A kind of omnidirectional's intelligence shifting machine |
| CN110434862A (en) * | 2019-07-15 | 2019-11-12 | 大连大华中天科技有限公司 | A kind of compound nursing robot of arm Liftable type Omni-mobile |
| WO2020178337A1 (en) * | 2019-03-05 | 2020-09-10 | Ecole Polytechnique Federale De Lausanne (Epfl) | Motor-wheel for an omni-directional mechanism and vehicle using the same |
| CN111874123A (en) * | 2020-08-22 | 2020-11-03 | 浙江工业大学 | High-load mobile platform capable of achieving pivot steering |
| CN113442646A (en) * | 2021-03-04 | 2021-09-28 | 上海应用技术大学 | Omnidirectional wheel device for rescue robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481194A (en) * | 2018-12-20 | 2019-03-19 | 辽宁福之卉科技发展有限公司 | A kind of omnidirectional's intelligence shifting machine |
| WO2020178337A1 (en) * | 2019-03-05 | 2020-09-10 | Ecole Polytechnique Federale De Lausanne (Epfl) | Motor-wheel for an omni-directional mechanism and vehicle using the same |
| CN110434862A (en) * | 2019-07-15 | 2019-11-12 | 大连大华中天科技有限公司 | A kind of compound nursing robot of arm Liftable type Omni-mobile |
| CN111874123A (en) * | 2020-08-22 | 2020-11-03 | 浙江工业大学 | High-load mobile platform capable of achieving pivot steering |
| CN113442646A (en) * | 2021-03-04 | 2021-09-28 | 上海应用技术大学 | Omnidirectional wheel device for rescue robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180824 |
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| RJ01 | Rejection of invention patent application after publication |