WO2022001759A1 - Système de robot intelligent mobile omnidirectionnel coordonné à agents multiples - Google Patents

Système de robot intelligent mobile omnidirectionnel coordonné à agents multiples Download PDF

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Publication number
WO2022001759A1
WO2022001759A1 PCT/CN2021/101608 CN2021101608W WO2022001759A1 WO 2022001759 A1 WO2022001759 A1 WO 2022001759A1 CN 2021101608 W CN2021101608 W CN 2021101608W WO 2022001759 A1 WO2022001759 A1 WO 2022001759A1
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WIPO (PCT)
Prior art keywords
door
hinged
bracket
wheel
module
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PCT/CN2021/101608
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English (en)
Chinese (zh)
Inventor
陈涛
董礼港
张俊辉
漆嘉林
李永亮
张加波
张仰成
Original Assignee
北京卫星制造厂有限公司
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Application filed by 北京卫星制造厂有限公司 filed Critical 北京卫星制造厂有限公司
Publication of WO2022001759A1 publication Critical patent/WO2022001759A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
    • B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
    • B64F1/227—Vehicles specially adapted therefor, e.g. aircraft tow tractors for direct connection to aircraft, e.g. tow tractors without towing bars

Definitions

  • the invention relates to an omnidirectional mobile intelligent robot, in particular to a multi-body coordinated omnidirectional mobile intelligent robot system.
  • the omnidirectional transfer carrier aircraft requires the aircraft tractor to lift and carry the rear wheels of the carrier aircraft. Most of the weight of the carrier aircraft is concentrated on the rear wheels, so the aircraft tractor needs to carry a large load.
  • the carrying capacity of the existing aircraft tractor is generally small. If the carrying capacity increases, the size of the aircraft tractor will become larger.
  • the existing aircraft tractor is not suitable for some occasions that require a large carrying capacity and a small size. Therefore, a kind of carrying capacity is designed. Large-scale and small-sized aircraft tractors are of great significance.
  • the aircraft tractor has a wheel holding mechanism, which is used to clamp and fix the wheel of the aircraft.
  • the existing wheel holding mechanism is generally suitable for the working condition of the aircraft tractor single-vehicle towing the aircraft, and the free release of the released wheel is small, which is not suitable for the working condition of the three-intelligent robot coordinated transfer of the carrier-based aircraft. If the existing wheel holding mechanism is used for the cooperative transfer of the aircraft by the three-aircraft tractor, since the free release of the releasing wheel is small, it is easy to generate a large additional force on the aircraft. Therefore, it is urgent to design a new type of wheel holding mechanism with more degrees of freedom to provide protection for the coordinated transfer of the three-intelligent robot carrier-based aircraft.
  • the present invention discloses a multi-body collaborative omnidirectional mobile intelligent robot system, which is composed of a plurality of omnidirectional intelligent robots and can coordinate transport
  • the carrier-based aircraft realizes omnidirectional movement of the carrier-based aircraft, including forward and backward straight, left-right lateral, diagonal movement, etc., and can turn with zero radius, which is suitable for operation in narrow places, significantly improves the transfer efficiency and storage density of the carrier-based aircraft, and fills the gap of the aircraft.
  • the multi-vehicle co-transportation in the field of tractor is blank.
  • the omnidirectional intelligent robot can also pull a carrier-based aircraft with a single vehicle, which improves the movement flexibility of the single-vehicle pulling of the aircraft tractor to a certain extent.
  • the technical solution adopted in the present invention is: a multi-body collaborative omnidirectional mobile intelligent robot system, comprising at least three omnidirectional mobile intelligent robots, the omnidirectional mobile intelligent robots are arranged in their respective positions according to a set queue, and the The hoist wheel carries the transported aircraft to move together omnidirectionally;
  • the omnidirectional mobile intelligent robot includes a car body module, an omnidirectional wheel set module, a wheel holding mechanism module, an energy module, a hydraulic system and a control system; an omnidirectional wheel set module It is installed on the left and right sides of the car body module for omnidirectional movement of the car body module, which can realize front and rear, lateral, oblique, and zero turning radius rotation;
  • the wheel holding mechanism module is hinged in the middle of the car body module to hold the wheels tightly
  • the energy module is installed in the middle of the body module for power supply;
  • the hydraulic system and control system are installed inside the body module, and the control system controls the hydraulic system, the omnidirectional wheel module, the wheel holding mechanism module and
  • the vehicle body module includes a frame body and a body door assembly;
  • the frame body includes a main support beam, a side support beam, a bottom support plate, and a side support plate;
  • the main support beam is longitudinally installed on the bottom support plate and symmetrically installed on both sides of the bottom support plate , two parallel beams are installed between the two main support beams;
  • several side support beams are distributed along the longitudinal direction of the main support beam, and each side support beam is perpendicular to the main support beam;
  • each side support plate is installed on the main support beam and the side support beam respectively
  • the two sides of the frame support frame formed by the support beams, the side support plates are located between the adjacent two side support beams;
  • the main support beam, the side support beam and the beam between the two main support beams form a U-shaped structure, and the U-shaped structure
  • the body door assembly is arranged at the opening of the .
  • the body door assembly includes a body door switch cylinder, a body door, a body door lock hook, a body door lock hook oil cylinder, a body door shaft, a body door lower lock hook oil cylinder, and a body door lower lock hook;
  • a door hinge block is arranged above one side of the body door, and an upper right door hook and a lower right door hook are arranged on the edge of the other side;
  • the body door is hinged to the end of the main support beam on one side through the body door shaft, and the lock door cylinder bracket is installed On the upper surface of the above-mentioned main support beam;
  • one end of the body door switch cylinder is hinged on the door lock cylinder bracket, the other end of the body door switch cylinder is hinged on the door hinge block of the body door, and the body door switch cylinder is telescopic to realize the body door.
  • Open and close; the end of the main support beam on the other side is provided with an upper right hinge block and a lower right hinge block.
  • the upper right door hook hooks the upper right hinge block to achieve locking
  • the lower right door hook hooks the right hinge block.
  • the lower hinge block realizes locking; the upper locking hook of the body door is hinged on the upper right hinge block, one end of the upper locking hook cylinder of the vehicle body door is hinged to the upper locking hook cylinder bracket, and the upper locking hook cylinder bracket is installed on the main support beam on the other side.
  • the other end of the body door lock hook oil cylinder is hinged on the body door lock hook, and the body door lock hook oil cylinder is extended and retracted to make the body door lock hook abut or release the right upper door hook, so as to realize the locking and loosening of the body door.
  • the lower lock hook of the body door is hinged on the lower right hinge block, one end of the lower lock hook of the body door is hinged on the lower lock hook of the body door, and the other end is installed on the side of the end face of the main body of the frame, and the cylinder of the lower lock hook of the body door is telescopic
  • the lower right door hook is pressed against or released by the lower door hook of the vehicle body, and the locking and release of the vehicle body door is realized.
  • the omnidirectional wheel module module includes Mecanum wheel, support shaft, transmission shaft, suspension damping system, servo motor, reducer, and coupling;
  • the Mecanum wheel is installed on the support shaft through the bearing; the coupling and the transmission shaft are located in the support shaft, the servo motor is connected with the reducer, the output shaft of the reducer is connected with the transmission shaft through the coupling, and the transmission shaft is along the Mecanum
  • the central shaft of the wheel is connected with the hub of the Mecanum wheel; the support shaft realizes the suspension damping of the Mecanum wheel through the suspension damping system.
  • Suspension damping system includes wheel fixing plate, guide rail, slider, damping bracket, spring fixing seat, oil and gas spring;
  • the wheel fixing plate is installed on the main body of the frame, the guide rail is symmetrically installed on the wheel fixing plate, the slider is symmetrically installed on both sides of the surface of the shock-absorbing bracket and slides up and down on the guide rail; the lower end of the oil-gas spring and the lower end of the other surface of the shock-absorbing bracket The upper end of the oil and gas spring is hinged with the spring fixing seat, and the spring fixing seat is installed on the main body of the frame; the support shaft passes through the center hole of the wheel fixing plate and the shock-absorbing bracket, and is connected with the wheel fixing plate.
  • the wheel holding mechanism module includes the main frame assembly, the sliding beam assembly, the limit block, the door shovel assembly, the pressing claw assembly, the front shovel assembly, and the three-point suspension lifting structure;
  • the main frame assembly includes casing, left lifting point support, front shovel slide rail, horizontal frame, front lifting point support, left limit boss, right limit boss, right lifting point support; the casing is symmetrically arranged on the On both sides of the horizontal frame, the two front shovel slide rails are symmetrically installed on the two casings, the left lifting point support and the right lifting point support are symmetrically arranged on the side of the casing, and the left limit boss and right limit boss are symmetrical.
  • the front lifting point support is arranged on the side of the cross frame;
  • the casing is the track of the sliding beam assembly, which enables the sliding beam assembly to move forward and backward;
  • the front shovel slide rail is the track of the front shovel assembly, which makes the can move back and forth;
  • the limit blocks are symmetrically installed on the inner sides of the two main support beams, and are respectively matched with the left limit boss and the right limit boss;
  • the sliding beam assembly includes a sliding beam propelling cylinder, a sliding beam, a door opening bracket, and a door locking bracket; one end of the two sliding beam propelling oil cylinders is hinged with the sliding beam respectively, the other end of the sliding beam propelling oil cylinder is installed in the casing, and the two sliding beam propelling oil cylinders provide The driving force realizes the relative sliding of the sliding beam assembly in the main frame assembly; the door locking bracket and the door opening bracket are welded on the two sliding beams respectively, and move forward and backward together with the sliding beam;
  • the door shovel assembly includes a door shovel, a lock hook, a lock hook oil cylinder, and a door opening and closing oil cylinder; one end of the door shovel is hinged on the end of the door opening bracket; one end of the door opening oil cylinder is hinged on the other end of the door shovel, and the other end is hinged on the door opening bracket; the lock hook It is hinged on the end of the door lock bracket, which can hook the door shovel; one end of the lock hook cylinder is hinged on the lock hook, and the other end is hinged on the lock door bracket, and the lock hook oil cylinder is retracted to realize the rotation of the lock hook and realize the lock hook to the door shovel. tighten and loosen;
  • Front shovel assembly includes front shovel, roller, front shovel bracket and front shovel propelling cylinder; front shovel is installed at the front end of front shovel bracket; roller is hinged with front shovel bracket, symmetrically installed on both sides of front shovel bracket, and the roller is in front shovel slide rail Rolling; one end of the front shovel propulsion cylinder is installed on the front shovel bracket, and the other end is installed on the horizontal frame, and the front shovel pushes the telescopic force of the oil cylinder to move the front shovel assembly forward and backward; the front shovel and the door shovel jointly clamp the aircraft wheel;
  • the claw assembly is installed on the front shovel assembly to realize the pressing and loosening of the wheel;
  • the wheel holding mechanism module adopts a three-point suspension hoisting structure, which is installed on the vehicle body module and consists of three An oil cylinder suspends and lifts the main frame assembly.
  • the claw assembly includes a claw cylinder, a claw bracket and a claw; the top of the claw bracket is hinged with the claw, the middle and lower part of the claw bracket is hinged on the upper surface of the front shovel bracket, and the bottom of the claw bracket is hinged with one end of the claw cylinder; the claw The other end of the oil cylinder is hinged on the side of the front shovel bracket close to the horizontal frame, and the pressing claw oil cylinder is stretched to realize the pressing claw pressing and releasing the wheel.
  • the three-point suspension hoisting structure includes a left lift cylinder, a middle lift cylinder, a right lift cylinder, a first mechanical interface, a second mechanical interface, and a third mechanical interface;
  • the hanging point support, the front hanging point support, and the right hanging point support are hinged, and the other ends are hinged with the first mechanical interface, the second mechanical interface, and the third mechanical interface respectively.
  • the first mechanical interface and the third mechanical interface are symmetrically installed on the The upper surface of the two main support beams, and the second mechanical interface is installed on the upper surface of the beam between the two main support beams to realize the lifting and lowering of the aircraft wheel.
  • the wheel holding mechanism module also includes several pressure sensors; the pressure sensors are arranged on the pressing claw to detect the pressure of the pressing claw on the aircraft wheel.
  • the wheel holding mechanism module also includes a number of limit sensors; the limit sensors are arranged between the limit block and the left limit boss, between the limit block and the right limit boss, and the grooves on the measurement limit block are respectively connected to the The distance between the left limit boss and the right limit boss.
  • the present invention discloses a multi-body collaborative omnidirectional mobile intelligent robot system for the needs of high-efficiency and high-density storage of carrier-based aircraft.
  • the carrier-based aircraft moves in all directions, including straight forward, left and right, diagonal movement, etc., and can turn with zero radius, which is suitable for operation in narrow places, significantly improves the transport efficiency and storage density of the carrier-based aircraft, and fills the many areas in the field of aircraft tractors.
  • Vehicle coordinated omnidirectional transport is blank.
  • the omnidirectional intelligent robot can also pull a carrier-based aircraft with a single vehicle, which improves the movement flexibility of the single-vehicle pulling of the aircraft tractor to a certain extent.
  • the present invention is aimed at the needs of the aircraft tractor carrying a larger size and a smaller size.
  • the car body of the omnidirectional intelligent robot is equipped with a self-developed hydraulic power car body gate, which can greatly increase the rigidity and strength of the car body and increase the load capacity of the car body.
  • the wheel set is a new type of structure, which is compact in structure, large in load and small in size. The design of the hydraulic power door and the new wheel set allows the aircraft tractor to carry a larger size and a smaller size.
  • the present invention aims at the problem that the number of degrees of freedom of the existing wheel-holding mechanism to release the wheel is small, which is not suitable for the working condition of the three-intelligent robot coordinated transfer of the carrier-based aircraft.
  • the present invention designs a new type of holding mechanism to release the free wheel
  • the number of degrees is large, and the degree of freedom of the wheel can also be flexibly switched to limit the degree of freedom of the wheel, so that the three-intelligent robot does not generate a large additional force on the aircraft during the transfer of the aircraft, and meets the functional requirements of the three-intelligent robot for the coordinated transfer of the carrier-based aircraft.
  • Figure 1 is a structural diagram of a multi-body collaborative omnidirectional mobile intelligent robot system
  • Fig. 2 is a schematic diagram of the fixed wheel degrees of freedom of each intelligent robot
  • Figure 3 is a schematic diagram of the basic composition of an intelligent robot
  • Figure 4 is a schematic structural diagram of a vehicle body module
  • Figure 5 is a schematic diagram of the structure of the body door
  • Figure 6 is a schematic diagram of the structure of the door lock part of the vehicle body
  • FIG. 7 is a schematic structural diagram of an omnidirectional wheel set module
  • Figure 8 is a schematic structural diagram of a wheel holding mechanism module
  • Fig. 9 is the structural representation of main frame assembly
  • Figure 10 is a schematic diagram of the slide beam assembly
  • Figure 11 is a schematic diagram of a switch door assembly
  • Figure 12 is a schematic diagram of the jaw assembly
  • Figure 13 is a schematic diagram of the front shovel assembly
  • Figure 14 is a schematic diagram of the right limit block and the right limit boss
  • Figure 15 is a schematic diagram of the left limit block and the left limit boss.
  • a multi-body collaborative omnidirectional mobile intelligent robot system includes three omnidirectional intelligent robots, named as intelligent robots ABC, intelligent robot A is used to clamp the front wheel of the aircraft, and intelligent robot BC is used to clamp The rear wheel of the aircraft. All three intelligent robots are driven by Mecanum wheels to realize omnidirectional motion of the system.
  • the wheels of the aircraft should be firmly fixed on the intelligent robot, and the wheels should be allowed to move slightly relative to the intelligent robot in certain directions to prevent the intelligent robot from moving.
  • intelligent robot A should release the displacement degrees of freedom in the front and rear and left and right directions, and limit the vertical displacement degrees of freedom of the wheels
  • intelligent robot B should be able to release the left and right displacement degrees of freedom of the wheels, and limit the displacement degrees of freedom in the front and rear and vertical directions of the wheels
  • the intelligent robot C should be able to limit the displacement degrees of freedom in the front and rear, left and right, and vertical directions of the wheels.
  • the above-mentioned release displacement degree of freedom means that a small displacement can be carried out in a certain direction, which is about ⁇ 10mm.
  • the wheels of the aircraft can be firmly fixed on the intelligent robot, and the wheels can roll at a small angle relative to the intelligent robot when turning, that is, rotate at a small angle around the forward direction, with a size of about ⁇ 5 degrees.
  • the intelligent robot should limit the displacement degrees of freedom in the front and rear, left and right, and vertical directions of the wheels, and release the rolling degrees of freedom.
  • the rolling degree of freedom of intelligent robots should be limited during cooperative transfer to ensure safety during transfer.
  • the intelligent robot contains a wheel holding mechanism, which clamps and holds the wheel to realize the restriction and release of the degree of freedom of the wheel. By adjusting the wheel holding mechanism to limit the number of degrees of freedom of the wheel, the structural interchange of the intelligent robot ABC can be realized. In fact, the structure of intelligent robot ABC is basically the same. The following describes the structure and composition of the intelligent robot.
  • a multi-body collaborative omnidirectional mobile intelligent robot includes a vehicle body module 1 , an omnidirectional wheel set module 2 , a wheel holding mechanism module 3 , an energy module 4 , a hydraulic system 5 and a control system 6 .
  • the vehicle body module 1 is used as a rigid support structure for each module and system; the omnidirectional wheel module 2 is arranged on the left and right sides of the vehicle body module 1 for omnidirectional movement of the vehicle body module 1, which can realize the front and rear directions, Horizontal, oblique, and zero turning radius rotation; wheel holding mechanism module 3 is hinged in the middle of car body module 1 through radial joint bearings to hold and lift the wheels; energy module 4 is placed in the middle of car body module 1 , the hydraulic system 5 is placed in the front of the vehicle body module 1 , and the control system 6 is placed on the left and right sides of the vehicle body module 1 .
  • the hinge below refers to the connection through the radial bearing.
  • body module 1 Further description of the body module 1:
  • the overall structure of the vehicle body module 1 is U-shaped, including a frame body 101 and a body door assembly 102 ;
  • the frame body 101 includes a main support beam 111 , a side support beam 112 , a bottom support plate 113 , and a side support plate 114;
  • the main support beam 111, the side support beam 112, and the bottom support plate 113 are welded and connected to each other, and the side support plate 114 and the side support beam 112 are connected by screws;
  • the first mechanical interface 361 and the second mechanical interface 363 of the wheel holding mechanism module 3 are provided, the inner surface of which is symmetrically provided with a limit block 303, and the outer side is provided with an omnidirectional wheel set mechanical interface;
  • the side support beam 112 is made of H-shaped steel, A wheel set mechanical interface is provided on it; above the bottom support plate 113, the power module 4 installation area is formed by welding between the two main support beams 111 by H-beam and square tube;
  • the body door assembly 102 includes a body door switch cylinder 121, a body door 122, a body door locking hook 123, a body door locking hook oil cylinder 124, a body door shaft 125, a body door lower hook Lock hook cylinder 126, lower body door lock hook 127, etc.;
  • body door 122 includes door hinge block 131, upper left ear plate 132, lower left ear plate 133, upper right door hook 134, lower right door hook 135 and body door main body 136;
  • a door hinge block 131 , an upper left ear plate 132 and a lower left ear plate 133 are provided on the left side of the vehicle body door 122 , an upper right door hook 134 and a lower right door hook 135 are arranged on the right side of the vehicle body door 122 , and in the middle of the vehicle body door 122 is the vehicle body door main body 136, wherein the upper left ear plate 132 and the lower left ear plate 133 are welded on the body door body 136,
  • the body door 122 is hinged to the end of a main support beam 111 through the body door shaft 125, and the left upper hinge block 137 and the left lower hinge block 138 are provided on the left side of the end of the main support beam 111.
  • the door shaft 125 of the vehicle body passes through the upper left hinge block 137, the upper left ear plate 132, the lower left ear plate 133 and the lower left hinge block 138 in sequence.
  • a shouldered oil-free bushing is arranged between the door shaft 125 of the vehicle body, the hinge block and the ear plate.
  • the body door 122 can be flexibly rotated around the gate shaft; one end of the body door switch cylinder 121 is hinged on the door lock cylinder bracket 139 , the lock door cylinder bracket 139 is screwed to the main support beam 111 , and the other end of the body door switch cylinder 121 It is hinged on the door opening hinge block 131 of the vehicle body door 122, and the vehicle body door switch cylinder 121 is extended and retracted to realize the opening and closing of the vehicle body door 122;
  • the right upper hinge block 140 and the right lower hinge block 141 are provided on the right side of the end of the frame body 101 .
  • the three surfaces of the right upper door hook 134 are respectively connected with the right upper hinge block 140 .
  • the three surfaces are in contact, and the three surfaces of the right lower door hook 135 are respectively in contact with the three surfaces of the right lower hinge block 141 .
  • the body door locking hook 123 is hinged on the upper right hinge block 140 , one end of the body door locking hook oil cylinder 124 is hinged to the locking hook oil cylinder bracket 142 , and the locking hook oil cylinder bracket 142 is screwed to the main support
  • the other end of the body door lock hook cylinder 124 is hinged on the body door lock hook 123, and the body door lock hook oil cylinder 124 is extended and retracted to make the slope of the body door lock hook 123 abut or release the upper right door
  • the slope of the hook 134 can be used to lock and release the body door 122;
  • the lower lock hook 127 of the body door is hinged on the lower right hinge block 141, and the door locking principle is the same as that of the upper lock hook 123 of the body door; the body module 1
  • a large load is applied, a large thrust is transmitted between the right upper door hook 134 and the right upper hinge block 140, and a large pulling force is transmitted between the right lower door hook 1
  • the vehicle body door assembly 102 can flexibly and automatically open and close the vehicle body door, greatly increasing the rigidity and strength of the vehicle body module 1 , thereby effectively ensuring the walking accuracy of the Mecanum wheel and improving the coordinated motion accuracy of the three intelligent robots. Further explanation of omnidirectional wheelset module 2:
  • the omnidirectional wheel set module 2 includes a mecanum wheel 201 , a support shaft 202 , a transmission shaft 203 , a suspension damping system 204 , a servo motor 205 , a reducer 206 , and a coupling 207 .
  • the Mecanum wheel 201 includes a hub 221, a roller 222, and a shaft sleeve 223; the hub 221 is installed at both ends of the shaft sleeve 223, the roller 222 is installed diagonally between the two hubs 221, and the shaft sleeve 223 passes through The bearing is connected to the support shaft 202 .
  • the suspension damping system 204 includes a wheel fixing plate 231, a guide rail 232, a slider 233, a shock-absorbing bracket 234, a spring fixing seat 235, and an oil-gas spring 236;
  • the wheel fixing plate 231 is installed on both sides of the frame body 101,
  • the guide rail 232 is symmetrically installed on the wheel fixing plate 231, the slider 233 slides up and down on the guide rail 232, the shock-absorbing bracket 234 and the slider 233 are fixedly connected by screws, the lower end of the oil-gas spring 236 is hinged with the lower end of the shock-absorbing bracket 234, and the upper end of the oil-gas spring 236 is hinged.
  • Hinged with the spring fixing seat 235 the spring fixing seat 235 is installed on the frame body 101 . Due to the compressibility of the oil and gas spring 236, the suspension damping system 204 can play a role of damping and buffering.
  • the casing of the reducer 206 is screwed to the wheel fixing plate 231
  • the support shaft 202 is screwed to the wheel fixing plate 231
  • the Mecanum wheel 201 is mounted on the support shaft 202 through bearings.
  • the wheel fixing plate 231 and the support shaft 202 adopt a hollow structure, and both the coupling 207 and the transmission shaft 203 are inside. As shown in FIG. 7 , the casing of the reducer 206 is screwed to the wheel fixing plate 231 , the support shaft 202 is screwed to the wheel fixing plate 231 , and the Mecanum wheel 201 is mounted on the support shaft 202 through bearings.
  • the wheel fixing plate 231 and the support shaft 202 adopt a hollow structure, and both the coupling 207 and the transmission shaft 203 are inside. As shown in FIG.
  • the servo motor 205 , the reducer 206 , the coupling 207 , the transmission shaft 203 and the Mecanum wheel 201 are installed coaxially, the servo motor 205 is connected with the reducer 206 through screws, and the output shaft of the reducer 206 passes through
  • the coupling 207 is connected with the transmission shaft 203, and the transmission shaft 203 is connected with the hub 221 of the Mecanum wheel 201 along the central axis of the Mecanum wheel 201 through screws, so that the servo motor 205 can transmit the torque to the Mecanum wheel 201 superior.
  • wheel holding mechanism module 3 Further explanation of wheel holding mechanism module 3:
  • the wheel holding mechanism module 3 includes a main frame assembly 301 , a sliding beam assembly 302 , a limit block 303 , a door shovel assembly 304 , a pressing claw assembly 305 , a front shovel assembly 306 , a lifting cylinder 307 and several limit sensors ,Pressure Sensor.
  • the main frame assembly 301 includes a sleeve 310 , a left suspension point support 311 , a front shovel slide rail 312 , a horizontal frame 313 , a front suspension point support 314 , a left limit boss 315 , and a right limit protrusion
  • the platform 316 and the right hanging point support 317 are welded by steel pipes, steel plates, etc., and are designed as integral components with a closed structure, which effectively improves the overall rigidity of the main frame assembly 301 .
  • the sleeves 310 are symmetrically arranged on both sides of the beam 313, the two front shovel slide rails 312 are respectively symmetrically installed on the two sleeves 310, the left hanging point support 311 and the right hanging point support 316 are symmetrically arranged on the side of the sleeve 310, The left limit boss 315 and the right limit boss 316 are symmetrically arranged on the side of the sleeve 310, and the front suspension point support 314 is arranged on the side of the beam 313; the sleeve 310 is the track of the sliding beam assembly 302, so that the sliding beam assembly 302 can be
  • the front shovel slide rail 312 is the track of the front shovel assembly 306, so that the front shovel assembly 306 can move back and forth; the lifting point supports 311, 314, 317 are connected with the lifting cylinder 307, and the lifting cylinder 307 is telescopic and carries the main frame assembly 301 vertical lift.
  • the grooves on the limit block 303 are respectively matched with the left limit
  • the sliding beam assembly 302 includes a sliding beam advancing cylinder 321, a sliding beam 322, a door opening bracket 324, and a door locking bracket 323;
  • two sliding beam pushing oil cylinders 321 provide driving force to realize the relative sliding of the sliding beam assembly 302 in the main frame assembly 301 .
  • the door-locking bracket 324 and the door-opening bracket 323 are welded to the two sliding beams 322 respectively, and move back and forth together with the sliding beams 322 .
  • the door shovel assembly 304 includes a door shovel 331 , a locking hook 332 , a locking hook oil cylinder 333 , and a door opening and closing oil cylinder 334 .
  • One end of the door shovel 331 is hinged to the end of the door opening bracket 324 of the sliding beam assembly 302 .
  • One end of the door opening and closing oil cylinder 334 is hinged on the other end of the door shovel 331 , and the other end is hinged on the door opening bracket 323 .
  • the lock hook 332 is hinged on the end of the door lock bracket 324 and can hook the door shovel 331; one end of the lock hook oil cylinder 333 is hinged on the lock hook 332, and the other end is hinged on the lock door bracket 324, and the lock hook oil cylinder 333 is telescopic to realize the lock hook 332
  • the rotation of the lock hook 332 to the door shovel 331 can be locked and released.
  • the claw assembly 305 includes a claw cylinder 341 , a claw support 342 , and a claw 343 .
  • the top of the claw bracket 342 is hinged with the claw 343
  • the middle and lower part of the claw bracket 342 is hinged with the front shovel bracket 353 in the front shovel assembly 306
  • the bottom of the claw bracket 342 is hinged with the claw cylinder 341 .
  • the other end of the claw cylinder 341 is hinged with the side of the front shovel bracket 353 (the side opposite to the front shovel 351 ), and the claw cylinder 341 is extended and retracted so that the claw assembly 305 can press and release the wheel.
  • the front shovel assembly 306 includes a front shovel 351 , a roller 352 , a front shovel bracket 353 and a front shovel propelling cylinder 354 .
  • the front shovel 351 is welded on the front shovel bracket 353, the rollers 352 are hinged to the front shovel bracket 353, and are installed on both sides of the front shovel bracket 353.
  • the rollers 352 roll on the front shovel slide rail 312 of the main frame assembly 301; the front shovel pushes the oil cylinder 354 One end is installed on the front shovel bracket 353, and the other end is installed on the horizontal frame 313, and the front shovel assembly 306 can move forward and backward through the telescopic force of the front shovel propelling oil cylinder 354.
  • the front shovel bracket 353 is hinged with the pressing claw assembly 305, and can drive the pressing claw assembly 305 to move forward and backward together.
  • the wheel holding mechanism module 3 adopts a three-point suspension type hoisting structure, and the main frame assembly 301 is suspended and hoisted by three oil cylinders, so that the wheel can sway in the front and rear or left and right directions.
  • One end of the left lift cylinder 307, the middle lift cylinder 308, and the right lift cylinder 307 are hinged with the left lifting point support 311, the front lifting point support 314, and the right lifting point support 317, respectively, and the other ends are respectively connected with the first mechanical interface 361, the first The second mechanical interface 362 and the third mechanical interface 363 are hinged to realize the lifting and lowering of the wheel.
  • the pressure sensor is arranged on the pressing claw 343 to detect the pressure of the pressing claw 343 on the wheel of the aircraft.
  • the limit sensor is arranged between the limit block 303 and the left limit boss 315, and between the limit block 303 and the right limit boss 316, and the grooves on the measurement limit block 303 are respectively connected to the left limit boss 315. , the distance between the right limit bosses 316 .
  • the wheel holding mechanism module 3 can be placed in the frame module 1 in the left and right directions. If a small amount of movement is made, it is considered that the wheel holding mechanism module 3 releases the degree of freedom in the left and right directions.
  • the wheel holding mechanism module 3 When the left and right gaps between the left limit boss 315, the right limit boss 316 and the limit block 303 are smaller than about 2mm, the wheel holding mechanism module 3 If the frame module 1 cannot move a small amount in the left and right directions, it is considered that the wheel holding mechanism module 3 limits the degree of freedom in the left and right directions; similarly, when the left limit boss 315, the right limit boss 316 and the limit block 303 When the front-to-rear clearance is about 10mm, it is considered that the wheel-holding mechanism module has released the degree of freedom in the front-rear direction. It is considered that the wheel holding mechanism module limits the degree of freedom in the front and rear directions. Therefore, by adjusting the size of the gap between the stop block and the limit block, the purpose of restricting or releasing the degree of freedom in the front, rear, left and right directions of the wheel holding mechanism can be achieved.
  • the front and rear and left and right gaps between the stop and limit block of the wheel holding mechanism module of intelligent robot A are both larger than 10mm, so the wheel holding mechanism module of the robot releases the displacement degrees of freedom in the front, rear, left and right directions. , which can make the carrier-based aircraft wheel move a small amount of 10mm in the front, rear, left, and right directions; the front and rear gaps between the block and the limit block of the wheel holding mechanism module of the intelligent robot B are as small as 2mm, and the left and right gaps are larger about 10mm.
  • the wheel holding mechanism releases the left and right displacement degrees of freedom, restricts the front and rear displacement degrees of freedom, and can constrain the front and rear displacement of the right rear wheel of the carrier-based aircraft, so that the wheel moves a small amount in the left and right directions;
  • the block of the intelligent robot C wheel holding mechanism module The front and rear and left and right gaps between the limit block and the limit block are both small about 2mm, so the wheel holding mechanism of the robot limits the displacement freedom in the front, rear, left, and right directions, and can constrain the displacement of the left rear wheel of the carrier-based aircraft in the front, rear, left, and right directions.
  • the left lift cylinder 307 and the right lift cylinder 309 of the wheel holding mechanism module 3 are connected, so that the elongation of the left lift cylinder 307 and the right lift cylinder 309 are equal in size If the direction is opposite, the main frame assembly 301 of the wheel holding mechanism module 3 can passively roll left and right, so as to meet the requirement of the front wheel rolling when the aircraft turns.
  • the communication circuit of the left lifting cylinder 307 and the right lifting cylinder 309 of the wheel holding mechanism module 3 is cut off, so that the main frame assembly 301 of the wheel holding mechanism module 3 cannot passively roll left and right, which improves the time of cooperative transport. safety.
  • the energy module 4 is fixed in the front and middle of the vehicle body module to supply power to each module of the intelligent robot;
  • the charging interface is placed in the middle right of the vehicle body module and supplies the lithium battery for charging.
  • the hydraulic system 5 includes a fuel tank, a hydraulic pump, a hydraulic valve group, an oil cylinder, and the like.
  • the hydraulic system is arranged at the front of the car body to provide power for the oil cylinders in the car body module 1 and the wheel holding mechanism module 3.
  • the control system 6 includes a handheld controller, a main controller, a vehicle body operation module, a wheel holding mechanism movement module, and the like.
  • the main controller is the management core of the intelligent robot control system.
  • the handheld controller is used for human-computer interaction.
  • the walking control module mainly realizes the omnidirectional movement function of the equipment, and the motion module of the wheel holding mechanism realizes the action execution of the holding wheel.
  • the wheel holding mechanism module 3 clamps the lifting wheel process:
  • the intelligent robot aligns the opening of the wheel holding mechanism module 3 with the wheel, and advances to a proper position, so that the wheel is between the door shovel 331 and the front shovel 351, closes the door shovel 331, and locks the lock hook 332 , retract the sliding beam assembly 324 until the door shovel 331 contacts the wheel, and push the front shovel assembly 306 until the front shovel 351 contacts the wheel.
  • Lifting state shrink two sets of lifting cylinders 307 to rotate and lift the main frame frame assembly 301 around the horizontal axis, so that the wheel is lifted to a certain height, and the pressing claw 324 is pushed until the wheel is longitudinally held tightly.
  • the process of lowering and releasing the wheel of the wheel holding mechanism module 3 is the reverse process of clamping the lifting wheel.
  • the three intelligent robots coordinate the omnidirectional transfer and storage of the carrier-based aircraft process:
  • a) Three intelligent robots hold and lift the wheel of the carrier-based aircraft The three intelligent robots move to the vicinity of the carrier-based aircraft together, and the intelligent robot BC moves from the front of the carrier-based aircraft to the vicinity of the rear wheel of the carrier-based aircraft.
  • the wheel-holding mechanisms of the intelligent robots are respectively The two rear wheels of the carrier-based aircraft are clamped; then, intelligent robot A moves to the vicinity of the front wheels of the carrier-based aircraft, and the wheel-holding mechanism of intelligent robot A clamps the front wheels of the carrier-based aircraft; the wheel-holding mechanisms of the three intelligent robots simultaneously lift the carrier-based aircraft machine wheel.
  • Three intelligent robots cooperate with omnidirectional transfer carrier aircraft:
  • the three intelligent robots coordinate movement, which can realize forward and backward straight, left and right lateral, oblique, curved movement, zero-radius rotation and other movements of the carrier aircraft, even in narrow places.
  • the carrier-based aircraft is transferred to the designated storage place.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Manipulator (AREA)

Abstract

Système de robot intelligent mobile omnidirectionnel coordonné à agents multiples, comprenant au moins trois robots intelligents mobiles omnidirectionnels. Chaque robot intelligent mobile omnidirectionnel comprend un module de carrosserie de véhicule (1), des modules d'ensemble de roues omnidirectionnelles (2), un module de mécanisme sans barre de remorquage (3), un module d'énergie (4), un système hydraulique (5) et un système de commande (6) ; les modules d'ensemble de roues omnidirectionnelles (2) sont montés sur les côtés gauche et droit du module de carrosserie de véhicule (1), ce qui permet un mouvement omnidirectionnel du module de carrosserie de véhicule (1) et permettant une rotation avant, transversale, diagonale et un rayon nul de rotations de giration ; le module de mécanisme sans barre de remorquage (3) est articulé au milieu du module de carrosserie de véhicule (1), de manière à ramasser et à soulever un train d'atterrissage ; le module d'énergie (4) est monté au milieu du module de carrosserie de véhicule (1), de façon à mettre en œuvre une alimentation électrique ; le système hydraulique (5) et le système de commande (6) sont montés à l'intérieur du module de carrosserie de véhicule (1) ; le système de commande (6) commande le système hydraulique (5), les modules d'ensemble de roues omnidirectionnelles (2), le module de mécanisme sans barre de remorquage (3) et le module d'énergie (4).
PCT/CN2021/101608 2020-06-28 2021-06-22 Système de robot intelligent mobile omnidirectionnel coordonné à agents multiples WO2022001759A1 (fr)

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CN114655647A (zh) * 2022-04-02 2022-06-24 江阴铂铄机械设备有限公司 一种柔性的下料收集系统
CN114734289A (zh) * 2022-06-13 2022-07-12 冰轮环境技术股份有限公司 一种机械自适应夹具
CN114986004A (zh) * 2022-06-23 2022-09-02 泰德激光惠州有限公司 压爪机构和电池焊接fpc设备
CN115991287A (zh) * 2023-02-23 2023-04-21 沈阳坦择实业有限公司 一种飞机用无人电动无杆牵引车
CN116081217A (zh) * 2023-04-07 2023-05-09 浙江安居筑友科技有限公司 一种横移车设备
CN117401176A (zh) * 2023-12-13 2024-01-16 上海名未航空科技有限公司 一种具有避障和导航功能的无杆牵引车及使用方法
WO2024082667A1 (fr) * 2022-10-18 2024-04-25 江苏天一航空工业股份有限公司 Tracteur sans barre à alimentation en énergie complète intelligent écologique
CN117943782A (zh) * 2024-03-27 2024-04-30 麒麟(山东)智能设备制造有限公司 一种吊挂翻转焊接工作站

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CN112896365B (zh) * 2021-02-20 2022-07-29 北京卫星制造厂有限公司 一种多智能体重构组合体及多自由度调姿系统
CN113232883B (zh) * 2021-06-24 2023-12-26 中国舰船研究设计中心 一种全向转运智能牵引机器人及牵引方法
CN113353279B (zh) * 2021-06-24 2024-05-31 中国舰船研究设计中心 多体协同全向转运智能机器人牵引系统及方法
CN113232884A (zh) * 2021-06-30 2021-08-10 哈尔滨理工大学 一种用于限制舰载机牵引系统折腰角的装置

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Publication number Priority date Publication date Assignee Title
CN114655647A (zh) * 2022-04-02 2022-06-24 江阴铂铄机械设备有限公司 一种柔性的下料收集系统
CN114655647B (zh) * 2022-04-02 2023-09-15 江阴铂铄机械设备有限公司 一种柔性的下料收集系统
CN114734289A (zh) * 2022-06-13 2022-07-12 冰轮环境技术股份有限公司 一种机械自适应夹具
CN114986004A (zh) * 2022-06-23 2022-09-02 泰德激光惠州有限公司 压爪机构和电池焊接fpc设备
WO2024082667A1 (fr) * 2022-10-18 2024-04-25 江苏天一航空工业股份有限公司 Tracteur sans barre à alimentation en énergie complète intelligent écologique
CN115991287A (zh) * 2023-02-23 2023-04-21 沈阳坦择实业有限公司 一种飞机用无人电动无杆牵引车
CN116081217A (zh) * 2023-04-07 2023-05-09 浙江安居筑友科技有限公司 一种横移车设备
CN116081217B (zh) * 2023-04-07 2023-10-27 浙江安居筑友科技有限公司 一种横移车设备
CN117401176A (zh) * 2023-12-13 2024-01-16 上海名未航空科技有限公司 一种具有避障和导航功能的无杆牵引车及使用方法
CN117401176B (zh) * 2023-12-13 2024-02-09 上海名未航空科技有限公司 一种具有避障和导航功能的无杆牵引车及使用方法
CN117943782A (zh) * 2024-03-27 2024-04-30 麒麟(山东)智能设备制造有限公司 一种吊挂翻转焊接工作站
CN117943782B (zh) * 2024-03-27 2024-06-07 麒麟(山东)智能设备制造有限公司 一种吊挂翻转焊接工作站

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