A heterogeneous cart
By employing Mecanum wheels and a motor drive system on a heterogeneous vehicle, multi-directional movement and precise control are achieved, overcoming the limitations of differential chassis drive systems, improving fine-tuning capabilities and control precision, and enhancing movement stability and map building accuracy.
Patent Information
- Application Number
- CN202423172923.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-11-28
- Estimated Expiration
- 2034-12-23
AI Technical Summary
Existing heterogeneous vehicles have limitations in fine-tuning and precise operation, and the differential chassis drive system is inconvenient for motion adjustment.
Mecanum wheels are used to replace traditional wheels, and the Mecanum wheels are driven by a first motor and a second motor to achieve multi-directional movement capability. This is combined with lidar for environmental measurement and map building.
It improves the vehicle's fine-tuning capabilities and control precision, ensures balanced power, prevents deviation, and enhances movement stability and map building accuracy.
Smart Images
Figure CN223605547U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mobile robot technical field, concretely is a kind of heterostructure trolley. BACKGROUND
[0002] House mapping refers to using sensors and algorithms to create two-dimensional or three-dimensional maps of indoor environments. This technology has a wide range of applications in robot navigation, autonomous cleaning and smart home systems. By constructing detailed house maps, robots can better understand and navigate indoor environments, thereby completing tasks such as cleaning, patrolling, delivering and so on.
[0003] In related technology, most of the heterostructure trolleys used for house mapping adopt differential chassis drive systems. Differential chassis achieves steering and advancing through independent driving of left and right wheels, and has been widely applied in various robot platforms, such as iRobot's Roomba series and Neato's Botvac series. Differential drive has the advantages of simple structure and low cost, but it has certain limitations when fine-tuning and fine-tuning. Specifically, the differential chassis is not very convenient to adjust when the trolley is fine-tuned left and right.
[0004] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the utility model, and it does not necessarily belong to the prior art of the present patent application. In the absence of explicit evidence that the above content has been disclosed on the filing date of the present patent application, the above background technology should not be used to evaluate the novelty and inventiveness of the present application. UTILITY MODEL CONTENT
[0005] The present application provides a kind of heterostructure trolley, can improve the fine-tuning ability and control precision of trolley.
[0006] To achieve the above purpose, the present application adopts the following technical solutions:
[0007] A kind of heterostructure trolley, including chassis, first motor, second motor, first Mecanum wheel and second Mecanum wheel, the through hole is set on the chassis, the center axis of through hole coincides with the center axis of chassis;First motor and second motor are all fixedly connected on the upper surface of chassis, and the output shaft of first motor and the output shaft of second motor are arranged in the first direction and opposite, the first direction is parallel to the upper surface of chassis;First motor is drivenly connected with first Mecanum wheel;Second motor is drivenly connected with second Mecanum wheel, second Mecanum wheel and first Mecanum wheel are all set in through hole, and the center axis of second Mecanum wheel coincides with the center line axis of first Mecanum wheel.
[0008] In the embodiments of the present application, Mecanum wheels are used instead of traditional wheels to realize the ability of multi-directional movement. Specifically, unlike traditional differential drive systems that can only move forward and backward and turn, Mecanum wheels are composed of a series of inclined rollers and can move in multiple directions, including forward and backward translation, left and right translation, and rotation, thereby achieving more precise fine-tuning and control. In this way, the fine-tuning ability and control accuracy of the trolley are effectively improved.
[0009] In addition, the first Mecanum wheels and the second Mecanum wheels are arranged in the through holes located in the middle of the chassis, so that the wheelbase of the two first Mecanum wheels and the second Mecanum wheels can be as small as possible, thereby improving the translation effect of the heterogeneous trolley.
[0010] In addition, the output shafts of the first motor and the second motor are arranged opposite to each other in the same direction and parallel to the upper surface of the chassis, which can ensure that the two Mecanum wheels can provide balanced power during driving and avoid deviation and instability.
[0011] In some possible embodiments, the first motor and the second motor are fixedly connected to the upper surface of the chassis by the first fixing bracket. In this way, the assembly of the first motor and the second motor is facilitated.
[0012] In some possible embodiments, the heterogeneous trolley further comprises a battery and a controller, the battery is fixedly connected to the upper surface of the chassis by a third fixing bracket, the battery is electrically connected with the first motor and the second motor, and the battery, the first motor and the second motor are electrically connected with the controller. In this way, the start and stop and speed adjustment of the motor can be controlled by the controller, thereby realizing the multi-directional movement of the trolley.
[0013] In some possible embodiments, the heterogeneous trolley further comprises two omnidirectional auxiliary wheels, the two omnidirectional auxiliary wheels are fixedly connected to the chassis by a second fixing bracket and are arranged opposite to each other in the first direction. In this way, the lateral tilting of the heterogeneous trolley can be effectively prevented, and the stability of the movement of the heterogeneous trolley is improved.
[0014] In some possible embodiments, the center axes of the two omnidirectional auxiliary wheels are parallel to the center axis of the first Mecanum wheel. In this way, the layout is more compact, which is conducive to reducing the floor area of the heterogeneous trolley.
[0015] In some possible embodiments, a plurality of support columns and a top plate are provided, one end of each support column is fixedly connected to the upper surface of the chassis, and the plurality of support columns are arranged at equal intervals in the circumferential direction of the chassis, the other end of each support column is fixedly connected to the lower surface of the top plate, and the upper surface of the top plate is provided with a laser radar, and the laser radar is electrically connected with the controller. In this way, the laser radar can send and receive laser signals to measure the distance and shape information of the surrounding environment and transmit the data to the controller to realize the construction of the house map. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. It should be understood that in all drawings, the same reference numerals represent the same elements. In the drawings, for clarity and ease of understanding, the dimensions of some features may be modified.
[0017] Figure 1 This application provides a schematic diagram of the structure of a heterogeneous vehicle according to some embodiments;
[0018] Figure 2 for Figure 1 A schematic diagram of the heterogeneous vehicle shown from another perspective;
[0019] Figure 3 for Figure 2 A schematic diagram of a local structure in the structure shown;
[0020] Figure 4 for Figure 1 The diagram shows the structure of the heterogeneous vehicle from another perspective.
[0021] Figure 5 for Figure 4 A schematic diagram of a local structure in the structure shown;
[0022] Figure 6 for Figure 1 The diagram shows an enlarged view of the structure at point A of the heterogeneous vehicle.
[0023] Explanation of reference numerals in the attached figures:
[0024] 10. Chassis; 101. Through hole; 20. First motor; 30. Second motor; 40. First Mecanum wheel; 50. Second Mecanum wheel; 60. First fixed bracket; 70. Battery; 80. Third fixed bracket; 90. Omnidirectional auxiliary wheel; 100. Second fixed bracket; 110. Support column; 120. Top plate; 130. LiDAR. Detailed Implementation
[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0026] It should be noted that in the description of the utility model, the terms "middle", "upper", "lower", "horizontal", "inner" and other terms indicating direction or positional relationship are based on the direction or positional relationship shown in the drawings, which is merely for the convenience of description, and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.
[0027] In addition, it should be further pointed out that in the description of the utility model, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.
[0028] Please refer to Figure 1 and combine Figure 2 The embodiment of the application provides a heterogeneous trolley, which comprises a chassis 10, a first motor 20, a second motor 30, a first Mecanum wheel 40 and a second Mecanum wheel 50, a through hole 101 is formed in the chassis 10, the center axis of the through hole 101 coincides with the center axis of the chassis 10; the first motor 20 and the second motor 30 are fixedly connected to the upper surface of the chassis 10, and the output shaft of the first motor 20 and the output shaft of the second motor 30 are arranged opposite to each other in a first direction, the first direction being parallel to the upper surface of the chassis 10; the first motor 20 is drivingly connected with the first Mecanum wheel 40; the second motor 30 is drivingly connected with the second Mecanum wheel 50, the second Mecanum wheel 50 and the first Mecanum wheel 40 are arranged in the through hole 101, and the center axis of the second Mecanum wheel 50 coincides with the center axis of the first Mecanum wheel 40.
[0029] Among them, the Mecanum wheel is used instead of the traditional wheel, which can make the heterogeneous trolley have the ability of multidirectional movement. Specifically, unlike the traditional differential drive system which can only move forward and backward and turn, the Mecanum wheel is composed of a series of inclined rollers and can move in multiple directions, including forward and backward, left and right translation and rotation, which can realize more precise fine tuning and control. In this way, the fine tuning ability and control precision of the trolley are effectively improved.
[0030] In addition, the first Mecanum wheel 40 and the second Mecanum wheel 50 are arranged in the through hole 101 in the middle of the chassis 10, so that the wheel track of the two first Mecanum wheels 40 and the second Mecanum wheel 50 can be as small as possible, thereby improving the translation effect of the heterogeneous trolley.
[0031] In addition, the output shafts of the first motor 20 and the second motor 30 are oppositely arranged in the same direction and parallel to the upper surface of the chassis 10, so that balanced power can be provided by the two Mecanum wheels during driving, and deviation and instability can be avoided.
[0032] Referring to Figure 2 and in combination with Figure 3 In some embodiments, the first motor 20 and the second motor 30 are both fixedly connected to the upper surface of the chassis 10 by the first fixed support 60. In this way, the first motor 20 and the second motor 30 are facilitated to be assembled.
[0033] Referring to Figure 2 In some embodiments, the plurality of support columns 110 and the top plate 120, one end of each support column 110 is fixedly connected to the upper surface of the chassis 10, and the plurality of support columns 110 are arranged at equal intervals in the circumferential direction of the chassis 10, the other end of each support column 110 is fixedly connected to the lower surface of the top plate 120, and the upper surface of the top plate 120 is provided with a laser radar 130, and the laser radar 130 is electrically connected with the controller. In this way, the laser radar 130 can send and receive laser signals to measure the distance and shape information of the surrounding environment, and transmit the data to the controller to realize the construction of the house map.
[0034] Referring to Figure 1 In some embodiments, the heterogeneous car further comprises a battery 70 and a controller (not shown in the figure), the battery 70 is fixedly connected to the upper surface of the chassis 10 by the third fixed support 80, the battery 70 is electrically connected with the first motor 20 and the second motor 30, and the battery 70, the first motor 20 and the second motor 30 are electrically connected with the controller. Exemplarily, the controller can be fixedly arranged on the lower surface of the top plate 120. The controller can be a single-chip microcomputer, and a ROS master control system is adopted. In this way, the controller can control the start and stop of the motor and the speed adjustment, so as to realize the multi-directional movement of the car.
[0035] Referring to Figure 4 and Figure 5 In some embodiments, the heterogeneous car further comprises two omnidirectional auxiliary wheels 90, the two omnidirectional auxiliary wheels 90 are both fixedly connected to the chassis 10 by the second fixed support 100, and are oppositely arranged in the first direction. In this way, the heterogeneous car can be effectively prevented from being tilted, and the stability of the movement of the heterogeneous car is improved.
[0036] Referring to Figure 6 In some embodiments, the center axes of the two omnidirectional auxiliary wheels 90 are parallel to the center axis of the first Mecanum wheel 40. In this way, the layout is more compact, which is conducive to reducing the floor area of the heterogeneous car.
[0037] The above has described the utility model and its implementation mode, and this description is not restrictive, and the shown in the full text is only one of the implementation modes of the utility model, and the actual structure is not limited thereto. In general, if a person skilled in the art is inspired thereby, without departing from the creative purpose of the utility model, similar structural modes and embodiments are not creatively designed, which should belong to the protection scope of the utility model.
Claims
1. A heterogeneous cart, characterized by, The utility model relates to a kind of unmanned aerial vehicle, including: Chassis, the through hole is opened with the center axis of the through hole coinciding with the center axis of the chassis on the chassis; First motor; Second motor, the first motor and the second motor are fixedly connected on the upper surface of the chassis, and the output shaft of the first motor and the output shaft of the second motor are arranged in the first direction, the first direction is parallel to the upper surface of the chassis; First Mecanum wheel, the first motor is drivingly connected with the first Mecanum wheel; Second Mecanum wheel, the second motor is drivingly connected with the second Mecanum wheel, the second Mecanum wheel and the first Mecanum wheel are arranged in the through hole, and the center axis of the second Mecanum wheel coincides with the center line axis of the first Mecanum wheel.
2. The heterogeneous cart of claim 1, wherein, The first motor and the second motor are fixedly connected on the upper surface of the chassis by the first fixed support.
3. The heterogonous cart of claim 1, wherein, It further includes battery and controller, the battery is fixedly connected on the upper surface of the chassis by the third fixed support, the battery is electrically connected with the first motor and the second motor, the battery, the first motor and the second motor are electrically connected with the controller.
4. The heterogeneous cart of claim 1, wherein, It further includes two omnidirectional auxiliary wheels, two the omnidirectional auxiliary wheels are fixedly connected on the chassis by the second fixed support, and are oppositely arranged in the first direction.
5. The heterogonous cart of claim 4, wherein, The center axis of the two the omnidirectional auxiliary wheels is parallel to the center axis of the first Mecanum wheel.
6. The heterogeneous cart of claim 3, wherein, Multiple support columns and top plate, one end of each the support column is fixedly connected to the upper surface of the chassis, and multiple support columns are equidistantly arranged in the circumferential direction of the chassis, the other end of each the support column is fixedly connected with the lower surface of the top plate, the upper surface of the top plate is provided with laser radar, and the laser radar is electrically connected with the controller.