The invention provides omnidirectional mobile equipment. The equipment comprises a walking system which comprises 2N groups of Mecanum wheel mechanisms, a body frame, and an elastic suspension mechanism; 2N groups of Mecanum wheel mechanisms are symmetrically mounted on the body frame through the elastic suspension mechanism, and N is greater than or equal to 2; when the 2N groups of Mecanum wheelmechanisms continuously operate, the elastic suspension mechanism is used for allowing the 2N groups of Mecanum wheel mechanisms to relatively move on a mechanical degree of freedom given by the elastic suspension mechanism so as to absorb vibration generated in the operation process of the Mecanum wheel mechanisms; and a task load cabin is arranged on the walking system, a LiDAR laser radar is installed in the cabin body, and the LiDAR laser radar is driven by the walking system to move in a guide-rail-free mode. The inherent problems of a traditional Mecanum wheel mobile platform are solved, an optimally designed elastic suspension system and a unique wheel set arrangement method are adopted, the adaptability of the chassis to topographic relief is enhanced, and meanwhile mechanical vibration generated when the chassis operates is remarkably reduced.
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。
Omnidirectional mobile equipment
全向移动设备
2020-09-11
Patent
Electronic Resource
Chinese