CN115180048A - Reconfigurable modular mobility cross-country unmanned transportation platform - Google Patents
Reconfigurable modular mobility cross-country unmanned transportation platform Download PDFInfo
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- CN115180048A CN115180048A CN202210930819.2A CN202210930819A CN115180048A CN 115180048 A CN115180048 A CN 115180048A CN 202210930819 A CN202210930819 A CN 202210930819A CN 115180048 A CN115180048 A CN 115180048A
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- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000009826 distribution Methods 0.000 claims description 13
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 240000004282 Grewia occidentalis Species 0.000 claims description 3
- 238000009827 uniform distribution Methods 0.000 claims description 2
- 230000032258 transport Effects 0.000 description 30
- 230000000694 effects Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241000270295 Serpentes Species 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
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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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Abstract
The invention discloses a reconfigurable modular maneuverability cross-country unmanned transportation platform which comprises a transportation platform main body, wherein the transportation platform main body comprises a plurality of reconfigurable transportation plates, the adjacent transportation plates are detachably connected, a plurality of driving platforms are arranged at the bottom of the transportation platform main body, and a multi-degree-of-freedom connecting mechanism is fixedly connected between each driving platform and the transportation platform main body. The invention has simple structure and convenient operation, can be adjusted according to the working space, ensures the transportation capacity on the premise of ensuring normal traffic, and has strong adaptability to the working environment.
Description
Technical Field
The invention relates to the technical field of transportation platforms, in particular to a reconfigurable modular maneuverability cross-country unmanned transportation platform.
Background
In the process of executing special tasks, transportation is the most important ring, and stable transportation of materials and personnel is important guarantee for the success of the tasks. The existing mature transportation platform needs to be based on a standardized road, and the requirement on road conditions is high. However, the environment of special tasks is mostly the field environment and is accompanied by the serious damage of road conditions, so the traditional transportation platform can not be directly applied. Considering the objective existence of bad road conditions such as broken stones, bulges, depressions and the like, the working space of the transportation platform is severely limited, and compared with a large-scale platform, the small-scale transportation platform has the advantages of outstanding flexibility and permeability. However, the problem of weak ability and transportation ability is accompanied by a contradiction between the strong limitation of the working space and the high requirement of the transportation ability, which is a technical problem to be solved urgently. Generally adopt transfer robot or propose cross country vehicle to carry among the prior art, when workspace is limited, the transport capacity descends seriously or even can't transport, so need a transport platform that can guarantee the transport capacity and can be applicable to multiple workspace urgently.
Disclosure of Invention
The invention aims to provide a reconfigurable modular maneuverability cross-country unmanned transportation platform to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a reconfigurable modular maneuverability cross-country unmanned transportation platform main body which comprises a transportation platform main body, wherein the transportation platform main body comprises a plurality of reconfigurable transportation plates, the adjacent transportation plates are detachably connected, a plurality of driving platforms are arranged at the bottom of the transportation platform main body, and a multi-degree-of-freedom connecting mechanism is fixedly connected between each driving platform and the transportation platform main body.
Preferably, the multi-degree-of-freedom connecting mechanism comprises two connecting seats which are vertically arranged and fixedly connected, each connecting seat comprises two U-shaped blocks which are vertically arranged, the two U-shaped blocks of the same connecting seat are rotatably connected through pins, one U-shaped block in one connecting seat is fixedly connected with the other U-shaped block in the other connecting seat, the two pins in the same multi-degree-of-freedom connecting mechanism are vertically arranged, the U-shaped block at the bottom end is rotatably connected with the driving platform, and the U-shaped block at the top end is detachably connected with the transportation platform main body.
Preferably, the transportation platform main part includes the platform automobile body, four drive wheels are installed in the rotation of platform automobile body, fixed mounting has controller, battery and motor in the platform automobile body, the motor drives the drive wheel rotates, the battery does the motor with the controller provides the electric energy, the controller control the drive platform motion.
Preferably, the reconfigurable transport plate is a square plate, and the arrangement modes of the reconfigurable transport plates include serpentine, rectangular, square and conical.
Preferably, a plurality of interfaces are arranged on the side of each reconfigurable transport plate, and steel wires are wound at the interfaces on the two adjacent reconfigurable transport plates.
Preferably, the distribution mode of the transportation platform main body comprises uniform distribution, longitudinal multi-row arrangement and four-corner distribution.
Preferably, the transportation platform body is in any one form of a flat plate type, a bucket type and a box type.
The invention discloses the following technical effects: the reconfigurable transport platform is recombined through a plurality of reconfigurable transport plates, can be adjusted to be properly distributed according to the working space, ensures that the integral transport platform can smoothly pass through the transportation platform to realize the passing transportation, ensures the transport capacity, can meet various task requirements under different scenes, and has strong universality and strong practicability to the use environment; the modular driving mode of the reconfigurable modular mobility cross-country unmanned transportation platform provides more possibilities for mobility and passing capability of the transportation platform. The total driving force of the platform is distributed in a plane unfolding mode in a multi-point cooperative driving mode, so that the driving effect is better, and the trafficability of complex and severe scenes is stronger; the number of grounding points in a multi-point cooperative driving mode is more, and each grounding point can provide driving force in any direction in the large ground plane for the transportation platform through pose adjustment, so that the movement mode of the whole transportation platform in the ground plane is more various; the invention has simple structure and convenient operation, can be adjusted according to the working space, ensures the transportation capacity on the premise of ensuring normal traffic, and has strong adaptability to the working environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of a transport platform according to the present invention;
FIG. 2 is a schematic view of the present invention drive platform in cooperation with a reconfigurable shipping panel;
FIG. 3 is a schematic structural view of a multiple degree of freedom linkage mechanism of the present invention;
FIG. 4 is a schematic view of the mating of two adjacent reconfigurable shipping sheets of the present invention;
FIG. 5 is an enlarged view of a portion of A in FIG. 4;
FIG. 6 is a schematic view of an arrangement of reconfigurable transportation panels according to the present invention;
FIG. 7 is a schematic view of the arrangement of the driving platform according to the present invention;
wherein: 1-reconfigurable transport plates, 2-driving platforms, 201-platform vehicle bodies, 202-driving wheels, 3-multi-degree-of-freedom connecting mechanisms, 301-U-shaped blocks, 302-pins, 4-interfaces and 5-steel wires.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-7, the invention provides a reconfigurable modular mobility cross-country unmanned transportation platform main body, which comprises a transportation platform main body, wherein the transportation platform main body comprises a plurality of reconfigurable transportation plates 1, adjacent transportation plates are detachably connected, a plurality of driving platforms 2 are arranged at the bottom of the transportation platform main body, and a multi-degree-of-freedom connecting mechanism 3 is fixedly connected between each driving platform 2 and the transportation platform main body. The reconfigurable transport plates 1 are recombined and can be adjusted to be properly distributed according to the working space, so that the transport capacity is ensured while the whole transport platform can smoothly realize the through transport, the requirements of various tasks under different scenes can be met, the universality is strong, and the practical capacity to the use environment is strong; the modular driving mode of the reconfigurable modular mobility cross-country unmanned transportation platform provides more possibilities for mobility and passing capability of the transportation platform. The total driving force of the platform is distributed in a plane unfolding mode in a multi-point cooperative driving mode, so that the driving effect is better, and the trafficability of complex and severe scenes is stronger; the number of the grounding points of the driving mode of multi-point cooperation is more, and the driving force in any direction in the large ground plane can be provided for the transportation platform at each grounding point through pose adjustment, so that the movement mode of the whole transportation platform in the ground plane is more various.
Further optimize the scheme, multi freedom coupling mechanism 3 includes two connecting seats of arranging and fixed connection from top to bottom, every connecting seat includes two U type pieces 301 of arranging from top to bottom, two U type pieces 301 of same connecting seat rotate through pin 302 and connect, arbitrary U type piece 301 in a connecting seat and arbitrary U type piece 301 fixed connection in another connecting seat, two pins 302 in same multi freedom coupling mechanism 3 set up perpendicularly, the U type piece 301 that is located the bottom rotates with drive platform 2 and is connected, the U type piece 301 that is located the top can be dismantled with the transport platform main part and be connected. The multi-degree-of-freedom connecting mechanism is a connecting link of a driving platform and a reconfigurable transportation plate module in the modular subsystem, and has the main function of realizing flexible connection between the driving platform and the reconfigurable transportation plate module on the basis of ensuring that the driving module can provide bearing capacity and driving force for the transportation plate. The driving platforms 2 can be adjusted in terms of yaw, center rotation, side inclination, pitching and other postures relative to the transportation platform by connecting the plurality of U-shaped blocks 301, and because the road except a special scene has strict flatness requirements, common roads are non-flat pavements, namely the planes of the transportation platforms cannot be completely attached in parallel to green and green, the bottom surfaces of the distributed driving platforms 2 have relative fluctuation differences and are particularly prominent in a special operation environment, the plane stability of the transportation platforms can be ensured by using the multi-freedom-degree connecting mechanism 3, the self-adaptive posture adjustment of the driving platforms 2 is realized, the driving resistance is reduced, and the transportation is facilitated.
Further optimize the scheme, the transportation platform main part includes platform automobile body 201, and four drive wheels 202 are installed in the rotation of platform automobile body 201, and fixed mounting has controller, battery and motor in the platform automobile body 201, and the motor drives drive wheel 202 and rotates, and the battery provides the electric energy for motor and controller, and 2 movements of drive platform are controlled to the controller. Furthermore, in order to ensure the specific and flexible moving capability of the single driving platform 2, a four-wheel four-drive differential steering driving mode is adopted, the wheel base and the wheel base are both set to be 1m, and the steering resistance is reduced to the lowest value on the basis of ensuring the stability of the mode.
Further optimizing the scheme, the reconfigurable transport plates 1 are square plates, and the arrangement modes of the reconfigurable transport plates 1 comprise snakes, rectangles, squares and cones. The proper distribution mode is selected according to the working space, so that the transportation platform can work smoothly on the premise of not reducing the conveying capacity, when the space is wide, the transportation platform can adopt the rectangle and the direction of the large plane for conveying, and when the environment is narrow, the reconfigurable conveying plate 1 is adjusted to be in the rectangular or snake shape, so that the passing capacity of the device is ensured.
According to the further optimized scheme, a plurality of interfaces 4 are arranged on the side of each reconfigurable transport plate 1, and steel wires 5 are wound at the interfaces 4 on two adjacent reconfigurable transport plates 1. The interfaces 4 on two adjacent reconfigurable transport plates 1 are connected through the steel wires 5, so that the reconfigurable transport plates 1 can be conveniently assembled into a required form.
Further optimizing the scheme, the distribution mode of transportation platform main part includes equipartition, vertical multirow arrangement, four corners distribution. Through utilizing a plurality of transportation platforms to form the drive in coordination of multiple spot, whole drive effect is better, can guarantee that whole transportation platform moves on multiple topography.
Further, the total number of the driving platforms 2 required can be determined according to the total carrying weight and by comprehensively considering the road conditions. Interfaces with the multi-degree-of-freedom connecting mechanism 3 are equidistantly distributed below the reconfigurable transport plate 1, so that various distribution forms of the driving platform 2 can be realized, and equidistant chessboard-shaped distribution is favorable for load averaging and component damage caused by local overload is avoided; the multiple rows of equidistant distribution can realize the crossing of small obstacles so as to improve the driving smoothness; the four-corner gathering distribution is beneficial to improving the steering capacity of the vehicle.
Further, in the case of a strong driving flexibility in the face of complex terrain, the reconstructed system may have the following moving modes: 1. the driving platform 2 is equivalent to the wheels of a common automobile relative to the whole transportation platform and can perform the central steering motion of the whole circumference relative to a connecting point, when all the driving platforms 2 perform the central steering rotation for the same angle relative to the revolute pair connected with the transportation plane, the wheel orientation of the small driving platform 2 is the motion direction of the transportation platform on the basis of not changing the direction and the position of the transportation platform, so the translational motion of the transportation platform in any direction in the large ground plane can be completed through the posture adjustment and the longitudinal driving of all the driving platforms 2; 2. the rotary motion around any point in the large ground plane can be analyzed into the rotary motion of each small driving platform 2 relative to the same point in the large ground plane, when all the driving platforms 2 rotate by a corresponding angle relative to the central steering of the revolute pair at the joint of the driving platforms and the transport plane, the speed instant centers of all the small transportation platforms can be adjusted to the same point, namely the speed instant center of the whole transport platform in the yaw rotation, and each driving point respectively drives according to the corresponding linear speed (the function can be realized by the driving mode of the differential steering of the small platforms), so that the transport platform can rotate relative to any point in the large ground plane; 3. the combined motion of the two motion modes is similar to the control mode of the rotary motion, the translational-rotary combined motion of the whole transportation platform can be analyzed into the corresponding combined motion of each small driving platform 2, and the driving mode of the small platform for differential steering can also realize the functions.
In a further optimized scheme, the transportation platform main body is in any one of a flat plate type, a bucket type and a box type. Various forms can be selected according to the safety level of the goods, and accidents of part of vulnerable goods in the transportation process are prevented.
The working process of the invention is as follows: during the use, according to the working space that needs transported, the distribution mode of rationally selecting restructural transportation panel 1, the characteristic adjustment transportation platform main part that transports the goods as required is for which kind of form in flat, bucket type and the box, then selects the distribution mode of drive platform 2 according to the topography to be connected drive platform 2 and restructural transportation panel 1 through multi freedom coupling mechanism, put into the transportation platform main part with the goods, control drive platform 2 and carry out the work.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (7)
1. A reconfigurable modular mobility cross-country unmanned transport platform is characterized in that: the transport platform comprises a transport platform main body, wherein the transport platform main body comprises a plurality of reconfigurable transport plates (1), the reconfigurable transport plates are adjacent to each other, the transport plates are detachably connected with each other, a plurality of driving platforms (2) are arranged at the bottom of the transport platform main body, and each driving platform (2) is fixedly connected with a multi-degree-of-freedom connecting mechanism (3) between the transport platform main bodies.
2. The reconfigurable modular mobility off-road unmanned transport platform of claim 1, wherein: the multi-degree-of-freedom connecting mechanism (3) comprises two connecting seats which are arranged up and down and fixedly connected, each connecting seat comprises two U-shaped blocks (301) which are arranged up and down, the two U-shaped blocks (301) of the same connecting seat are rotatably connected through pins (302), one is arranged in the connecting seat, one is arranged in each U-shaped block (301) and the other is arranged in the connecting seat, the U-shaped blocks (301) are fixedly connected and identical to the pins (302) in the multi-degree-of-freedom connecting mechanism (3), the pins (302) are vertically arranged, the U-shaped blocks (301) are positioned at the bottom end and are rotatably connected with the driving platform (2), and the U-shaped blocks (301) are positioned at the top end and detachably connected with the transportation platform main body.
3. The reconfigurable modular mobility off-road unmanned transport platform of claim 1, wherein: the transportation platform main part includes platform automobile body (201), four drive wheels (202) are installed in rotation of platform automobile body (201), fixed mounting has controller, battery and motor in platform automobile body (201), the motor drives drive wheel (202) rotate, the battery does the motor with the controller provides the electric energy, the controller control drive platform (2) motion.
4. The reconfigurable modular mobility off-road unmanned transport platform of claim 1, wherein: the reconfigurable transport plate (1) is a square plate, and the arrangement modes of the reconfigurable transport plates (1) comprise snakelike, rectangular, square and conical shapes.
5. The reconfigurable modular mobility off-road unmanned transport platform of claim 1, wherein: a plurality of interfaces (4) have been seted up to restructural transportation panel (1) avris, two adjacent interface (4) on restructural transportation panel (1) are located around being equipped with steel wire (5).
6. The reconfigurable modular mobility off-road unmanned transport platform of claim 1, wherein: the distribution mode of the transportation platform main body comprises uniform distribution, vertical multi-row arrangement and four-corner distribution.
7. The reconfigurable modular mobility off-road unmanned transport platform of claim 1, wherein: the transportation platform main body is in any one of a flat plate type, a bucket type and a box type.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210930819.2A CN115180048A (en) | 2022-08-04 | 2022-08-04 | Reconfigurable modular mobility cross-country unmanned transportation platform |
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| CN202210930819.2A CN115180048A (en) | 2022-08-04 | 2022-08-04 | Reconfigurable modular mobility cross-country unmanned transportation platform |
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| RU177591U1 (en) * | 2017-07-10 | 2018-03-01 | Общество с ограниченной ответственностью научно-производственная фирма "Спектрон" | UNIVERSAL ROBOTIZED TRANSPORT PLATFORM |
| CN109747727A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of modularization robot shipping platform of electric cylinder driving |
| CN110486590A (en) * | 2019-09-11 | 2019-11-22 | 穆特科技（武汉）股份有限公司 | A kind of two degrees of freedom platform mechanism of sliding block form |
| CN210709494U (en) * | 2019-10-22 | 2020-06-09 | 中国民航大学 | Modularization intelligence conveyer belt |
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2022
- 2022-08-04 CN CN202210930819.2A patent/CN115180048A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150206A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Six-leg and double-arm compound type mobile robot system |
| CN106672095A (en) * | 2016-12-05 | 2017-05-17 | 清华大学 | Movable platform |
| RU177591U1 (en) * | 2017-07-10 | 2018-03-01 | Общество с ограниченной ответственностью научно-производственная фирма "Спектрон" | UNIVERSAL ROBOTIZED TRANSPORT PLATFORM |
| CN109747727A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of modularization robot shipping platform of electric cylinder driving |
| CN110486590A (en) * | 2019-09-11 | 2019-11-22 | 穆特科技（武汉）股份有限公司 | A kind of two degrees of freedom platform mechanism of sliding block form |
| CN210709494U (en) * | 2019-10-22 | 2020-06-09 | 中国民航大学 | Modularization intelligence conveyer belt |
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