CN107054502B

CN107054502B - Omnidirectional mobile robot chassis with liftable structure

Info

Publication number: CN107054502B
Application number: CN201710183134.5A
Authority: CN
Inventors: 伍锡如; 王方; 刘金霞
Original assignee: Guilin University of Electronic Technology
Current assignee: Guilin University of Electronic Technology
Priority date: 2017-03-24
Filing date: 2017-03-24
Publication date: 2022-12-13
Anticipated expiration: 2037-03-24
Also published as: CN107054502A

Abstract

The invention discloses an omnidirectional mobile robot chassis with a liftable structure, which comprises a driving module, a frame-type machine body and a push rod lifting module, wherein the push rod lifting module is fixedly arranged on the frame-type machine body and can lift the corresponding driving module as required to adapt to operating environments with different loads. The omnidirectional moving chassis adopting the technical scheme of the invention can select a more appropriate driving mode according to the running environments of different loads, has the advantages of effectively saving power output, prolonging the endurance time and having good shock-proof effect.

Description

Omnidirectional mobile robot chassis with lifting structure

Technical Field

The invention belongs to the technical field of omnidirectional mobile platforms, and particularly relates to an omnidirectional mobile robot chassis with a liftable structure.

Background

An omnidirectional moving platform based on a Mecanum wheel is the most mature scheme of the existing omnidirectional moving platform, the Mecanum wheel generally has two degrees of freedom, namely an active driving degree of freedom along the tangential direction of a wheel surface and a follow-up degree of freedom forming a fixed angle with the tangential direction of the surface, and omnidirectional movement can be realized by controlling the rotation of a single wheel.

The omnidirectional mobile platform chassis composed of mecanum wheels usually consists of 4 independent mecanum wheel driving structures, and in heavy-load application occasions, consists of 8 independent mecanum wheel driving structures, and chassis structures with different configurations are selected according to different use condition requirements. Once a mobile platform of a specific structure is arranged in a working environment, if the weight of the transported goods changes, the mobile platform and the load capacity are mismatched, so that the mobile platform with 4 Mecanum wheels cannot normally operate when the heavy goods are transported, and the mobile platform with 8 Mecanum wheels has overlarge output power when the light goods are transported, thereby wasting battery electric energy and shortening the endurance time of the mobile platform.

Disclosure of Invention

Aiming at the defects of the prior art, the technical problem to be solved by the invention is how to solve the problem that an omnidirectional mobile platform chassis consisting of Mecanum wheels can adapt to operating environments with different loads, and simultaneously avoid waste of battery electric energy caused by overlarge output power and shorten the endurance time of a mobile platform.

In order to solve the technical problems, the technical scheme provided by the invention is that the omnidirectional mobile robot chassis with the lifting structure comprises a driving module, a push rod lifting module and a frame type machine body, wherein the push rod lifting module is fixedly arranged on the frame type machine body, and the push rod lifting module can lift the corresponding driving module as required so as to adapt to operating environments with different loads.

The driving module comprises a driving motor, a coupler, a Mecanum wheel, a motor support, a shock absorber, an independent suspension rocker arm and a bearing, the driving motor is installed on the motor support, power is output to the Mecanum wheel through the coupler, and the Mecanum wheel is installed on a support rigidly connected with the rocker arm through the bearing.

As a further improvement of the present invention, the Mecanum wheels employ independent suspension structures to dampen chassis vibrations caused by ground impacts on the wheels.

The push rod lifting module comprises an electric push rod and fixing supports at two ends of the push rod, wherein a fixing joint with a bearing is installed at the head of the electric push rod, one end of the electric push rod is fixed on the frame type machine body through a push rod support, the other end of the electric push rod is fixed on the lifting supports through the fixing joints, and each push rod lifting module controls one pair of driving modules.

Preferably, a push rod lifting module is respectively arranged at the front part and the rear part of the frame type machine body, and the number of the driving modules is 8.

The frame-type machine body comprises a main body frame and a lifting support, and the main body frame and the lifting support are connected with the rotating shaft through bearings.

The technical scheme adopted by the invention has the following beneficial effects:

1. the electric push rod is used for independently adjusting the heights of the front and rear pairs of Mecanum wheels and controlling the grounding state and the motion state of the Mecanum wheels, so that four-wheel drive or eight-wheel drive or six-wheel drive can be realized, and the electric drive device is suitable for different loads in different drive states. The full power output under the heavy load condition can be realized, the energy is saved under the light load condition, and the endurance time of the mobile platform is prolonged.

2. By adopting the Mecanum wheel structure with independent suspension, the chassis vibration caused by the impact of the ground on the wheel body can be weakened during the movement process.

Drawings

FIG. 1 is a schematic overall design of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a schematic drive module design;

FIG. 4 is a schematic view of the invention operating in four wheel drive;

FIG. 5 is a schematic view of the invention operating in eight wheel drive;

FIG. 6 is a schematic illustration of the operation of the present invention in a six wheel drive;

fig. 7 is a schematic diagram of an expanded design of the present invention.

Detailed Description

The invention is further illustrated but not limited by the following figures and examples.

Fig. 1 to 3 show the structure of the present invention, in which: no. 8 mecanum wheel drive module 1, no. 6 mecanum wheel drive module 2, a frame-type body 3, a front lifting rod fixing bracket 4, a front lifting rod 5, no. 4 mecanum wheel drive module 6, no. 2 mecanum wheel drive module 7, a front lifting rotating shaft 8, a front lifting bracket 9, a front lifting rod fixing joint 10, a lifting rotating shaft bearing 11, no. 1 mecanum wheel drive module 12, a rear lifting rod fixing bracket 13, a rear lifting rod 14, a rear pushing rod fixing joint 15, a rear lifting bracket 16, a rear lifting rotating shaft 17, no. 7 mecanum wheel drive module 18, no. 5 mecanum wheel drive module 19, no. 5 mecanum wheel drive module suspension rotating shaft 20, no. 3 mecanum wheel drive module suspension rotating shaft 21, no. 3 mecanum wheel drive module 22, mecanum wheel 23, a mecanum wheel fixing bearing 24, a coupling 25, a mecanum wheel fixing bracket 26, a motor fixing bracket 27, a damper upper connection bearing 28, an independent suspension rotating shaft bearing 29, an independent suspension rocker arm connection shaft 30, a damper lower connection shaft 31, a damper 32, and a motor 33.

Fig. 4 shows a first embodiment:

under the condition that the load is lighter, the front lifting push rod 5 and the rear lifting push rod 14 are controlled to adjust the push-out length to the minimum, the front lifting push rod 5 pulls the front lifting support 9 up around the front lifting rotating shaft 8, and as the independent suspension rocker arms 30 of the Mecanum wheel driving module No. 1 and the Mecanum wheel driving module No. 2 are connected with the front lifting rotating shaft 8 through bearings, and the shock absorbers of the Mecanum wheel driving modules are fixed on the front lifting support 9 through the connecting bearings 31 on the shock absorbers, the Mecanum wheels No. 1 and No. 2 can leave the ground and are lifted to the highest position. Mecanum wheel drive modules No. 7 and No. 8 at the tail part of the chassis are symmetrical to Mecanum wheel drive modules No. 1 and No. 2, and are also lifted to the highest position by a rear lifting push rod 14.

When the Mecanum wheels of the Mecanum wheel driving modules No. 1, no. 2, no. 7 and No. 8 leave the ground, the chassis enters a light-load mode, the driving motors 33 of the Mecanum wheel driving modules No. 1, no. 2, no. 7 and No. 8 stop working, and the motion of the chassis is controlled through the power output of the Mecanum wheel driving modules No. 3, no. 4, no. 5 and No. 6. In this state, wear of the lifted mecanum wheel can be reduced, output power is also reduced, and energy can be saved.

Fig. 5 shows a second embodiment:

under the condition of heavy load, the Mecanum wheels No. 3, no. 4, no. 5 and No. 6 cannot normally move due to excessive pressure and insufficient output power. At this time, the front and rear

lifting push rods

5 and 14 are controlled to adjust the push-out length to the maximum, the front lifting push rod 5 puts down the front lifting support 9 around the front lifting rotating shaft 8, and as the independent suspension rocker arms 30 of the Mecanum wheel driving modules No. 1 and No. 2 are connected with the front lifting rotating shaft 8 through bearings, and the shock absorbers of the Mecanum wheel driving modules are fixed on the front lifting support 9 through the connecting bearings 31 on the shock absorbers, the Mecanum wheels No. 1 and No. 2 can contact the ground and are put down to the lowest position. The 7 and 8 Mecanum wheel drive modules at the rear of the chassis are symmetrical to the 1 and 2 Mecanum wheel drive modules and are also lowered to the lowest position by the rear lift rams 14.

When the Mecanum wheels of the Mecanum wheel driving modules No. 1, no. 2, no. 7 and No. 8 are all contacted with the ground, the chassis enters a heavy-load mode, and the driving motors of all the Mecanum wheel driving modules work simultaneously to control the chassis to move. In this state, the eight driving motors 33 of the chassis can be operated simultaneously to output a large power, thereby completing the work of transporting a heavy load.

Fig. 6 shows a third embodiment:

under the condition that the offset of the center of gravity of the load is large, the Mecanum

wheels

3, 4, 5 and 6 are driven, because the center of gravity is in the center of the chassis, the supporting force at two ends is insufficient, and the overturn is easy to occur in the motion process. At this time, the front lifting push rod 5 puts down the front lifting support 9 around the front lifting rotating shaft 8, and since the independent suspension rocker arms 30 of the mecanum wheel driving modules No. 1 and No. 2 are connected with the front lifting rotating shaft 8 through bearings, and the shock absorbers of the mecanum wheel driving modules are fixed on the front lifting support 9 through the connecting bearings 31 on the shock absorbers, the mecanum wheels No. 1 and No. 2 can contact the ground and are put down to the lowest position. The rear lifting push rod 14 is controlled to adjust the pushing length to the minimum, the rear lifting push rod 14 pulls the rear lifting support 16 around the rear lifting rotating shaft 17, and as the independent suspension rocker arms 30 of the No. 7 and No. 8 Mecanum wheel driving modules 18 and 1 are connected with the rear lifting rotating shaft 17 through bearings, and the shock absorbers of the Mecanum wheel driving modules are fixed on the rear lifting support 9 through the connecting bearings 31 on the shock absorbers, the No. 7 and No. 8 Mecanum wheels can leave the ground and are lifted to the highest position.

When the Mecanum wheels of the Mecanum wheel driving modules No. 1 and No. 2 are in contact with the ground, the Mecanum wheels of the Mecanum wheel driving modules No. 7 and No. 8 leave the ground, the chassis enters a six-wheel driving mode, and all driving motors 33 in contact with the ground Mecanum wheel driving modules work simultaneously to control the chassis to move. In this state, the six driving motors 33 of the chassis operate simultaneously to output a large power, and the ground supporting points can be increased to complete the operation of transporting a load with a large center of gravity shift.

Fig. 7 shows a fourth embodiment.

The frame-type body lifting device is only provided with one lifting push rod, the lifting push rod can be arranged on the front half part or the rear half part of the frame-type body as required, the working principle is the same as that of the first three embodiments, and the push rod lifting module can lift the corresponding driving module as required so as to adapt to the operating environments with different loads.

The omnidirectional moving chassis adopting the technical scheme of the invention can select a more appropriate driving mode according to the running environments of different loads, has the advantages of effectively saving power output, prolonging the endurance time and having good shock-proof effect.

The present invention has been described in detail with reference to the drawings and the embodiments, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and these embodiments are within the scope of the invention.

Claims

1. The utility model provides an omnidirectional movement robot chassis with can promote structure, includes drive module, frame-type fuselage, its characterized in that: the push rod lifting module is fixedly arranged on the frame type machine body, and can lift the corresponding driving module as required so as to adapt to operating environments with different loads; the push rod lifting modules comprise electric push rods and fixing supports at two ends of the push rods, wherein fixing joints with bearings are mounted at the heads of the electric push rods, one ends of the electric push rods are fixed on the frame type machine body through the push rod supports, the other ends of the electric push rods are fixed on the lifting supports through the fixing joints, and each push rod lifting module controls one pair of driving modules; the driving module comprises a driving motor, a coupler, mecanum wheels, a motor support, a shock absorber, an independent suspension rocker arm and a bearing, wherein the driving motor is installed on the motor support and outputs power to the Mecanum wheels through the coupler, the Mecanum wheels are installed on the support rigidly connected with the rocker arm through the bearing, the heights of the front pair of Mecanum wheels and the rear pair of Mecanum wheels are independently adjusted through an electric push rod, the grounding state and the motion state of the Mecanum wheels are controlled, four-wheel driving or eight-wheel driving or six-wheel driving can be realized, and the driving module is suitable for different loads under different driving states.

2. The omni-directional mobile robot chassis with liftable structure according to claim 1, characterized in that: at least 1 push rod lifting module is arranged on the front half part or the rear half part of the frame type machine body.

3. The omni-directional mobile robot chassis with a liftable structure according to claim 1, wherein: the number of the driving modules is at least 6.

4. The omni-directional mobile robot chassis with liftable structure according to claim 1, characterized in that: the number of the push rod lifting modules is 2, 1 push rod lifting module is arranged on the front half part of the frame type machine body, and the other 1 push rod lifting module is arranged on the rear half part of the frame type machine body.

5. The omni-directional mobile robot chassis with liftable structure according to claim 1, characterized in that: the number of the driving modules is 8.

6. The omnidirectional mobile robot chassis with a liftable structure of any one of claims 1 to 5, wherein: the Mecanum wheels are of independent suspension structures.