Large-tonnage wireless linkage type all-dimensional walking device based on CAN bus control

Abstract

The invention discloses a large-tonnage wireless linkage omni-directional walking device based on CAN bus control, which is a double-vehicle mode and is composed of two single-vehicle connections. The single-vehicle includes: a platform body, a lifting device, a walking device, and a control system; the platform vehicle The lifting device and the control system are installed in the middle of the body, and there are four sets of walking devices, which are symmetrically installed on the side of the platform body; the control system adopts an open structure design, and the control process adopts a model-based The hierarchical parallel structure of the system divides the system into a communication module, a drive controller module, a sensor feedback module, and twelve motor drivers; the wireless remote control two-vehicle linkage, omnidirectional walking, and lifting combination device provided by the invention adopts a screw The type lifting platform has the advantages of compact and stable structure, can adapt to high-frequency continuous operation, and has the advantages of stable lifting height. The double-vehicle linkage method realizes heavier transportation equipment and meets the transportation of large-tonnage equipment.

Description

technical field [0001] The invention relates to the field of omnidirectional walking platform transport vehicles, in particular to a large-tonnage wireless linkage omnidirectional walking device based on CAN bus control. Background technique [0002] It is difficult for ordinary platform transport vehicles to ensure the stability of the vehicle body and the flexibility of the vehicle body under heavy load-bearing conditions, and it is even more impossible to realize the transportation of large-tonnage equipment and synchronous lifting functions. Therefore, in order to overcome these problems, the present invention provides CAN bus-based The controlled large-tonnage wireless linkage omni-directional walking device adopts the screw lifting platform, which has the advantages of compact and stable structure, suitable for high-frequency continuous operation, and stable lifting height. For the transportation of equipment, the independent suspension of the mecanum wheel can meet th...

AI Technical Summary

Problems solved by technology

[0002] It is difficult for ordinary platform transport vehicles to ensure the stability of the vehicle body and the flexibility of the vehicle body under heavy load-bearing conditions, and it is even more impossible to realize the transportation of large-tonnage equipment and synchronous lifting functions. Therefore, in order to overcome these problems, the present invention provides CAN bus-based The controlled large-tonnage wireless linkage omni-directional walking device adopts the screw lifting platform, which has the advantages of compact and stable structure, suitable for high-frequency continuous operation, and stable lifting height. For the transportation of equipment, the independent suspension of the mecanum wheel can meet the needs of large-tonnage cargo transportation, ensuring safety. The wireless remote control method overcomes the limitation of the range and adapts well to the factory environment.

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