The invention relates to a high-flexibility movable parallel bionic trolley which mainly comprises front and back trolley bodies, a walking system, a survey system and a parallel mechanism; each trolley body comprises a trolley shell and a chassis which are connected through screws, the walking system comprises four omnidirectional wheels and four motors, the motors are fixedly connected with the chassis through screws, and the omnidirectional wheels are connected with a motor output shaft through couplers; the survey system comprises a visual sensor, an ultrasonic sensor, an infrared sensor and a GPS positioner mounted on the trolley shells; the parallel mechanism is composed of a movable platform, a fixed platform and five branch chains connected with the movable platform and the fixed platform, and the movable platform and the fixed platform are connected with the front trolley shell and the back trolley shell respectively, so that the front and back trolley bodies are connected. The parallel mechanism is introduced, so that the trolley has the advantages of being simple and compact in structure, high in flexibility, large in rigidity, large in bearing capacity, capable of avoiding singular configuration and the like, and the trolley can better run in a non-structural environment.
本发明涉及一种高灵活性移动并联仿生小车,其主要包括前后车体、行走系统、勘测系统和并联机构,所述车体包括车壳和底盘,通过螺钉连接,所述行走系统包括四个全向轮和四个电机,电机通过螺钉与底盘连接固定,全向轮通过联轴器与电机输出轴相连;所述勘测系统包括视觉传感器、超声波传感器、红外线传感器、GPS定位器,安装在车壳上;所述并联机构由动平台、定平台和连接动、定平台的五条支链组成,动定平台分别与前后两车壳相连,连接前后两个车体。本发明引入并联机构,具有结构简单紧凑、灵活性高、刚度大、承载能力大、可规避奇异位形等优点,使小车更好地在非结构环境下行驶。
High-flexibility movable parallel bionic trolley
一种高灵活性移动并联仿生小车
2021-12-24
Patent
Electronic Resource
Chinese