CN209617316U - A kind of Omni-mobile platform of foundry robot - Google Patents
A kind of Omni-mobile platform of foundry robot Download PDFInfo
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- CN209617316U CN209617316U CN201920240061.3U CN201920240061U CN209617316U CN 209617316 U CN209617316 U CN 209617316U CN 201920240061 U CN201920240061 U CN 201920240061U CN 209617316 U CN209617316 U CN 209617316U
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Abstract
The utility model discloses the Omni-mobile platforms of foundry robot a kind of, belong to Omni-mobile platform technology field.Including platform chassis vehicle frame, platform hull, radar, vehicle-mounted computer, Mecanum wheel, hydraulic leveling system, Motor execution unit and on-vehicle battery group, the utility model uses walking mechanism of four Mecanum wheels as Omni-mobile platform, four Mecanum wheels are operated alone by four DC servo motors respectively, direction of rotation and revolving speed of the vehicle-mounted computer by each servo motor of control, realize the advance, retrogressing and original place spinning motion of Omni-mobile platform；Radar described in the utility model is laser radar, realizes the accurate positioning to platform automatically walk key point position, realizes the laser self-navigation of Omni-mobile platform；Hydraulic leveling system described in the utility model includes four vertical solution cylinder pressures and two horizontal hydraulic cylinders, realizes the adjusting to plateau levels degree, increases the stability of platform.
Description
Technical field
The utility model relates to Omni-mobile platform technology field, in particular to a kind of Omni-mobile of foundry robot is flat
Platform.
Background technique
With the increasingly dependence of counterweight mold casting robot, modern society, completing needed for heavy foundry robot for task is more
Complicated, more arduous, more accurate, environment is also more harsh.This needs heavy foundry robot to have very strong adaptability and move
Property, just as people, if the work that can be only completed with arm that plants oneself is very limited, also to have leg to match enough could be complete
At more more complicated tasks, while efficiency also can be promoted accordingly.Therefore other than the execution unit of heavy foundry robot,
Designing and manufacturing for mobile platform is also particularly important.Wherein for the movement of crawler type, leg foot formula, the common forms of motion such as wheeled
The research of platform is more deep, however the spatial complex and narrow in double teeming workshop, and double teeming robot itself is very stupid
Weight, common mobile platform are difficult to meet application demand.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide the Omni-mobile platform of foundry robot a kind of, solution
The problems such as movement in complicated narrow double teeming workshop of certainly existing common mobile platform is not flexible, and position attainability is poor.
To achieve the goals above, the utility model adopts the technical scheme that the omnidirectional of foundry robot a kind of moves
Moving platform, including platform chassis vehicle frame, platform hull, radar, vehicle-mounted computer, Mecanum wheel, hydraulic leveling system, vehicle mounted electric
Pond group, WIFI module and Motor execution unit, it is characterised in that: the platform chassis vehicle frame is rectangle, and four Mikes receive
Nurse wheel is separately mounted to the quadrangle of platform chassis vehicle frame, the walking mechanism as Omni-mobile platform；The platform hull is in
Stairstepping cuboid, high part is platform front end, low part is platform rear end；The vehicle-mounted computer is mounted on platform shell
The front end of body, the control unit as entire platform；The radar is mounted on the middle part of platform hull, realizes to platform certainly
The accurate positioning of dynamic walking key point position, realizes the laser self-navigation of Omni-mobile platform；The hydraulic leveling system
System includes four vertical solution cylinder pressures and two horizontal hydraulic cylinders, wherein four vertical solution cylinder pressures are separately mounted to platform chassis vehicle frame
Quadrangle, two horizontal hydraulic cylinders are separately mounted at the two corners of platform chassis frame interior rear end, two horizontal hydraulic cylinders difference
For controlling to adjust the lateral position of the two vertical solution cylinder pressures in rear end, increases Omni-mobile platform and different operating environment is fitted
Answer degree；The on-vehicle battery group is mounted on the middle part of platform chassis vehicle frame；The WIFI module is mounted on platform chassis
Rear end is leaned at the middle part of vehicle frame；The Motor execution unit includes four groups of DC servo motors, retarder and shafting, is installed respectively
DC servo motor connection retarder at the inside four corners of platform chassis vehicle frame, each angle again by decelerator connection shaft system,
And then each shafting is attached with the Mecanum wheel at each angle respectively.
The operating system of the vehicle-mounted computer is ROS Kinetic version robot operating system.
The radar is laser radar.
The shafting include axis, bearing block, first bearing, axle sleeve, second bearing, round nut stop washer, round nut,
Bolt and retarder mounting rack by bearing block, first bearing, axle sleeve, second bearing, round nut stop washer, round nut and subtract
Fast device mounting rack is successively gone here and there on axis, and blending bolt fastening constitutes shafting, for connecting retarder and Mecanum wheel.
By using above-mentioned technical proposal, the beneficial effects of the utility model are:
1. the utility model uses walking mechanism of four Mecanum wheels as Omni-mobile platform, four Mecanums
Wheel is operated alone by four DC servo motors respectively, direction of rotation and revolving speed of the vehicle-mounted computer by each servo motor of control,
The advance, retrogressing and original place spinning motion of Omni-mobile platform are realized, mobility and the position for increasing mobile platform are reachable
To property.
2. radar described in the utility model is laser radar, realize to the accurate of platform automatically walk key point position
Positioning, realizes the laser self-navigation of Omni-mobile platform.
3. hydraulic leveling system described in the utility model includes four vertical solution cylinder pressures and two horizontal hydraulic cylinders, wherein
Four vertical solution cylinder pressures are separately mounted to the quadrangle of platform chassis vehicle frame, and two horizontal hydraulic cylinders are separately mounted to platform chassis vehicle
At frame Internal back end two corners, for controlling to adjust the lateral position of the two vertical solution cylinder pressures in rear end, mobile platform work is increased
When stability, realize the adjustment to mobile platform levelness.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of embodiment of the utility model；
Fig. 2 is a kind of schematic diagram of internal structure of embodiment of the utility model；
Fig. 3 is a kind of internal structure schematic top plan view of embodiment of the utility model；
Fig. 4 is a kind of Motor execution cellular construction schematic diagram of embodiment of the utility model.
Figure label are as follows: 1- chassis frame, 2- shell, 3- radar supports, 4- radar, 5- vehicle-mounted computer, 6- Mecanum
Wheel, 7- vertical solution cylinder pressure, 8-WIFI module, 9- on-vehicle battery group, 10- shafting, 11- retarder, 12- DC servo motor, 13-
Horizontal hydraulic cylinder, 14- servo-driver, 1001- axis, 1002- bearing block, 1003- first bearing, 1004- axle sleeve, 1005-
Two bearings, 1006- round nut drag washer, 1007- round nut, 1008- bolt, 1009- retarder mounting rack.
Specific embodiment
In order to illustrate more clearly of the technical solution of the utility model, below in conjunction with the tool of Detailed description of the invention the utility model
Body embodiment.It should be evident that the drawings in the following description are merely some embodiments of the present invention, it is general for this field
For logical technical staff, under the premise of not paying creation labour, it can also be obtained according to these attached drawings other attached drawings, and obtain
Obtain other embodiments.
It should be noted that there is the component of identical structure or function in some figures to be easy to understand simplified form,
One of those is only symbolically denoted, or only depicts one of those.Herein, "one" not only indicate " only this
One ", the case where can also indicating " more than one ".
As shown in Figure 1, Figure 2, Figure 3 shows, the utility model discloses the Omni-mobile platforms of foundry robot a kind of (referred to as
" platform "), including it is platform chassis vehicle frame 1, platform hull 2, radar supports 3, radar 4, vehicle-mounted computer 5, Mecanum wheel 6, vertical
Formula hydraulic cylinder 7, WIFI module 8, on-vehicle battery group 9, shafting 10, retarder 11, DC servo motor 12, horizontal hydraulic cylinder 13
With servo-driver 14, which is characterized in that the platform chassis vehicle frame 1 is rectangle, and Mecanum wheel 6 is separately mounted to put down
The quadrangle of platform chassis frame 1, the walking mechanism as Omni-mobile platform；The platform hull 2 is stepped cuboid,
High part is platform front end, low part is platform rear end；The vehicle-mounted computer 5 is mounted on the front end of platform hull 2, makees
For the control unit of entire platform；The radar 4 is mounted on the middle part of platform hull 2 by radar supports 3, realizes to flat
The accurate positioning of platform automatically walk key point position, realizes the laser self-navigation of Omni-mobile platform；The vertical solution
Cylinder pressure 7 is separately mounted to the quadrangle of platform chassis vehicle frame 1, after horizontal hydraulic cylinder 13 is separately mounted to 1 inside of platform chassis vehicle frame
It holds at two corners, wherein vertical solution cylinder pressure 7 is used to adjust the levelness of platform, and horizontal hydraulic cylinder 13 is for controlling to adjust rear end two
The lateral position of vertical solution cylinder pressure 7 increases Omni-mobile platform to the adaptedness and stability of different operating environment；It is described
On-vehicle battery group 9 be mounted on the middle part of platform chassis vehicle frame 1；The WIFI module 8 is mounted on platform chassis vehicle frame 1
Rear end is leaned at middle part；DC servo motor 12, retarder 11 and the shafting 10, is separately mounted to the interior of platform chassis vehicle frame 1
Portion's four corners, the DC servo motor 12 at each angle connects retarder 11 again by 11 connection axle series 10 of retarder, and then each shafting
10 are attached with the Mecanum wheel 6 at each angle respectively, form the driving execution unit of platform.
The utility model is further characterized by, and the operating system of the vehicle-mounted computer 5 is ROS Kinetic version
Robot operating system.
The utility model is further characterized by, and the radar 4 is laser radar.
The utility model is further characterized by, as shown in figure 4, the shafting 10 includes axis 1001, bearing block
1002, first bearing 1003, axle sleeve 1004, second bearing 1005, round nut stop washer 1006, round nut 1007, bolt
1008 and retarder mounting rack 1009, by bearing block 1002, first bearing 1003, axle sleeve 1004, second bearing 1005, round nut
Stop washer 1006, round nut 1007 and retarder mounting rack 1009 are successively gone here and there on axis, and the fastening of blending bolt 1008 constitutes axis
It is 10, for connecting retarder 11 and Mecanum wheel 6.
As can be seen that walking mechanism of the Mecanum wheel as Omni-mobile platform is used in the utility model embodiment,
Mecanum wheel is operated alone by DC servo motor respectively, and vehicle-mounted computer is by controlling the direction of rotation of each servo motor and turning
Speed realizes the advance, retrogressing and original place spinning motion of Omni-mobile platform, and the mobility and position for increasing mobile platform can
Reaching property.Radar described in the utility model is laser radar, is realized to the accurate fixed of platform automatically walk key point position
Position, realizes the laser self-navigation of Omni-mobile platform.Vertical solution cylinder pressure described in the utility model, for adjusting platform
Levelness increases stability when mobile platform work；The horizontal hydraulic cylinder, it is vertical for controlling to adjust rear end two
The lateral position of hydraulic cylinder increases Omni-mobile platform to the adaptedness of different operating environment, when ensure that working platform
Stability.
The above is only the preferred embodiment of the utility model, it should be noted that the utility model does not address it
Place is suitable for the prior art.
Claims (4)
1. the Omni-mobile platform of foundry robot a kind of, including platform chassis vehicle frame, platform hull, radar, vehicle-mounted computer, wheat
Ke Namu wheel, hydraulic leveling system, on-vehicle battery group, WIFI module and Motor execution unit, it is characterised in that: the platform
Chassis frame is rectangle, and four Mecanum wheels are separately mounted to the quadrangle of platform chassis vehicle frame, as Omni-mobile platform
Walking mechanism；The platform hull is stepped cuboid, after high part is platform front end, low part is platform
End；The vehicle-mounted computer is mounted on the front end of platform hull, the control unit as entire platform；The radar is mounted on
The middle part of platform hull realizes the accurate positioning to platform automatically walk key point position, realizes Omni-mobile platform
Laser self-navigation；The hydraulic leveling system includes four vertical solution cylinder pressures and two horizontal hydraulic cylinders, wherein four vertical
Formula hydraulic cylinder is separately mounted to the quadrangle of platform chassis vehicle frame, and two horizontal hydraulic cylinders are separately mounted to platform chassis frame interior
At the two corners of rear end, two horizontal hydraulic cylinders are respectively used to control to adjust the lateral position of the two vertical solution cylinder pressures in rear end, increase
Adaptedness of the Omni-mobile platform to different operating environment；The on-vehicle battery group is mounted in platform chassis vehicle frame
Portion；The WIFI module is mounted on the middle part of platform chassis vehicle frame by rear end；The Motor execution unit includes four groups straight
Flow servo motor, retarder and shafting are separately mounted to the inside four corners of platform chassis vehicle frame, the DC servo electricity at each angle
Machine connects retarder again by decelerator connection shaft system, and then each shafting is attached with the Mecanum wheel at each angle respectively.
2. a kind of Omni-mobile platform of foundry robot as described in claim 1, it is characterised in that: the vehicle-mounted computer
Operating system is ROS Kinetic version robot operating system.
3. a kind of Omni-mobile platform of foundry robot as described in claim 1, it is characterised in that: the radar is laser
Radar.
4. a kind of Omni-mobile platform of foundry robot as described in claim 1, it is characterised in that: the shafting includes
Axis, bearing block, first bearing, axle sleeve, second bearing, round nut stop washer, round nut, bolt and retarder mounting rack, will
Bearing block, first bearing, axle sleeve, second bearing, round nut stop washer, round nut and retarder mounting rack are successively gone here and there in axis
On, blending bolt fastening constitutes shafting, for connecting retarder and Mecanum wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920240061.3U CN209617316U (en) | 2019-02-26 | 2019-02-26 | A kind of Omni-mobile platform of foundry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920240061.3U CN209617316U (en) | 2019-02-26 | 2019-02-26 | A kind of Omni-mobile platform of foundry robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209617316U true CN209617316U (en) | 2019-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920240061.3U Expired - Fee Related CN209617316U (en) | 2019-02-26 | 2019-02-26 | A kind of Omni-mobile platform of foundry robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703652A (en) * | 2019-02-26 | 2019-05-03 | 安徽理工大学 | A kind of Omni-mobile platform of foundry robot |
-
2019
- 2019-02-26 CN CN201920240061.3U patent/CN209617316U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703652A (en) * | 2019-02-26 | 2019-05-03 | 安徽理工大学 | A kind of Omni-mobile platform of foundry robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191112 Termination date: 20210226 |
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| CF01 | Termination of patent right due to non-payment of annual fee |