CN219728327U - Mobile platform based on omni-wheel bee colony carrier - Google Patents
Mobile platform based on omni-wheel bee colony carrier Download PDFInfo
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- CN219728327U CN219728327U CN202321085844.1U CN202321085844U CN219728327U CN 219728327 U CN219728327 U CN 219728327U CN 202321085844 U CN202321085844 U CN 202321085844U CN 219728327 U CN219728327 U CN 219728327U
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- vehicle body
- push rod
- automobile body
- mobile platform
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- 238000004891 communication Methods 0.000 claims description 19
- 238000004146 energy storage Methods 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 claims description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of logistics equipment, in particular to a moving platform based on an omnidirectional wheel bee colony carrier, which comprises a vehicle body, wherein the cross section of the vehicle body is of a regular hexagon structure, three driving devices are arranged on the vehicle body in a circumferential array, each driving device comprises a mounting plate fixed with the vehicle body through bolts, and a servo motor and a motor servo electrically connected with the servo motor are fixedly arranged on the mounting plate. The moving platform designed by the utility model can realize accurate control of the moving direction of the vehicle body through the plurality of omnidirectional wheels positioned on the vehicle body, and the vehicle body adopts a regular hexagonal cross-section structure, so that larger carrying platforms can be formed by directly assembling the vehicle bodies through the locking device, and the assembled carrying platforms can coordinate the omnidirectional wheels positioned on different vehicle bodies to perform unified movement by using a bee colony algorithm, thereby being convenient for targeted transportation of cargoes with different weights and sizes.
Description
Technical Field
The utility model relates to the technical field of logistics equipment, in particular to a mobile platform based on an omnidirectional wheel bee colony carrier.
Background
The short-distance transportation of goods can be completed by adopting a mobile platform, the existing mobile platform is generally designed to be fixed in size, and can only transport goods with specific weight and size, and if the goods are large or small, the mobile platform with different size types is generally required to be replaced, so that the mobile platform is inconvenient to use and manage. Moreover, the conventional transportation platforms mainly use common wheels as moving parts, and the wheels with simple structures are difficult to realize operations such as in-situ turning and the like, so that the transportation platforms have good transportation performance in a narrow area.
The omnidirectional wheel is a novel moving part which can obtain omnidirectional displacement and rotation through the driving of a servo motor, and particularly can assist a vehicle to easily realize in-situ rotation and other moving operations, so that the omnidirectional wheel has remarkable advantages in a narrow space and a use place needing to accurately control a moving track compared with the conventional common wheel.
If the utility model provides a novel moving platform which can form platform sizes with different sizes through a free assembly mode to carry out targeted transportation on cargoes with different sizes and weights and can utilize an omnidirectional wheel as a moving part to have good moving performance, the problem can be solved, and therefore, the utility model provides the moving platform based on the omnidirectional wheel bee colony carrier.
Disclosure of Invention
The utility model aims to provide a mobile platform based on an omnidirectional wheel bee colony carrier, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a bee colony carrier moving platform based on omnidirectional wheel, includes the automobile body, the transversal regular hexagon structure that personally submits of automobile body, and be the circumference array on the automobile body and be provided with three drive arrangement, drive arrangement includes the mounting panel that passes through the bolt fastening with the automobile body, and fixedly mounted with servo motor and with servo motor electric connection's motor servo on the mounting panel, servo motor's output drive has the omnidirectional wheel;
the upper end of the vehicle body is fixedly provided with a top cover through a bolt, the vehicle body is fixedly provided with a lifting push rod, the output end of the lifting push rod is driven with a bearing plate, the vehicle body is internally and fixedly provided with a controller, the vehicle body is fixedly provided with a touch screen and a control button, and the vehicle body is internally and fixedly provided with an energy storage device;
the side of automobile body lies in that omnidirectional wheel corresponds position department and is provided with locking device, locking device includes the link with automobile body fixed mounting, and fixed mounting has the rotating electrical machines on the link, the output drive of rotating electrical machines has tightens up the push rod, and tightens up the output drive of push rod and be used for the card to go into the adjacent automobile body in realizing adjacent automobile body combination fixed clamp plate, fixed mounting has communication joint and fixed protruding on the clamp plate, and the through-hole that the clamp plate on the adjacent automobile body of being convenient for got into has been seted up to the side of automobile body, the inboard department fixed mounting that corresponds the through-hole again has the communication butt joint seat that is used for electric connection communication joint, and the side fixed mounting of automobile body has the fixed fit groove that is used for the cooperation fixed protruding to carry out the chucking, the controller respectively with rotating electrical machines, tighten up push rod, communication joint, motor servo motor, lift push rod, energy memory, control button, touch-sensitive screen and communication butt joint seat electric connection.
Preferably, the controller is an ARM single-chip microcomputer, and the tightening push rod and the lifting push rod are ball screw type electric push rods.
Preferably, the outside of the car body is fixedly provided with a camera which is electrically connected with the controller, and the outside of the car body is fixedly provided with a working state indicator lamp which is electrically connected with the controller.
Preferably, the cart body is provided with a push-pull groove which is convenient for transporting the cart body, and a charging interface which is electrically connected with the energy storage device is fixedly arranged on the cart body.
Preferably, the vehicle body is provided with a proximity switch for detecting whether the adjacent vehicle bodies are combined in place or not at the position corresponding to the locking device, and a pair of magnetic attraction blocks for attaching the adjacent vehicle bodies through magnet attraction are arranged at two sides of the corresponding proximity switch.
Preferably, the energy storage device is a lithium battery pack, and the rotating motor is a stepper motor.
Compared with the prior art, the utility model has the beneficial effects that: the moving platform designed by the utility model can realize accurate control of the moving direction of the vehicle body through the plurality of omnidirectional wheels positioned on the vehicle body, and the vehicle body adopts a regular hexagonal cross-section structure, so that larger carrying platforms can be formed by directly assembling the vehicle bodies through the locking device, and the assembled carrying platforms can coordinate the omnidirectional wheels positioned on different vehicle bodies to perform unified movement by using a bee colony algorithm, thereby being convenient for targeted transportation of cargoes with different weights and sizes and having high use value.
Drawings
FIG. 1 is a schematic view of a multiple-unit vehicle body assembly according to the present utility model;
FIG. 2 is a schematic diagram of the structure of the present utility model;
FIG. 3 is a schematic view of the internal structure of the vehicle body of the present utility model;
FIG. 4 is a schematic view of the top cover and lifter assembly of the present utility model;
FIG. 5 is an internal cross-sectional view of the present utility model;
FIG. 6 is a schematic view of a locking device according to the present utility model;
fig. 7 is a schematic structural diagram of a driving device according to the present utility model.
In the figure: 1. a vehicle body; 2. a locking device; 201. a connecting frame; 202. a rotating electric machine; 203. tightening the push rod; 204. a communication connector; 205. a fixing protrusion; 206. a pressing plate; 3. a driving device; 301. a motor server; 302. a servo motor; 303. a mounting plate; 304. an omni-wheel; 4. a charging interface; 5. a push-pull groove; 6. a carrying plate; 7. a through hole; 8. a proximity switch; 9. a top cover; 10. lifting the push rod; 11. an energy storage device; 12. an operating status indicator light; 13. a control button; 14. a touch screen; 15. a camera; 16. a magnetic suction block; 17. a communication butt joint seat; 18. a fixed mating groove; 19. and a controller.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. Based on the technical solutions of the present utility model, all other embodiments obtained by a person skilled in the art without making any creative effort fall within the protection scope of the present utility model.
Referring to fig. 1 to 7, the present utility model provides a technical solution:
referring to fig. 1, fig. 2, fig. 3 and fig. 5, and fig. 7, a moving platform based on an omnidirectional wheel bee colony carrier comprises a car body 1, wherein the cross section of the car body 1 is in a regular hexagonal structure, so that a plurality of car bodies 1 can be seamlessly combined and spliced as shown in fig. 1, three driving devices 3 are arranged on the car body 1 in a circumferential array, each driving device 3 comprises a mounting plate 303 which is fixed with the car body 1 through bolts, a servo motor 302 and a motor servo 301 which is electrically connected with the servo motor 302 are fixedly arranged on the mounting plate 303, and an omnidirectional wheel 304 is driven at the output end of the servo motor 302;
referring to fig. 2, 4 and 5, a top cover 9 is fixedly mounted at the upper end of a vehicle body 1 through bolts, a lifting push rod 10 is fixedly mounted on the vehicle body 1, a bearing plate 6 is driven at the output end of the lifting push rod 10, the bearing plate 6 is used for bearing cargoes, a controller 19 is fixedly mounted in the vehicle body 1, a touch screen 14 and a control button 13 are fixedly mounted on the vehicle body 1, and an energy storage device 11 is fixedly mounted in the vehicle body 1;
referring to fig. 1 to 6, a locking device 2 is disposed on a side surface of a vehicle body 1 at a position corresponding to an omni-wheel 304, the locking device 2 includes a connecting frame 201 fixedly mounted with the vehicle body 1, a rotating motor 202 is fixedly mounted on the connecting frame 201, an output end of the rotating motor 202 drives a tightening push rod 203, an output end of the tightening push rod 203 drives a pressing plate 206 for being clamped into an adjacent vehicle body 1 to realize combined fixation of the adjacent vehicle body 1, a communication joint 204 and a fixing protrusion 205 are fixedly mounted on the pressing plate 206, a through hole 7 for facilitating the entrance of the pressing plate 206 on the adjacent vehicle body 1 is formed on the side surface of the vehicle body 1, a communication docking seat 17 for electrically connecting the communication joint 204 is fixedly mounted on an inner side of the vehicle body 1 corresponding to the through hole 7, a fixing matching groove 18 for being clamped and fixed by matching the fixing protrusion 205 is fixedly mounted on the side surface of the vehicle body 1, a controller 19 is electrically connected with the rotating motor 202, the tightening push rod 203, the communication joint 204, a motor servo 301, a servo motor 302, a lifting push rod 10, an energy storage device 11, a control button 13, a touch screen 14 and the communication docking seat 17, a single-chip microcomputer 19, and a ball bearing wire of the controller 203 are respectively;
referring to fig. 1 to 6, a camera 15 electrically connected to a controller 19 is fixedly installed on the outer side of a vehicle body 1, the camera 15 can collect images near the vehicle body 1, the controller 19 is convenient to avoid a relatively close obstacle through analysis of the images, a working state indicator 12 electrically connected to the controller 19 is fixedly installed on the outer side of the vehicle body 1, a service state indicator 12 can be convenient for a service personnel to judge the working state of the device, a push-pull groove 5 convenient for carrying the vehicle body 1 is formed in the vehicle body 1, a charging interface 4 electrically connected with an energy storage device 11 is fixedly installed on the vehicle body 1, a proximity switch 8 for detecting whether the adjacent vehicle bodies 1 are combined in place is arranged at a position corresponding to the locking device 2, a pair of magnetic blocks 16 for attaching the adjacent vehicle bodies 1 through magnet adsorption are installed at two sides of the corresponding proximity switch 8, the energy storage device 11 is a lithium battery pack, and the rotating motor 202 is a stepping motor.
Working principle: the moving platform designed by the utility model can be assembled with nearby car bodies 1 through the car bodies 1 in a hexagonal shape to form a larger moving and transporting platform, so that cargoes with different weights and sizes can be transported in an adaptive manner, when the car bodies 1 are assembled, one sides of the two car bodies 1 with the locking devices 2 can be mutually close, when the car bodies are attracted to each other through the magnetic attraction blocks 16, the proximity switch 8 is triggered, the touch screen 14 displays an in-place icon and an in-place signal simultaneously, then the tightening push rod 203 in the locking devices 2 pushes the pressing plate 206 into the through hole 7 of the adjacent car body 1, then the rotating motor 202 rotates the pressing plate 206 to enable the pressing plate 206 to rotate to the position corresponding to the fixed matching groove 18, then the tightening push rod 203 starts to tighten the pressing plate 206, at the moment, the fixed protrusions 205 are mutually clamped with the fixed matching groove 18 to enable the two car bodies 1 to be locked, and meanwhile, the communication connector 204 is mutually well spliced with the communication butt joint seat 17 to form a complete communication loop, and the controllers 19 respectively positioned on the two car bodies 1 are connected, so that the subsequent assembling platform can be conveniently controlled by a swarm algorithm and a preset movement path. After assembling, cargoes can be placed on the bearing plate 6 to bear, meanwhile, the height of the bearing plate 6 can be adjusted through the lifting push rod 10, and when transportation movement is needed, the controller 19 can coordinate the omnidirectional wheels 304 on each car body 1 through a bee colony algorithm to realize movement of the platform in all directions, so that the cargoes are transported to a target position more accurately.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a bee colony carrier moving platform based on qxcomm technology, includes automobile body (1), its characterized in that: the cross section of the vehicle body (1) is of a regular hexagon structure, three driving devices (3) are arranged on the vehicle body (1) in a circumferential array, each driving device (3) comprises a mounting plate (303) fixed with the vehicle body (1) through bolts, a servo motor (302) and a motor servo (301) electrically connected with the servo motor (302) are fixedly arranged on the mounting plates (303), and an omni-wheel (304) is driven at the output end of the servo motor (302);
the upper end of the vehicle body (1) is fixedly provided with a top cover (9) through a bolt, the vehicle body (1) is fixedly provided with a lifting push rod (10), the output end of the lifting push rod (10) is driven with a bearing plate (6), the vehicle body (1) is internally fixedly provided with a controller (19), the vehicle body (1) is fixedly provided with a touch screen (14) and a control button (13), and the vehicle body (1) is internally fixedly provided with an energy storage device (11);
the side of automobile body (1) lies in omnidirectional wheel (304) corresponding position department and is provided with locking device (2), locking device (2) include with automobile body (1) fixed mounting's link (201), and fixed mounting has rotating electrical machines (202) on link (201), the output drive of rotating electrical machines (202) has tightens up push rod (203), and tightens up push rod (203) output drive have be used for the card to go into adjacent automobile body (1) in realize adjacent automobile body (1) combination fixed clamp plate (206), fixed mounting has communication joint (204) and fixed protruding (205) on clamp plate (206), and the side of automobile body (1) has seted up through-hole (7) that clamp plate (206) on the adjacent automobile body (1) got into of being convenient for, the inboard department fixed mounting of automobile body (1) again corresponding through-hole (7) has communication butt joint seat (17) that are used for electric connection communication joint (204), and the side fixed mounting of automobile body (1) has clamp fit groove (18) that are used for cooperating fixed protruding (205) to fix, controller (19) respectively with rotating electrical machines (202), tightens up push rod (203), servo device (301), servo device (10), servo device (11) are gone up and down The control button (13), the touch screen (14) and the communication butt joint seat (17) are electrically connected.
2. The omniwheel-based swarm carrier mobile platform of claim 1, wherein: the controller (19) is an ARM single-chip microcomputer, and the tightening push rod (203) and the lifting push rod (10) are ball screw type electric push rods.
3. The omniwheel-based swarm carrier mobile platform of claim 1, wherein: the outside of automobile body (1) fixed mounting has camera (15) with controller (19) electric connection, and the outside of automobile body (1) fixed mounting has work state pilot lamp (12) with controller (19) electric connection.
4. The omniwheel-based swarm carrier mobile platform of claim 1, wherein: the vehicle body (1) is provided with a push-pull groove (5) which is convenient for carrying the vehicle body (1), and the vehicle body (1) is fixedly provided with a charging interface (4) which is electrically connected with the energy storage device (11).
5. The omniwheel-based swarm carrier mobile platform of claim 1, wherein: the vehicle body (1) is provided with a proximity switch (8) which is used for detecting whether the adjacent vehicle bodies (1) are combined in place or not at the position corresponding to the locking device (2), and the vehicle body (1) is provided with a pair of magnetic attraction blocks (16) which are used for being attached to the adjacent vehicle bodies (1) through magnet attraction at the two sides of the corresponding proximity switch (8).
6. The omniwheel-based swarm carrier mobile platform of claim 1, wherein: the energy storage device (11) is a lithium battery pack, and the rotating motor (202) is a stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321085844.1U CN219728327U (en) | 2023-05-08 | 2023-05-08 | Mobile platform based on omni-wheel bee colony carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321085844.1U CN219728327U (en) | 2023-05-08 | 2023-05-08 | Mobile platform based on omni-wheel bee colony carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219728327U true CN219728327U (en) | 2023-09-22 |
Family
ID=88051874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321085844.1U Active CN219728327U (en) | 2023-05-08 | 2023-05-08 | Mobile platform based on omni-wheel bee colony carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219728327U (en) |
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2023
- 2023-05-08 CN CN202321085844.1U patent/CN219728327U/en active Active
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