阅读说明：本技术 全向移动设备 (Omnidirectional mobile device ) 是由 朱志浩 黄迪 顾昕华 王宇翔 陈常筠 唐亮 樊响 于 2020-04-22 设计创作，主要内容包括：本发明提供一种全向移动设备,所述全向移动设备包括：走行系统,包括2N组麦克纳姆轮机构、本体框架及弹性悬挂机构；2N组麦克纳姆轮机构通过弹性悬挂机构对称式安装于本体框架上,N大于等于2；其中,当2N组麦克纳姆轮机构连续运行时,弹性悬挂机构用于允许2N组麦克纳姆轮机构在弹性悬挂机构给定的机械自由度上相对移动,以吸收在麦克纳姆轮机构运行过程中产生的振动；任务负载舱,设置于走行系统上,舱体内安装有LiDAR激光雷达,通过走行系统带动LiDAR激光雷达无导轨式移动。本发明解决了传统麦克纳姆轮移动平台的固有问题,采用了优化设计的弹性悬挂系统和独特轮对布置方法,增强底盘对于地形起伏的适应性,同时还显著的降低底盘运行时的机械振动。(The invention provides an omnidirectional mobile device, which comprises: the walking system comprises 2N sets of Mecanum wheel mechanisms, a body frame and an elastic suspension mechanism; the 2N sets of Mecanum wheel mechanisms are symmetrically arranged on the body frame through elastic suspension mechanisms, and N is more than or equal to 2; wherein, when the 2N sets of Mecanum wheel mechanisms continuously operate, the elastic suspension mechanism is used for allowing the 2N sets of Mecanum wheel mechanisms to relatively move on the given mechanical freedom degree of the elastic suspension mechanism so as to absorb vibration generated during the operation of the Mecanum wheel mechanisms; the task load cabin is arranged on the walking system, the LiDAR laser radar is installed in the cabin body, and the LiDAR laser radar is driven to move in a rail-free mode through the walking system. The invention solves the inherent problems of the traditional Mecanum wheel moving platform, adopts an elastic suspension system with optimized design and a unique wheel pair arrangement method, enhances the adaptability of the chassis to the topographic relief, and simultaneously obviously reduces the mechanical vibration of the chassis during running.)

1. An omni-directional mobile device, comprising:

the walking system comprises 2N sets of Mecanum wheel mechanisms, a body frame and an elastic suspension mechanism; the 2N sets of Mecanum wheel mechanisms are symmetrically arranged on the body frame through elastic suspension mechanisms, and N is more than or equal to 2;

wherein, when the 2N sets of Mecanum wheel mechanisms operate continuously, the elastic suspension mechanism is used for allowing the 2N sets of Mecanum wheel mechanisms to move relatively on a given mechanical degree of freedom of the elastic suspension mechanism so as to absorb vibration generated during the operation of the Mecanum wheel mechanisms;

and the task load cabin is arranged on the walking system, a LiDAR laser radar is arranged in the cabin body of the task load cabin, and the LiDAR laser radar is driven to move without a guide rail by the walking system.

2. The omni directional mobile device of claim 1, wherein: a set of mecanum wheel mechanisms comprising:

the inner Mecanum wheel and the outer Mecanum wheel are arranged in parallel;

the L-shaped bracket is connected with the output shaft;

the driving motor and the reducer shaft type are integrally assembled and fixed to the L-shaped bracket; the driving motor is used for providing driving force for rotation of the inner Mecanum wheel and the outer Mecanum wheel; the speed reducer is used for amplifying the output torque of the driving motor; the speed reducer is provided with a bearing, and the inner Mecanum wheel and the outer Mecanum wheel are mounted on an output shaft of the speed reducer;

and the orthogonal encoder is arranged on the driving motor and used for calculating the rotating speed of the inner Mecanum wheel and the outer Mecanum wheel and the rotating position of the outer Mecanum wheel at low speed.

3. The omni directional mobile device of claim 2, wherein: the wheel feet of the inner Mecanum wheels are arranged in parallel at a preset angle.

4. The omni directional mobile device of claim 2, wherein: the elastic suspension mechanism comprises:

the transverse pulling plate elastic piece is fixedly connected with the L-shaped bracket and used for providing elastic constraint force for the internal structure of the elastic suspension mechanism;

a first damper disposed in parallel at an end of the lateral pulling plate elastic member for elastically connecting the mecanum wheel mechanism to the body frame so as to dissipate vibration generated in a vertical direction of the omni-directional mobile apparatus during operation into an inner compression deformation of the first damper;

and the second damping part is arranged in the center of the transverse pulling plate elastic part and is used for elastically connecting the Mecanum wheel mechanism to the body frame so as to bear the tensile force generated by the omnidirectional moving equipment during operation.

5. The omni directional mobile device of claim 3, wherein:

the first damping piece is a first cylindrical damping piece;

the second damping piece is a second cylindrical damping piece;

when the walking system bears pressure, the inner inclination angle of the first damping piece is controlled by the structural tension provided by the matching of the first damping piece and the transverse pull plate elastic piece which are arranged in parallel; and the front-back swing angle of the first damping piece is controlled by the tensile force of one first damping piece and the compression force of the other first damping piece which are arranged in parallel.

6. The omni directional mobile device of claim 1, wherein: the body frame comprises a main bearing frame, an auxiliary bearing frame and a rigid shaft structure for connecting the main bearing frame and the auxiliary bearing frame together, the rigid shaft structure can rotate freely, and the main bearing frame and the auxiliary bearing frame can be twisted relatively through the rigid shaft structure.

7. The omni directional mobile device of claim 6, wherein:

when the omnidirectional mobile equipment runs on a flat ground, the main bearing frame provides adhesion force for the Mecanum wheel mechanism mounted on the main bearing frame, and the auxiliary bearing frame provides adhesion force for the Mecanum wheel mechanism mounted on the auxiliary bearing frame, so that the Mecanum wheel mechanism is grounded at the same time.

8. The omni directional mobile device of claim 6, wherein:

when the omnidirectional mobile equipment runs on uneven ground, the main bearing frame and the auxiliary bearing frame are twisted, the twisted Mecanum wheel mechanism is restored to the grounding state through the rigid shaft structure, the main bearing frame is ensured to provide adhesive force for the Mecanum wheel mechanism arranged on the main bearing frame, and the auxiliary bearing frame is ensured to provide adhesive force for the Mecanum wheel mechanism arranged on the auxiliary bearing frame.

9. The omni directional mobile device of claim 1, wherein: the task load cabin is arranged at the top of the walking system through a beam body arranged on the side edge of the body frame; and the LiDAR laser radar is arranged at two ends in the body of the task load cabin.

10. The omni directional mobile device of claim 9, wherein: the omnidirectional mobile equipment also comprises a battery equipment cabin; the battery equipment cabin body is also arranged at the bottom of the walking system through the beam body.

Technical Field

The invention belongs to the technical field of omnidirectional mechanical motion, relates to equipment, and particularly relates to omnidirectional mobile equipment.

Background

The omnibearing motion equipment based on the Mecanum wheel technology can realize the motion modes of advancing, transversely moving, obliquely moving, rotating, combining and the like. The omnibearing forklift and the omnibearing transportation platform developed on the basis are very suitable for ship environments with limited transit space and narrow operation channels, and have obvious effects on the aspects of improving the guarantee efficiency of ships, increasing the space utilization rate of ships and reducing the labor cost.

Therefore, the global reachable characteristic of the Mecanum wheel omnidirectional motion platform on the two-dimensional plane has very high application value in the field of automation/robot application. However, the mecanum wheel itself has problems that the adaptability to the topography is poor and the mechanical vibration inherent in the operation is obvious.

LiDAR radar needs to be installed at the low position of a mobile platform, and certain requirements are imposed on structures around the installation position.

Therefore, how to provide an omnidirectional mobile device to solve the problems of poor adaptability to terrain fluctuation and obvious mechanical vibration inherent in operation in the prior art, and the defects that the structural requirement for installing a LiDAR laser radar cannot be fully considered, and the like, has become a technical problem to be solved by those skilled in the art.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide an omnidirectional mobile device, which solves the problems of the prior art that the adaptability to terrain relief is poor, the mechanical vibration inherent in operation is significant, and the structural requirements for installing a LiDAR are not fully considered.

To achieve the above and other related objects, the present invention provides an omni-directional mobile device, comprising: the walking system comprises 2N sets of Mecanum wheel mechanisms, a body frame and an elastic suspension mechanism; the 2N sets of Mecanum wheel mechanisms are symmetrically arranged on the body frame through elastic suspension mechanisms, and N is more than or equal to 2; wherein, when the 2N sets of Mecanum wheel mechanisms operate continuously, the elastic suspension mechanism is used for allowing the 2N sets of Mecanum wheel mechanisms to move relatively on a given mechanical degree of freedom of the elastic suspension mechanism so as to absorb vibration generated during the operation of the Mecanum wheel mechanisms; and the task load cabin is arranged on the walking system, a LiDAR laser radar is arranged in the cabin body of the task load cabin, and the LiDAR laser radar is driven to move without a guide rail by the walking system.

In one embodiment of the present invention, a set of mecanum mechanisms includes: the inner Mecanum wheel and the outer Mecanum wheel are arranged in parallel; the L-shaped bracket is connected with the output shaft; the driving motor and the reducer shaft type are integrally assembled and fixed to the L-shaped bracket; the driving motor is used for providing driving force for rotation of the inner Mecanum wheel and the outer Mecanum wheel; the speed reducer is used for amplifying the output torque of the driving motor; the speed reducer is provided with a bearing, and the inner Mecanum wheel and the outer Mecanum wheel are mounted on an output shaft of the speed reducer; and the orthogonal encoder is arranged on the driving motor and used for calculating the rotating speed of the inner Mecanum wheel and the outer Mecanum wheel and the rotating position of the outer Mecanum wheel at low speed.

In an embodiment of the present invention, the outboard mecanum wheels are mounted in parallel at predetermined angles at the caster positions of the inboard mecanum wheels.

In an embodiment of the present invention, the elastic suspension mechanism includes: the transverse pulling plate elastic piece is fixedly connected with the L-shaped bracket and used for providing elastic constraint force for the internal structure of the elastic suspension mechanism; a first damper disposed in parallel at an end of the lateral pulling plate elastic member for elastically connecting the mecanum wheel mechanism to the body frame so as to dissipate vibration generated in a vertical direction of the omni-directional mobile apparatus during operation into an inner compression deformation of the first damper; and the second damping part is arranged in the center of the transverse pulling plate elastic part and is used for elastically connecting the Mecanum wheel mechanism to the body frame so as to bear the tensile force generated by the omnidirectional moving equipment during operation.

In an embodiment of the present invention, the first shock absorbing member is a first cylindrical shock absorbing member; the second damping piece is a second cylindrical damping piece; when the walking system bears pressure, the inner inclination angle of the first damping piece is controlled by the structural tension provided by the matching of the first damping piece and the transverse pull plate elastic piece which are arranged in parallel; and the front-back swing angle of the first damping piece is controlled by the tensile force of one first damping piece and the compression force of the other first damping piece which are arranged in parallel.

In an embodiment of the invention, the main body frame includes a main bearing frame, an auxiliary bearing frame, and a rigid shaft structure for connecting the main bearing frame and the auxiliary bearing frame together, the rigid shaft structure can rotate freely, and the main bearing frame and the auxiliary bearing frame can twist relatively through the rigid shaft structure.

In an embodiment of the present invention, when the omnidirectional mobile apparatus is operated on a flat ground, the main supporting frame provides an adhesion force for the mecanum wheel mechanism mounted thereon, and the auxiliary supporting frame provides an adhesion force for the mecanum wheel mechanism mounted thereon, so as to ensure that the mecanum wheel mechanism is grounded simultaneously.

In an embodiment of the present invention, when the omnidirectional mobile apparatus operates on a non-flat ground, the main supporting frame and the auxiliary supporting frame are twisted, and the twisted mecanum mechanism is restored to a grounding state through the rigid shaft structure, and the main supporting frame provides adhesion for the mecanum mechanism mounted thereon, and the auxiliary supporting frame provides adhesion for the mecanum mechanism mounted thereon.

In an embodiment of the invention, the task load compartment is mounted on the top of the walking system through a beam body arranged on the side of the body frame; and the LiDAR laser radar is arranged at two ends in the body of the task load cabin.

In an embodiment of the present invention, the omnidirectional mobile device further includes a battery device cabin; the battery equipment cabin body is also arranged at the bottom of the walking system through the beam body.

As described above, the omni-directional mobile device of the present invention has the following beneficial effects:

the omnidirectional mobile equipment solves the inherent problems of the traditional Mecanum wheel mobile platform, adopts an elastic suspension system with optimized design and a unique wheel pair arrangement method, enhances the adaptability of the chassis to the topographic relief, and simultaneously obviously reduces the mechanical vibration of the chassis during running.

Drawings

Fig. 1 is a schematic perspective view of an omni-directional mobile device according to an embodiment of the invention.

Fig. 2 is a schematic bottom view of the omni-directional mobile device according to the present invention.

FIG. 3 is a schematic perspective view of a Mecanum wheel assembly of the present invention in one embodiment.

Fig. 4A is a schematic perspective view of an elastic suspension mechanism according to an embodiment of the invention.

Fig. 4B is a schematic front view of the elastic suspension mechanism for mounting the mecanum linkage of the present invention.

Fig. 4C is a schematic side view of the elastic suspension mechanism for mounting the mecanum linkage of the present invention.

Fig. 5A is a schematic bottom perspective view of the body frame according to the present invention.

Fig. 5B is a schematic top perspective view of the body frame according to the present invention.

Fig. 5C is a schematic view of the body frame of the present invention providing the maximum adhesion force.

Fig. 6 is a schematic structural diagram of a frame of an omni-directional mobile device according to the present invention.

FIG. 7 is a schematic structural view of the mission load chamber of the present invention.

FIG. 8 is a schematic perspective view of the mission payload bay of the present invention.

Description of the element reference numerals

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.