CN208530737U - A kind of mobile platform based on Mecanum wheel - Google Patents
A kind of mobile platform based on Mecanum wheel Download PDFInfo
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- CN208530737U CN208530737U CN201820944180.2U CN201820944180U CN208530737U CN 208530737 U CN208530737 U CN 208530737U CN 201820944180 U CN201820944180 U CN 201820944180U CN 208530737 U CN208530737 U CN 208530737U
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Abstract
A kind of mobile platform based on Mecanum wheel, including Mecanum wheel and platform, lifting column, six degree of freedom platform, rail brackets, riser guide, guide rail slide block.Due to using the auxiliary support structure for increasing rail brackets, riser guide and guide rail slide block, so that the mobile platform load-bearing property with elevating mechanism is more preferable and the stability of six degree of freedom platform is higher.
Description
Technical field
The utility model belongs to logistics machinery field, and in particular to a kind of mobile platform based on Mecanum wheel.
Background technique
Mecanum wheel mobile platform is a kind of Omni-mobile platform, this platform can with Omni-mobile and kinematic accuracy compared with
Height, being very suitable to transhipment, space is limited, operation path narrow environment, and has the advantages that bearing capacity is strong, is suitable for industry and adds
Work and carrying occasion.Six degree of freedom platform, pose can be controlled by the flexible of six linear actuators.It is installed on platform
There is high-precision inclinometer (angular transducer), the tilt angle of current mobile platform can be known by angular transducer, has
Have the advantages that rigidity is big, error is not accumulative.The kinematics of six degree of freedom platform, dynamic (dynamical) research are answered with six degree of freedom platform
With the study frontier of always parallel institution.It is flat using the movement of Mecanum wheel mobile platform and six degree of freedom platform combination
Platform has the characteristics that the high precision overloading of Mecanum wheel mobile platform, can be adapted for that various spaces are limited, operation path is narrow
Narrow environment；Have the characteristics that six degree of freedom platform is high-precision again, suitable for accurate quasi- value measurement and vibration survey etc..
But the existing motion platform using Mecanum wheel mobile platform and six degree of freedom platform combination, in order to increase
The working range of motion platform increases elevating mechanism between Mecanum wheel mobile platform and six degree of freedom platform, but increases
After elevating mechanism, the motion platform load-bearing property decline of a combination thereof and the stability of six degree of freedom platform decline.
Utility model content
The application provides a kind of mobile platform based on Mecanum wheel, solves mobile in Mecanum wheel in the prior art
After the motion platform of platform and six degree of freedom platform combination increases elevating mechanism, load-bearing property decline and six degree of freedom platform stable
Property decline the problem of.
According in a first aspect, providing a kind of mobile platform based on Mecanum wheel in a kind of embodiment, comprising:
The wheeled mobile platform of Mecanum, including Mecanum wheel and platform, the platform pass through the Mecanum wheel
Rotation moved；
Lifting column comprising moved end and fixed end；The fixed end is fixed on the platform；The relatively described platform in the moved end
It moves up and down；
The six degree of freedom platform is fixedly connected on the moved end, does lifting fortune with the relatively described platform in the moved end
It is dynamic；
Rail brackets are fixedly connected on the platform；
Riser guide is fixedly connected on the rail brackets, and the lifting of its track extending direction and the lifting column
Direction is parallel；
Guide rail slide block is fixedly connected with the moved end, is coupled with the riser guide；The relatively described platform in the moved end is done
When elevating movement, the guide rail slide block slides on the riser guide.
Further, the mobile platform includes a no less than riser guide, each described riser guide is corresponding
One guide rail slide block.
Further, driving device is arranged on the platform, for providing for the Mecanum wheel and the lifting column
Power；
Platform controller, setting on the platform, are electrically connected with the driving device；The platform controller is used
In the working condition for controlling the Mecanum wheel and the lifting column by the driving device；
Remote control apparatus carries out data communication by wirelessly or non-wirelessly mode and the platform controller, for passing through
The platform controller controls the working condition of the Mecanum wheel and the lifting column.
Further, the driving device includes motor, motor driver and power supply device；The power supply device passes through described
Motor driver is electrically connected with the motor, for providing electric energy；The motor, with the Mecanum wheel and the lifting column
Coupling, is used to provide power；Motor driver is electrically connected with the motor, for controlling the working condition of the motor.
Further, the platform controller includes two optical navigation sensors, and it is corresponding to be located at the platform
Both sides, in the pre- direction of motion of the mobile platform front and back Automatic Track Finding.
Further, the platform controller includes avoiding obstacles by supersonic wave sensor, is set on the platform, for incuding
Barrier in the pre- direction of motion of platform.
Further, the platform controller includes infrared diffusing reflection photoelectricity obstacle avoidance sensor, is set to the platform bottom
Portion, the barrier of the ground for incuding the pre- direction of motion of the platform.
Further, the platform controller includes that audio and video module is set on the platform, described flat for obtaining
Audio/video information around platform.
Further, the platform controller includes wireless communication apparatus, for the platform controller and described remote
Process control device carries out data communication；The wireless communication apparatus is WIFI, bluetooth or 2G/3G/4G/5G network module.
Further, the mobile platform based on Mecanum wheel further includes shell, and the platform, described is led at the lifting column
Rail bracket, the riser guide and the guide rail slide block are all disposed in the shell, and the shell front is provided with control plane
Plate is provided with manual switch, emergency stop switch and power interface on the control panel.
According to the mobile platform based on Mecanum wheel of above-described embodiment, due to being led using increase rail brackets, lifting
The auxiliary support structure of rail and guide rail slide block, so that the load-bearing property of the mobile platform with elevating mechanism is more preferable and six degree of freedom
The stability of platform is higher.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mobile platform in the prior art；
Fig. 2 is a kind of structural schematic diagram of the mobile platform based on Mecanum wheel of embodiment；
Fig. 3 is a kind of appearance diagram of the mobile platform based on Mecanum wheel of embodiment；
Fig. 4 is a kind of control panel schematic diagram of the mobile platform based on Mecanum wheel of embodiment；
Fig. 5 is a kind of internal structure side view of the mobile platform based on Mecanum wheel of embodiment；
Fig. 6 is a kind of internal structure front view of the mobile platform based on Mecanum wheel of embodiment；
Fig. 7 is a kind of internal structure top view of the mobile platform based on Mecanum wheel of embodiment；
Fig. 8 is a kind of lifting column structural schematic diagram of the mobile platform based on Mecanum wheel of embodiment；
Fig. 9 is a kind of six degree of freedom platform schematic diagram of the mobile platform based on Mecanum wheel of embodiment.
Specific embodiment
The application is described in further detail below by specific embodiment combination attached drawing.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can recognize without lifting an eyebrow, part of feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant it is some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
Relevant operation can be completely understood according to the general technology knowledge of description and this field in specification.
It is formed respectively in addition, feature described in this description, operation or feature can combine in any suitable way
Kind embodiment.Meanwhile each step in method description or movement can also can be aobvious and easy according to those skilled in the art institute
The mode carry out sequence exchange or adjustment seen.Therefore, the various sequences in the description and the appended drawings are intended merely to clearly describe a certain
A embodiment is not meant to be necessary sequence, and wherein some sequentially must comply with unless otherwise indicated.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object,
Without any sequence or art-recognized meanings.And " connection ", " connection " described in the application, unless otherwise instructed, include directly and
It is indirectly connected with (connection).
As shown in Figure 1, being moved in the prior art using Mecanum wheel for the structural schematic diagram of mobile platform in the prior art
The motion platform of moving platform and six degree of freedom platform combination comprising Mecanum wheel 1, platform controller 2, six degree of freedom are flat
Platform 4 and platform loading end 5.It is flat in Mecanum wheel mobile platform and six degree of freedom in order to increase the working range of motion platform
Increase elevating mechanism 3 between platform.After increasing elevating mechanism 3, another its carries six degree of freedom platform in motion process and not enough consolidates, just
Property is poor.
In the embodiment of the present application, using the auxiliary support structure for increasing rail brackets, riser guide and guide rail slide block, make
It obtains the mobile platform load-bearing property with elevating mechanism more preferably and the stability of six degree of freedom platform is higher.
Embodiment one:
Referring to FIG. 2, a kind of structural schematic diagram of the mobile platform based on Mecanum wheel for embodiment, movement is flat
Platform includes battery 201, riser guide 202, six degree of freedom platform 203, rail brackets 204, lifting column 205, motor driver
206, platform controller 207, motor, Mecanum wheel 209, wireless communication apparatus, support push rod 211, infrared diffuse
Electric obstacle avoidance sensor 212 and platform 213.Wherein, the wheeled mobile platform of Mecanum includes Mecanum wheel 209 and platform 213,
Platform 213 is moved by the rotation of Mecanum wheel 209.Lifting column 205 includes moved end and fixed end, and lifting column 205 is determined
End is fixedly connected on platform 213, and opposed platforms 213 are static, and moved end opposed platforms 213 move up and down.Six degree of freedom platform
203 are fixedly connected on the moved end of lifting column 205, move up and down with the moved end opposed platforms 213 of lifting column 205.Guide rail branch
Frame 204 is fixedly connected on platform 213.Riser guide 202 is fixedly connected on rail brackets 204, and its track extending direction
It is parallel with the lifting direction of lifting column 205.Guide rail slide block is fixedly connected with the moved end of lifting column 205, with 202 coupling of riser guide
It connects, when the moved end opposed platforms 213 of lifting column 205 move up and down, is slided on riser guide 202.Driving device setting
Power is provided for Mecanum wheel 209 and lifting column 205 by control motor on platform 213.Platform controller 207 is arranged
It is electrically connected to the drive on platform 213.Platform controller 207 controls Mecanum wheel 209 by driving device and rises
The working condition of column 205 drops.Driving device includes motor, motor driver 206 and power supply device.Power supply device is driven by motor
Dynamic device 206 is electrically connected with motor, for providing electric energy.Motor and Mecanum wheel 209 and lifting column 205 couple, for providing
Power.Motor driver 206 is electrically connected with motor, for controlling the working condition of motor.Power supply device includes energy storage equipment, is stored
Energy device is battery 201, solar battery can also be used, for storing electric energy.Mobile platform further includes remote control apparatus,
Data communication is carried out by wireless communication apparatus and platform controller 207 to be used to control Mike by platform controller 207
The working condition of Na Mu wheel 209 and lifting column 205.Wireless communication apparatus can use WIFI, bluetooth or 2G/3G/4G/5G net
The modules such as network.Remote control apparatus can also carry out data communication using wired mode and platform controller 207.It is infrared unrestrained anti-
The bottom that photoelectricity obstacle avoidance sensor 212 is set to the front of platform 213 is penetrated, for incuding the ground of the pre- direction of motion of platform 213
Barrier.Support push rod 211 is located at the bottom of platform 213, and bearing height is adjustable, for when platform 213 does not move
Play support platform 213.
As shown in figure 3, a kind of appearance diagram of the mobile platform based on Mecanum wheel for embodiment.It moves flat
Platform further includes shell 215, audio and video module 216, IR evading obstacle sensors 217 and control panel 218.Shell 215 is by platform
213, lifting column 205, rail brackets 204, riser guide 202 and guide rail slide block all wrap up inside it, 215 front setting of shell
There is control panel 218.Control panel 218 is electrically connected with platform controller 207, for the control to platform controller 207.
As shown in figure 4, a kind of control panel schematic diagram of the mobile platform based on Mecanum wheel for embodiment, control panel 218
It is provided with emergency stop switch 2181 and power interface 2182, audio and video module 216, power supply indicator 2184, manual switch 2185, electricity
Pond electricity display lamp 2186 and data-interface 2187.Emergency stop switch 2181 works for emergent stopping mobile platform.Power interface
2182 are used for mobile platform external power supply or charge the battery.Power supply indicator 2184 is for showing whether external power supply accesses electricity
Source interface 2182.Manual switch 2185 is for manually opened or closing mobile platform.Battery capacity display lamp 2186 is for showing
The surplus of 201 electricity of mobile platform battery.Data-interface 2187 is remote with outside mobile platform for platform controller 207
Process control device carries out cable data communication.Platform controller 207 includes avoiding obstacles by supersonic wave sensor, is set to platform 213
On, for incuding the barrier in the pre- direction of motion of platform 213.Platform controller 207 further includes two optical navigation sensings
Device is located at flat 213 corresponding both sides, the Automatic Track Finding of front and back in the pre- direction of motion of mobile platform.Platform control
Device 207 processed includes that audio and video module 216 is set on control panel 218, for obtaining the letter of the audio-video around platform 213
Breath.
As Fig. 5, Fig. 6 and Fig. 7 show a kind of internal structure side of the mobile platform based on Mecanum wheel of embodiment
View, front view and top view.Wherein, motor 208 connects with 209 lotus root of Mecanum wheel, provides power for Mecanum wheel 209.
This mobile platform is by 6-dof parallel platform, elevating mechanism, supporting mechanism and Mecanum wheel walking mechanism composition.It is mobile flat
Platform walking mechanism is mainly passed by 4 Mecanum wheels, 4 driving motors, 4 electric lifting rods, 8 obstacle avoidance sensors and 3 navigation
The composition such as sensor mainly realizes that the forward entirety of mobile platform, traversing, diagonal, rotation and combination etc. move, turning radius 0,
And has barrier avoiding function.Avoidance is mainly realized using infrared diffusing reflection obstacle avoidance sensor, ultrasonic range finder sensor.Walking mechanism tool
There is tracking function, using optical navigation sensor, it can be achieved that former and later two direction automatic tracking functions of walking.By 4 electronic liters
It drops bar and forms supporting mechanism, the main whole lifting for realizing intelligent family moving platform guarantees the firm of mobile platform.Elevating mechanism master
Realize the integral elevating of six degree of freedom platform.Elevating mechanism is mainly by lifting column, three uniformly distributed guide rail slide blocks and frame set
At.Adjustable height can adjust according to demand.Adjustable range 0-500mm.
In the present embodiment, the main body of the mobile platform based on Mecanum wheel by 2A-12 high-strength hard aluminum alloy and
A6063-76 aluminum profile is built.All-around mobile is realized equipped with four sets of complete Mecanum wheel motion platforms, it can be achieved that moving ahead, being horizontal
The motion modes such as shifting, diagonal, rotation and combination.The Mecanum wheel uses wheel hub integral forming process, plays to greatest extent
The mechanical property of material.Whole wheel wheel hub is an entirety, and intensity is high, rigidity is good, reliability and durability.Bearing uses rolling bearing knot
Structure compares sliding bearing and shaftless bearing structure, has many advantages, such as that rolling resistance is small, precision is high, high reliablity, facilitates maintenance,
It can support long-term uninterrupted use.As shown in figure 8, lifting column 205 includes fixed end 2051 and the part of moved end 2,052 two, fixed end
2051 are fixed on platform 213.2052 opposed platforms 213 of moved end move up and down, and moved end 2052 and six degree of freedom platform 203 are solid
It is fixed to connect the height free regulation function, it can be achieved that six degree of freedom platform 203.Lifting column 205 uses three-chip type extrusion, load
Ability reaches 2000N, while including telescopic driving screw mechanism, has ideal magnification.Suitable for medical treatment and ergonomics
Automation application, for self-supporting lifting column 205 using the extrusion aluminum profile of anodic oxidation, feature is that light-weight, operation is quiet, flat
Sliding telescopic screw rod driving, high torque load bearing ability, contracted length be short, high magnification, non-maintaining, load keep braking,
Integrated end of travel limit switch.Riser guide 202 selects linear slide rail and matched double-slider.Platform controller 207 is adopted
With DMC-C640A self motion controller, there are two the Ethernet interface of 100M, the selfs of a RS232 interface for tool
Closed loop moving controller.It can control 4 axis servo motors, stepper motor.The D connector of 4 26Pin and servo-driver or
Step actuator is connected to control 4 axis；The D connector of 1 62Pin is connected with external input, output signal, wherein
Including 16 railway digital input points, the output of 16 tunnels, the positive and negative limit of 4 axis, return to zero input signal and controller resets and emergency stop
Input signal；The D connector extension IO of 1 44Pin is connected with outside extension input, extension output signal, including
The input of 16 road expanding digitals, the extension output of 16 tunnels；Two Channel 12-Bit AD input, voltage range ± 10V；Two Channel 12-Bit DA are defeated
Out, voltage range ± 10V；1 DC24V power input terminal.While to all Transistor-Transistor Logic level input/output signals and returning to zero limit
Position carry out photoelectric isolating circuit processing, improve the anti-interference ability of whole system, can easily realize external signal with
Connection between motion controller.Motor and motor driver 206 select low-voltage alternating-current servo motor and matched driver.It can
A variety of precision encoding devices are configured, motor operation is steady, and vibrating noise and fever are minimum, and facilitating equipment reduces noise, promotes effect
Rate and standby reliability.
Platform controller 207 further includes optical navigation sensor, limits apart from reflection-type optoelectronic switch, avoiding obstacles by supersonic wave
Sensor, infrared diffusing reflection photoelectricity obstacle avoidance sensor 212, audio and video module 216 and wireless communication apparatus.Optical navigation sensor
It selects CCF-G08 series optical navigation sensor to have the characteristics that high-power highly sensitive, separately shows LED light equipped with detecting state,
Immediately output sense state, stability are good.Output need to connect 10K pull-up resistor, have reached voltage needed for controller.The present embodiment moves
Moving platform respectively positive front end and positive rear end two CCF-G08 series optical navigation sensors are installed, it can be achieved that walking when before
Mark work is patrolled in latter two direction automatically, convenient and efficient, suitable for moving forward and backward for slype.It limits apart from reflection-type photoelectricity
Switch selects telegnosis CX-442 type to limit apart from reflection-type optoelectronic switch, which is 20-300mm, weight
Multiple precision is up to 1mm hereinafter, can change its two kinds of working condition (detecting state and non-by the way that function switch knob is corresponding
Detecting state), which stablizes apart from reflection-type optoelectronic switch operating current, and high reliablity is installed in mobile platform bottom
Mark turning trigger switch is patrolled as moving trolley in centre automatically.Avoiding obstacles by supersonic wave sensor selects CCF-SR2 series optical navigation to pass
Sensor, the sensor use 32 bit processors, and reaction speed is fast, and distance of reaction is remote, and Width funtion input, temperature range aim at work
Industry grade product design has the characteristics of stable output signal, strong antijamming capability.Avoidance distance can be by upper computer software certainly
Row setting, there are four types of working conditions altogether.This mobile platform is equipped with a CCF-G08 series optical navigation in the positive front end of vehicle body and passes
Sensor is, it can be achieved that obstacle distance incudes in 120 ° of ranges, 50mm.Infrared diffusing reflection photoelectricity obstacle avoidance sensor selects M12 series
Infrared diffusing reflection photoelectricity obstacle avoidance sensor, is equipped with 8 altogether.The sensor is suitable for detection closely opaque barrier, point
It is not installed on mobile platform chassis all around on four direction, distance of reaction is moderate, and detecting distance is adjustable, NPN type output, can
The barrier from four direction is detected respectively, and data are transferred to controller in time and perform the next step avoidance instruction, photoelectricity
Obstacle avoidance sensor detecting distance is 20mm.Audio and video module 216 selects DS-2CD1321 series digit to monitor product, is integrated with view
The multiple functions such as audio collection, intelligently encoding compression and network transmission.It is handled using embedded OS and high-performance hardware
Platform has higher stability and reliability, meets diversified industry requirement.The web camera is controlled based on Ethernet, can
Realize compression of images and by network transmission to different user；It is centrally stored based on NAS, storage and the tune of data can be significantly facilitated
With.The multiple networks communications protocol such as TCP/IP, PPPoE, DHCP, UDP, MCAST, FTP, SNMP is supported simultaneously；Support ONVIF etc.
Opening and interconnecting agreement.Web camera parameter, such as system parameter setting, OSD display setting can be directly set by IP address
Parameter.Such digital monitoring product highest resolution is up to 1920 × 1080, the exportable realtime graphic under the resolution ratio.Wirelessly
Communication device selects CPE 502N series wireless aps (AccessPoint), which is a wireless end for possessing very-high performance
End equipment meets 802.11a/b/g standard, is capable of providing on a large scale, and highdensity wireless access, output power is up to 100mW,
It can provide the up to bandwidth of 300M, SmartWave CPE 502N wirelessly can satisfy the multimedia transmissions application such as speech, video.
Round-the-clock waterproof, dust seal heat dissipation design make it possess the non-maintaining characteristic of superelevation.There is easy to operate, manager simultaneously
Just, the wireless broadband Internet access being easily installed, while meeting the needs of user is to bandwidth and safety, the solution party of more wisdom is provided
Case.Wireless aps external antenna selects magnetic adsorption type antenna ANT-2458, which is H/V dual-polarization omnidirectional antenna, aims at industry
Grade product design, has the characteristics that high gain, low energy consumption, range is wide.
Mobile platform control panel total arrangement is as shown in Figure 4.Emergency stop switch 2181, emergency use, and row can be cut off
Mule carriage whole power supply line, stops working immediately；Power interface 2182 is powered for external equipment, DC socket model DC-
22B, outer diameter 6.5mm, internal diameter 2.0mm (interior needle)；Avoiding obstacles by supersonic wave sensor, for detecting 120 ° of angles immediately ahead of moving trolley
Barrier in 50cm, if there is barrier, trolley can execute cutoff command under automatic mode；It can be passed in avoidance under manual mode
Sensor interface display Obstacle Position reminds user's parking；Power supply indicator 2186 shows small car state, switchs open instruction
Lamp is bright, and indicator light off for switch OFF；Manual switch 2185, switch are opened, trolley work.Switch OFF, trolley stop working；Electricity
Pond electricity display lamp 2186 shows trolley battery capacity；Data-interface 2187, be standard network interface, communication speed 100M,
It can be communicated by cable and PC machine.
In the present embodiment, as shown in figure 9, six degree of freedom platform 203 automatically adjusts horizontal, adjusting for realizing different terrain
0-10 ° of range, degree of regulation ± 0.001 °.Entire platform uses direct current lithium battery 48V power drives.In addition mobile platform provides
DC24 lies prostrate voltage and uses to external equipment.The course of work of the mobile platform are as follows:
1, mobile platform moves to designated position by tracking or manual operation；
2,4 of mobile platform electronic support push rod liftings, integrated support is firm；
3, the controller process angle sensor of platform controller returns in real time angle position simultaneously controls six degree of freedom
Platform is leveled, and finally realizes level angle better than 0.001 ° by successive ignition.
The mobile platform based on Mecanum wheel carries out height adjustment using lifting column and linear guide as described above, and six
Freedom degree platform carries out automatic horizontal adjustment.Vehicle is controlled using wireless remote control, has an infrared obstacle avoidance, automatic tracking, depending on
Frequency image collecting function.Automatic leveling of wireless remote control mobile platform in the state of difference is realized, and degree of regulation is better than
0.001°.High-precision inclinometer (angular transducer) is installed on six degree of freedom platform, can be known by angular transducer and be worked as
The tilt angle of preceding mobile platform, then by the movement of process control six degree of freedom platform until the inclination angle is less than 0.001 °.By
In the auxiliary support structure using increase rail brackets, riser guide and guide rail slide block, so that the movement with elevating mechanism is flat
Platform load-bearing property is more preferably and the stability of six degree of freedom platform is higher.
Use above specific case is illustrated the application, is merely used to help understand the application, not to limit
The application processed.For the application person of ordinary skill in the field, according to the thought of the application, can also make several simple
It deduces, deform or replaces.
Claims (10)
1. a kind of mobile platform based on Mecanum wheel characterized by comprising
The wheeled mobile platform of Mecanum, including Mecanum wheel and platform, the platform are turned by the Mecanum wheel
It is dynamic to be moved；
Lifting column comprising moved end and fixed end；The fixed end is fixed on the platform；The relatively described platform in the moved end rises
Drop movement；
Six degree of freedom platform is fixedly connected on the moved end, is moved up and down with the relatively described platform in the moved end；
Rail brackets are fixedly connected on the platform；
Riser guide is fixedly connected on the rail brackets, and the lifting direction of its track extending direction and the lifting column
In parallel；
Guide rail slide block is fixedly connected with the moved end, is coupled with the riser guide；The relatively described platform in the moved end is gone up and down
When movement, the guide rail slide block slides on the riser guide.
2. mobile platform as described in claim 1, which is characterized in that the mobile platform includes a no less than lifting
Guide rail, the corresponding guide rail slide block of each described riser guide.
3. mobile platform as described in claim 1, which is characterized in that further include:
Driving device is arranged on the platform, for providing power for the Mecanum wheel and the lifting column；
Platform controller, setting on the platform, are electrically connected with the driving device；The platform controller is for leading to
Cross the working condition that the driving device controls the Mecanum wheel and the lifting column；
Remote control apparatus carries out data communication by wirelessly or non-wirelessly mode and the platform controller, for by described
Platform controller controls the working condition of the Mecanum wheel and the lifting column.
4. mobile platform as claimed in claim 3, which is characterized in that the driving device include motor, motor driver and
Power supply device；The power supply device is electrically connected by the motor driver with the motor, for providing electric energy；The electricity
Machine is coupled with the Mecanum wheel and the lifting column, is used to provide power；Motor driver is electrically connected with the motor,
For controlling the working condition of the motor.
5. mobile platform as claimed in claim 3, which is characterized in that the platform controller includes that two optical navigations pass
Sensor is located at the corresponding both sides of the platform, the Automatic Track Finding of front and back in the pre- direction of motion of the mobile platform.
6. mobile platform as claimed in claim 3, which is characterized in that the platform controller includes avoiding obstacles by supersonic wave sensing
Device is set on the platform, for incuding the barrier in the pre- direction of motion of the platform.
7. mobile platform as claimed in claim 3, which is characterized in that the platform controller includes infrared diffusing reflection photoelectricity
Obstacle avoidance sensor is set to the mesa base, the barrier of the ground for incuding the pre- direction of motion of the platform.
8. mobile platform as claimed in claim 3, which is characterized in that the platform controller includes audio and video module setting
In on the platform, for obtaining the audio/video information around the platform.
9. mobile platform as claimed in claim 3, which is characterized in that the platform controller includes wireless communication apparatus,
Data communication is carried out for the platform controller and the remote control apparatus；The wireless communication apparatus is WIFI, indigo plant
Tooth or 2G/3G/4G/5G network module.
10. such as the described in any item mobile platforms of claim 1-9, which is characterized in that it further include shell, it is the platform, described
Lifting column, the rail brackets, the riser guide and the guide rail slide block are all disposed in the shell, the shell front
It is provided with control panel, manual switch, emergency stop switch and power interface are provided on the control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820944180.2U CN208530737U (en) | 2018-06-19 | 2018-06-19 | A kind of mobile platform based on Mecanum wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820944180.2U CN208530737U (en) | 2018-06-19 | 2018-06-19 | A kind of mobile platform based on Mecanum wheel |
Publications (1)
| Publication Number | Publication Date |
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| CN208530737U true CN208530737U (en) | 2019-02-22 |
Family
ID=65390867
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820944180.2U Expired - Fee Related CN208530737U (en) | 2018-06-19 | 2018-06-19 | A kind of mobile platform based on Mecanum wheel |
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| Country | Link |
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| CN (1) | CN208530737U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846026A (en) * | 2020-07-23 | 2020-10-30 | 东莞理工学院 | Inspection robot with wind impact resistant structure |
| CN112977672A (en) * | 2021-02-22 | 2021-06-18 | 浙江大学 | Air cushion type AGV platform for airplane large part posture adjustment processing and operation method |
| CN113844482A (en) * | 2020-06-28 | 2021-12-28 | 沈阳新松机器人自动化股份有限公司 | Double-track six-degree-of-freedom moving platform |
-
2018
- 2018-06-19 CN CN201820944180.2U patent/CN208530737U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113844482A (en) * | 2020-06-28 | 2021-12-28 | 沈阳新松机器人自动化股份有限公司 | Double-track six-degree-of-freedom moving platform |
| CN111846026A (en) * | 2020-07-23 | 2020-10-30 | 东莞理工学院 | Inspection robot with wind impact resistant structure |
| CN111846026B (en) * | 2020-07-23 | 2021-09-21 | 东莞理工学院 | Inspection robot with wind impact resistant structure |
| CN112977672A (en) * | 2021-02-22 | 2021-06-18 | 浙江大学 | Air cushion type AGV platform for airplane large part posture adjustment processing and operation method |
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