CN111409056A

CN111409056A - Omnidirectional mobile robot

Info

Publication number: CN111409056A
Application number: CN202010359095.1A
Authority: CN
Inventors: 赵超泽; 刘伟静; 庞学丰; 潘彦云
Original assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Current assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2020-07-14

Abstract

The invention provides an omnidirectional mobile robot which comprises a vehicle body, Mecanum wheel components, an electric control system, a power supply system, a posture adjusting platform, a mechanical arm and a binocular vision system, wherein the four Mecanum wheel components are respectively and fixedly installed at four corners of the vehicle body, the electric control system and the power supply system are installed inside the vehicle body, the posture adjusting platform for realizing the adjustment of two degrees of freedom directions is fixedly installed on the vehicle body, the mechanical arm for realizing the six-degree-of-freedom operation is fixedly installed on an inclined support platform of the posture adjusting platform, and the binocular vision system is fixedly installed on the vehicle body. The invention realizes the structural form of the omnidirectional movement automatic welding function by means of the mechanical arm, the automatic car body navigation and the binocular vision system, and the structure can adapt to the requirements of omnidirectional movement automation (welding, carrying, gluing, assembling and the like).

Description

Omnidirectional mobile robot

Technical Field

The invention belongs to the field of power component technology and robots, and particularly relates to an omnidirectional mobile robot.

Background

The Mecanum wheel is a wheel with a special structure, and can realize high-precision forward, backward, rotary, oblique and other movement modes. The latent Mecanum wheel chassis is a structure that a battery, an electric control cabinet, a motor, a speed reducer and the like are all placed under a vehicle body platform. The Mecanum wheel and the hidden type design have the advantages of high control precision and small vehicle body space, and the mechanical arm can be conveniently placed on the vehicle body. Currently, the mechanical arms on the market are all mounted on a stationary platform or a guide rail. The disadvantage of this approach is that it does not accommodate automation (welding, handling, gluing, assembly, etc.) of different work areas. With the development of automation (welding, carrying, gluing, assembling, etc.) techniques, the working area of the existing mechanical arms (welding, carrying, gluing, assembling, etc.) fixed on a stationary platform or guide rail has not been able to meet the requirements. Therefore, in order to meet the requirements of automation (welding, carrying, gluing, assembling and the like) of different areas, a new structural form based on a latent mecanum wheel chassis is required to be designed, and the omnidirectional movement automation (welding, carrying, gluing, assembling and the like) functions are realized by means of a mechanical arm, automatic car body navigation and a binocular vision system.

Disclosure of Invention

In view of the above, the present invention is directed to an omnidirectional mobile robot, which is a structural form that an omnidirectional mobile automatic welding function is realized by means of a mechanical arm, an automatic car body navigation system and a binocular vision system, and the structure can meet the requirements of omnidirectional mobile automation (welding, carrying, gluing, assembling, etc.).

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

an omnidirectional mobile robot comprises a vehicle body, a Mecanum wheel component, an electric control system, a power supply system, a posture adjusting platform, a mechanical arm and a binocular vision system,

four mecanum wheel parts are fixed mounting to the four corners of automobile body respectively, and electrical system and electrical power generating system install to the automobile body inside, realize two degree of freedom direction adjustment adjust appearance platform fixed mounting to the automobile body on, realize that the arm fixed mounting that six degrees of freedom controlled to the bearing diagonal platform of adjusting appearance platform, binocular vision system fixed mounting to the automobile body.

Further, the electronic control system is P L C, and further comprises a touch screen and physical keys.

Furthermore, the Mecanum wheel component comprises a base, a guide rail slide block, a guide rod, a spring, a shaft seat, a bearing, a shaft body, a Mecanum wheel body, a speed reducer, a motor and a hexagon slotted nut,

guide rail slider one end fixed connection to base, guide rail slider other end fixed connection to axle bed, the axle bed both ends are respectively through guide bar connecting seat base, the guide bar passes the relative guide bar removal of axle bed and axle bed, the guide bar tip is equipped with and is used for spacing hexagonal slotted nut, two guide bar outsides are equipped with a spring respectively, be equipped with the bearing in the axle bed, axis body fixed connection is to the bearing inner race, flange fixed connection is passed through to axis body one end to mecanum wheel body, the axis body other end is connected to reduction gear one end through the parallel key, the reduction gear other end is connected to the driving motor output through the parallel key, driving motor signal.

Further, the power supply system includes a battery pack that provides a power source.

Further, the posture adjusting platform comprises a first motor, a first speed reducer, a first coupler, a first lead screw nut, a first guide rail sliding block, an upright post, a second motor, a second speed reducer, a second coupler, a second lead screw nut, a second guide rail sliding block and an inclined supporting platform,

the first motor is connected with one end of a first speed reducer through a flat key, the other end of the first speed reducer is connected with a first lead screw through a first coupler, a first lead screw nut is installed to the first lead screw in a threaded mode, a first guide rail and a second guide rail are arranged on two sides of the first lead screw, two sides of the upright post are connected to the first guide rail and the second guide rail through first guide rail sliders respectively, and the bottom of the upright post is fixedly connected to the first lead screw nut;

a third guide rail and a fourth guide rail which are arranged in parallel are arranged on one side of the upright post, a second lead screw is arranged between the third guide rail and the fourth guide rail, a second motor is connected to one end of a second reducer through a flat key, the other end of the second reducer is connected to the second lead screw through a second coupler, the second lead screw of a second lead screw nut thread blind turning device is connected to the second lead screw, two sides of the inclined supporting platform are respectively connected to the third guide rail and the fourth guide rail through second guide rail slide blocks, one side of the inclined supporting platform is connected to the second lead screw nut,

further, the type of arm is welding arm, transport arm or assembly arm.

Further, a binocular vision system signal for detecting the workpiece deviation information is connected to P L C.

Further, the vehicle body is a latent vehicle body, a vision camera is arranged on one side of the vehicle body, and the vision camera is connected to the P L C in a signal mode.

Compared with the prior art, the omnidirectional mobile robot has the following advantages:

(1) the omnidirectional mobile robot disclosed by the invention integrates an ultra-low chassis, omnidirectional movement, automatic navigation and detection compensation, can realize omnidirectional movement automatic (welding, carrying, gluing, assembling and the like) functions, and is high in automation degree

(2) The omnidirectional mobile robot has the advantages that the Mecanum wheel structure with the independent suspension device can adapt to the condition of uneven road surface, the load impact in the vertical direction is absorbed by the spring, the guide rail sliding block is used for limiting the movement in the horizontal direction and the front-back direction, the modularized design is realized, the integration level is high, and the popularization and the use are convenient.

(3) According to the omnidirectional mobile robot, the vehicle body is designed in a hidden mode, the electric control system and the power supply system are arranged in the vehicle body, the space utilization rate is high, the overall height is low, and the application range is wide.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of an omnidirectional mobile robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a Mecanum wheel assembly according to an embodiment of the present invention;

FIG. 3 is another perspective view of a Mecanum wheel assembly according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a Mecanum wheel assembly in accordance with an embodiment of the present invention;

FIG. 5 is a front view of a pose adjustment platform according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of a posture adjustment platform according to an embodiment of the present invention.

Description of reference numerals:

1. a vehicle body; 2. a mecanum wheel assembly; 21. a base; 22. a guide rail slider; 23. a guide bar; 24. a shaft seat; 25. a spring; 26. a bearing; 27. a shaft body; 28. a Mecanum wheel body; 29. a speed reducer; 211. a drive motor; 212. a hexagonal slotted nut; 3. an electronic control system; 4. a power supply system; 5. a posture adjusting platform; 51. a first motor; 52. a first decelerator; 53. a first coupling; 54. a first lead screw nut; 55. a first rail block; 56. a column; 57. a second motor; 58. a second decelerator; 59. a second coupling; 511. a second lead screw nut; 512. a second rail block; 513. an inclined support platform; 6. a mechanical arm; 7. a binocular vision system.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

An omnidirectional mobile robot is shown in figures 1 to 6, and comprises a vehicle body 1, a mecanum wheel component 2, an electric control system 3, a power supply system 4, a posture adjusting platform 5, a mechanical arm 6 and a binocular vision system 7,

four mecanum wheel parts 2 are respectively fixedly mounted to four corners of the vehicle body 1, the electric control system 3 and the power supply system 4 are mounted inside the vehicle body 1, the posture adjusting platform 5 for adjusting the directions of two degrees of freedom is fixedly mounted on the vehicle body 1, the mechanical arm 6 for controlling six degrees of freedom is fixedly mounted on the inclined support platform 513 of the posture adjusting platform 5, and the binocular vision system 7 is fixedly mounted on the vehicle body 1.

The electric control system 3 is P L C, and further comprises a touch screen and a physical key, wherein the P L C is mainly used for controlling the omnidirectional movement of the vehicle body 1, and the touch screen is used for reading vehicle body operation parameters including speed, distance, battery capacity and the like and sending instructions as an upper computer for controlling the vehicle body 1 to move.

The Mecanum wheel component 2 comprises a base 21, a guide rail slide block 22, a guide rod 23, a spring 25, a shaft seat 24, a bearing 26, a shaft body 27, a Mecanum wheel body 28, a speed reducer 29, a driving motor 211 and a hexagon slotted nut 212,

one end of a guide rail sliding block 22 is fixedly connected to the base 21, the other end of the guide rail sliding block 22 is fixedly connected to a shaft seat 24, two ends of the shaft seat 24 are respectively connected to the base 21 through guide rods 23, the guide rods 23 penetrate through the shaft seat 24, the shaft seat 24 moves relative to the guide rods 23, hexagonal slotted nuts 212 for limiting are arranged at the end parts of the guide rods 23, springs 25 are respectively arranged outside the two guide rods 23, bearings 26 are arranged in the shaft seat 24, a shaft body 27 is fixedly connected to the inner ring of the bearing 26, one end of the shaft body 27 is fixedly connected to a mecanum wheel body 28 through a flange, the other end of the shaft body 27 is connected to one end of a speed reducer 29 through a flat key, the other,

the mecanum wheel unit 2 drives the vehicle body 1 to move in all directions by the rotation speed and the steering direction of the driving motor 211. The guide rail sliding block 22 arranged on the inner side of the base 21 restrains force in the horizontal plane direction, and the force in the vertical direction is adjusted up and down by virtue of a spring to adapt to unevenness of the ground so as to ensure that the Mecanum wheel lands.

The power supply system 4 includes a battery pack that provides a power source.

The posture adjusting platform 5 comprises a first motor 51, a first speed reducer 52, a first coupler 53, a first lead screw nut 54, a first guide rail slide block 55, a vertical column 56, a second motor 57, a second speed reducer 58, a second coupler 59, a second lead screw nut 511, a second guide rail slide block 512 and an inclined support platform 513,

the first motor 51 is connected with one end of a first speed reducer 52 through a flat key, the other end of the first speed reducer 52 is connected with a first lead screw through a first coupler 53, a first lead screw nut 54 is installed on the first lead screw in a threaded mode, a first guide rail and a second guide rail are arranged on two sides of the first lead screw, two sides of an upright post 56 are connected to the first guide rail and the second guide rail through first guide rail sliders 55 respectively, and the bottom of the upright post 56 is fixedly connected to the first lead screw nut 54;

a third guide rail and a fourth guide rail which are arranged in parallel are arranged on one side of the upright post 56, a second lead screw is arranged between the third guide rail and the fourth guide rail, a second motor 57 is connected to one end of a second speed reducer 58 through a flat key, the other end of the second speed reducer 58 is connected to the second lead screw through a second coupling 59, a second lead screw nut 511 is screwed into a second lead screw of the blind turning device, two sides of the inclined support platform 513 are respectively connected to the third guide rail and the fourth guide rail through second guide rail sliders 512, one side of the inclined support platform 513 is connected to the second lead screw nut 511,

the type of the mechanical arm 6 is welding mechanical arm 6, carrying mechanical arm 6 or assembling mechanical arm 6, a proper mechanical arm 6 is selected according to actual working conditions, and the motion of the mechanical arm 6 can be realized through a teaching mode or a programming mode.

A binocular vision system 7 signal connection for detecting work piece deviation information is to P L C, and binocular vision system 7 detects the product that awaits measuring and the deviation of appointed product, compensates with the help of outside axle and arm 6 body, realizes automatic (welding, transport, rubber coating etc.) function.

The automobile body 1 is latent formula automobile body, makes the high reduction of whole car, convenient operation, and 1 one side of automobile body is equipped with the vision camera, and vision camera signal is connected to P L C, and the vision camera can detect subaerial colour control car ladder of typewriter ribbon and realize automatic navigation and omnidirectional movement, and the automatic navigation mode includes that typewriter ribbon navigates, magnetic stripe navigation, two-dimensional code navigate, laser navigation etc..

An omnidirectional mobile robot, the operating principle, the car ladder 1 detects the color of a ground color ribbon through a vision camera, then the vision camera sends the detection information to P L C, P L C controls a driving motor 211 to drive a Mecanum wheel body 28 to convey the whole omnidirectional mobile robot to the position to be operated, after the position is reached, a binocular vision system 7 detects the deviation of the product to be detected and the appointed product, and sends the detection information to P L C, then the P L C adjusts a money adjusting platform 5 in a front-back and up-down manner through calculation, and the mechanical arm 6 is matched to compensate the automatic (welding, carrying, gluing and the like) function of the product,

the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An omnidirectional mobile robot, characterized in that: a vehicle body, a Mecanum wheel component, an electric control system, a power supply system, a posture adjusting platform, a mechanical arm and a binocular vision system,

2. The omnidirectional mobile robot of claim 1, wherein the electronic control system is P L C, and further comprises a touch screen and a physical button.

3. The omnidirectional mobile robot of claim 1, wherein: the Mecanum wheel component comprises a base, a guide rail slide block, a guide rod, a spring, a shaft seat, a bearing, a shaft body, a Mecanum wheel body, a speed reducer, a motor and a hexagonal slotted nut,

4. The omnidirectional mobile robot of claim 1, wherein: the power supply system includes a battery pack that provides a power source.

5. The omnidirectional mobile robot of claim 1, wherein: the posture adjusting platform comprises a first motor, a first speed reducer, a first coupler, a first lead screw nut, a first guide rail sliding block, an upright post, a second motor, a second speed reducer, a second coupler, a second lead screw nut, a second guide rail sliding block and an inclined supporting platform,

column one side is equipped with parallel arrangement's No. three guide rails, No. four guide rails, be equipped with the second lead screw between No. three guide rails, No. four guide rails, the second motor is connected to second reduction gear one end through the parallel key, the second reduction gear other end is connected to the second lead screw through the second coupling joint, second lead screw nut screw thread blind turn device second lead screw, bearing diagonal platform both sides are connected to No. three guide rails, No. four guide rails through second guide rail slider respectively, bearing diagonal platform one side is connected to second lead screw nut.

6. The omnidirectional mobile robot of claim 1, wherein: the type of arm is welding arm, transport arm or assembly arm.

7. The omnidirectional mobile robot of claim 1, wherein the binocular vision system for detecting workpiece deviation information is signally connected to P L C.

8. The omnidirectional mobile robot as claimed in claim 1, wherein the car body is a hidden car body, a vision camera is provided at one side of the car body, and the vision camera is connected to P L C through signals.