CN209175725U - A kind of Multifunctional mobile robot test platform - Google Patents

Abstract

The utility model discloses a kind of Multifunctional mobile robot test platforms.Experiment porch is three-decker, including first layer body construction, second layer storage structures and third layer experiment porch structure and control circuit, wherein first layer body construction includes chassis, Mecanum wheel and driving mechanism, and the second layer storage structures include and support plate and uncovered storage box.Detachable experiment porch uses three-tier architecture, omnibearing movable may be implemented under the driving of driving mechanism in the Mecanum wheel of first layer body construction, the characteristic circled round by the transverse shifting of Mecanum wheel and original place, can simultaneously independent front and back, control and rotate in place movement, it can be mobile to any direction in the case where not changing self-position, it can also facilitate shuttle in narrow cramped spaces simultaneously, the storage structures of second layer structure can stack more small-sized experimental facilities and can be convenient taking-up, shuttle be can be convenient in narrow cramped spaces, flexibly complete the tasks such as various carryings.

Description

A kind of Multifunctional mobile robot test platform

Technical field

The utility model relates to mobile mechanism's technical fields, test more particularly, to a kind of Multifunctional mobile robot Platform.

Background technique

For common wheeled locomotion mechanism, turning requires certain radius of turn, in narrow space often because can not Transverse shifting and it is ineffective, this limits the use scope of wheel type mobile trolley to a certain extent.In addition, common in the market Mecanum wheel trolley volume it is larger, bearing capacity is insufficient, the inflexible convenience of movement.

Therefore the flexible and convenient practicability wheeled locomotion mechanism of loading can be moved with very important by providing one kind Meaning.

Utility model content

The technical problems to be solved in the utility model is to overcome the defect and deficiency of existing wheeled locomotion mechanism, provides one kind Multifunctional mobile robot test platform, by the setting of the special walking mechanism of Mecanum wheel realize robot it is comprehensive from By moving, various carrying tasks can be flexibly completed in combination with the three-decker of storage structures layer and experimental bench.

The utility model above-mentioned purpose is achieved through the following technical solutions:

A kind of Multifunctional mobile robot test platform, the experiment porch are three-decker, including first layer car body knot Structure, second layer storage structures and third layer experiment porch structure and control circuit, wherein first layer body construction includes chassis, wheat Ke Namu wheel and driving mechanism, the driving mechanism are detachably connected on chassis, and the Mecanum wheel is connected by shaft coupling It connects in driving mechanism, the second layer storage structures include and support plate and uncovered storage box, the second layer storage structures It being detachably connected with the chassis of first layer body construction, the third layer experiment porch structure includes experimental bench and supporting mechanism, The third layer experiment porch structure is detachably connected by supporting mechanism and the second layer storage structures.

For omnibearing ambulation system, if system also has when the Jacobian matrix of system inverse kinematics equation arranges not full rank There is Singularity, reflection is kinematically exactly to lose some freedom, i.e. system can not achieve omnibearing movable, i.e., front and back is moved It moves, move left and right, upper left bottom right is mobile, upper right lower-left is mobile.Multifunctional mobile robot experiment provided by the utility model is flat Omnibearing movable may be implemented under the driving of driving mechanism in the Mecanum wheel of the first layer body construction of platform, receives by Mike The characteristic of the transverse shifting of nurse wheel and original place convolution independent front and rear, left and right and can rotate in place movement simultaneously, can not change It is mobile to any direction in the case where self-position, while can also facilitate shuttle in narrow cramped spaces, it flexibly completes each Tasks, the storage structures such as kind carrying can stack more small-sized experimental facilities and can be convenient taking-up.

Preferably, the roller offset angle α of the Mecanum wheel takes identical numerical value.In order to make system manufacture is economical to close Reason, the roller offset angle α of all Mecanum wheels take identical numerical value.

Preferably, the roller offset angle α of the Mecanum wheel is 45 °.

Preferably, Mecanum wheel symmetrical configuration design, when installation, are symmetrically installed using positive and negative.Wheel construction is symmetrical Design, as long as using positive and negative Method for Installation when installation, so that it may it is inclined to obtain actual two kinds of rollers equal in magnitude and contrary Angle setting ± α.

Preferably, the driving mechanism includes motor and motor set, and the motor set passes through motor set inside motor set It is detachably connected on chassis, the Mecanum wheel is connected on motor by shaft coupling.

Preferably, the shaft coupling is flange-face coupling, and disk one end and Mecanum wheel wheel hub are linked.Select flange Shaft coupling, which is split, to be used, and disk one end is linked with omni-directional wheel wheel hub so that torque sufficiently transmits.

Preferably, the second layer storage structures are connect by screw and connecting rod with the chassis of first layer body construction.

Preferably, the supporting mechanism of the third layer experiment porch structure is connect with the second layer storage structures screw.

Preferably, the screw is sunk screw.

Preferably, the control circuit is controlled using STM32F103C8 minimum system.The control circuit uses STM32F103C8 minimum system is controlled, can be from obtaining data between modules, and is carried out to the data transmitted real When handle, to drive motor module to make corresponding behavior act, specifically, control of the STM32 to motor, pass through control motor Steering and the size of pulse come so that the motion state of trolley makes corresponding change goes to realize specific function.

Compared with prior art, the utility model has the beneficial effects that

The utility model provides a kind of Multifunctional mobile robot test platform, and detachable experiment porch uses three layers Omnibearing movable may be implemented under the driving of driving mechanism in the Mecanum wheel of framework, first layer body construction, by Mike The transverse shifting of Na Mu wheel and the characteristic of original place convolution, independent front and rear, left and right and can rotate in place movement simultaneously, can not change It is mobile to any direction in the case where change self-position, while can also facilitate shuttle in narrow cramped spaces, second layer knot The storage structures of structure can stack more small-sized experimental facilities and can be convenient taking-up, can be convenient shuttle in narrow cramped spaces In, flexibly complete the tasks such as various carryings.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of Multifunctional mobile robot test platform.

Fig. 2 is the main view of Multifunctional mobile robot test platform.

Fig. 3 is the left view of Multifunctional mobile robot test platform.

Specific embodiment

The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art, The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing Illustrate, should not be understood as the limitation to this patent.

Embodiment 1

A kind of Multifunctional mobile robot test platform, as shown in Figures 1 to 3, experiment porch is three-decker, including first Layer body construction 1, second layer storage structures 2 and third layer experiment porch structure 3 and control circuit, wherein first layer body construction Including chassis 101, Mecanum wheel 102 and driving mechanism 103, driving mechanism 103 includes motor 1031 and motor set 1032, electricity 1031 sets of machine inside motor set 1032, motor set 1032 is bolted on chassis 101, and Mecanum wheel 102 passes through Shaft coupling is connected on motor 1031, and the roller offset angle α of Mecanum wheel 102 takes identical numerical value, second layer storage structures 2 Including passing through screw and connecting rod 203 with the support plate 201 of support plate 201 and uncovered storage box 202, second layer storage structures 2 It is fixed on the chassis 101 of first layer body construction, third layer experiment porch structure 3 includes that experimental bench 301 and supporting mechanism connect Bar 302, third layer experiment porch structure 3 pass through the uncovered storage box screw of supporting mechanism connecting rod 302 and second layer storage structures 2 Connection, screw are sunk screw, and control circuit is controlled using STM32F103C8 minimum system, most using STM32F103C8 Mini system is controlled, can be from obtaining data between modules, and is handled in real time the data transmitted, to drive Motor module makes corresponding behavior act, control of the STM32 to motor, the size of steering and pulse by controlling motor Come so that the motion state of trolley makes corresponding change and goes to realize specific function.

Embodiment 2

A kind of Multifunctional mobile robot test platform, as shown in Figures 1 to 3, experiment porch is three-decker, including first Layer body construction 1, second layer storage structures 2 and third layer experiment porch structure 3 and control circuit, wherein first layer body construction Including chassis 101, Mecanum wheel 102 and driving mechanism 103, driving mechanism 103 includes motor 1031 and motor set 1032, electricity 1031 sets of machine inside motor set 1032, motor set 1032 is bolted on chassis 101, and Mecanum wheel 102 passes through Shaft coupling is connected on motor 1031, and shaft coupling is flange-face coupling, disk one end and Mecanum wheel wheel hub is linked, Mike The roller offset angle α of Na Mu wheel 102 takes identical numerical value, the design of Mecanum wheel symmetrical configuration, and when installation uses positive antisymmetry Installation, roller offset angle α are 45 °, and second layer storage structures 2 include and support plate 201 and uncovered storage box 202, second layer storage The support plate 201 of object structure 2 is fixed on the chassis 101 of first layer body construction by screw and connecting rod 203, and third layer is real Testing platform structure 3 includes experimental bench 301 and supporting mechanism connecting rod 302, and third layer experiment porch structure 3 passes through supporting mechanism connecting rod 302 connect with the uncovered storage box screw of second layer storage structures 2, and screw is sunk screw, and control circuit uses STM32F103C8 minimum system is controlled, and is controlled using STM32F103C8 minimum system, can from modules it Between obtain data, and the data transmitted are handled in real time, to drive motor module to make corresponding behavior act, Control of the STM32 to motor, by control motor steering and pulse size come so that the motion state of trolley makes phase The change answered goes to realize specific function.

Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in Within the protection scope of the utility model claims.

Claims (10)

1. a kind of Multifunctional mobile robot test platform, which is characterized in that the experiment porch is three-decker, including first Layer body construction (1), second layer storage structures (2) and third layer experiment porch structure (3) and control circuit, wherein first layer vehicle Body structure includes chassis (101), Mecanum wheel (102) and driving mechanism (103), and the driving mechanism (103) detachably connects It connects on chassis (101), the Mecanum wheel (102) is connected on driving mechanism (103) by shaft coupling, the second layer Storage structures (2) include and support plate (201) and uncovered storage box (202), the second layer storage structures (2) and first layer vehicle The chassis (101) of body structure is detachably connected, and the third layer experiment porch structure (3) includes experimental bench (301) and support machine Structure (302), the third layer experiment porch structure (3) are removable by supporting mechanism (302) and the second layer storage structures (2) Unload connection.

2. Multifunctional mobile robot test platform as described in claim 1, which is characterized in that the roller of the Mecanum wheel Offset angle α takes identical numerical value.

3. Multifunctional mobile robot test platform as claimed in claim 1 or 2, which is characterized in that the Mecanum wheel Roller offset angle α is 45 °.

4. Multifunctional mobile robot test platform as claimed in claim 2, which is characterized in that the Mecanum wheel construction pair Claim design, is symmetrically installed using positive and negative when installation.

5. Multifunctional mobile robot test platform as described in claim 1, which is characterized in that driving mechanism (103) packet Motor (1031) and motor set (1032) are included, the motor (1031) covers in motor set (1032) inside, passes through motor set (1032) it is detachably connected on chassis (101), the Mecanum wheel (102) is connected to motor (1031) by shaft coupling On.

6. Multifunctional mobile robot test platform as claimed in claim 5, which is characterized in that the shaft coupling is flange shaft coupling Device links disk one end and Mecanum wheel wheel hub.

7. Multifunctional mobile robot test platform as described in claim 1, which is characterized in that the second layer storage structures (2) it is connect by screw and connecting rod with the chassis (101) of first layer body construction.

8. Multifunctional mobile robot test platform as described in claim 1, which is characterized in that the third layer experiment porch knot The supporting mechanism (302) of structure (3) is connect with second layer storage structures (2) screw.

9. the Multifunctional mobile robot test platform as described in claim 7 or 8, which is characterized in that the screw is countersunk head spiral shell Nail.

10. Multifunctional mobile robot test platform as described in claim 1, which is characterized in that the control circuit uses STM32F103C8 minimum system is controlled.