CN110182556B - Integrated omnidirectional mobile chassis - Google Patents

Integrated omnidirectional mobile chassis Download PDF

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Publication number
CN110182556B
CN110182556B CN201910405619.3A CN201910405619A CN110182556B CN 110182556 B CN110182556 B CN 110182556B CN 201910405619 A CN201910405619 A CN 201910405619A CN 110182556 B CN110182556 B CN 110182556B
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China
Prior art keywords
frame
chassis
motor
omnidirectional
power
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CN201910405619.3A
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CN110182556A (en
Inventor
俞哲
平雪良
吴剑英
田森文
蒋毅
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Jiangnan University
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Jiangnan University
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0492Storage devices mechanical with cars adapted to travel in storage aisles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G25/00Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
    • B65G25/04Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
    • B65G25/06Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
    • B65G25/065Reciprocating floor conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for

Abstract

The invention discloses an integrated omnidirectional moving chassis, and belongs to the technical field of automatic guiding devices. The invention integrates sensors and control systems such as a power system, a magnetic force guide system, an optical guide system, an inertial navigation unit and the like required by the chassis movement on the aluminum alloy chassis, a microcontroller used by the control system is internally provided with a chassis control program, and matched upper computer software can rapidly configure the chassis advancing route and the guided sensor parameters. A compatible bayonet used for installing a third-party mechanism is arranged above the chassis, and the compatible bayonet can be used for carrying out mechanical fixation and simultaneously carrying out electric energy transmission and communication between mechanism modules so as to conveniently control the third-party mechanism.

Description

Integrated omnidirectional mobile chassis
Technical Field
The invention relates to an integrated omnidirectional moving chassis, belonging to the technical field of automatic guiding devices.
Background
At present, the industries such as industry, storage and the like urgently need an AGV trolley which has the functions of automatic trajectory planning and guiding and can complete omnidirectional movement in all directions in a plane. These vehicles take a significant amount of time in the design of an omni-mobile chassis. The selection of the motor and the power system, and the installation of the sensor into the control program are written, and a great deal of repeated work is performed among different AGV manufacturers.
The existing omnidirectional mobile chassis has a certain scale of integration, but the research and development difficulty of a developer on control is not reduced essentially. Firstly, most chassis are assembled by using a large number of standard components in order to reduce the processing cost, and after tolerance accumulation among the standard components is enlarged, a large assembly error is caused, which is not favorable for accurate positioning and control of the chassis. Meanwhile, the lack of a chassis of the sensor makes autonomous movement difficult, which limits the demands of many industrial sites requiring high positioning accuracy. Secondly, most of the existing chassis patents only perform remote control or even simply explain the control principle, the actual task on developers is still not light, and each problem is inconvenient to solve from self positioning to tracking of the motion trail. At present, the existing invention does not mention the specific sensor type required by positioning and motion control, and developers still need to perform a series of work such as type selection, configuration, fusion, programming and the like of the sensors, which is time-consuming and labor-consuming and greatly slows down the research and development progress. And the provided matching program can only simply control the traveling speed and the angular speed of the device, and belongs to manual and open-loop control, and developers need to perform complex parameter configuration and track programming aiming at different occasions. Meanwhile, most chassis adjustable parameters (such as speed, acceleration and the like) are troublesome to update, and a program needs to be compiled and downloaded again every time data is updated, and communication cables are frequently plugged and unplugged. The existence of the series of problems results in that few mature omnidirectional mobile chassis products are available on the market at present.
The existing omnidirectional mobile chassis patents mainly include:
patent No. CN201820327590.2, an omni-directional mobile chassis. The mobile chassis related to the invention consists of a motor, an omnidirectional wheel, a control module, a driving module and a power supply system. The invention simply explains the moving principle of the omnidirectional moving chassis, but stops the steps of 'how to realize omnidirectional movement', and in practical application, the principle of only knowing the omnidirectional movement is far from enough. From the details of the coupling of the various transmission parts, nothing is mentioned about how to achieve closed-loop control of the position, from which it is difficult to convert to a finished chassis that can be used in practice. Patent No. cn201810951374.x, an autonomous mobile display platform based on omni wheels. The invention discloses an autonomous mobile display platform based on omni wheels, which comprises a chassis and an upper shelf. The omnidirectional movement principle of the omnidirectional movement chassis and one of the applications thereof are explained. But specific implementations for their application are not set forth in detail. In addition, in the actual test process, the chassis structure is built according to the structure, so that the overall strength is insufficient due to some unreasonable designs.
Disclosure of Invention
The invention aims to rapidly carry out industrial field configuration through a series of sensors carried by a chassis, and selectively start or only install a specific sensor according to different fields. The chassis carrying the inertial sensing system can be used for rapidly and seamlessly switching different fields, and only planned track information needs to be imported; and the chassis of various environmental characteristic sensors using optical or magnetic guiding devices can be used for adapting to various different types of guide lines and ensuring compatibility to different fields while saving cost. The chassis provides upper computer software capable of freely configuring parameters, and the upper computer can carry out remote monitoring and parameter updating through a matched wireless communication module and does not need to frequently plug and pull cables for data communication.
The invention provides an integrated omnidirectional mobile chassis, which comprises a power system, a frame, a battery, a fixed assembly with power supply and communication functions, a magnetic guide sensor, a linear CCD (charge coupled device) and a main control device with a wireless communication module, wherein the power system is connected with the frame through the wireless communication module; the frame is of a hexagonal structure; the power system is provided with at least 3 groups which are respectively fixed with the frames of the frames which are not adjacent to each other; the power system comprises an omnidirectional wheel, a driving device and a transmission device; the transmission device drives the omnidirectional wheel to rotate under the action of the driving device; the magnetic guide sensor and the linear CCD are arranged on the frame and are linearly connected with the main control device; the master control device is a microcontroller; the battery provides electric energy for the power system, the magnetic guide sensor and the linear CCD; the fixing component is arranged on the motor frame and used for mechanical fixing and carrying out electric energy transmission and communication between the mechanism modules.
In one embodiment of the invention, the chassis uses omni wheels to accomplish omni-directional movement in a plane, which may be a three-wheel chassis or a four-wheel chassis; the three-wheel chassis is uniformly distributed at 120 degrees, and the four-wheel chassis is uniformly distributed at 90 degrees.
In one embodiment of the invention, the power system comprises a motor frame, a motor, a coupling, a transmission shaft and an omnidirectional wheel; the motor is fixedly connected with one end of the motor frame through an output shaft, and the other end of the motor frame is connected with the omnidirectional wheel through a flange transmission shaft; the flange transmission shaft is supported by a pair of deep groove ball bearings which are concentrically arranged, and transmits torque with the output shaft of the motor through a coupler.
In one embodiment of the invention, the frame is integrally formed by aluminum alloy, the frame is an equilateral triangle frame, three side frames parallel to three sides of the triangle are arranged on the periphery of the equilateral triangle frame, and three corners of the equilateral triangle are connected with the sides connecting the three side frames on the periphery of the equilateral triangle frame.
In one embodiment of the invention, three sides of the frame, which are not adjacent to each other, are provided with fixing holes for fixing the power system.
In one embodiment of the invention, the power systems are respectively fixed on the fixing holes of the frame through bolts.
In one embodiment of the invention, the motor mount is integrally formed from an aluminum alloy.
In one embodiment of the invention, the coupling is composed of a rigid shaft sleeve and a flexible cover plate; the top of the rigid shaft sleeve is not closed, and the projection of the rigid shaft sleeve in the direction along the shaft is U-shaped; the motor shaft and the flange transmission shaft are sleeved in the rigid shaft sleeve, and the flexible cover plate is tightly pressed on the rigid shaft sleeve through a bolt.
In one embodiment of the invention, the motor shaft is a D-shaft.
In one embodiment of the invention, the flexible cover plate material is 42CrMo material.
In one embodiment of the invention, the frame is provided with a power system on a peripheral frame parallel to the inner triangular frame; and a fixing component is arranged on the peripheral frame adjacent to the power system.
In one embodiment of the invention, the top surface of the fixing component and the side surface facing the inside of the frame are respectively provided with a power supply and communication signal input end and a power supply and communication signal output end; the input end and the output end are respectively compatible bayonets which can be provided with a third party mechanism, so that the fixing component can carry out mechanical fixing and can also carry out electric energy transmission and communication between mechanism modules,
in one embodiment of the invention, the magnetic guidance sensor is a pair of hall sensor arrays for detecting a magnetic guidance line under the chassis for magnetic guidance travel.
In one embodiment of the invention, the chassis further comprises an inertial positioning system for autonomous positioning to follow a set series of coordinate points in a non-guided situation.
The invention also claims an AGV applying the integrated omnidirectional moving chassis.
Has the advantages that: (1) the invention integrates the machinery, the power system, the sensing system and the control system of the omnidirectional moving chassis, thereby avoiding that the development progress and rhythm of the product are seriously slowed down due to time and labor consumption caused by excessive energy spent on the chassis when designing the product with the omnidirectional moving function.
(2) The integrated omnidirectional wheel moving chassis provided by the invention is provided with a series of sensors, can be rapidly configured for different industrial fields, and can be selectively started or only provided with specific sensors for different fields. The former can carry out seamless switching to different places fast, and the latter freely selects, guarantees the compatibility when can save the cost. The upper computer can also carry out remote monitoring and parameter updating through a matched wireless module, and does not need to frequently plug and pull cables to carry out data communication.
(3) The invention adopts the design that the rigid shaft sleeve and the flexible cover plate are used as the shaft coupling, and the cover plate clamps the plane of the D-shaped shaft after being assembled, so that no transmission gap exists. Meanwhile, when impact force acts on the flexible cover plate, the cover plate can be slightly deformed to absorb the impact. After the omnidirectional wheel rotates at a constant speed, the impact disappears, and the deformation of the cover plate disappears. There is no transmission clearance in the process. The flexible cover plate material uses 42CrMo, and the yield strength of the flexible cover plate material exceeds that of high-speed steel and has extremely high toughness, so that the flexible cover plate material can still transmit extremely large torque although the flexible cover plate material has flexibility.
(4) The double bearings are adopted to support the transmission shaft, so that the motor does not bear radial bending moment, the transmission shaft is always parallel to the ground, and the phenomenon that the section of the wheel is not perpendicular to the ground so that the double-row omnidirectional wheel always only lands on the outer side or generates vibration due to different heights during switching is avoided.
(5) One side of the transmission shaft is made into a flange, when the hole positions identical to those of the transmission shaft are punched on the omnidirectional wheel, gapless transmission can be realized, and the flange can transmit larger torque compared with a key groove.
Drawings
FIG. 1 is a generally schematic view of a vehicle frame; wherein, 1, a power system; 2, a frame; 3, fixing the component; 4, a battery; 5, a magnetic guide sensor; 6, linear CCD; and 7, a master control device.
FIG. 2 is a schematic illustration of a power system; 11, a motor frame; 12, a motor; 13, a coupler; 14, a flange transmission shaft; 15, deep groove ball bearings; 16, omni wheel.
FIG. 3 is a schematic structural view of the coupling; 21, a rigid shaft sleeve; 22, a flexible cover plate; 23, a motor shaft; 14, a transmission shaft.
FIG. 4 is a schematic structural view of a fixing assembly; 31, a threaded hole; 32, power supply and communication signal input terminals; 33, power supply and communication signal output terminals.
Fig. 5 is a schematic structural view of the motor mount.
Detailed Description
Example 1
As shown in fig. 1 to 5, the integrated omnidirectional mobile chassis comprises a power system 1, an integrated frame 2, a battery 3, a fixing component 4 with power supply and communication functions, a magnetic guide sensor 5, a pair of linear CCDs 6 and a main control device 7 with a wireless communication module.
The frame 2 is integrally formed by aluminum alloy, an equilateral triangle frame is arranged in the frame, three side frames parallel to three sides of the triangle are arranged on the periphery of the equilateral triangle frame, and three corners of the triangle are connected with the sides connected with the three peripheral side frames respectively, so that the peripheral shape of the frame 2 is in a hexagonal structure. The structure has high strength, light weight and high precision. Avoids thermal deformation caused by welding and reduces assembly errors.
Three sides of the frame 2 which are not adjacent to each other are provided with fixing holes, and the power system 1 is respectively fixed on the fixing holes of the frame 2 through bolts. The power system 1 comprises a motor frame 11, a motor 12, an output shaft of the motor, a coupler 13, a flange transmission shaft 14 and an omnidirectional wheel 16; the omni wheels 16 are double-row wheels; the motor frame 11 is integrally formed by aluminum alloy, four through holes are formed in the bottom of the motor frame, and the motor frame can be conveniently fixed on a frame by using bolts; the periphery of the output shaft of the motor 12 is provided with four M4 threaded holes 31 which can be fixed on the motor frame through bolts; the torque of the motor 12 is transmitted to the flange drive shaft 14 through the coupling 13. The flange drive shaft 14 is supported by two concentric deep groove ball bearings 15. The omni wheel 16 is ensured to rotate synchronously with the output shaft of the motor 12 through a flange transmission shaft and the coupling 13.
Further, the coupling 13 is composed of a rigid shaft sleeve 21 and a flexible cover plate 22; the flexible cover plate material is 42CrMo material; the top of the rigid shaft sleeve 21 is not closed, and the projection of the rigid shaft sleeve in the direction along the shaft is U-shaped; the motor shaft 23 and the flange transmission shaft 14 are sleeved in the rigid shaft sleeve 21, and the flexible cover plate 22 is tightly pressed on the rigid shaft sleeve 21 through bolts. The motor shaft is a D-shaped shaft, and the D-shaped shaft compressed by the cover plate is locked relative to the coupler 13, so that the omnidirectional wheel 16 and the motor output shaft synchronously rotate.
The frame 2 is provided with a power system on a peripheral frame parallel to the inner triangular frame; a fixing component 3 is arranged on the peripheral frame adjacent to the power system, and a plurality of threaded holes 31 are formed in the fixing component and used for fixing various mechanisms above the chassis; the top surface of the fixed member 3 and the side surface facing the inside of the frame are provided with a power and communication signal input terminal 32 and a power and communication signal output terminal 33, respectively. The input end and the output end are respectively compatible bayonets capable of being provided with a third-party mechanism, so that the fixing component 3 can be mechanically fixed and can also carry out electric energy transmission and communication between mechanism modules.
The bottom of the frame 2 is provided with a pair of magnetic guide sensors 5 and a pair of linear CCDs 6 respectively arranged at the front and the back along the symmetrical axis of the frame, and inertial positioning systems arranged on a pair of adjacent edges of the frame, and the inertial positioning systems are respectively connected with a main control device 7 in a linear way; the main control device 7 is a Microcontroller (MCU) provided with a gyroscope, a voltage conversion chip or a communication module and the like and used for acquiring information of the sensor, communicating with an upper computer and controlling the rotation of a chassis motor; the linear CCD is used for identifying a guide line on the ground so as to facilitate visual navigation; the magnetic guide sensor is a pair of Hall sensor arrays and is used for detecting a magnetic guide line below the chassis so as to guide the running of the magnetic guide line; the inertial positioning system is used for carrying out autonomous positioning in a non-guiding occasion to advance along a set series of coordinate points. The bottom of the frame 2 is also provided with a battery 4 for providing electric energy for a power system and a sensor.
The working principle of the invention is as follows: after the chassis is powered on, the inertial navigation system takes the position at the moment as a zero point, and the two omnidirectional wheels and the gyroscope respectively start to measure the displacement in a pair of orthogonal directions and the angular speed of the vehicle body. The orthogonal direction is a direction perpendicular to the advancing direction when power is supplied as a y-axis, and a direction perpendicular to the y-axis along a horizontal plane is an x-axis. And the main control microcontroller filters and integrates the angular velocity to obtain the yaw angle of the chassis, and converts the orthogonal displacement into a coordinate system to obtain the displacement based on the zero moment. The chassis dynamically adjusts the speed of travel according to the set desired path and the actual coordinates obtained by the sensors so that the chassis follows the desired path. When the optical guiding device or the magnetic guiding device is used for identifying the path, the chassis can adjust the horizontal component speed according to the offset of the guide line relative to the center of the sensor (the sensor center of the linear CCD is a connecting line of the view center of the linear CCD; the sensor center of the Hall sensor is a connecting line) while the chassis moves forward, so that the chassis is always positioned at the center of the guide line while moving forward. This series of movements is controlled by the microcontroller without manual intervention. Meanwhile, the microcontroller module carries a wireless communication module, data can be transmitted with an upper computer through the matched wireless communication module, and the upper computer can monitor the chassis state in real time or update the chassis setting.
Comparative example 1
The inventors have also made the following attempts:
(1) the double-row omnidirectional wheels are replaced by Mecanum wheels or ordinary wheels matched with a 360-degree steering mechanism, and as a result, the switching of auxiliary wheels of the Mecanum wheels is not continuous, so that the chassis is large in vibration, large in noise and low in efficiency during movement. The chassis of the steering mechanism inevitably requires the addition of a motor to control steering, which increases the complexity of the mechanism. Meanwhile, the time is also needed for changing the steering of the wheels, and the efficiency is not as good as that of the chassis using the double-row omnidirectional wheels.
(2) The visual guidance is realized through the infrared correlation diode to replace magnetic guidance, but the precision is low, the threshold value adjustability for distinguishing the guide line from the background is poor, the influence of ambient light is serious, the guide line cannot be accurately identified frequently in the environment with complex illumination, and because the identification precision is low, the chassis can shake seriously without filtering data in the advancing process, and the visual guidance is only suitable for some special environments or trolleys moving at low speed.
Comparative example 2
The inventors have also made the following attempts:
(1) the combination of the D-shaped shaft, the shaft sleeve of the D-shaped shaft coupler and the flexible shaft coupler cover plate is replaced by a pure rigid shaft coupler and a clamping type shaft coupler. The clamping type coupling has no transmission clearance, but the transmitted torque is small, the slip is particularly easy, the clamping force is completely borne by the jackscrew and the thread, and the jackscrew can be loosened or slips due to over-stress over time, so that the transmitted peak torque is reduced. Although the rigid coupler does not have the problem of slipping, huge impact can be generated on the shaft when the coupler is started and braked, and the motor shaft and the transmission shaft can gradually generate serious deformation.
(2) The single bearing is used to support the drive shaft instead of a pair of deep groove ball bearings, since the forces experienced by the omni wheel are transmitted to the motor shaft through the shaft and coupling in the form of bending moments. So that the motor shaft of the chassis slightly deforms after a heavy load and a long time.
(3) The omni-directional wheel and the transmission shaft are fixed by adopting a key and a key groove instead of an M4 bolt, and the method has strict requirements on the tolerance of the key and the key groove. The interference fit can cause the wheel to be difficult to insert into the key slot, and the wheel must be hammered in by external force, and the external force can damage the shaft; and clearance fit can make and produce the transmission clearance between wheel and the flange transmission shaft, precision when reducing the reciprocal transmission of chassis to set up the keyway on the axle and can reduce the mechanical strength of axle.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (6)

1. The integrated omnidirectional mobile chassis is characterized by comprising a power system, a frame, a battery, a fixed assembly with power supply and communication functions, a magnetic guide sensor, a linear CCD and a main control device with a wireless communication module; the frame is of a hexagonal structure; the power system is provided with at least 3 groups which are respectively fixed with the frames of the frames which are not adjacent to each other; the power system comprises an omnidirectional wheel, a driving device and a transmission device; the transmission device drives the omnidirectional wheel to rotate under the action of the driving device; the magnetic guide sensor and the linear CCD are arranged on the frame and are linearly connected with the main control device; the master control device is a microcontroller; the battery provides electric energy for the power system, the magnetic guide sensor and the linear CCD; the fixing component is arranged on the motor frame and used for mechanical fixing and carrying out electric energy transmission and communication between the mechanism modules;
the frame is integrally formed by aluminum alloy, an equilateral triangle frame is arranged in the frame, three side frames parallel to three sides of the triangle are arranged on the periphery of the equilateral triangle frame, and three corners of the internal triangle are connected with the sides connecting the three side frames on the periphery of the equilateral triangle frame;
the power system comprises a motor frame, a motor, an output shaft of the motor, a coupler, a flange transmission shaft and an omnidirectional wheel; the omnidirectional wheels are double-row wheels; the motor frame is integrally formed by aluminum alloy, four through holes are formed in the bottom of the motor frame, and the motor frame is fixed on the frame through bolts; four M4 threaded holes are formed in the periphery of the output shaft of the motor and are fixed to the motor frame through bolts; the torque of the motor is transmitted to the flange transmission shaft through the coupler; the flange transmission shaft is supported by two concentric deep groove ball bearings; the omnidirectional wheel ensures synchronous rotation with the output shaft of the motor through the flange transmission shaft and the coupler;
the coupler consists of a rigid shaft sleeve and a flexible cover plate; the top of the rigid shaft sleeve is not closed, and the projection of the rigid shaft sleeve in the direction along the shaft is U-shaped; the motor shaft and the flange transmission shaft are sleeved in the rigid shaft sleeve, and the flexible cover plate is tightly pressed on the rigid shaft sleeve through a bolt;
the frame is provided with a power system on a peripheral frame parallel to the inner triangular frame; a fixing component is arranged on the peripheral frame adjacent to the power system, and a plurality of threaded holes are formed in the fixing component and used for fixing various mechanisms above the chassis; the top surface of the fixed component and the side surface facing the inside of the frame are respectively provided with a power supply and communication signal input end and a power supply and communication signal output end; the input end and the output end are respectively compatible bayonets for mounting a third-party mechanism, so that the fixing component can carry out mechanical fixing and can also carry out electric energy transmission and communication between mechanism modules;
the bottom of the frame is provided with a pair of magnetic guide sensors and a pair of linear CCDs respectively arranged at the front and the back along the symmetrical axis of the frame, and an inertial positioning system arranged on a pair of adjacent edges of the frame, and the inertial positioning systems are respectively connected with the main control device in a linear way; the linear CCD is used for identifying a guide line of the ground; the inertial positioning system is used for carrying out autonomous positioning on a non-guiding occasion to advance along a set series of coordinate points; the bottom of the frame is provided with a battery.
2. The unitary omnidirectional movement chassis of claim 1, wherein omnidirectional movement of the chassis in a plane is achieved using omnidirectional wheels; the chassis is a three-wheel chassis; the three-wheel chassis is uniformly distributed with omni wheels at 120 degrees.
3. The unitary omni-directional mobile chassis according to claim 2, wherein the flexible cover material is 42 CrMo.
4. The integrated omnidirectional movement chassis according to any one of claims 1 to 3, wherein the magnetic guiding sensor is a pair of Hall sensor arrays, and is cooperatively arranged on a magnetic guiding line below the chassis.
5. An AGV trolley comprising the integrated omnidirectional moving chassis of any one of claims 1 to 4.
6. The application of the integrated omnidirectional moving chassis as recited in any one of claims 1 to 4 or the AGV as recited in claim 5 in the fields of industry and warehousing.
CN201910405619.3A 2019-05-16 2019-05-16 Integrated omnidirectional mobile chassis Active CN110182556B (en)

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CN1272145C (en) * 2002-03-21 2006-08-30 上海广茂达电子信息有限公司 Personal robot
CN104714550A (en) * 2015-03-11 2015-06-17 武汉汉迪机器人科技有限公司 Mecanum wheel omni-directional mobile inspection robot
CN205113555U (en) * 2015-11-19 2016-03-30 盛露晨 Qxcomm technology's balance car removes structure based on mecanum wheel
CN107363852A (en) * 2017-07-18 2017-11-21 武汉理工大学 A kind of omni-directional mobile robots and control method for carrying planar inverted pendulum
CN108890611A (en) * 2018-07-12 2018-11-27 东莞理工学院 A kind of binocular vision avoidance wheeled robot based on SLAM
CN108991840A (en) * 2018-08-21 2018-12-14 华南理工大学 A kind of autonomous display platform based on omni-directional wheel
CN109204595A (en) * 2018-08-31 2019-01-15 华南理工大学 Independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel

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