Omnidirectional full-drive mobile platform
阅读说明：本技术 一种全向全驱移动平台 (Omnidirectional full-drive mobile platform ) 是由 孙丹颖 李圣巍 张帅帅 李胜 于 2020-04-30 设计创作，主要内容包括：本发明提出了一种全向全驱移动平台,包括：车体,设置在所述车体上的四组移动机构,与所述移动机构相连的车轮,驱动所述移动机构的控制系统；所述移动机构包括转向移动机构和直行移动机构。本发明具有更好的移动性能,省却了云台结构,在进行全向移动时仍可保证车身姿态不变。(The invention provides an omnidirectional full-drive mobile platform, which comprises: the device comprises a vehicle body, four groups of moving mechanisms arranged on the vehicle body, wheels connected with the moving mechanisms, and a control system for driving the moving mechanisms; the moving mechanism comprises a steering moving mechanism and a straight moving mechanism. The invention has better moving performance, saves the structure of a tripod head, and can still ensure that the posture of the car body is not changed when the car moves in all directions.)
1. An omni-directional all-wheel drive mobile platform, comprising: the device comprises a vehicle body (1), four groups of moving mechanisms (2) arranged on the vehicle body (1), wheels (3) connected with the moving mechanisms (2), and a control system for driving the moving mechanisms (2); the moving mechanism (2) comprises a steering moving mechanism and a straight moving mechanism.
2. The omni-directional all-wheel-drive mobile platform according to claim 1, wherein the steering mobile mechanism comprises a vehicle body support, a direct current worm gear and worm reduction motor, an 8mm-8mm coupler (9), an 8mm-6mm coupler (6), a slip ring (10), an encoder support (5) and an absolute encoder (4); the vehicle body bracket is arranged on the vehicle body (1); the direct-current worm gear speed reducing motor is arranged at the upper part of the vehicle body bracket, an upper output shaft is connected with the absolute encoder (4) through a 8mm-6mm coupler (6), and a lower output shaft is connected with the straight moving mechanism through a 8mm-8mm coupler (9); the slip ring (10) is arranged at the lower part of the vehicle body bracket, the stator part is connected with the control system, and the rotor part is connected with the straight moving mechanism; the encoder bracket (5) is arranged on the vehicle body (1) and is positioned right above the vehicle body bracket; the absolute encoder (4) is arranged above the encoder bracket (5), and the output shaft is connected with the direct-current worm gear speed reduction motor through a coupler (6) of 8mm-6 mm.
3. The omnidirectional all-wheel-drive mobile platform according to claim 1, wherein the vehicle body support is in a half-I shape, the reduction box part of the direct-current turbine worm speed reduction motor is fixed on the upper side of the top of the vehicle body support, the motor part of the direct-current turbine worm speed reduction motor extends into the vehicle body (1) through a square groove reserved on the side surface of the vehicle body (1), the lower outgoing shaft of the direct-current turbine worm speed reduction motor is connected with the 8mm-8mm coupler (9), and the upper outgoing shaft of the direct-current turbine worm speed reduction motor is connected with the 8mm hole of the 8mm-6mm coupler (6); the stator of the slip ring (10) is fixed on the upper side of the bottom of the vehicle body bracket, the outgoing line of the stator part of the slip ring is connected with a control system in the vehicle body (1), and the outgoing line of the rotor part of the slip ring is connected with a signal line of the straight moving mechanism; the encoder support (5) is L-shaped, a mounting hole connected with the vehicle body (1) is formed in the side edge of the encoder support (5), and a mounting hole connected with the absolute encoder (4) is formed in the top of the encoder support (5); absolute encoder (4) are fixed in the upside at encoder support (5) top, the play axle of absolute encoder (4) with the 6mm hole of 8mm-6mm shaft coupling (6) links to each other.
4. The omnidirectional all-wheel-drive mobile platform according to claim 1, wherein the straight-moving mechanism comprises a wheel bracket (13), a hexagonal coupler (15), a direct-current speed reduction motor (14), a Hall incremental encoder, a flange plate (12) and a longitudinal connecting shaft (11);
the flange (12) is arranged at the upper part of the wheel bracket (13) and is connected with the lower end of the longitudinal connecting shaft (11); the direct-current speed reducing motor (14) is arranged on the side edge of the wheel support (13) and is connected with the hexagonal coupling (15); the Hall incremental encoder is connected with a direct current speed reducing motor (14); the hexagonal coupling (15) is connected with the wheel (3); the lower end of the longitudinal connecting shaft (11) is connected with the flange plate (12), and the upper end of the longitudinal connecting shaft is connected with the steering moving mechanism.
5. The omni-directional all-wheel-drive mobile platform according to claim 1, wherein the control system is composed of a main control chip, a motor driving board and a communication module; the communication module is connected with the main control chip, the motor drive board is connected with the main control chip, and the main control chip receives a control command from an upper computer through the communication module and sends PWM waves to the motor drive board, so that the motor drive board outputs voltage to drive the direct current speed reduction motor (14) and the direct current worm and gear speed reduction motor to work.
Technical Field
The invention belongs to an intelligent warehousing technology, and particularly relates to an omnidirectional full-drive mobile platform.
Background
The omnidirectional moving platform is a platform which can translate and rotate in any posture in an xy plane, has the advantages of small steering space and independent motion in each direction, and can be widely applied to moving platforms driven by wheels, such as industries, toys, robots and the like. The existing omnidirectional mobile platform is mostly realized based on wheels, such as Mecanum wheel type and omnidirectional wheel type, omnidirectional movement is realized through special design of the wheels, but omnidirectional movement realized through a mode has certain limitation, and due to complexity of a composition structure, the omnidirectional mobile platform system is low in reliability and high in cost, has high requirements on environmental topography, and has certain limitation.
Disclosure of Invention
The invention aims to provide an omnidirectional full-drive mobile platform.
The technical solution for realizing the purpose of the invention is as follows: an omni-directional all-wheel drive mobile platform comprising: the device comprises a vehicle body, four groups of moving mechanisms arranged on the vehicle body, wheels connected with the moving mechanisms, and a control system for driving the moving mechanisms; the moving mechanism comprises a steering moving mechanism and a straight moving mechanism.
Preferably, the steering moving mechanism comprises a vehicle body support, a direct-current worm gear and worm speed reduction motor, an 8mm-8mm coupler, an 8mm-6mm coupler, a slip ring, an encoder support and an absolute encoder; the vehicle body bracket is arranged on a vehicle body; the direct-current worm gear speed reducing motor is arranged at the upper part of the vehicle body bracket, an upper output shaft is connected with the absolute encoder through an 8mm-6mm coupler, and a lower output shaft is connected with the straight moving mechanism through an 8mm-8mm coupler; the slip ring is arranged at the lower part of the vehicle body bracket, the stator part is connected with the control system, and the rotor part is connected with the straight moving mechanism; the encoder bracket is arranged on the vehicle body and is positioned right above the vehicle body bracket; the absolute encoder is arranged above the encoder bracket, and the output shaft is connected with the direct-current turbine worm speed reduction motor through a coupler of 8-6 mm.
Preferably, the vehicle body support is in a half-I shape, a reduction box part of the direct current turbine worm speed reducing motor is fixed on the upper side of the top of the vehicle body support, a motor part of the direct current turbine worm speed reducing motor extends into the vehicle body through a square groove reserved on the side surface of the vehicle body, a lower output shaft of the direct current turbine worm speed reducing motor is connected with the 8mm-8mm coupler, and an upper output shaft of the direct current turbine worm speed reducing motor is connected with the 8mm hole of the 8mm-6mm coupler; the stator of the slip ring is fixed on the upper side of the bottom of the vehicle body bracket, the outgoing line of the stator part of the slip ring is connected with a control system in the vehicle body, and the outgoing line of the rotor part of the slip ring is connected with a signal line of the straight moving mechanism; the encoder bracket is L-shaped, a mounting hole connected with the vehicle body is formed in the side edge of the encoder bracket, and a mounting hole connected with the absolute encoder is formed in the top of the encoder bracket; the absolute encoder is fixed on the upper side of the top of the encoder support, and an output shaft of the absolute encoder is connected with a 6mm hole of the 8mm-6mm coupler.
Preferably, the straight moving mechanism comprises a wheel bracket, a hexagonal coupler, a direct-current speed reducing motor, a Hall incremental encoder, a flange plate and a longitudinal connecting shaft;
the flange plate is arranged on the upper part of the wheel bracket and is connected with the lower end of the longitudinal connecting shaft; the direct-current speed reducing motor is arranged on the side edge of the wheel bracket and is connected with the hexagonal coupler; the Hall incremental encoder is connected with the direct current speed reducing motor; the hexagonal coupling is connected with the wheel; the lower end of the longitudinal connecting shaft is connected with the flange plate, and the upper end of the longitudinal connecting shaft is connected with the steering moving mechanism.
Preferably, the control system is composed of a main control chip, a motor driving board and a communication module; the communication module is connected with the main control chip, the motor drive board is connected with the main control chip, and the main control chip receives a control command from an upper computer through the communication module and sends PWM waves to the motor drive board, so that the motor drive board outputs voltage to drive the direct current speed reduction motor and the direct current worm and gear speed reduction motor to work.
Compared with the prior art, the invention has the following remarkable advantages: the invention has better moving performance, saves the tripod head structure and can still ensure that the posture of the car body is not changed when the car moves in all directions; the invention does not depend on Mecanum wheels to complete the function of omnidirectional movement, is relatively less limited by terrain, has expansibility in the movement mode, and can be better applied to road terrain.
The present invention is described in further detail below with reference to the attached drawings.
Drawings
Fig. 1 is a schematic structural diagram of an omnidirectional all-wheel-drive platform.
Fig. 2 is a schematic structural view of the steering movement mechanism.
Fig. 3 is a schematic view of the straight-moving mechanism and the wheel structure.
Fig. 4 is a schematic diagram of the control system structure.
Fig. 5 is an omnidirectional principle schematic.
In the figure: the device comprises a vehicle body 1, a moving mechanism 2, wheels 3, an
Detailed Description
As shown in fig. 1, an omnidirectional all-wheel-drive mobile platform comprises a vehicle body (1), four groups of mobile mechanisms (2) arranged on the vehicle body (1), wheels (3) connected with the mobile mechanisms (2), and a control system for driving the mobile mechanisms (2); the moving mechanism (2) comprises a steering moving mechanism and a straight moving mechanism. The control system receives a remote command sent by an upper computer and drives the moving mechanism (2) to move straight or turn.
In a further embodiment, as shown in fig. 2, the steering moving mechanism comprises a vehicle body bracket, a direct current worm gear speed reducing motor, an 8mm-8mm coupler (9), an 8mm-6mm coupler (6), a slip ring (10), an encoder bracket (5) and an absolute encoder (4); the vehicle body bracket is arranged on the vehicle body (1); the direct-current worm gear speed reducing motor is arranged at the upper part of the vehicle body bracket, an upper output shaft is connected with the absolute encoder (4) through a 8mm-6mm coupler (6), and a lower output shaft is connected with the straight moving mechanism through a 8mm-8mm coupler (9); the slip ring (10) is arranged at the lower part of the vehicle body bracket, a stator part outgoing line is connected with the control system, and a rotor part outgoing line is connected with the straight moving mechanism; the encoder bracket (5) is arranged on the vehicle body (1) and is positioned right above the vehicle body bracket; the absolute encoder (4) is arranged above the encoder bracket (5), and the output shaft is connected with the direct-current worm gear speed reduction motor through a coupler (6) of 8mm-6 mm.
In a further embodiment, the vehicle body support is in a half-I shape, the top of the vehicle body support is provided with a mounting hole for mounting the direct-current worm gear speed reducing motor, the bottom of the vehicle body support is provided with a through hole with the same inner diameter as the sliding ring (10) and a mounting groove for mounting the sliding ring (10), and the side edge of the vehicle body support is provided with a mounting hole connected with the vehicle body (1).
The reduction box part of the direct current turbine worm speed reducing motor is fixed on the upper side of the top of the vehicle body bracket, the motor part of the direct current turbine worm speed reducing motor extends into the vehicle body (1) through a square groove reserved on the side surface of the vehicle body (1), the lower output shaft of the direct current turbine worm speed reducing motor is connected with the 8mm-8mm coupler (9), and the upper output shaft of the direct current turbine worm speed reducing motor is connected with the 8mm hole of the 8mm-6mm coupler (6); the stator of the slip ring (10) is fixed on the upper side of the bottom of the vehicle body bracket, the outgoing line of the stator part of the slip ring is connected with a control system in the vehicle body (1), and the outgoing line of the rotor part of the slip ring is connected with a signal line of the straight moving mechanism; the encoder support (5) is L-shaped, a mounting hole connected with the vehicle body (1) is formed in the side edge of the encoder support (5), and a mounting hole connected with the absolute encoder (4) is formed in the top of the encoder support (5); absolute encoder (4) are fixed in the upside at encoder support (5) top, the play axle of absolute encoder (4) with the 6mm hole of 8mm-6mm shaft coupling (6) links to each other.
As shown in fig. 3, the straight moving mechanism comprises a wheel support (13), a hexagonal coupler (15), a direct current gear motor (14), a hall incremental encoder, a flange (12) and a longitudinal connecting shaft (11);
the flange (12) is arranged at the upper part of the wheel bracket (13) and is connected with the lower end of the longitudinal connecting shaft (11); the direct-current speed reducing motor (14) is arranged on the side edge of the wheel support (13) and is connected with the hexagonal coupling (15); the Hall incremental encoder is connected with a direct current speed reducing motor (14); the hexagonal coupling (15) is connected with the wheel (3); the lower end of the longitudinal connecting shaft (11) is connected with the flange plate (12), and the upper end of the longitudinal connecting shaft is connected with the steering moving mechanism.
The side surface of the wheel support (13) is provided with a mounting hole for fixing the direct current speed reducing motor (14) and a through hole for passing through an output shaft of the direct current speed reducing motor (14), and the top of the wheel support is provided with a mounting hole for fixing the flange plate (12); the direct-current speed reducing motor (14) is connected with the cylindrical end of the hexagonal coupling (15) through the wheel bracket (13); the encoder is fixed at the tail end of the direct-current speed reduction motor (14); the wheel (3) is fixed at the hexagonal end of the hexagonal coupling (15) through a screw; the bottom disc of the flange plate (12) is fixed on the upper side of the wheel bracket (13); the line segment of the longitudinal connecting shaft (11) is connected with the flange (12), and the upper end of the longitudinal connecting shaft is connected with the lower end of the 8-8mm coupler through the inner holes of a vehicle body bracket and a sliding ring (10) in the steering moving mechanism.
As shown in fig. 4, the control system is composed of a main control chip, a motor driving board and a communication module; the communication module is connected with the main control chip, and the motor driving board is connected with the main control chip.
The main control chip is a high-performance embedded control chip and contains a set of programs for controlling the work of the omnidirectional full-drive platform; the motor driving board is a motor driving controller, different motor driving voltages are output according to the input and output of different Pulse Width Modulation (PWM) waves, and the voltage threshold is determined by the power supply voltage of the motor driving board; the communication module is a wireless serial port transceiving module, is configured into a USART interface full-duplex wireless transmission module, and has the function of realizing bidirectional information interaction between the upper computer and the omnidirectional full-drive platform; the upper computer is a device capable of directly sending out a control command, and is a computer provided with an application program specially developed for the omnidirectional all-wheel drive platform.
Further, the specific working mode of the control system is as follows: the main control chip receives a control command from an upper computer through the communication module and sends PWM waves to the motor drive board, so that the motor drive board outputs voltage to drive the direct current speed reduction motor (14) and the direct current worm and gear speed reduction motor to work; the Hall incremental encoder feeds back the real-time rotating speed of the direct current speed reducing motor (14) to the main control chip; the absolute encoder (4) feeds back the real-time angular position of the direct-current worm gear speed reduction motor to the main control chip; after the main control chip obtains the fed back speed information and the fed back angular position information, the frequency of the PWM wave output to the motor drive plate is adjusted according to a closed-loop algorithm, so that the motor drive plate outputs different working voltages, the rotating speed of the direct current speed reducing motor (14) and the angular position of the direct current worm and gear speed reducing motor are close to an ideal value, and even if the moving mechanism (2) operates according to an instruction.
The concrete working mode of moving mechanism (2) is, through the mechanical connection, turn to moving mechanism and drive the rectilinear movement mechanism, make wheel (3) roll according to the orientation and the rotational speed of ideal, and four wheels (3) rotate under the prerequisite that satisfies speed geometric constraint, further drive wholly the platform is driven to the qxcomm technology carries out the omnidirectional movement. In order to ensure the consistency of the moving mechanisms (2), before normal work, an initialization command is sent to the control system through the upper computer to restore the steering moving mechanisms of each group to a zero position, and then the direction of the straight moving mechanisms of each group is adjusted to be right ahead to ensure the consistent steering of the four groups of moving mechanisms (2).
The principle of the omnidirectional all-wheel-drive platform for omnidirectional movement is that, as shown in fig. 5, in the xoy coordinate system direction, the position of the wheel A uses a vector RARepresenting the central position P of the omnidirectional all-wheel-drive platform by a vector RPThen, the principle of vector addition is:
RA＝RP+RAP
the specific value of the vector is represented by the amplitude of the vector and the angle between the vector and the x-axis, and then:
wherein phiAIs a vector RAPAngle phi with respect to the coordinate axis oy ' of the x ' oy ' coordinate system0Is the angle between the xoy coordinate system and the x 'oy' coordinate system.
The simultaneous derivation of both sides is:
wherein
vA: the rolling speed of the wheel (3) A;
vp: the moving speed of the center point P of the omnidirectional full-drive platform;
the left and right are divided byComprises the following steps:
ω: rotation speed of omnidirectional full-drive platform around central point P
Therefore, the rolling speed of the wheel (3) A and the orientation phi of the wheel (3) A can be obtainedA：
Namely, the speed and the direction of each wheel (3) can be obtained by knowing the speed and the angular speed value of the whole platform. The wheels (3) are matched with each other, so that the platform can move in all directions.
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