CN110614621A - Four-wheel omnidirectional robot moving platform - Google Patents

Abstract

A four-wheel omnidirectional robot moving platform belongs to the field of robots and comprises an omnidirectional moving chassis, an electrical appliance module and the like. The wheel type chassis comprises four Mecanum wheels which are symmetrically distributed around the chassis, have three degrees of freedom and can do front and back linear motion, transverse lateral movement, inclined 45-degree linear motion, in-situ rotation motion and any combination motion. The Mecanum wheel omnidirectional moving mechanism has the advantages that the traditional moving mechanism cannot be compared, the working space is small, the efficiency is high, and the Mecanum wheel omnidirectional moving mechanism is applied to the fields of robot movement and the like. The robot is compact in design structure and concise in processing and assembly, the working range of the robot is greatly expanded, and the mobility stability of the robot is improved.

Description

Four-wheel omnidirectional robot moving platform

Technical Field

The invention belongs to the field of robots, and particularly relates to a four-wheel omnidirectional robot mobile platform.

Background

With the increasing dependence of modern production and life on robots, the requirements of people on the robots are higher and higher, and the robots are required to work in more complex and more severe environments. Therefore, the adaptability and the mobility of the robot are inevitably improved, the robot can flexibly move in a narrow space like a human and can reach a more complex working area to operate, the robot can meet the human requirements, the specified task can be better completed, and meanwhile the working efficiency is correspondingly improved. Therefore, in addition to improving the execution components of the robot, the design and manufacture of the mobile platform are also important.

The wheel type omnidirectional moving mechanism has 3 degrees of freedom in a plane and can do front and back linear motion, transverse lateral moving motion, inclined 45-degree linear motion, in-situ rotation motion and any combination motion. Omnidirectional movement is mainly realized by means of Mecanum wheels, which have become the main focus of attention of various large research institutions due to the characteristics of stable and reliable motion, simple and compact structure and the like. The Mecanum wheel omnidirectional moving mechanism has the advantages that the traditional moving mechanism cannot compare, is high in working efficiency, is suitable for complex working environments, and is widely applied to the fields of robot movement and the like.

Disclosure of Invention

In view of the technical background, the invention aims to provide a design method of a four-wheel omnidirectional robot mobile platform device, so as to solve the problems that the existing robot is not suitable for working in a narrow space, and is inflexible to move and low in efficiency.

In order to achieve the purpose, the technical scheme of the invention is as follows:

the utility model provides a four-wheel omnidirectional robot moving platform, includes omnidirectional movement chassis 1, electric module etc. and electric module installs on the middle level backup pad 104 on omnidirectional movement chassis, and 1 the place ahead on omnidirectional movement chassis is equipped with laser radar, and the chassis intermediate position is equipped with IMU, and its compact structure is succinct, and the focus is arranged rationally, and the motion is steady reliable, and a large amount of sensors of integration can regard as independent module operation.

The omnidirectional movement chassis 1 comprises an upper layer mounting plate, a middle layer mounting plate, a lower layer mounting plate, an upper support section bar, a lower support section bar, a laser radar, an inertia measuring unit, a 48V battery, a 24V battery, a driver, a controller, a 24V battery mounting plate, a motor module, an encoder, a direct current servo motor, a motor base, a coupler, an omnidirectional wheel, a connecting shaft and an integrated bearing base, wherein the motor module is fixed in the chassis through the motor base and symmetrically distributed around the chassis in a front-back mode, omnidirectional movement is realized through kinematics control, the encoder is installed on the direct current servo motor, the direct current servo motor is fixed on the motor base and transmits force to the connecting shaft through the coupler, one end of the connecting shaft is fixed through the integrated bearing base, and the other end of the connecting shaft is installed on the omnidirectional. The omni-directional mobile chassis wheeled chassis comprises four 45-degree Mecanum wheels which are symmetrically distributed around the chassis and have three degrees of freedom.

The electrical module further includes an electrical box, the electrical box including: stabiliser, air switch, relay, electric box and binding post.

Compared with the prior art, the invention has the beneficial effects that:

in the design process of the omnidirectional moving chassis, four omnidirectional wheels of 45 degrees are uniformly and symmetrically distributed around, omnidirectional movement is realized through a motion control algorithm, compared with a differential moving chassis, the omnidirectional moving chassis has the advantages of small turning radius, multiple degrees of freedom and flexible motion, compared with a three-wheel omnidirectional moving chassis, the omnidirectional moving chassis is large in load and high in chassis space utilization rate.

Drawings

Fig. 1 is an overall structural diagram of a four-wheel omnidirectional mobile robot platform in an example of the invention.

Fig. 2 is a structural diagram of an arrangement form of a lower supporting plate of a four-wheel omnidirectional movement chassis in the embodiment of the invention.

In the figure, 101 an upper mounting plate, 102 an upper supporting section bar, 103 a power management system, 104 a middle mounting plate, 10548V battery clamping device, 10648V batteries, 107 a tail supporting section bar, 108 a tail supporting plate, 109 a switch box, 110 an industrial personal computer, 111 an industrial personal computer clamping device, 112 an industrial personal computer supporting plate, 113 a lower supporting section bar, 114 a laser radar support, 115 a laser radar, 116 a motor driving box, 117 a driving motor, 118 a belt seat bearing, 119 a motor connecting shaft, 120 a coupler, 121 a motor supporting seat, 12245-degree Mecanum wheels, 123 an inertial measurement unit support, 124 an inertial measurement unit, 12524V batteries, 126 a lower mounting plate, 12724V battery clamping device, 128 a motor driving supporting plate and 129 motor driving.

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

As shown in fig. 1 and fig. 2, a four-wheel omnidirectional movement robot platform, whose omnidirectional movement chassis 1 further includes a lower layer, a middle layer, and an upper layer of mounting plate (126, 104, 101, respectively), an upper support section 102, a lower support section 113, a power management system 103, a 48V battery clamp 105, a 48V battery 106, a tail support section 107, a tail support plate 108, a switch box 109, an industrial personal computer 110, an industrial personal computer clamp 111, an industrial personal computer support plate 112, a laser radar support 114, a laser radar 115, a motor drive box 116, a drive motor 117, a coupling 120, a belt seat bearing 118, a motor connecting shaft 119, a motor support seat 121, a 45-degree mecanum wheel 122, an inertia measurement unit support 123, an inertia measurement unit 124, a 24V battery 125, a 24V battery clamp 127, a motor drive support plate 128, and a motor drive 129, the drive motor 117 is fixedly connected with the motor connecting shaft, the other side of the motor connecting shaft 119 is connected to a 45-degree Mecanum wheel 122, a driving motor 120 and the motor connecting shaft are respectively arranged around a lower mounting plate 126 through a motor supporting seat 121 and a bearing 118 with a seat, the omnidirectional movement of the omnidirectional movement chassis 1 is realized through kinematic control, a laser radar 115 is arranged in the front center of the lower mounting plate 126 through a laser radar support 114, an inertia measuring unit 124 is arranged in the lower center of a middle support plate 104 through an inertia measuring unit support 123, four motor drives 129 are divided into two groups and arranged on the motor drive supporting plate 128 and connected to the front and back positions of the lower part of the middle support plate 104, 24V batteries 125 and 48V batteries 106 are respectively arranged on the lower mounting plate 126 and the middle support plate 104 through battery clamps (127,105), and the lower, middle and upper three layers of mounting plates (respectively corresponding to 126, 104 and 101) are connected with a, the control system composed of the industrial personal computer 110, the industrial personal computer clamping 111 and the industrial personal computer supporting plate 112 is installed in the upper side space of the omnidirectional moving chassis 1. The bottom of the power management system 103 is fixed on the middle layer mounting plate 104, the side surface is connected with the upper supporting section bar 102, the bottom of the tail supporting section bar 107 is connected on the middle layer mounting plate 104, one end of the tail supporting plate 108 is connected with the tail supporting section bar 107, the other end is connected on the upper supporting section bar 102, the bottom of the switch box 109 is fixed at the central position of the tail supporting plate 108, and the motor driving box 116 is fixed on the lower layer mounting plate 126.

The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.

Claims (1)

1. A four-wheel omnidirectional robot mobile platform is characterized by comprising an omnidirectional mobile chassis (1) and an electrical module, wherein the electrical module is arranged on a middle layer supporting plate (104) of the omnidirectional mobile chassis, a laser radar is arranged in front of the omnidirectional mobile chassis (1), and an IMU is arranged in the middle of the chassis;

the omnidirectional moving chassis (1) comprises a lower layer mounting plate, a middle layer mounting plate, an upper layer mounting plate (126, 104, 101), an upper supporting section bar (102), a lower supporting section bar (113), a power management system (103), a 48V battery clamping plate (105), a 48V battery (106), a tail supporting section bar (107), a tail supporting plate (108), a switch box (109), an industrial personal computer (110), an industrial personal computer clamping device (111), an industrial personal computer supporting plate (112), a laser radar support (114), a laser radar (115), a motor driving box (116), a driving motor (117), a coupler (120), a bearing with a seat (118), a motor connecting shaft (119), a motor supporting seat (121), a 45-degree Mecanum wheel (122), an inertia measuring unit support (123), an inertia measuring unit (124), a 24V battery (125), a 24V battery clamping plate (127), a motor driving supporting plate (128), A motor drive (129); the driving motor (117) is fixedly connected with a motor connecting shaft (119) through a coupler (120), the other side of the motor connecting shaft (119) is connected to a 45-degree Mecanum wheel (122), the driving motor (120) and the motor connecting shaft are respectively installed on the periphery of a lower mounting plate (126) through a motor supporting seat (121) and a bearing (118) with a seat, the omnibearing movement of an omnidirectional movement chassis (1) is realized through kinematics control, a laser radar (115) is installed in the front center of the lower mounting plate (126) through a laser radar support (114), and an inertia measuring unit (124) is installed at the lower center of a middle supporting plate (104) through an inertia measuring unit support (123); the motor drives (129) are arranged in a motor drive box, four motor drives (129) are divided into two groups and are arranged on a motor drive support plate (128) and connected to the front and back positions of the lower part of a middle support plate (104), 24V batteries (125) and 48V batteries (106) are respectively arranged on a lower layer mounting plate (126) and the middle support plate (104) through battery clamping devices (127) and 105), the lower layer mounting plate, a middle layer mounting plate and an upper layer mounting plate (respectively corresponding to 126, 104 and 101) are connected with a lower support profile (113) through an upper support profile (102), and a control system consisting of an industrial personal computer (110), an industrial personal computer clamping device (111) and an industrial personal computer support plate (112) is arranged in the upper side space of an omnidirectional moving; the power management system (103) supplies power to each system; the bottom of a power management system (103) is fixed on a middle layer mounting plate (104), the side surface of the power management system is connected with an upper supporting section bar (102), the bottom of a tail supporting section bar (107) is connected on the middle layer mounting plate (104), one end of a tail supporting plate (108) is connected with the tail supporting section bar (107), the other end of the tail supporting section bar is connected on the upper supporting section bar (102), the bottom of a switch box (109) is fixed at the central position of the tail supporting plate (108), and a motor driving box (116) is fixed on a lower layer mounting plate (126.