The invention relates to the technical field of omni-directional moving platforms, in particular to a Mecanum wheel moving platform carrying a seven-degree-of-freedom mechanical arm. Four Mecanum wheels are symmetrically arranged on the two sides of a vehicle body shell, and a roller is arranged in the middle of the surface of a hub and connected with the hub through a hexagon nut; the two ends ofthe roller are movably connected with a first angular contact ball bearing and a second angular contact ball bearing respectively, a conical roller bearing, a shaft sleeve, a bearing chamber, a bearing chamber cover and a circlip for a shaft are installed on the mirror main shaft, the bearing chamber and the bearing chamber cover are attached together, and the shaft end of the motor reducer is matched with the mirror main shaft through the two conical roller bearings. A hole structure is arranged around the motor speed reducer; the layered structure of the four-wheel type omnibearing Mecanumwheel mobile platform comprises a top layer bracket, a second layer bracket and a first layer bracket; a microcontroller chip is placed on the first layer support, a laser radar is placed on the second layer support, and two binocular vision sensors are placed on the layered top layer support.

    本发明涉及全方位移动平台技术领域,具体是搭载七自由度机械臂的麦克纳姆轮移动平台,车体外壳两侧对称设置有四个麦克纳姆轮,轮毂表面中部设置有辊子,与轮毂通过六角螺母连接,辊子两端分别活动连接有第一角接触球轴承和第二角接触球轴承,镜像主轴上装有圆锥滚子轴承、轴套、轴承室、轴承室盖、轴用弹性挡圈,轴承室和轴承室盖贴合在一起,电机减速器轴端跟镜像主轴通过两个圆锥滚子轴承配合在一起,电机减速器周围带有孔结构,所述四轮式全方位麦克纳姆轮移动平台的分层结构包括顶层支架、第二层支架和第一层支架;所述第一层支架放置微控制器芯片,第二层支架放置激光雷达,分层式顶层支架放置两个双目视觉传感器。


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    Titel :

    Mecanum wheel moving platform carrying seven-degree-of-freedom mechanical arm and control system thereof


    Weitere Titelangaben:

    搭载七自由度机械臂的麦克纳姆轮移动平台及其控制系统


    Beteiligte:
    ZHOU YONG (Autor:in) / XIONG GENLIANG (Autor:in) / ZENG CHENG (Autor:in) / ZHANG HUA (Autor:in) / XU YUNJI (Autor:in) / OUYANG XIN (Autor:in) / LI ZHIXIONG (Autor:in) / MENG DONGFENG (Autor:in)

    Erscheinungsdatum :

    2021-02-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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