Mecanum wheel omni-directional mobile trolley with adaptive adjustment of gear train and method thereof

Abstract

The invention discloses a Mecanum omni-directional moving trolley with adaptive adjustment of gear train and a method thereof. Mecanum wheel train is installed at all four corners of the body frame, three wheel trains are fixed, and one wheel train is fixed at the bottom of the body frame through a wheel train adaptive adjustment mechanism; the Mecanum wheel train comprises a wheel train fixing plate and auxiliary belt seat bearings, a driving belt seat bearing and a motor seat, wherein the Mecanum wheel train comprises a wheel train fixing plate and an auxiliary belt seat bearing; the gear train adaptive adjusting mechanism includes pressure sensor, three optical axes, screw and stepped shaft combination, pinion gear, driven synchronous pulley and large gear. A gear train is adaptively controlled by a gear train adaptive adjusting mechanism, so that four Mecanum gear trains are controlled to be in the same plane with four contact points on the ground. The invention can control the four Mecanum wheels which move in all directions at the bottom of the robot trolley to land at the same time in real time and in time, regulate the stress of the four Mecanum wheels to be uniform, avoidslipping, idling and other phenomena, so that the motion is consistent with the expectation, and realize precise movement.

Description

technical field [0001] The invention relates to a mecanum wheel omnidirectional moving trolley, in particular to a mecanum wheel omnidirectional moving trolley with an adaptively adjusted wheel train and a method thereof. Background technique [0002] Under the existing circumstances, most logistics and warehousing robots need to load shelves and move the work area, and finally complete the work of sorting goods through humans, which is not efficient. If the goods are sorted by the robot arm, the robot arm generally needs to be installed in a fixed station. When the production line or warehouse environment is adjusted, the station of the robot arm needs to be re-planned, and the production cycle is long. [0003] At the same time, the realization of the robot's omnidirectional movement is mostly in the form of a combination of four Mecanum wheels, but because three points determine a plane, four points are over-constrained. Therefore, the form of the four wheels will be sub...

AI Technical Summary

Problems solved by technology

However, if the mobile trolley is equipped with a robotic arm, the body shaking generated by the shock absorber will greatly reduce the execution accuracy of the robotic arm, resulting in the failure of the robotic arm.

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