Movable seven-degree-of-freedom radar locating vehicle-mounted platform

Abstract

The utility model discloses a movable seven-degree-of-freedom radar locating vehicle-mounted platform, which relates to the field of multi-degree-of-freedom motion simulation platforms and comprises a Mecanum wheel trolley, a seven-degree-of-freedom motion platform and a radar device. The seven-degree-of-freedom motion platform comprises a six-degree-of-freedom lower platform installed on the Mecanum wheel trolley, a control box installed on the six-degree-of-freedom lower platform, and a six-degree-of-freedom upper platform arranged on the side, away from the Mecanum wheel trolley, of the six-degree-of-freedom lower platform. And the freedom degree assembly is connected between the six-freedom-degree lower platform and the six-freedom-degree upper platform. The Mecanum wheel trolley and the seven-degree-of-freedom motion platform are arranged on the lower side of the radar device, all postures needed by the docking platform can be met to a certain degree, installation and debugging of related products are more convenient, meanwhile, short-distance movement can be achieved, the position suitable for radar docking can be found conveniently, and the radar docking efficiency is improved. The influence of the external environment on the radar is reduced as much as possible.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of multi-degree-of-freedom motion simulation platform, and particularly relates to a movable seven-degree-of-freedom radar homing vehicle platform. BACKGROUND

[0002] The radar homing platform usually refers to a software system or a tool platform and the like for realizing functions such as positioning, tracking and searching of a target by using radar technology or related positioning technology. UTILITY MODEL CONTENT

[0003] The utility model provides a movable seven-degree-of-freedom radar homing vehicle platform to solve the above problems existing in the prior art.

[0004] Technical scheme: A movable seven-degree-of-freedom radar homing vehicle platform comprises a Mecanum wheel trolley, a seven-degree-of-freedom motion platform and a radar device.

[0005] The seven-degree-of-freedom motion platform comprises a six-degree-of-freedom lower platform installed on the Mecanum wheel trolley, a control box installed on the six-degree-of-freedom lower platform, a six-degree-of-freedom upper platform arranged on the side of the six-degree-of-freedom lower platform away from the Mecanum wheel trolley, a degree-of-freedom assembly connected between the six-degree-of-freedom lower platform and the six-degree-of-freedom upper platform, a hollow rotary seat installed on the six-degree-of-freedom upper platform, a hollow rotary table connected to the hollow rotary seat, and a servo motor installed at the bottom of the hollow rotary seat for driving the hollow rotary table to rotate, and the radar device is installed on the hollow rotary table.

[0006] In a further embodiment, the degree-of-freedom assembly comprises a horizontal hook joint, a servo motor cylinder and an inclined block.

[0007] The servo motor cylinder and the inclined block are correspondingly provided with a plurality of inclined blocks, the plurality of inclined blocks are correspondingly installed on one side of the six-degree-of-freedom upper platform close to the six-degree-of-freedom lower platform, the horizontal hook joint is correspondingly provided with a plurality of pairs of horizontal hook joints, the plurality of pairs of horizontal hook joints are correspondingly installed on the six-degree-of-freedom lower platform and the plurality of inclined blocks, and the plurality of servo motor cylinders are correspondingly connected between the plurality of pairs of horizontal hook joints.

[0008] In a further embodiment, the Mecanum wheel trolley comprises a frame, a Mecanum wheel, an independent driving motor, a shaft coupling and an independent damping mechanism.

[0009] The Mecanum wheel, the independent driving motor and the shaft coupling are correspondingly provided with a plurality of, the plurality of Mecanum wheels are correspondingly arranged on the outer side of the vehicle frame, the plurality of independent driving motors are correspondingly mounted on the vehicle frame, and the plurality of shaft couplings are correspondingly connected between the plurality of independent driving motors and the Mecanum wheels, and the independent damping mechanism is provided with a plurality of groups, and the plurality of groups of independent damping mechanisms are correspondingly mounted between the vehicle frame and the plurality of independent driving motors.

[0010] In further embodiments, the Mecanum wheel trolley further comprises a vehicle-mounted depth camera, a vehicle-mounted radar and a vehicle-mounted emergency stop button mounted on the vehicle frame.

[0011] In further embodiments, the Mecanum wheel trolley further comprises a vehicle-mounted power supply, a control board card one, a control board card two and a control board card three mounted in the vehicle frame.

[0012] In further embodiments, the radar device comprises a radar main body, a radar support and a radar base.

[0013] The radar base is mounted on the hollow rotary table, the radar main body is arranged on the side of the hollow rotary table away from the six-degree-of-freedom upper platform, and the radar support is mounted between the radar main body and the radar base.

[0014] Beneficial effects: The utility model discloses a movable seven-degree-of-freedom radar locating vehicle platform, through setting up Mecanum wheel trolley and seven-degree-of-freedom motion platform under radar device downside, can satisfy all postures required to the docking platform to a certain extent, and then make the installation and debugging of relevant products more convenient, and can move in short distance, and the position suitable for radar docking is found conveniently, and the influence of external environment on radar is as little as possible. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the side view structural schematic diagram of the utility model whole.

[0016] Figure 2 It is the main view structural schematic diagram of the utility model whole.

[0017] Figure 3 It is the structural schematic diagram of the utility model Mecanum wheel trolley.

[0018] Figure 4 It is the structural schematic diagram of the utility model Mecanum wheel trolley inside.

[0019] Figure 5 It is the three-dimensional structural schematic diagram of the utility model whole.

[0020] The attached figures are labeled as follows: 1. Mecanum wheel trolley; 101. Chassis; 102. Mecanum wheel; 103. Independent drive motor; 104. Coupling; 105. Onboard power supply; 106. Control board one; 107. Control board two; 108. Control board three; 109. Independent shock absorption mechanism; 110. Onboard depth camera; 111. Onboard radar; 112. Onboard emergency stop button; 2. Seven-DOF motion platform; 201. Six-DOF lower platform; 202. Six-DOF upper platform; 203. Horizontal Hooke hinge; 204. Servo electric cylinder; 205. Inclined block; 206. Hollow rotary table; 207. Hollow rotary table; 208. Servo motor; 3. Control box; 4. Radar device; 401. Radar body; 402. Radar bracket; 403. Radar base. Detailed Implementation

[0021] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0022] The applicant argues that existing radar positioning platforms suffer from problems such as fixed locations that cannot be moved, susceptibility to external environmental influences, and difficulties in transporting the equipment.

[0023] Therefore, the applicant proposes a mobile, seven-degree-of-freedom radar positioning vehicle platform, such as... Figures 1-5 As shown, it includes a Mecanum wheel trolley 1, a seven-degree-of-freedom motion platform 2, and a radar device 4.

[0024] This platform is used to test radar positioning connection signals. It mainly consists of three parts: a Mecanum wheel trolley 1, a seven-degree-of-freedom motion platform 2, and a radar device 4. It serves to assist in docking and other purposes. The radar device 4 is placed on the seven-degree-of-freedom motion platform 2, which can meet all the attitudes required by the radar device 4 during the positioning process to a certain extent. At the same time, the Mecanum wheel trolley 1 is set at the lower part of the seven-degree-of-freedom motion platform 2. The Mecanum wheel trolley 1 has multiple motion attitudes, such as forward, backward, left lateral movement, right lateral movement, and turning around in place. It can be suitable for all-terrain movement to a certain extent, thus meeting most road conditions.

[0025] Specifically, such as Figures 1-2 As shown, the seven-degree-of-freedom motion platform 2 includes a six-degree-of-freedom lower platform 201, a six-degree-of-freedom upper platform 202, a horizontal Hooke hinge 203, a servo electric cylinder 204, a wedge block 205, a hollow rotary seat 206, a hollow rotary table 207, a servo motor 208, and a control box 3.

[0026] The seven-degree-of-freedom motion platform 2 comprises a six-degree-of-freedom lower platform 201 installed on the Mecanum wheel trolley 1, a control box 3 installed on the six-degree-of-freedom lower platform 201, a six-degree-of-freedom upper platform 202 arranged on the side of the six-degree-of-freedom lower platform 201 away from the Mecanum wheel trolley 1, a degree-of-freedom assembly connected between the six-degree-of-freedom lower platform 201 and the six-degree-of-freedom upper platform 202, a hollow rotary seat 206 installed on the six-degree-of-freedom upper platform 202, a hollow rotary table 207 connected to the hollow rotary seat 206, and a servo motor 208 installed at the bottom of the hollow rotary seat 206 for driving the hollow rotary table 207 to rotate, and the radar device 4 is installed on the hollow rotary table 207.

[0027] In the application, the horizontal hooke joint 203, the servo electric cylinder 204 and the inclined block 205 constitute the degree-of-freedom assembly, wherein the servo electric cylinder 204 and the inclined block 205 are correspondingly provided with a plurality of pieces, and in the application, there are six pieces, the six inclined blocks 205 are correspondingly and alternately installed on the side of the six-degree-of-freedom upper platform 202 close to the six-degree-of-freedom lower platform 201, the horizontal hooke joint 203 is correspondingly provided with a plurality of pairs, and in the application, there are six pairs, the six pairs of horizontal hooke joints 203 are correspondingly and alternately installed on the six-degree-of-freedom lower platform 201 and the six inclined blocks 205, and the six servo electric cylinders 204 are correspondingly connected between the six pairs of horizontal hooke joints 203, so as to realize the six-degree-of-freedom motion of the six-degree-of-freedom upper platform 202, realize six different adjustment postures of the radar device 4 on the platform, and facilitate the connection with the satellite and other related products and other objects, and achieve the purpose of facilitating the connection test signal.

[0028] Meanwhile, in the application, the servo electric cylinder 204 is all of the return type, which can make the whole platform height lower, and also make the whole platform gravity height lower, so as to make the platform run more stably, and meanwhile, the return type servo electric cylinder 204 has the advantages of larger reduction ratio, larger torque and heavier load, etc., the electric box is integrated in the platform, which can make the dynamic coding wire routing more convenient, in addition, the six-degree-of-freedom lower platform 201 and the six-degree-of-freedom upper platform 202 adopt the machined aluminum plate, so as to make the flatness higher.

[0029] In addition, the hollow rotary seat 206, the hollow rotary table 207 and the servo motor 208 are arranged on the six-degree-of-freedom upper platform 202 to form the seven-degree-of-freedom, so that when the radar device 4 needs to be connected, it can not be limited by the yaw angle of the six-degree-of-freedom upper platform 202 itself, and can rotate 360 degrees, which reduces the repeated movement of the platform and makes the signal connection more convenient and fast.

[0030] As shown in the drawings, Figures 3-4As shown, the Mecanum wheeled vehicle 1 comprises a vehicle frame 101, Mecanum wheels 102, independent drive motors 103, shaft couplings 104, a vehicle-mounted power supply 105, control board card one 106, control board card two 107, control board card three 108, independent damping mechanisms 109, a vehicle-mounted depth camera 110, a vehicle-mounted radar 111, and a vehicle-mounted emergency stop button 112, etc.

[0031] The vehicle frame 101 is an aluminum profile frame, the Mecanum wheels 102, independent drive motors 103, and shaft couplings 104 are correspondingly provided in a plurality of sets, the plurality of sets of Mecanum wheels 102 are correspondingly provided on the outside of the vehicle frame 101, the plurality of sets of independent drive motors 103 are correspondingly mounted on the vehicle frame 101, the plurality of sets of shaft couplings 104 are correspondingly connected between the plurality of sets of independent drive motors 103 and the Mecanum wheels 102, the independent damping mechanisms 109 are provided in a plurality of sets, the plurality of sets of independent damping mechanisms 109 are correspondingly mounted between the vehicle frame 101 and the plurality of sets of independent drive motors 103, the vehicle-mounted depth camera 110, the vehicle-mounted radar 111, and the vehicle-mounted emergency stop button 112 are mounted on the vehicle frame 101, and the vehicle-mounted power supply 105, control board card one 106, control board card two 107, and control board card three 108 are mounted in the vehicle frame 101.

[0032] In this application, the Mecanum wheeled vehicle 1 is mounted at the lower part of the seven-degree-of-freedom motion platform 2, the Mecanum wheeled vehicle 1 has the characteristics of multiple motion postures, can move forward, backward, left and right, and rotate in place, etc., and to a certain extent, is suitable for all-terrain motion and can meet most road conditions.

[0033] At the same time, the Mecanum wheels 102 are centrally mounted, the rollers can move forward or backward like traditional wheels, the specific structure, principle, and characteristics can refer to the Mecanum wheels 102 of the prior art, and the structures and principles of the independent drive motors 103, shaft couplings 104, vehicle-mounted power supply 105, control board card one 106, control board card two 107, control board card three 108, independent damping mechanisms 109, vehicle-mounted depth camera 110, vehicle-mounted radar 111, and vehicle-mounted emergency stop button 112, etc. can also refer to the prior art.

[0034] In addition, the arrangement of the Mecanum wheeled vehicle 1 can allow the seven-degree-of-freedom motion platform 2 and the radar device 4 to move randomly to a certain extent, reduce external environmental interference, etc., in addition, the arrangement of the Mecanum wheeled vehicle 1 and the seven-degree-of-freedom motion platform 2 can achieve smaller size, higher precision, and the convenience of short-distance transportation, etc. under the premise that the radar device 4 meets all postures.

[0035] As shown in Figures 1-5 The radar device 4 comprises a radar main body 401, a radar support 402, and a radar base 403.

[0036] The radar base 403 is installed on the hollow rotary table 207, the radar main body 401 is arranged on the side of the hollow rotary table 207 away from the six-degree-of-freedom upper platform 202, and the radar support 402 is installed between the radar main body 401 and the radar base 403.

[0037] In the application, the radar support 402 is arranged to be adjustable in the pitch angle, facilitating installation and adjustment of the radar main body 401.

[0038] Although the present application has been shown and described with reference to certain preferred embodiments, it is understood that the present application is not limited to the particular preferred embodiments disclosed, but is intended to cover any and all changes, modifications, equivalents, and alternatives falling within the spirit and scope of the application as defined by the appended claims.

Claims

1. A mobile seven-degree-of-freedom radar homing vehicle platform, characterized by, The application relates to a seven-degree-of-freedom motion platform. The seven-degree-of-freedom motion platform comprises a Mecanum wheel trolley, a six-degree-of-freedom lower platform installed on the Mecanum wheel trolley, a control box installed on the six-degree-of-freedom lower platform, a six-degree-of-freedom upper platform arranged on the side of the six-degree-of-freedom lower platform away from the Mecanum wheel trolley, a degree-of-freedom assembly connected between the six-degree-of-freedom lower platform and the six-degree-of-freedom upper platform, a hollow rotary seat installed on the six-degree-of-freedom upper platform, a hollow rotary table connected to the hollow rotary seat, and a servo motor installed at the bottom of the hollow rotary seat and used for driving the hollow rotary table to rotate. A radar device is installed on the hollow rotary table. The degree-of-freedom assembly comprises horizontal hook hinges, servo electric cylinders and inclined blocks.

2. The mobile seven-degree-of-freedom radar homing vehicle platform of claim 1, wherein: The servo electric cylinders and the inclined blocks are correspondingly arranged in a plurality of sets, and the inclined blocks are correspondingly installed on one side of the six-degree-of-freedom upper platform close to the six-degree-of-freedom lower platform. The horizontal hook hinges are correspondingly arranged in a plurality of pairs, and the horizontal hook hinges are correspondingly installed on the six-degree-of-freedom lower platform and the inclined blocks. The servo electric cylinders are correspondingly connected between the horizontal hook hinges. The Mecanum wheel trolley comprises a frame, Mecanum wheels, independent drive motors, couplings and independent damping mechanisms.

3. The mobile seven-degree-of-freedom radar homing vehicle platform of claim 1, wherein: The Mecanum wheels, the independent drive motors and the couplings are correspondingly arranged in a plurality of sets, and the Mecanum wheels are correspondingly arranged on the outer side of the frame. The independent drive motors are correspondingly installed on the frame. The couplings are correspondingly connected between the independent drive motors and the Mecanum wheels. The independent damping mechanisms are arranged in a plurality of sets, and the independent damping mechanisms are correspondingly installed between the frame and the independent drive motors. The Mecanum wheel trolley further comprises a vehicle-mounted depth camera, a vehicle-mounted radar and a vehicle-mounted emergency stop button installed on the frame.

4. The mobile seven-degree-of-freedom radar homing vehicle platform of claim 3, wherein: The Mecanum wheel trolley further comprises a vehicle-mounted power supply, control board card one, control board card two and control board card three installed in the frame.

5. The mobile seven-degree-of-freedom radar homing vehicle platform of claim 3, wherein: The radar device comprises a radar main body, a radar support and a radar base.

6. The mobile seven-degree-of-freedom radar homing vehicle platform of claim 1, wherein: The radar base is installed on the hollow rotary table. The radar main body is arranged on the side of the hollow rotary table away from the six-degree-of-freedom upper platform. The radar support is installed between the radar main body and the radar base. ​

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