CN110510029B - Mecanum wheel duplex branched chain leg and omnidirectional moving posture adjusting platform - Google Patents
Mecanum wheel duplex branched chain leg and omnidirectional moving posture adjusting platform Download PDFInfo
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- CN110510029B CN110510029B CN201910754147.2A CN201910754147A CN110510029B CN 110510029 B CN110510029 B CN 110510029B CN 201910754147 A CN201910754147 A CN 201910754147A CN 110510029 B CN110510029 B CN 110510029B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
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Abstract
The invention relates to a Mecanum wheel duplex branched chain leg and an omnidirectional moving posture-adjusting platform, wherein the Mecanum wheel duplex branched chain legs comprise a lifting driving module, a synchronous belt module, a vertical lifting module, a Mecanum wheel duplex wheel set and a walking driving module; the omni-directional movement posture adjusting platform comprises a frame and four Mecanum wheel duplex branched chain legs, a controller and a battery pack are installed on the frame, the four Mecanum wheel duplex branched chain legs are arranged in four corners of the frame in a rectangular symmetrical mode, and the four Mecanum wheel duplex branched chain legs are fixedly connected with the frame through a lifting base plate. The invention integrates the omnidirectional motion and the posture adjustment, improves the motion precision and the stability of the posture adjustment platform, and effectively expands the application range of the six-freedom-degree posture adjustment platform.
Description
Technical Field
The invention belongs to the technical field of large part butt joint and assembly equipment for manufacturing heavy equipment, and particularly relates to a Mecanum wheel duplex branched chain leg and an omnidirectional moving posture adjusting platform.
Background
In the heavy equipment field such as large-scale aircraft, steamer, electric power, ocean, its product generally is assembled by a plurality of spare parts, consequently often need carry out butt joint and assembly between the spare part in the production process, because spare part volume and the quality in heavy industry field are great, and the manual work can't directly be operated, consequently need carry and assemble with the help of removing the appearance platform of transferring. The existing moving posture adjusting platform can be divided into a wheel type carrier and a Mecanum wheel carrier, and the wheel type carrier and the Mecanum wheel carrier generally only have three degrees of freedom such as plane x and y moving and plumb axis rotating around the normal line of the carrying platform, so that the posture adjustment of six degrees of freedom in space of parts can not be realized, and the problem that two parts can not be butted in the part butting process can often occur. In order to solve the problem, a person skilled in the art combines a parallel mechanism with a vehicle body, and installs a multi-degree-of-freedom parallel posture adjusting mechanism on a transport vehicle to realize six-degree-of-freedom posture adjustment of the transport vehicle, for example, chinese patent CN109231065A discloses a six-degree-of-freedom posture adjusting system based on an omnidirectional moving module. The posture adjusting system consisting of the carrying vehicle and the parallel mechanism still belongs to two independent systems essentially, and motion errors generated by the carrying vehicle and the parallel mechanism in the working process are mutually accumulated, so that the motion precision of the tail end of the movable posture adjusting platform is reduced, and the high-precision butt joint and assembly of parts are not facilitated.
Disclosure of Invention
In view of the above situation, the invention provides a Mecanum wheel duplex branched chain leg and an omnidirectional movement posture adjusting platform to realize that a Mecanum wheel-based carrier has the functions of movement and posture adjustment, is low in height and good in trafficability, integrates omnidirectional movement and posture adjustment, and effectively expands the application range of the six-degree-of-freedom posture adjusting platform.
The technical scheme adopted by the first aspect of the invention is to provide a Mecanum wheel duplex branched chain leg, which comprises a lifting driving module, a synchronous belt module, a vertical lifting module, a Mecanum wheel double-wheel set and a walking driving module, wherein the lifting driving module comprises a servo motor and a speed reducer, the lifting driving module is arranged on a first end surface of a lifting base plate, and the servo motor is connected with a driving belt wheel in the synchronous belt module through the speed reducer; the vertical lifting module comprises a lead screw, a guide rail, a sliding block, a nut and a lifting base plate, the lead screw is arranged on the second end face of the lifting base plate, the first end of the lead screw is connected with a driven belt wheel in the synchronous belt module, the driving belt wheel is in transmission connection with the driven belt wheel through a synchronous belt, the guide rail is respectively arranged at the first end and the second end of the second end face of the lifting base plate, the guide rail and the sliding block are matched to form a first moving Pz pair connection, and the first moving Pz pair is a driving pair; and the Mecanum wheel double-wheel set comprises a wheel support, a Mecanum wheel, a cross shaft mounting rack, a walking driving support, a cross shaft bearing and a driving shaft, wherein the wheel support is connected with a first rotation Rx pair of the cross shaft mounting rack, the first rotation Rx pair is a driven pair to form local self-adaptive pressure balance so as to adapt to ground change and keep pressure of the Mecanum wheel to be loaded uniformly, the first end of the driving shaft is connected with an output shaft of a walking motor through a right-angle reducer in the walking driving module, the second end of the driving shaft penetrates through the cross shaft mounting rack, the Mecanum wheel is respectively installed at the first end and the second end of the driving shaft, rollers uniformly distributed on a rim of the driving shaft and a Mecanum wheel spoke plate form an included angle to rotate R45 degrees for pairs, and the cross shaft mounting rack is connected with a second rotation Ry pair at the middle position of the driving shaft through the cross shaft bearing, and the second rotation Ry pair is a driving pair and is driven by the walking motor.
Further, a first moving Pz pair in the Mecanum wheel double branched chain leg is perpendicular to the axis of a first rotating Rx pair, the axis of the first rotating Rx pair is perpendicular to the axis of a second rotating Ry pair, and the axis of the second rotating Ry pair forms an included angle of 45 degrees with the axis of the included angle rotating R45 degrees.
Preferably, be equipped with independent suspended structure on mecanum wheel duplex branch chain leg, independent suspended structure hits the piece, goes up and down to hit piece and guide post including hanging fixed plate, spring, independent suspended structure symmetrical arrangement in the both sides of vertical lift module, just hang the fixed plate with lift base plate fixed connection, go up and down to hit the piece with wheel support fixed connection, the spring hits a fixed connection with the spring, the first end of guide post with hang fixed plate fixed connection, and its second end passes the spring hit the piece with go up and down to hit a sliding connection.
Preferably, the compression stroke of spring is less than during the lift stroke of vertical lift module, the elevating movement and the independent suspension structure of vertical lift module are parallel relation, and the lift stroke is greater than spring length, vertical lift module's lift distance is greater than during the spring length, mecanum wheel duplex branched chain leg is the rigidity initiative suspension damping of servo motor control, vertical lift module's lift distance is less than during spring length, the piece is collided with the spring and is collided the piece contact in the lift, the servo motor band-type brake is opened, mecanum wheel duplex branched chain leg is the flexible passive damping based on the independent suspension of spring, active passive damping constitutes just gentle coupling damping structure.
Preferably, the walking drive module is provided with a band-type brake which can respectively control and lock the rotation of the Mecanum wheel and the position of the walking drive support.
Preferably, a grating ruler, a magnetic ruler or a linear encoder is arranged on the vertical lifting module, and the movement distance of the vertical lifting module can be detected.
Preferably, an angle sensor is further arranged on the walking drive module and can measure the rotation angle of the Mecanum wheel.
Preferably, the mecanum wheel can be directly driven by the travel motor or indirectly driven by the travel motor through a chain, a pulley, and a gear transmission.
The technical scheme adopted by the second aspect of the invention is that the omnidirectional moving posture-adjusting platform comprises a frame and four Mecanum wheel duplex branched chain legs, wherein the frame is provided with a controller and a battery pack; the four Mecanum wheel duplex branched chain legs are symmetrically arranged at four corners of the frame in a rectangular shape and are fixedly connected with the frame through the lifting base plate, the Mecanum wheel double-wheel sets in the four Mecanum wheel duplex branched chain legs comprise two right-handed Mecanum wheel double-wheel sets and two left-handed Mecanum wheel double-wheel sets, the Mecanum wheel duplex branched chain legs of the two right-handed Mecanum wheel double-wheel sets and the Mecanum wheel duplex branched chain legs of the two left-handed Mecanum wheel double-wheel sets are arranged at intervals, and the rotation directions of the Mecanum wheel double-wheel sets in the Mecanum wheel double-linkage branched-chain legs on the diagonal line are the same, the first moving Pz pairs of the four Mecanum wheel double-linkage branched-chain legs are parallel to each other, the axes of the first rotating Rx pairs of the four Mecanum wheel double-linkage branched-chain legs are parallel to each other, and the first rotating Rx pairs are all driving legs.
Furthermore, eight Mecanum wheel duplex branched chain legs can be further arranged on the frame, every four Mecanum wheel duplex branched chain legs in the eight Mecanum wheel duplex branched chain legs are arranged in a rectangular shape and form a specific parallel mechanism set, the rotating directions of the Mecanum wheel duplex branched chain legs in the specific parallel mechanism set are arranged in a left-right rotating interval mode, the rotating directions of the Mecanum wheel duplex branched chain legs on the diagonal lines are the same, the rotating directions of the Mecanum wheel duplex branched chain legs in the Mecanum wheel duplex branched chain legs which are adjacently arranged are opposite, and the Mecanum wheel duplex branched chain legs are driving legs.
The invention has the characteristics and beneficial effects that:
1. according to the Mecanum wheel duplex branched chain leg and the omnidirectional moving posture-adjusting platform provided by the invention, from the mechanical point of view, a frame is equivalent to a moving platform, the ground is equivalent to a fixed platform, and a plurality of Mecanum wheel duplex branched chain legs are equivalent to moving branched chains for connecting the fixed platform and the moving platform, so that a brand-new complex multi-branched chain parallel mechanism-omnidirectional moving posture-adjusting platform based on the open ground is formed, and the mechanical structure is 4-PzRxRy2R45S +, 8-PzRxRy2R45S +.
2. According to the Mecanum wheel duplex branched chain leg and the omnidirectional moving posture-adjusting platform provided by the invention, through the design of the Mecanum wheel duplex branched chain leg, the branched chain leg not only has a conventional rolling walking function, but also has a function of adjusting the posture of a vehicle body, so that the omnidirectional moving and posture adjusting of the vehicle body are organically integrated, the moving precision of the moving posture-adjusting platform can be improved while the function of adjusting the posture of six degrees of freedom in an unrestricted space is realized, the overall height of the moving posture-adjusting platform is effectively reduced, and the six-degree-of-freedom posture-adjusting butt joint and assembly can still be realized in some shorter spaces.
3. According to the Mecanum wheel duplex branched chain leg and the omnidirectional moving posture adjusting platform provided by the invention, the lifting driving module connected with the Mecanum wheel duplex branched chain leg in series is actively controlled, so that the Mecanum wheel and the ground keep stable contact pressure, the ground and double-wheel uniform load is actively adapted, meanwhile, an active goods receiving and load controllable transfer working mode is adopted, the large load impact in the transfer process is reduced, and the moving stability, the moving precision and the stability of the moving platform are improved.
4. According to the Mecanum wheel duplex branched chain leg and the omnidirectional moving posture adjusting platform, the level of equipment in the prior art is improved to a new level by adopting a single set of mechanical device and a single set of control system, and the Mecanum wheel duplex branched chain leg omnidirectional moving posture adjusting platform has the advantages of being simple in structure, low in cost, easy to maintain and the like.
Drawings
FIG. 1 is a schematic diagram of a right-hand Mecanum wheel dual branched leg configuration of the present invention;
FIG. 2 is a front view of a right-hand Mecanum wheel dual branched leg of the present invention;
FIG. 3 is a side view of a right-hand Mecanum wheel dual branched leg of the present invention;
FIG. 4 is an exploded view of a right-hand Mecanum wheel dual branched leg of the present invention;
FIG. 5 is a schematic diagram of a right-hand Mecanum wheel set of the present invention;
FIG. 6 is a schematic cross-sectional view of a right-hand Mecanum wheel set of the present invention;
FIG. 7 is a schematic diagram of a right-hand Mecanum wheel dual branched leg configuration of the present invention;
FIG. 8 is an exploded view of a left hand Mecanum wheel dual branched leg of the present invention;
FIG. 9 is a schematic diagram of a left-handed Mecanum wheel set of the present invention;
FIG. 10 is a schematic cross-sectional view of a left-handed Mecanum wheel set of the present invention;
FIG. 11 is a schematic diagram of a left-handed Mecanum wheel dual branched leg configuration with independent suspension of the present invention;
FIG. 12 is a front view of a left-handed Mecanum wheel dual branched leg with independent suspension of the present invention;
FIG. 13 is an exploded view of the left-handed Mecanum wheel dual branched leg with independent suspension of the present invention;
FIG. 14 is a schematic diagram of a left-hand Mecanum wheel dual branched leg configuration with independent suspension of the present invention;
fig. 15 is a schematic structural diagram of an omnidirectional moving posture-adjusting platform according to an embodiment of the present invention;
fig. 16 is a top view of an omnidirectional moving posture-adjusting platform according to an embodiment of the present invention;
fig. 17 is a structural side view of an omnidirectional moving posture-adjusting platform according to an embodiment of the present invention;
fig. 18 is a schematic diagram illustrating a configuration of an omnidirectional mobile posture-adjusting platform according to an embodiment of the present invention;
fig. 19 is a schematic structural diagram of an omnidirectional moving posture-adjusting platform according to another embodiment of the present invention;
fig. 20 is a top view of an omnidirectional mobile gesture adjustment platform according to another embodiment of the present invention;
FIG. 21 is a side view of an omni-directional mobile gesture-adjusting platform according to yet another embodiment of the present invention;
fig. 22 is a layout diagram of an omnidirectional moving posture-adjusting platform according to still another embodiment of the present invention.
The main reference numbers:
a right-handed Mecanum wheel duplex branched chain leg 1; a right lift drive module 11; a right servo motor 111; a right decelerator 112; a right synchronous belt module 12; a right driving pulley 121; a right driven pulley 122; a right synchronous belt 123; a right vertical lift module 13; a right lead screw 131; a right guide rail 132; a right slider 135; a right nut 133; a right lifting base plate 134; a right-handed mecanum wheel dual wheel set 14; a right wheel bracket 141; a right-hand mecanum wheel 142; a right spider mounting bracket 143; a right travel drive bracket 144; a right cross-shaft bearing 145; a right drive shaft 146; a right travel drive module 15; a right travel motor 151; a right angle reducer 152; a left-handed Mecanum wheel duplex branched chain leg 1; a left lift drive module 21; a left servo motor 211; a left decelerator 212; a left synchronous belt module 22; a left driving pulley 221; a left driven pulley 222; a left timing belt 223; a left vertical lifting module 23; a left lead screw 231; a left guide rail 232; a left slider 235; a left nut 233; a left lifting base plate 234; a left double-wheel set 24; a left wheel bracket 241; left-hand mecanum wheel 242; a left cross mounting bracket 243; a left travel drive bracket 244; a left cross bearing 245; a left drive shaft 246; a left travel drive module 25; a left travel motor 251; a left right angle reducer 252; a left independent suspension structure 26; a left suspension fixing plate 261; a left spring strike 262; a left guide post 263; a left spring 264; a left lift bump 265; a frame 3; a controller 4; and a battery pack 5.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 7, for the mcanum wheel dual branched chain leg provided by the present invention, the right mcanum wheel dual branched chain leg 1 includes a right lifting driving module 11, a right synchronous belt module 12, a right vertical lifting module 13, a right mcanum wheel dual wheel set 14 and a right walking driving module 15, the right lifting driving module 11 includes a right servo motor 111 and a right reducer 112, the right lifting driving module 11 is mounted on a first end surface of a right lifting base plate 134, the right servo motor 111 is connected to a right driving pulley 121 in the right synchronous belt module 12 through the right reducer 112, the right vertical lifting module 13 includes a right lead screw 131, a right guide rail 132, a right slider 135, a right nut 133 and a right lifting base plate 134, the right lead screw 131 is mounted on a second end surface of the right lifting base plate 134, and a first end thereof is connected to a right driven pulley 122 in the right synchronous belt module 12, the right driving pulley 121 is connected to the right driven pulley 122 through a right synchronous belt 123, the right guide rail 132 is respectively arranged at the first end and the second end of the second end surface of the right lifting base plate 134, the right slider 135 and the right screw nut 133 are both fixedly connected with a right wheel bracket 141 in the right-handed Mecanum wheel double-wheel set 14, the right guide rail 132 and the right slider 135 are matched to form a first moving Pz pair, the first moving Pz pair is a driving pair and forms screw nut transmission with the right screw nut 131 through the right screw nut 133, the right-handed Mecanum wheel double-wheel set 14 comprises a right wheel bracket 141, a right-handed Mecanum wheel 142, a right cross shaft mounting bracket 143, a right walking driving bracket 144, a right cross shaft bearing 145 and a right driving shaft 146, the right wheel bracket 141 is connected with a first rotating Rx pair of the right cross shaft mounting bracket 143, the first rotating Rx pair is a driven pair to form a local self-adaptive pressure balancing structure to adapt to ground change and maintain Mecanum wheel pressure uniform load, the first end of the right driving shaft 146 is connected with the output shaft of the right walking motor 151 through a right angle speed reducer 152 in the walking driving module 15, and the second end of the right-hand Mecanum wheel 142 passes through the right cross axle mounting rack 143, the right-hand Mecanum wheel 142 is respectively mounted at the first end and the second end of the right driving shaft 146, and the rollers uniformly distributed on the rim of the right-hand Mecanum wheel and the Mecanum wheel spoke plate form an included angle rotating R45 degree pair for connection, the included angle rotating R45 degree pair is a driven pair and is driven by ground friction force, the right cross axle mounting rack 143 is connected with a second rotating Ry pair at the middle position of the right driving shaft 146 through a right cross axle bearing 145, the second rotating Ry pair is driven by a right first traveling motor 151, a first moving Pz pair in the right-hand Mecanum wheel double branched chain leg 1 is vertical to the axis of the first rotating Rx pair, the axis of the first rotating Rx pair is vertical to the axis of the second rotating Ry pair, and the axis of the second rotating Ry pair forms an included angle of 45 degrees with the axis of the included angle rotating R45 degree pair.
Specifically, the right vertical lifting module 13 and the right mecanum wheel double-wheel set 14 in the right-hand mecanum wheel double-branched-chain leg 1 are connected in series from top to bottom in sequence by the right-hand mecanum wheel 142 arranged at the first end of the right driving shaft 146, the right-hand mecanum wheel 142 arranged at the second end of the right driving shaft 146, and the right wheel support 141, so that the right-hand mecanum wheel double-branched-chain leg 1 is formed in a series structure.
The right vertical lifting module 13 is provided with a grating ruler, a magnetic ruler or a linear encoder, the movement distance of the right vertical lifting module can be detected, the right vertical lifting module 13 can also be driven by a hydraulic cylinder or a linear module, the right walking driving module 15 is provided with a band-type brake, the rotation of the right-handed Mecanum wheel 142 and the position of the right walking driving bracket 144 can be controlled and locked respectively, meanwhile, the right walking driving module 15 is also provided with an angle sensor, the rotation angle of the right-handed Mecanum wheel 142 can be measured, the right-handed Mecanum wheel 142 can be directly driven by the right walking motor 151, and the right walking motor 151 can also be indirectly driven by a chain, a belt wheel and gear transmission.
Furthermore, an independent suspension structure is arranged on the right-hand Mecanum wheel duplex branched chain leg 1, and the right-hand Mecanum wheel duplex branched chain leg with the independent suspension structure is a mirror image structure of the left-hand Mecanum wheel duplex branched chain leg with the independent suspension structure.
As shown in fig. 8 to 10, the left-handed mecanum wheel dual branched leg 2 includes a left lifting driving module 21, a left synchronous belt module 22, a left vertical lifting module 23, a left-handed mecanum wheel dual pulley set 24 and a left walking driving module 25, the left lifting driving module 21 includes a left servo motor 211 and a left reducer 212, the left lifting driving module 21 is mounted on a first end surface of a left lifting base plate 234, the left servo motor 211 is connected to a left driving pulley 221 in the left synchronous belt module 22 through the left reducer 212, the left vertical lifting module 23 includes a left lead screw 231, a left guide rail 232, a left slider 235, a left nut 233 and a left lifting base plate 234, the left lead screw 231 is mounted on a second end surface of the left lifting base plate 234, and a first end thereof is connected to a left driven pulley 222 in the left synchronous belt module 22, the left driving pulley 221 is in transmission connection with the left driven pulley 222 through a left synchronous belt 223, the left guide rail 232 is respectively arranged at the first end and the second end of the second end face of the left lifting base plate 234, the left slider 235 and the left screw 233 are both fixedly connected with a left wheel bracket 241 in the left-handed Mecanum wheel double-wheel set 24, the left guide rail 232 and the left slider 235 are matched to form a first moving Pz pair connection, the first moving Pz pair is an active pair and forms a screw nut transmission with the left screw 231 through the left screw 233, the left-handed Mecanum wheel double-wheel set 24 comprises a left wheel bracket 241, a left-handed Mecanum wheel 242, a left cross shaft mounting bracket 243, a left walking driving bracket 244, a left cross shaft bearing 245 and a left driving shaft 246, the left wheel bracket 241 is connected with a first rotating Rx pair of the left cross shaft mounting bracket 243, the first rotating Rx pair is a passive pair to adapt to ground change and keep pressure load balance of the Mecanum wheel, the first end of the left driving shaft 246 is connected with the output shaft of the left walking motor 251 through a left right-angle reducer 252 in the left walking driving module 25, and the second end of the left-handed Mecanum wheel 242 passes through the left cross axle mounting frame 243, the left-handed Mecanum wheel 242 is respectively mounted at the first end and the second end of the left driving shaft 246, rollers uniformly distributed on the rim of the left-handed Mecanum wheel and a Mecanum wheel spoke plate form an included angle rotation R45 degree pair, the included angle rotation R45 degree pair is a driven pair and is driven by ground friction, the left cross axle mounting frame 243 is connected with a second rotation Ry pair at the middle position of the left driving shaft 246 through a left cross axle bearing 245, the second rotation Ry pair is driven by a left first traveling motor 251, a first moving Pz pair in the left-handed Mecanum wheel duplex branched chain leg 2 is perpendicular to the axis of the first rotation Rx pair, the axis of the first rotation Rx pair is perpendicular to the axis of the second rotation Ry pair, and the axis of the second rotation Ry pair forms a 45 degree included angle with the axis of the included angle rotation R45 degree pair.
Specifically, the left vertical lifting module 23 and the left mecanum wheel double-branched-chain leg 2 in the left-handed mecanum wheel double-branched-chain leg 2 are connected in series from top to bottom, and the left-handed mecanum wheel 242 disposed at the first end of the left driving shaft 246, the left-handed mecanum wheel 242 disposed at the second end of the left driving shaft 246, and the left wheel support 241 are connected in series in sequence, so that the left-handed mecanum wheel double-branched-chain leg 2 is formed in a series structure.
The left vertical lifting module 23 is provided with a grating ruler, a magnetic ruler or a linear encoder, the movement distance of the left vertical lifting module can be detected, the left vertical lifting module 23 can also be driven by a hydraulic cylinder or a linear module, the left walking driving module 25 is provided with a band-type brake, the rotation of the left Mecanum wheel 242 and the position of the left walking driving bracket 244 can be controlled and locked respectively, meanwhile, the left walking driving module 25 is also provided with an angle sensor, the rotation angle of the left Mecanum wheel 242 can be measured, the left Mecanum 242 can be directly driven by the left walking motor 251 and can also be indirectly driven by the left walking motor 251 through a chain, a belt wheel and gear transmission.
As shown in fig. 11 to 14, a left independent suspension structure 26 is disposed on the left-handed mecanum wheel dual branched leg 2, the left independent suspension structure 26 includes a left suspension fixing plate 261, a left spring 264, a left spring collision block 262, a left lifting collision block 265 and a left guide post 263, the left independent suspension structure 26 is symmetrically disposed on both sides of the left vertical lifting module 23, the left suspension fixing plate 261 is fixedly connected to the left lifting base plate 234, the left lifting collision block 265 is fixedly connected to the left wheel bracket 241, the left spring 264 is fixedly connected to the left spring collision block 262, the left spring 264 may be a compression spring, a belleville spring or an air spring, and may be selected according to load and suspension stroke, the first end of the left guide post 263 is fixedly connected to the left suspension fixing plate 261, and the second end thereof passes through the left spring collision block 262 and is slidably connected to the left lifting collision block 265.
Specifically, when the compression stroke of the left spring 264 is smaller than the lifting stroke of the left vertical lifting module 23, the lifting motion of left vertical lift module 23 is in parallel relationship with left independent suspension structure 26, and the lifting travel L1 is greater than the spring length L2, and the lifting distance L1 of the left vertical lifting module 23 is greater than the length L2 of the left spring 264, when the left-handed Mecanum wheel double branched chain leg 2 is used for rigid active suspension vibration reduction controlled by the left servo motor 211, and the lifting distance L1 of the left vertical lifting module 23 is smaller than the length L2 of the left spring 264, the left lifting collision block 265 is contacted with the left spring collision block 262, the band-type brake of the left servo motor 211 is opened, the left-handed Mecanum wheel duplex branched chain leg 2 is a flexible passive vibration reduction based on independent suspension of springs, and the compression spring can effectively reduce the load borne by the left lead screw 231, when the compression amount of the spring is maximum, the load of the left lead screw is zero, and the active and passive vibration reduction structures form a rigid-flexible coupling vibration reduction structure.
As shown in fig. 15 to 18, an omnidirectional moving posture adjustment platform provided by the present invention includes a frame 3 and four mecanum wheel duplex branched legs, a controller 4 and a battery pack 5 are mounted on the frame 3 for supplying power to the controller 4 and the mecanum wheel duplex branched legs, so that the moving posture adjustment platform can still work normally without external power supply, the four mecanum wheel duplex branched legs are rectangularly and symmetrically arranged at four corners of the frame 3, the mecanum wheel duplex branched legs of the four mecanum wheel duplex branched legs include two right-handed mecanum wheel duplex wheel sets 14 and two left-handed mecanum wheel duplex wheel sets 24, the right-handed mecanum wheel duplex branched legs 1 of the two right-handed mecanum wheel duplex wheel sets 14 are spaced apart from the left-handed mecanum wheel duplex branched legs 2 of the two left-handed mecanum wheel duplex wheel sets 24, and the rotation directions of the Mecanum wheel double-wheel sets in the Mecanum wheel double-branched-chain legs on the diagonal are the same, namely, the two right-handed Mecanum wheel double-branched-chain legs 1 are arranged in a diagonal manner, the two left-handed Mecanum wheel double-branched-chain legs 2 are arranged in another diagonal manner and are fixedly connected with the frame 3 through the right lifting base plate 134 and the left lifting base plate 234 respectively, the first moving Pz pairs in the two right-handed Mecanum wheel double-branched-chain legs 1 and the two left-handed Mecanum wheel double-branched-chain legs 2 are parallel to each other, the axes of the first rotating Rx pairs of the two adjacent Mecanum wheel double-branched-chain legs on the left and right are coaxial or are small dislocation parallel to each other, the rotation directions of the Mecanum wheel double-branched-wheel sets of any two adjacent Mecanum wheel double-branched-chain legs are opposite, and cameras, ultrasonic waves and ultrasonic waves can be mounted or carried around the frame 3, The sensor such as laser radar, millimeter wave radar, etc. is used for improving the perception ability of the six-freedom-degree posture adjusting platform to the external environment, and in addition, the vehicle frame 3 can be also loaded with a vertical lifting platform or other mechanisms or a robot to further expand the application range of the six-freedom-degree posture adjusting platform.
In the implementation process, the right-handed Mecanum wheel duplex branched chain leg 1, the left-handed Mecanum wheel duplex branched chain leg, the frame 3 and the ground form a parallel mechanism based on ground closure, the parallel mechanism moves along X, Y, Z three directions, rotates around the three axes of the X axis, the Y axis and the Z axis, and has six degrees of freedom.
As shown in fig. 19 to 21, eight mecanum wheel duplex branched legs can be further disposed on the frame 3, wherein every four mecanum wheel duplex branched legs of the eight mecanum wheel duplex branched legs are disposed in a rectangular shape and form a specific parallel mechanism set, and the rotation directions of the mecanum wheel duplex branched legs in the specific parallel mechanism set are disposed at intervals in a left-right rotation manner, two mecanum wheel duplex branched legs of the eight mecanum wheel duplex branched legs are disposed at four corners of the frame 3 in pairs, the rotation directions of the mecanum wheel duplex branched legs of two mecanum wheel duplex branched legs in the same set are the same, the rotation directions of the mecanum wheel duplex branched legs of any two sets of mecanum wheel duplex branched legs disposed adjacently are opposite, the eight mecanum wheel duplex branched legs are driving legs, and are controlled by the controller 4 disposed in the frame 3, by providing four right-rotation mecanum wheel duplex branched legs 1 and four left-rotation duplex branched legs 2, the bearing area of the movable posture adjusting platform can be effectively increased, the stability of the frame 3 is improved, the application range of the movable posture adjusting platform is widened, the battery pack 5 is further arranged inside the frame 3 and used for supplying power to the controller 4, the four right-handed Mecanum wheel duplex branched-chain legs 1 and the four left-handed Mecanum wheel duplex branched-chain legs 2, and therefore the movable posture adjusting platform can still normally work under the condition that no external power supply exists.
As shown in fig. 22, eight mecanum wheel duplex branched-chain legs are arranged on four corners of the frame 3 in pairs in a group, the rotation directions of the mecanum wheel duplex wheel sets of two mecanum wheel duplex branched-chain legs in the same group are opposite, the rotation directions of the mecanum wheel duplex wheel sets of any two adjacent mecanum wheel duplex branched-chain legs are opposite, the eight mecanum wheel duplex branched-chain legs are driving legs, and a specific mechanism with a determined motion unit can be formed by staggered diagonal arrangement.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the invention, it should be understood that various modifications and adaptations can be made by those skilled in the art without departing from the principles of the present application and should be considered as within the scope of the present application.
Claims (10)
1. A Mecanum wheel duplex branched chain leg is characterized by comprising a lifting driving module, a synchronous belt module, a vertical lifting module, a Mecanum wheel double-wheel set and a walking driving module,
the lifting driving module comprises a servo motor and a speed reducer, the lifting driving module is installed on the first end face of the lifting base plate, and the servo motor is connected with a driving belt wheel in the synchronous belt module through the speed reducer;
the vertical lifting module comprises a lead screw, a guide rail, a sliding block, a nut and a lifting base plate, the lead screw is arranged on the second end face of the lifting base plate, the first end of the lead screw is connected with a driven belt wheel in the synchronous belt module, the driving belt wheel is in transmission connection with the driven belt wheel through a synchronous belt, the guide rail is respectively arranged at the first end and the second end of the second end face of the lifting base plate, the guide rail and the sliding block are matched to form a first moving Pz pair connection, and the first moving Pz pair is a driving pair; and
the Mecanum wheel double-wheel set comprises a wheel support, a Mecanum wheel, a cross shaft mounting rack, a walking driving support, a cross shaft bearing and a driving shaft, wherein the wheel support is connected with a first rotation Rx pair of the cross shaft mounting rack, the first rotation Rx pair is a driven pair to form local self-adaptive pressure balance so as to adapt to ground change and keep pressure uniform loading of the Mecanum wheel, the first end of the driving shaft is connected with an output shaft of a walking motor through a right-angle reducer in a walking driving module, the second end of the driving shaft penetrates through the cross shaft mounting rack, the Mecanum wheels are respectively mounted at the first end and the second end of the driving shaft, rollers uniformly distributed on a rim of the driving shaft and a Mecanum wheel spoke plate form an included angle to rotate R45 pairs and are connected, and the cross shaft mounting rack is connected with a second rotation Ry pair at the middle position of the driving shaft through the cross shaft bearing, and the second rotation Ry pair is a driving pair and is driven by the walking motor.
2. A mecanum wheel dual branched leg as claimed in claim 1, wherein the first mobile Pz pair of the mecanum wheel dual branched leg is perpendicular to the axis of the first Rx rotation pair, the axis of the first Rx rotation pair is perpendicular to the axis of the second Ry rotation pair, and the axis of the second Ry rotation pair is at an angle of 45 ° to the axis of the angled R45 ° pair.
3. A mecanum wheel dual branched leg as claimed in claim 1, wherein the dual branched leg has an independent suspension structure, the independent suspension structure comprises a suspension fixing plate, a spring bump, a lifting bump and a guiding post, the independent suspension structure is symmetrically disposed on two sides of the vertical lifting module, the suspension fixing plate is fixedly connected with the lifting base plate, the lifting bump is fixedly connected with the wheel bracket, the spring is fixedly connected with the spring bump, the guiding post has a first end fixedly connected with the suspension fixing plate and a second end slidably connected with the lifting bump through the spring bump.
4. A mecanum wheel dual branched leg as claimed in claim 3, wherein when the compression stroke of the spring is less than the lifting stroke of the vertical lift module, the lifting motion of the vertical lift module is in parallel relationship with the independent suspension structure, and the lifting stroke is greater than the length of the spring, when the lifting distance of the vertical lift module is greater than the length of the spring, the mecanum wheel dual branched leg is a rigid active suspension vibration damper controlled by a servo motor, when the lifting distance of the vertical lift module is less than the length of the spring, the lifting collision block contacts with a spring collision block, the servo motor band-type brake is opened, the mecanum wheel dual branched leg is a flexible passive vibration damper based on the independent suspension of the spring, and the active and passive vibration dampers constitute a rigid-flexible coupling vibration damper structure.
5. A mecanum wheel dual branched leg as claimed in claim 1, wherein the travel drive module is provided with a band brake to control locking of rotation of the mecanum wheel and position of the travel drive carriage, respectively.
6. The mecanum wheel dual branched leg as claimed in claim 1, wherein the vertical lift module is provided with a grating ruler, a magnetic ruler or a linear encoder, which can detect the moving distance of the vertical lift module.
7. A Mecanum wheel double branched leg as claimed in claim 5, wherein the walking driving module is further provided with an angle sensor capable of measuring the rotation angle of the Mecanum wheel.
8. A Mecanum wheel double branched leg as claimed in claim 5, wherein the Mecanum wheel can be directly driven by the walking motor or indirectly driven by the walking motor through a chain, pulley and gear transmission.
9. An omnidirectional moving posture adjusting platform, which is characterized by comprising a frame and four Mecanum wheel duplex branched legs according to any one of claims 1-8, wherein the frame is provided with a controller and a battery pack;
the four Mecanum wheel duplex branched chain legs are symmetrically arranged at four corners of the frame in a rectangular shape and are fixedly connected with the frame through the lifting base plate, the Mecanum wheel double-wheel sets in the four Mecanum wheel duplex branched chain legs comprise two right-handed Mecanum wheel double-wheel sets and two left-handed Mecanum wheel double-wheel sets, the Mecanum wheel duplex branched chain legs of the two right-handed Mecanum wheel double-wheel sets and the Mecanum wheel duplex branched chain legs of the two left-handed Mecanum wheel double-wheel sets are arranged at intervals, and the rotation directions of the Mecanum wheel double-wheel sets in the Mecanum wheel double-linkage branched-chain legs on the diagonal line are the same, the first moving Pz pairs of the four Mecanum wheel double-linkage branched-chain legs are parallel to each other, the axes of the first rotating Rx pairs of the four Mecanum wheel double-linkage branched-chain legs are parallel to each other, and the first rotating Rx pairs are all driving legs.
10. The omni-directional mobile gesture-adjusting platform according to claim 9, wherein eight Mecanum wheel dual branched legs can be further disposed on the frame, and of the eight Mecanum wheel dual branched legs, every four Mecanum wheel dual branched legs are disposed in a rectangular shape and constitute a specific parallel mechanism set, and the Mecanum wheel dual wheel sets in the specific parallel mechanism set are disposed in a left-right rotation interval manner, the Mecanum wheel dual wheel sets in the Mecanum wheel dual branched legs on the diagonal line are disposed in the same rotation direction, and the Mecanum wheel dual wheel sets in the Mecanum wheel dual branched legs disposed adjacently are disposed in opposite rotation directions and are all active driving legs.
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| CN111071371B (en) * | 2019-12-06 | 2020-11-06 | 燕山大学 | Multi-degree-of-freedom walking posture adjusting leg unit based on rigid-flexible coupling and intelligent robot platform thereof |
| CN111660946B (en) * | 2020-06-09 | 2023-07-25 | 福勤智能科技（昆山）有限公司 | Mecanum wheel intelligent guide vehicle based on double laser radar fusion |
| CN112617671B (en) * | 2020-12-14 | 2022-02-01 | 北京建筑大学 | Subway disinfection robot and control system and control method thereof |
| CN113146601B (en) * | 2021-03-05 | 2023-05-12 | 南京信息工程大学 | Modularized robot capable of climbing pole |
| CN115370868A (en) * | 2022-07-13 | 2022-11-22 | 常州工学院 | Allosteric robot suitable for irregular pipeline |
| CN116081217B (en) * | 2023-04-07 | 2023-10-27 | 浙江安居筑友科技有限公司 | Sideslip car equipment |
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