CN217100258U - Omnidirectional mobile robot based on independent suspension damping device - Google Patents
Omnidirectional mobile robot based on independent suspension damping device Download PDFInfo
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- CN217100258U CN217100258U CN202221156295.8U CN202221156295U CN217100258U CN 217100258 U CN217100258 U CN 217100258U CN 202221156295 U CN202221156295 U CN 202221156295U CN 217100258 U CN217100258 U CN 217100258U
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Abstract
The utility model provides an omnidirectional mobile robot based on an independent suspension damping device, which comprises a supporting mechanism, a walking mechanism, a suspension system, an electric control system and a monitoring system; the supporting mechanism is used for providing mechanical support and installation space for the travelling mechanism, the suspension system, the electric control system and the monitoring system; the walking mechanism is used for realizing a moving walking function, each walking wheel is connected to the bearing plate through the independent suspension device, each walking wheel has a damping function, and the walking wheels are fully contacted with the ground when passing through the ridge or the pit, so that a sufficient ground positive pressure can be provided for the robot moving platform; the laser radar provides functions of navigation, map survey and disturbance rejection; the electric control system provides a control algorithm; the all-directional moving vehicle can move in all directions, can automatically walk and automatically avoid obstacles, and is simple in structure, convenient to operate, safe and reliable.
Description
Technical Field
The utility model belongs to the technical field of intelligent control mobile robot makes, concretely relates to omnidirectional mobile robot based on independently hang damping device.
Background
With the rapid development of scientific technology, social economy, industrial automation and the living standard of residents, the intelligent control and mobile robot is widely popularized and applied in various industries; however, the mover in the prior art can only move and walk according to a fixed route in a fixed direction, and cannot realize omnidirectional autonomous moving and walking; in the multiple pairs of walking wheels of the mobile robot in the prior art, a power mechanism is connected to one pair of walking wheels, so that the walking wheels form a pair of driving wheels, usually, a suspension structure is arranged on the pair of driving wheels, when the mobile robot spans obstacles such as ridges, pits and the like on uneven road surfaces, the walking wheels on the bottom surface of the mobile robot cannot be kept in full contact with the ground, part of the walking wheels are easy to be impacted due to suspension landing, so that the bearing of a mobile platform of the mobile robot is unstable, and an electric control system and a control element of the mobile robot are also easy to be affected by vibration generated by impact to cause failure.
Disclosure of Invention
In order to solve the above problem that prior art exists, the utility model aims to provide an omnidirectional movement robot based on independent suspension damping device can the omnidirectional removal, and every walking wheel can fully contact ground to the whole car can independently walk, keep away the barrier automatically, simple structure, convenient operation, safe and reliable.
The utility model discloses the technical scheme who adopts does:
an omnidirectional mobile robot based on an independent suspension damping device comprises a supporting mechanism, a walking mechanism, a suspension system, an electric control system and a monitoring system;
the supporting mechanism comprises an outer shell, and a bearing plate is arranged in the outer shell through a supporting frame;
the walking mechanism comprises a plurality of walking wheels, and each walking wheel is connected to the bearing plate through an independent suspension device; independent suspension devices of a plurality of travelling wheels are combined to form a suspension system;
each independent suspension device comprises a walking wheel mounting plate, the walking wheel mounting plate is arranged at the top of the walking wheel, a plurality of elastic suspension brackets are uniformly arranged above the walking wheel mounting plate around the vertical central line of the walking wheel, the upper end of each elastic suspension bracket is fixedly connected to the bearing plate, and the lower end of each elastic suspension bracket is fixedly connected to the walking wheel mounting plate;
the electric control system is fixed in the outer shell through the bearing plate;
the monitoring system is arranged on the outer side wall of the periphery of the outer shell;
and the travelling mechanism and the monitoring system are both connected to the electric control system.
The elastic suspension frame comprises an upper pin column, a lower pin column and a spring, the upper pin column is fixedly connected to the bearing plate, the lower pin column is fixedly connected to the walking wheel mounting plate, the spring is sleeved on the upper pin column and the lower pin column, the lower section of the upper pin column is connected with the upper section of the lower pin column in a sliding fit mode, and the upper end and the lower end of the spring are limited by the bearing plate and the lower walking wheel mounting plate in a matched mode.
The upper section of the lower pin column is provided with a guide column, the lower section of the upper pin column is provided with a guide hole, the guide column is in clearance fit with the guide hole, and the upper pin column is sleeved on the guide section of the lower pin column in a sliding mode through the guide hole.
The upper section of the lower pin column is provided with a first guide section, a second guide section and a third guide section, and the diameters of the first guide section, the second guide section and the third guide section are sequentially reduced from bottom to top; the lower section of the upper pin column is correspondingly provided with a first guide hole, a second guide hole and a third guide hole, and the diameters of the first guide hole, the second guide hole and the third guide hole are also reduced in sequence from bottom to top; the first guide section is in clearance fit with the first guide hole, the second guide section is in clearance fit with the second guide hole, and the third guide section is in clearance fit with the third guide hole.
The cross section of the first guide section is semicircular, and the cross section of the first guide hole is semicircular.
Each walking wheel of the walking mechanism is respectively connected with a walking motor, a reversing motor and an encoder, the walking motor, the reversing motor and the encoder are all arranged above the walking wheel mounting plate along the vertical direction, and notches are respectively arranged on the bearing plate corresponding to the walking motor, the reversing motor and the encoder of each walking wheel;
an output shaft of the walking motor is connected to a wheel shaft of the walking wheel through a reversing transmission mechanism;
an output shaft of the reversing motor penetrates through the travelling wheel mounting plate downwards and then is connected with a reversing driving gear, an index plate gear is arranged at the top of the travelling wheel, and the reversing driving gear is meshed with the index plate gear;
a middle shaft of the encoder penetrates through the travelling wheel downwards and is connected with a rotary gear, and the rotary gear is also meshed with the index plate gear.
The middle shaft of the encoder is connected to a gear shaft of the rotary gear through an elastic diaphragm coupler;
the diameter of the indexing disc gear is larger than that of the reversing driving gear; the diameter of the rotary gear is consistent with that of the reversing driving gear.
The monitoring system comprises at least one laser radar and a plurality of ultrasonic radars, the laser radar is arranged in the middle of the front end face of the outer shell, and the plurality of ultrasonic radars are uniformly distributed on the outer side face of the periphery of the outer shell;
the laser radar is used for navigation, map survey and disturbance rejection;
the ultrasonic radar is used for sensing and detecting obstacles.
The electric control system comprises an industrial personal computer, an ultrasonic controller, a switch, a steering wheel driver, an IMU and an electric appliance control assembly;
the ultrasonic controller is used for controlling working parameters and working states of the ultrasonic radar;
the steering wheel driver is used for providing driving control for the traveling wheels;
the IMU is used for feeding back position information;
the electric appliance control assembly is used for providing power for each mechanism and controlling and protecting a power circuit; the electric appliance control assembly comprises an air switch, a junction box, a voltage reduction module and a relay;
the industrial personal computer is used for receiving monitoring data fed back by the monitoring system, calculating and sending a control instruction to the walking mechanism according to a preset program;
the switch is a switching module, and the electric appliance control assembly, the IMU, the steering wheel driver and the monitoring system are connected to the industrial personal computer through the switch.
A battery bin is arranged below the middle part of the bearing plate, and a rechargeable battery is arranged in the battery bin; the side surface of the outer shell is provided with a side opening door corresponding to the position of the battery compartment, and the side opening door is provided with a power switch and an indicator light.
The utility model has the advantages that:
an omnidirectional mobile robot based on an independent suspension damping device is composed of a supporting mechanism, a walking mechanism, a suspension system, an electric control system and a monitoring system; the supporting mechanism is used for providing mechanical support and installation space for the travelling mechanism, the suspension system, the electric control system and the monitoring system; the walking mechanism is used for realizing a moving walking function, each walking wheel is connected to the bearing plate through the independent suspension device, each walking wheel has a damping function, and the walking wheels are fully contacted with the ground when passing through the ridge or the pit, so that a sufficient ground positive pressure can be provided for the robot moving platform; the laser radar provides functions of navigation, map survey and disturbance rejection; the electric control system provides a control algorithm; the all-directional moving vehicle can move in all directions, can automatically walk and automatically avoid obstacles, and is simple in structure, convenient to operate, safe and reliable.
Drawings
Fig. 1 is a schematic view of a three-dimensional structure of an omnidirectional mobile robot based on an independent suspension damping device according to an embodiment of the present invention;
fig. 2 is a schematic view of another perspective three-dimensional structure of the omnidirectional mobile robot based on the independent suspension damping device according to the embodiment of the present invention;
fig. 3 is a schematic view of a three-dimensional structure of an omnidirectional mobile robot with a side plate removed based on an independent suspension damping device according to an embodiment of the present invention;
fig. 4 is a schematic plane structure diagram of the omnidirectional mobile robot with one side plate removed based on the independent suspension damping device according to the embodiment of the present invention;
fig. 5 is a schematic view of a three-dimensional structure of the omnidirectional mobile robot based on the independent suspension damping device after the outer shell is removed;
fig. 6 is a schematic perspective view of the omnidirectional mobile robot according to the embodiment of the present invention after the outer casing and the supporting frame are removed;
fig. 7 is an enlarged schematic view of a three-dimensional structure of a walking mechanism of an omnidirectional mobile robot based on an independent suspension damping device according to an embodiment of the present invention;
fig. 8 is an enlarged schematic view of another perspective three-dimensional structure of the walking mechanism of the omnidirectional mobile robot based on the independent suspension damping device according to the embodiment of the present invention;
fig. 9 is an enlarged schematic view of the lower pin three-dimensional structure of the omnidirectional mobile robot based on the independent suspension damping device according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of protection of the present invention.
As shown in fig. 1-9, the embodiment of the utility model provides an omnidirectional mobile robot based on independently hang damping device, whole plan scheme is:
the whole structure consists of five parts, namely a supporting mechanism 1, a travelling mechanism 2, a suspension system 3, an electric control system 4 and a monitoring system 5; mechanical support and installation space are provided for the travelling mechanism 2, the suspension system 3, the electric control system 4 and the monitoring system 5 through the supporting mechanism 1, the structure is compact, the strength is high, the size is small, the occupied space is small, and the moving and travelling operation is convenient.
Do through running gear 2 the utility model discloses realize removing the walking function, can hang running gear 2 through suspension 3 and install on supporting mechanism 1 for running gear has and hangs shock-absorbing function, removes the walking reliable and stable.
5 real-time induction of monitoring system surveys the utility model discloses outside environmental state and positional information all around, the barrier is avoided in the control walking route of being convenient for.
The traveling mechanism 2 and the monitoring system 5 are both connected to the electric control system, the electric control system collects data information sensed and detected by the monitoring system 5, the data information is calculated, and a control instruction is sent to the traveling mechanism according to a preset program.
The electric control system 4 provides a control algorithm; the all-directional moving vehicle can move in all directions, can automatically walk and automatically avoid obstacles, and is simple in structure, convenient to operate, safe and reliable.
In this embodiment, specifically, the structural scheme of the supporting mechanism 1 is as follows:
the main supporting structure of the supporting mechanism 1 is a rectangular box type outer shell 11 with an open bottom and a rectangular frame type supporting frame 12 fixedly connected inside the outer shell, functions of dust prevention, water prevention, collision prevention, appearance beautification and the like can be provided through the supporting frame 12, a bearing plate 13 is fixedly installed inside the outer shell 11 through the supporting frame 12, the bearing plate 13 is a main installation supporting structure, and the traveling mechanism 2 is arranged below the bearing plate 13; the top surface of the outer shell can be used as a carrying platform.
Electrical system 4 passes through bearing plate 13 fixed mounting in the inside of shell body 11, and each component element of electrical system can not expose, and whole outward appearance is level and smooth succinct, the utility model discloses can not scrape at the removal walking in-process and bump external obstacle, also can not be scraped by external obstacle and bump safe and reliable.
Monitoring system 5 sets up on shell body 11's lateral wall all around, can real-time induction survey the utility model discloses outside environmental condition and positional information all around are convenient for control walking route, avoid the barrier.
Specifically, the structure scheme of the traveling mechanism 2 is as follows:
the walking mechanism 2 is provided with four walking wheels 21 on four opposite corners of the bottom of the supporting frame, each walking wheel 21 is connected to the bearing plate 13 through a set of independent suspension device, each walking wheel is not interfered with the independent suspension devices of other walking wheels, so that each walking wheel 21 has a damping function and is fully contacted with the ground when passing through a ridge or a pit, thereby providing full ground positive pressure for the robot moving platform and having good balance and stability performance; independent suspension devices of a plurality of road wheels are combined to form a suspension system.
The top of each walking wheel is respectively provided with a round walking wheel mounting plate 31, three elastic suspension brackets 32 are uniformly arranged above the walking wheel mounting plate 31 around the vertical central line of the walking wheel, the upper end of each elastic suspension bracket 32 is fixedly connected to the bearing plate 13, the lower end of each elastic suspension bracket 32 is fixedly connected to the walking wheel mounting plate 31, and the walking wheel mounting plate 31 and the three elastic suspension brackets 32 above each walking wheel form an independent suspension device, so that each walking wheel is respectively suspended and mounted on the bearing plate, and the independent suspension device has a shock absorption function by the elastic suspension brackets; the three elastic suspension brackets 32 are uniformly distributed in a regular triangle shape, and the structure is stable and reliable. Each walking wheel has the shock-absorbing function, and fully contacts with the ground when passing through the bank or the pit, so that full ground positive pressure can be provided for the robot moving platform.
Specifically, the structural scheme of each elastic suspension bracket is as follows:
the elastic suspension bracket 32 is composed of an upper pin 321, a lower pin 322 and a spring 323, the upper pin 321 is fixedly connected on the bearing plate 13 through an upper mounting block 324, the lower pin 322 is fixedly connected on the road wheel mounting plate 31 through a lower mounting block 325, the spring 323 is sleeved on the upper pin 321 and the lower pin 322, the lower section of the upper pin 321 is connected with the upper section of the lower pin 322 through sliding fit,
the upper mounting block 324 is fixedly connected to the top surface of the bearing plate 13, the lower mounting block 325 is fixedly connected to the top surface of the road wheel mounting plate 31, and the upper end and the lower end of the spring 323 are limited by the bottom surface of the bearing plate 13 and the top surface of the lower mounting block 325 in a matching manner.
A guide post is arranged on the upper section of the lower pin 322, and a guide hole is arranged on the lower section of the upper pin 321, the structure of the upper pin and the guide hole is not shown in detail in the figure, and those skilled in the art can select the guide post adaptively according to the specific structure of the lower pin and the guide post; the guide post and the guide hole are in clearance fit, so that the upper pin post is sleeved on the guide section of the lower pin post in a sliding mode through the guide hole.
The utility model discloses an omnidirectional movement robot based on independent suspension damping device is at the operation in-process, and every walking wheel all has shock-absorbing function, when protruding bank or pit, under the elastic force of elasticity mounted frame, every walking wheel is respectively sufficient and ground contact to can provide abundant ground normal pressure for robot moving platform, ensure to remove the walking remain balanced stable throughout.
Further, a first guide section 3221, a second guide section 3222 and a third guide section 3223 are arranged at the upper section of the lower pin 322, and the diameters of the first guide section, the second guide section and the third guide section are sequentially reduced from bottom to top; the lower section of the upper pin column is correspondingly provided with a first guide hole, a second guide hole and a third guide hole, and the diameters of the first guide hole, the second guide hole and the third guide hole are also reduced in sequence from bottom to top; the first guide section is in clearance fit with the first guide hole, the second guide section is in clearance fit with the second guide hole, and the third guide section is in clearance fit with the third guide hole.
Still further, the cross section of the first guiding section 3221 is semicircular, and in practice, the section extends from the outer cylindrical surface of the second guiding section to the root of the first guiding section 3221, that is, the solid material in the other half of the first guiding section 3221 is also cut and removed; the cross section of the first guide hole is correspondingly semicircular; is favorable for positioning, matching and installation and positioning and guiding.
Specifically, the structure scheme of the travelling mechanism is as follows:
every walking wheel 21 of running gear is connected with walking motor 22, switching-over motor 23 and encoder 24 respectively, walking motor 22, switching-over motor 23 and encoder 24 all set up in the top of walking wheel mounting panel 31 along vertical direction be provided with the breach on the bearing plate 13 corresponding to the walking motor 22 of every walking wheel 21, switching-over motor 23 and the position of encoder 24 respectively for the top of bearing plate can be stretched out to walking motor 22, switching-over motor 23 and encoder 24 upper end of every walking wheel 21, further make compact structure, further reduce the volume, further reduce occupation space.
Further, the output shaft of the traveling motor 22 is connected to the wheel shaft of the traveling wheel 21 through a reversing transmission mechanism 25, which may be a reversing transmission mechanism in the prior art, such as two bevel gear reversing transmission mechanisms in right-angle meshing transmission, or a worm gear transmission mechanism, or other reversing transmission mechanisms in the prior art.
The driving torque output by the walking motor along the vertical direction is converted into the torque in the horizontal direction through the reversing transmission mechanism, so that the wheel shaft in the horizontal direction of the walking wheel is driven to rotate, and the walking is realized.
An output shaft of the reversing motor 23 penetrates through the travelling wheel mounting plate 31 downwards and then is connected with a reversing driving gear 26, the top of the travelling wheel 21 is provided with an index plate gear 27, the reversing driving gear 26 is meshed with the index plate gear 27, and the reversing motor 23 can control the rotating direction of the travelling wheel, so that the moving and travelling direction is controlled.
The middle shaft of the encoder 24 penetrates through the road wheel mounting plate downwards and then is connected with a rotary gear 28, the rotary gear 28 is also meshed with the index plate gear 27, and the encoder 24 records the rotary stroke of the rotary gear and transmits the rotary stroke to the electric control system, so that the walking distance can be intelligently controlled.
Still further, the central shaft of the encoder 24 is connected to the gear shaft of the rotary gear 28 through an elastic diaphragm coupling 29; the elastic diaphragm coupling is a high-performance metal elastic element flexible coupling, does not need lubrication, and has compact structure, high strength, long service life and no rotating clearance, and has good balance performance, light weight, no noise, high reliability, large bearing capacity and high efficiency, and can adapt to the utility model discloses the stable middle and high-speed rotating shaft system of load.
Still further, the diameter of the indexing disc gear is set to be larger than that of the reversing driving gear; the diameter of the rotary gear is consistent with that of the reversing driving gear. The diameter of the indexing disc gear is at least more than three times larger than that of the reversing driving gear, and the diameter of the indexing disc gear is four times larger than that of the reversing driving gear in the embodiment, so that the direction control precision is high, and the operation is stable.
Specifically, the structural scheme of the monitoring system 5 is as follows:
the monitoring system 5 comprises at least one laser radar 51 and a plurality of ultrasonic radars 52, the laser radar 51 is arranged in the middle of the front end face of the outer shell, and the plurality of ultrasonic radars 52 are uniformly distributed on the outer side face of the periphery of the outer shell;
the laser radar 51 is used for providing the utility model with functions of navigation, map survey, interference resistance, and the like;
Specifically, the structural scheme of the electronic control system 4 is as follows:
the electric control system 4 comprises an industrial personal computer 41, an ultrasonic controller 42, a switch 43, a steering wheel driver 44, an IMU46 (inertial measurement unit) and an electric appliance control assembly;
the ultrasonic controller 42 is used for controlling the operating parameters and the operating state of the ultrasonic radar 52.
The steering wheel drive 44 is used to drive and control the operating state and operating parameters of the road wheels 21.
The IMU, i.e. the inertial measurement unit 46, is used for feeding back position information.
The electric appliance control assembly is used for providing power for each mechanism and controlling and protecting a power circuit; the electrical appliance control assembly comprises an air switch 451, a junction box 452, a voltage reduction module 453 and a relay 454;
the air switch 451 and the relay 454 provide circuit control and circuit protection functions;
the junction box 452 is used for tapping the power current into tapping currents of each component;
the voltage reduction module 453 is used to reduce the power supply voltage to the operating low voltage required by the ultrasonic radar.
The industrial personal computer 41 is used for receiving monitoring data fed back by the monitoring system 5, calculating the monitoring data and sending a control instruction to the traveling mechanism according to a preset program; the industrial computer does the utility model discloses a control center.
The switch 43 is a switching module, and the electrical control assembly, the IMU (inertial measurement unit 46), the steering wheel driver 44 and the monitoring system 5 are all connected to the industrial personal computer 41 through the switch 43.
The utility model discloses an omnidirectional movement robot based on independently hang damping device can the omnidirectional remove to the whole car can independently walk, keep away the barrier automatically, simple structure, convenient operation, safe and reliable.
Finally, a battery compartment is arranged below the middle part of the bearing plate 13, and a rechargeable battery 14 is arranged in the battery compartment; the side of the outer shell is provided with a side door 15 corresponding to the position of the battery compartment, and the side door is provided with a power switch and an indicator light, so that the power supply can be directly controlled and the electric quantity can be visually observed.
And will the front end panel of shell body sets up to the arc, and front end panel middle part sets up a horizontal notch, with laser radar fixed mounting at the middle part of horizontal notch, the direction is accurate stable.
The industrial personal computer is arranged above the bearing plate and corresponds to the position of the battery compartment, an access hole is formed in the side face of the other side of the outer shell and corresponds to the position of the industrial personal computer, and a compartment door is also arranged on the access hole.
The utility model discloses an omnidirectional mobile robot based on an independent suspension damping device, which comprises a supporting mechanism, a walking mechanism, a suspension system, an electric control system and a monitoring system; the supporting mechanism is used for providing mechanical support and installation space for the travelling mechanism, the suspension system, the electric control system and the monitoring system; the walking mechanism is used for realizing a moving walking function, each walking wheel is connected to the bearing plate through the independent suspension device, each walking wheel has a damping function, and the walking wheels are fully contacted with the ground when passing through the ridge or the pit, so that a sufficient ground positive pressure can be provided for the robot moving platform; the laser radar provides functions of navigation, map survey and disturbance rejection; the electric control system provides a control algorithm; the all-directional moving vehicle can move in all directions, can automatically walk and automatically avoid obstacles, and is simple in structure, convenient to operate, safe and reliable.
The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all falling within the technical solution of the present invention, all fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides an omnidirectional movement robot based on independent suspension damping device which characterized in that: comprises a supporting mechanism (1), a traveling mechanism (2), a suspension system (3), an electric control system (4) and a monitoring system (5);
the supporting mechanism (1) comprises an outer shell (11), a bearing plate (13) is arranged in the outer shell (11) through a supporting frame (12), and the traveling mechanism (2) is arranged below the bearing plate (13);
the travelling mechanism (2) comprises a plurality of travelling wheels (21), and each travelling wheel (21) is connected to the bearing plate (13) through an independent suspension device; independent suspension devices of a plurality of travelling wheels (21) are combined to form a suspension system (3);
each independent suspension device comprises a walking wheel mounting plate (31), the walking wheel mounting plate (31) is arranged at the top of a walking wheel (21), a plurality of elastic suspension brackets (32) are arranged above the walking wheel mounting plate (31), the elastic suspension brackets (32) are uniformly arranged around the vertical central line of the walking wheel (21), the upper end of each elastic suspension bracket (32) is fixedly connected to a bearing plate (13), and the lower end of each elastic suspension bracket (32) is fixedly connected to the walking wheel mounting plate (31);
the electric control system (4) is fixed in the outer shell (11) through a bearing plate (13);
the monitoring system (5) is arranged on the peripheral outer side wall of the outer shell (11);
the walking mechanism (2) and the monitoring system (5) are both connected to the electric control system (4).
2. The omnidirectional mobile robot based on the independent suspension damping device according to claim 1, wherein: the elastic suspension frame (32) comprises an upper pin column (321), a lower pin column (322) and a spring (323), the upper end of the upper pin column (321) is fixedly connected to the bearing plate (13), the lower end of the lower pin column (322) is fixedly connected to the walking wheel mounting plate (31), the spring (323) is sleeved on the upper pin column (321) and the lower pin column (322), the lower section of the upper pin column (321) is slidably connected to the upper section of the lower pin column (322) in a matched mode, and the upper end and the lower end of the spring (323) are limited by the bearing plate (13) and the walking wheel mounting plate (31) in a matched mode.
3. The omnidirectional mobile robot based on the independent suspension damping device according to claim 2, wherein: the upper section of the lower pin column (322) is provided with a guide column, the lower section of the upper pin column (321) is provided with a guide hole, the guide column and the guide hole are in clearance fit, and the upper pin column (321) is sleeved on the guide section of the lower pin column (322) in a sliding mode through the guide hole.
4. The omnidirectional mobile robot based on the independent suspension damping device according to claim 3, wherein: the upper section of the lower pin column (322) is provided with a first guide section (3221), a second guide section (3222) and a third guide section (3223), and the diameters of the first guide section (3221), the second guide section (3222) and the third guide section (3223) are sequentially reduced from bottom to top; the lower section of the upper pin column (321) is correspondingly provided with a first guide hole, a second guide hole and a third guide hole, and the diameters of the first guide hole, the second guide hole and the third guide hole are also reduced in sequence from bottom to top; the first guide section (3221) is in clearance fit with the first guide hole, the second guide section (3222) is in clearance fit with the second guide hole, and the third guide section (3223) is in clearance fit with the third guide hole.
5. The omnidirectional mobile robot based on the independent suspension damping device according to claim 4, wherein: the section of the first guide section (3221) is semicircular, and the section of the first guide hole is semicircular.
6. The omnidirectional mobile robot based on the independent suspension damping device according to claim 5, wherein: each walking wheel (21) of the walking mechanism (2) is connected with a walking motor (22), a reversing motor (23) and an encoder (24) respectively, the walking motor (22), the reversing motor (23) and the encoder (24) are arranged above a walking wheel mounting plate (31) along the vertical direction, and gaps are formed in the positions, corresponding to each walking motor (22), the reversing motor (23) and the encoder (24), of the bearing plate (13);
an output shaft of the walking motor (22) is connected to a wheel shaft of the walking wheel (21) through a reversing transmission mechanism (25);
an output shaft of the reversing motor (23) penetrates through the walking wheel mounting plate (31) downwards and then is connected with a reversing driving gear (26), an indexing disc gear (27) is arranged at the top of the walking wheel (21), and the reversing driving gear (26) is meshed with the indexing disc gear (27);
a middle shaft of the encoder (24) penetrates through the road wheel mounting plate (31) downwards and then is connected with a rotary gear (28), and the rotary gear (28) is also meshed with the indexing disc gear (27).
7. The omnidirectional mobile robot based on the independent suspension damping device according to claim 6, wherein: the middle shaft of the encoder (24) is connected to a gear shaft of the rotary gear (28) through an elastic diaphragm coupler (29);
the diameter of the indexing disc gear (27) is larger than that of the reversing driving gear (26); the diameter of the rotary gear (28) and the diameter of the reversing driving gear (26) are consistent with each other.
8. The omnidirectional mobile robot based on the independent suspension damping device according to claim 1, wherein: the monitoring system (5) comprises at least one laser radar (51) and a plurality of ultrasonic radars (52), the laser radar (51) is arranged in the middle of the front end face of the outer shell (11), and the plurality of ultrasonic radars (52) are uniformly distributed on the peripheral outer side face of the outer shell (11);
the laser radar (51) is used for navigation, map survey and anti-interference barriers;
the ultrasonic radar (52) is used for inductively detecting obstacles.
9. The omnidirectional mobile robot based on the independent suspension damping device of claim 8, wherein: the electric control system (4) comprises an industrial personal computer (41), an ultrasonic controller (42), a switch (43), a steering wheel driver (44), an IMU (46) and an electric appliance control assembly;
the ultrasonic controller (42) is used for controlling the working parameters and the working state of the ultrasonic radar (52);
the steering wheel driver (44) is used for providing driving control for the road wheels (21);
the IMU (46) is used for feeding back position information;
the electric appliance control assembly is used for providing power for each mechanism and controlling and protecting a power circuit; the electric appliance control assembly comprises an air switch (451), a junction box (452), a voltage reduction module (453) and a relay (454);
the industrial personal computer (41) is used for receiving monitoring data fed back by the monitoring system (5), calculating and sending a control instruction to the travelling mechanism according to a preset program;
the switch (43) is a switching module, and the electric appliance control assembly, the IMU (46), the steering wheel driver (44) and the monitoring system (5) are connected to the industrial personal computer (41) through the switch (43).
10. The omnidirectional mobile robot based on the independent suspension damping device according to claim 1, wherein: a battery bin is also arranged below the middle part of the bearing plate (13), and a rechargeable battery (14) is arranged in the battery bin; a side door (15) is arranged on the outer side surface of the outer shell (11) corresponding to the position of the battery compartment, and a power switch and an indicator light are arranged on the side door (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221156295.8U CN217100258U (en) | 2022-05-13 | 2022-05-13 | Omnidirectional mobile robot based on independent suspension damping device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221156295.8U CN217100258U (en) | 2022-05-13 | 2022-05-13 | Omnidirectional mobile robot based on independent suspension damping device |
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| CN217100258U true CN217100258U (en) | 2022-08-02 |
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| CN202221156295.8U Active CN217100258U (en) | 2022-05-13 | 2022-05-13 | Omnidirectional mobile robot based on independent suspension damping device |
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- 2022-05-13 CN CN202221156295.8U patent/CN217100258U/en active Active
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