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203 results about "Mecanum wheel" patented technology
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The Mecanum wheel is a design for a wheel that can move a vehicle in any direction. It is sometimes called the Ilon wheel after its inventor, Bengt Erland Ilon, who came up with the idea when he was an engineer with the Swedish company Mecanum AB. It was patented in the United States on November 13, 1972.
Anti-interference control method and system for Mecanum wheel omnidirectional robot
The invention discloses a Mecanum wheel omnidirectional robot anti-interference control method and system, and relates to the technical field of robot anti-interference control, and the method comprises the steps: collecting multi-source original data, and carrying out the preprocessing; multi-source data fusion is carried out, a current operation condition is identified based on a fusion result, and an augmented state is generated; calculating a baseline control instruction; inputting to the reinforcement learning agent, and outputting a corresponding compensation instruction; adding the baseline control instruction and the compensation instruction to obtain a candidate control instruction; inputting to the security constraint projector, and correcting to obtain a final control instruction; issuing to a motor driver of the Mecanum wheel for execution; and actual state data of the executed robot is collected as execution feedback data, and the execution feedback data and a new target instruction are used for generating standardized observation data at the next moment. According to the invention, cross-working-condition high-precision, fast-recovery, low-energy-consumption and compliant-constraint omnidirectional chassis anti-interference control is realized, and the tail robustness and the system safety and reliability are improved.
Owner:JINAN VOCATIONAL COLLEGE
Coupling output limited Mecanum wheel trolley motion control method based on neural network and event triggering, storage medium, equipment and computer program product
The invention provides a motion control method of a coupled output limited Mecanum wheel trolley based on a neural network and event triggering, a storage medium, equipment and a computer program product. The motion control method comprises the following steps: adopting a conversion matrix of Mecanum wheels; establishing a dynamic model of the Mecanum wheel trolley; decoupling the coupling output limitation, and converting the coupling output limitation into time-varying non-coupling limitation; improving the design of a sliding mode surface by adopting an error conversion function and a barrier function, and constructing a sliding mode controller of a trolley with limited coupling output; constructing a neural network controller; introducing an event triggering mechanism, and constructing a neural network sliding mode controller for the coupled output limited trolley based on the neural network and sliding mode control; and verifying the stability of the designed controller. According to the invention, the trajectory tracking problem of the Mecanum wheel trolley with limited coupling output based on the neural network and event triggering is solved.
Owner:ANHUI UNIV
Mecanum wheel
A wheel of the present disclosure includes a barrel holder, barrel support shafts, barrels, and bearings. The barrel holder is rotationally driven. The barrel support shafts arranged on the circumference of the barrel holder at an angle to a rotation axis of the barrel holder. The barrels are barrel-shaped rotating bodies. The barrels are rotatably supported on the corresponding barrel support shafts, and outer surfaces of the barrels contact a surface on which the wheel travels as the barrel holder rotates. The bearing supports the retainer. A groove is formed at least in a region of the outer circumferential surface of the barrel support shaft extending in the axial direction and including a radially inner projected area of the retainer.
Owner:NABTESCO CORP
New energy automobile logistics transfer robot based on visual navigation and implementation method
The invention discloses a new energy automobile logistics transfer robot based on visual navigation and an implementation method, relates to the field of logistics automation and intelligent equipment, and solves the problems that traditional equipment is low in navigation precision, difficult in data fusion and weak in obstacle avoidance capability. The transferring robot body comprises Mecanum wheels, supporting legs, an intelligent temperature control battery bin, a visual navigation system, a core control center, an interactive touch screen and a mechanical arm. The core control center comprises an image acquisition module, a data processing module, a path planning module and a transfer control module; all the modules work cooperatively, the automation and intelligence level of logistics transfer is remarkably improved, and powerful support is provided for the new energy automobile logistics industry.
Owner:JINAN HAOQING NEW ENERGY VEHICLE TECH CO LTD
Mecanum wheel
A mecanum wheel includes a first wheel frame having a circumference and a plurality of first mounting mechanisms spaced about the circumference. There is a second wheel frame having a circumference and a like plurality of second mounting mechanisms spaced about the circumference. There are a plurality of roller units, each having a roller surface and a hollow center cavity. There is an axle disposed in the hollow center cavity of each roller, and a first end of the axle is connected a first mounting mechanisms and the second end of each axle is connected to the second mounting mechanism. The second end of each axle includes a notched portion.
Owner:LOCUS ROBOTICS CORP
Autonomous mobile robot path planning obstacle avoidance method and system
InactiveCN121704467AVehicle position/course/altitude controlPosition/direction controlSimulationOdometer
The invention discloses an autonomous mobile robot path planning obstacle avoidance method and system, relates to the technical field of autonomous mobile robot path planning and obstacle avoidance, and is used for solving the problems that in a deep mine multi-layer roadway, multiple environmental risks are difficult to quantify, and once a key bottleneck channel is blocked, task failure is easily caused, and the reliability of path planning is insufficient. After an autonomous mobile machine is powered on, sensor calibration parameters are loaded, pose fusion is completed through extended Kalman filtering based on a multi-source odometer, an inertia sensor and a laser vision sensor, and an occupation grid map with static obstacles, dynamic candidates and passable marks is constructed. The method comprises the following steps: constructing a simultaneous multi-cause environmental risk feature vector to obtain an environmental comprehensive risk cost, performing layered screening and comprehensive cost sorting on search nodes in combination with task blocking sensitivity of off-line calculation on a mine laneway traffic map, and then generating a time parameterized speed reference trajectory; the Mecanum wheel omni-directional drive mechanism is guided to pass through the high-risk area along the safe and smooth path.
Owner:SHENZHEN WANZHONG COM TECHNOLOGY CO LTD
Mecanum wheel
A mecanum wheel includes a first wheel frame having a circumference and a plurality of first mounting mechanisms spaced about the circumference. There is a second wheel frame having a circumference and a like plurality of second mounting mechanisms spaced about the circumference. There are a plurality of roller units, each having a roller surface and a hollow center cavity. There is an axle disposed in the hollow center cavity of each roller, and a first end of the axle is connected a first mounting mechanisms and the second end of each axle is connected to the second mounting mechanism. The first end of each axle includes an angled tip portion with a substantially flat surface.
Owner:LOCUS ROBOTICS CORP
Dynamic obstacle avoidance trajectory tracking control method for Mecanum wheel mobile robot
PendingCN121785310AVehicle position/course/altitude controlPosition/direction controlSimulationObstacle avoidance
The invention relates to the technical field of mobile robot driving control, in particular to a Mecanum wheel mobile robot dynamic obstacle avoidance trajectory tracking control method, which comprises the following specific steps of: establishing an inverse / forward kinematics model of an omnidirectional mobile platform, and constructing a discretization state-space equation by taking a linear speed and an angular speed as control input; deducing a conversion relation between an airframe coordinate system and a world coordinate system; the state of an obstacle is estimated through extended Kalman filtering, data are fused through discrete motion and an observation model, and an obstacle avoidance safety area is constructed through a confidence ellipse with a certain confidence level. The method has the advantages that high-precision trajectory tracking and dynamic obstacle avoidance are realized through nonlinear model prediction, Kalman filtering fusion control and Mecanum wheel kinematics model adaptation, an error accumulation expansion confidence ellipse is combined when data packet loss is observed, so that the ellipse can still contain a real obstacle trajectory, and the adaptability and practicability are higher.
Owner:CHANGCHUN UNIV OF SCI & TECH
A clamping type AGV carrier for a garage and a carrying method thereof
Owner:ZHEJIANG SCI-TECH UNIV
Adsorption type building facade multi-degree-of-freedom detection platform car
The invention discloses an adsorption type building facade multi-degree-of-freedom detection platform car, and relates to the technical field of building component maintenance and detection. Comprising a frame, a multi-degree-of-freedom detection support and a disc platform, Mecanum wheels are installed at the four corners of the frame, the frame can move in all directions and can be finely adjusted, and an upper micro-angle rotating table adjusts the posture of the platform. The vacuum climbing and attaching device is combined with an air bag to achieve stable adsorption of a vertical face, the detection support is provided with a telescopic rod, a steering engine, a micro probe and a photographing vision module, and cracks, hollowing, peeling and environmental parameters can be collected. The power supply supplies power in a stabilized voltage mode, the main control center coordinates actions of all mechanisms and assists ultrasonic waves, infrared rays and flash lamps to achieve obstacle avoidance and low-light imaging, and data are remotely transmitted through the wireless module. The system is compact in structure, complete in function, efficient in detection and suitable for intelligent inspection of building facades.
Owner:CHINA UNIV OF MINING & TECH
Material conveying trolley for fishing raft and operation control method of material conveying trolley
A material transportation trolley for a fishing raft comprises a frame capable of carrying goods; the four Mecanum wheels are respectively arranged at four corners of the frame and are used for driving the frame to run on the transverse plate and the longitudinal plate; each walking driving motor is used for driving one Mecanum wheel to roll; the four anti-deviation driving motors are respectively arranged at four corners of the frame; one driving rod is mounted on a rotating shaft of each anti-deviation driving motor, and under the driving of the anti-deviation driving motors, the four driving rods can swing downwards to the left side and the right side of a floating pipe below the frame or be lifted to the position above a fishing raft; one edge protecting wheel is mounted at the tail end of each driving rod in a left-right swinging manner and clings to the outer side of the floating pipe to roll; one end of the tension and pressure sensor is connected with the driving rod, and the other end of the tension and pressure sensor generates tension and pressure under swinging linkage of the edge protecting wheel; and the controller can control all the walking driving motors and all the anti-deviation driving motors to act according to the received signals of all the tension and pressure sensors. The invention provides a device suitable for walking operation on a fishing raft.
Owner:JIMEI UNIV
A method of installing a pc post
The application provides a PC column mounting method and relates to the technical field of PC column mounting, which comprises the following steps: a control line d with the same size as the PC column is arranged around the PC column mounting position on the ground; the perpendicularity of the steel bars at the PC column mounting position is checked; the perpendicularity of the steel bars with abnormal perpendicularity is adjusted; a laser is installed according to the position of the control line d and a reference point arranged on the light position sensor; a Mecanum wheel forklift is driven to the PC column; and the PC column is lifted by using the multi-point lifting mode to avoid damage to the PC column during lifting. Meanwhile, the automatic alignment mode is used for the alignment of the PC column and the pre-buried steel bars on the ground, so that the problems of time-consuming and high risk caused by manual alignment in the process of mounting the PC column are solved.
Owner:CHINA CONSTR SECOND ENG BUREAU LTD
Multifunctional all-terrain ship intelligent welding robot
PendingCN122164980AProgramme-controlled manipulatorElectrode supporting devicesRobotic armControl engineering
This invention proposes a multifunctional all-terrain intelligent welding robot for ships, comprising a quadruped chassis module, a six-degree-of-freedom robotic arm module, a vision recognition system, and a hierarchical path planning system. The quadruped chassis module employs a Mecanum wheel quadruped chassis, a liftable electromagnetic adsorption structure, and a guide rail electromagnetic foot collaborative structure to form an omnidirectional mobile platform supporting all-terrain and all-attitude operations. The six-degree-of-freedom robotic arm module is fixed above the quadruped chassis module and uses a floating coupling to isolate chassis vibration, achieving high-precision positioning of the robotic arm. The vision recognition system processes image data using a YOLOv8 model improved through Mosaic data augmentation and AFPN feature fusion, and combines OpenCV edge-morphology algorithms to optimize target recognition, developing a dedicated integrated detection algorithm for ship section assembly. The hierarchical path planning system performs three-dimensional path planning using an improved RRT*Connect algorithm, and combines force feedback data to correct the trajectory in real time, completing circumferential, blind-angle-free repair.
Owner:SHANGHAI MARITIME UNIVERSITY
Multifunctional plant shaping device for landscape architecture modeling
The utility model provides a multifunctional plant shaping device for landscape architecture modeling, which belongs to the technical field of plant shaping and comprises a plurality of groups of mounting frames and a plurality of groups of Mecanum wheels, first mounting grooves are formed in two sides of the mounting frames, second mounting grooves are formed in the tops and the bottoms of the mounting frames, and the first mounting grooves are communicated with the second mounting grooves. Wherein multiple sets of first mounting grooves and second mounting grooves are internally provided with multiple sets of first motors correspondingly, one set of mounting frames is provided with mounting supports, cutters are rotatably connected into the mounting supports, and the multiple sets of mounting supports are connected through connecting assemblies. According to the Mecanum wheel climbing device, the Mecanum wheels are arranged on the mounting frame, so that a user can adapt to plants in different size ranges by increasing the mounting frame, the universality of the device is improved, when the device is used, the user can control the Mecanum wheels to enable the device to climb and rotate on the plants, and the operation flexibility of the device is improved.
Owner:山西绿洋建设工程有限公司
Movable seven-degree-of-freedom radar locating vehicle-mounted platform
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.
Owner:NANJING ALLCONTROLLER TECH CO LTD
Workpiece picking robot
The utility model discloses a workpiece picking robot which comprises a mechanical claw and a chassis, two pairs of Mecanum wheels are rotatably installed on the chassis, the workpiece picking robot is characterized in that an electric rotating base is installed on the chassis, the mechanical claw is located above the chassis, and a mechanical supporting structure is arranged between the mechanical claw and the electric rotating base; a driving structure is arranged at the bottom of the chassis, an operation equipment box, a display screen and a main control circuit board are installed on the chassis, the robot can quickly and accurately recognize different kinds of workpieces and automatically adjust grabbing strategies, manual intervention is not needed, and the working efficiency is improved. The intelligent level of workpiece picking operation is greatly improved, and the requirements of modern industrial production for an efficient and flexible production mode are met.
Owner:SHENYANG AEROSPACE UNIVERSITY
A home maintenance robot with omnidirectional movement and electromechanical cooperative posture control
The application belongs to the technical field of intelligent service robots, and relates to a home maintenance robot with omni-directional movement and electromechanical cooperative posture control, which comprises an omni-directional chassis, a multi-degree-of-freedom mechanical arm module, a capsule type modular intelligent material supply cabin, an environment sensing and interaction head module, a sensor group and a main controller. The chassis is driven by Mecanum wheels and motors; the material supply cabin comprises an annular cabin body assembly, a plurality of capsule cabins, a central feeding channel, a lifting feeding platform, a platform lifting driving mechanism, a cabin door opening mechanism, a discharging channel and a magnetic guide mechanism. The device can realize standardized classified storage of small standard parts, automatic cabin selection, single capsule release, central receiving and magnetic discharging, thereby reducing the risk of standard part scattering, mixing and jamming; effectively improving the passability of the robot in unstructured terrains such as carpets, doorsteps and slopes, avoiding the imbalance of the center of gravity when the mechanical arm extends for operation, and being compact in structure and suitable for daily maintenance of household items in single-family homes.
Owner:JILIN UNIVERSITY
Mecanum wheel jacking integrated driving assembly and motion and jacking collaborative prediction control method thereof
The invention discloses a Mecanum wheel jacking integrated driving assembly and a motion and jacking collaborative prediction control method thereof. The assembly is composed of a chassis, four Mecanum wheel driving modules, a jacking execution unit, a height sensor, an encoder / posture or pressure monitoring unit and a central controller. The controller maps a non-linear state to a Koopman state space through a multi-layer perceptron, multi-step prediction and rolling optimization are carried out, and the wheel speed and the jacking execution amount are solved at the same time in the same control period; during the jacking execution period, speed constraint adaptive to the jacking state is set for the chassis, and feedforward compensation is conducted on the jacking control quantity according to the posture or the acceleration signal; and the Koopman matrix parameters are periodically updated on line to adapt to load and working condition changes. According to the scheme, the synchronism and stability of moving and jacking are improved, and the device is suitable for warehousing, carrying and other scenes.
Owner:TIANJIN AEROSPACE ELECTROMECHANICAL EQUIP RES INST
Positioning type AGV
The utility model discloses a positioning type AGV (Automatic Guided Vehicle), and relates to the technical field of logistics automation, Mecanum wheels are arranged at the bottom of a vehicle body, a lifting frame is arranged in the vehicle body, lifting mechanisms are arranged on two sides of the vehicle body, the lifting mechanisms are connected with the lifting frame, each lifting mechanism comprises a lifting oil cylinder, and the lifting oil cylinders are connected with the lifting frame. The lifting oil cylinders are fixed to the two sides of the vehicle body, a first guide wheel and a second guide wheel are arranged on the vehicle body, the driving ends of the lifting oil cylinders are connected with steel wire ropes, the lifting frame ascends and descends through the lifting oil cylinders, limiting is conducted through the left guide wheel during ascending, and position deviation is prevented. During descending, the position can be adjusted according to requirements through a gap between the right guide wheel and the lifting frame, a motor drives a first gear and a second gear to move synchronously, so that the base plate rotates, and after the position is determined, a positioning hole in the base plate can be inserted into a positioning pin for fixing.
Owner:YIDUN MASCH ELECTRONICS & TECH CO LTD
Sliding rail frame type fire extinguishing robot and climbing control method thereof
The invention relates to the technical field of fire-fighting robots, in particular to a sliding rail frame type fire extinguishing robot and a climbing control method thereof.The sliding rail frame type fire extinguishing robot comprises a robot body, a sensing direction-changing mechanism, a sliding rail moving mechanism, a sleeve fixing structure and a fire extinguishing structure, and the sensing direction-changing mechanism, the sliding rail moving mechanism, the sleeve fixing structure and the fire extinguishing structure are integrated on the robot body; the STM32 core board plans a path and controls the Mecanum wheels to achieve omni-directional movement, in the climbing process, a bionic adsorption climbing mode of'fixing-stepping-alternate stepping 'is adopted, the robot ascends steadily along stairs, after the robot reaches a fire source, the rotating platform adjusts the direction of the fire extinguisher, and precise fire extinguishing is executed. The device is suitable for autonomous fire extinguishing tasks in high-rise building stair environments.
Owner:SHANGHAI YINXIANG HYDRAULIC TECH
Stepless telescopic large cabin transfer platform
The invention discloses a steplessly telescopic large cabin transfer platform, relates to the technical field of large cabin transfer platforms, and solves the problem that a transfer trolley which can be used for transferring various spacecrafts with different lengths so as to carry out various tests in various test places is needed. The two telescopic arms are connected through the two multi-stage telescopic arms, the separation distance between the two telescopic arms is adjustable, and the two telescopic arms are suitable for transferring equipment and cabins of different specifications and sizes; the Mecanum wheels at the four corners are used for driving the vehicle body A and the vehicle body B to be separated and combined, the Mecanum wheels are also used for achieving the movement functions of walking, left-right translation, in-situ rotation and the like of the transfer vehicle, each Mecanum wheel is independently provided with a lifting driving mechanism, and guide rails need to be installed at the top of the transfer vehicle. Lifting of the transfer trolley and leveling of a top guide rail are achieved, and butt joint with a guide rail in an experiment module is achieved.
Owner:HARBIN INST OF TECH
An omnidirectional floating self-adaptive docking bridge device and a method for using the same
The application relates to an omnidirectional floating self-adaptive docking bridge device and a use method thereof, which comprises a rotating mechanism, a main bridge mechanism, a floating following mechanism and a trolley supporting mechanism, the rotating mechanism is fixedly connected with the main bridge mechanism through bolts, the main bridge mechanism is fixedly connected with the floating following mechanism through bolts, and the floating following mechanism is fixedly connected with the trolley supporting mechanism through bolts; the end platform can conform to all movements of a ship in six degrees of freedom through the floating following mechanism and the trolley supporting mechanism, and the device has the advantages of strong adaptability, omnidirectional self-adaptation and the like; the Mecanum wheel is brought into contact with a ship deck through control of the hydraulic cylinder, then the tongue plate is placed on the ship deck, the hydraulic cylinder is self-locked at this time, a complex active control system is simplified into a pure mechanical passive structure, and the device has the advantages of low equipment cost, small maintenance difficulty and the like.
Owner:QINGDAO UNIV OF TECH
A marine subsea biofouling cleaning robot
The utility model discloses a ship submarine organism cleaning robot, including main body frame, mobile system, cleaning execution system, adsorption balance system and identification system. Mobile system is by multi -freedom degree mechanical leg and the constitution of the Mecanum wheel, realizes the omni -directional movement on complex surface. The cleaning execution system is by rough cleaning wheel and fine cleaning wheel composition, through the gear set and transmission chain synchronous drive, utilizes the speed difference and spring pressure adjusting assembly to realize grading high -efficient cleaning. Adsorption balance system is by electromagnet, counter -thrust rudder and compressed air bag constitute, and cooperatively provide stable adhesion and attitude control. The identification system includes camera, LED lamp and main control unit, can intelligent identification ship body attachment and dynamic adjustment cleaning strategy. The utility model can be stable operation in underwater complex environment, realizes the efficient, accurate cleaning of the attachment such as acorn barnacle, algae, improves the ship operation efficiency and prolongs the service life.
Owner:SHANGHAI OCEAN UNIV
High-maneuverability integrated intelligent power distribution transformer
PendingCN121306719ATransformers/reacts mounting/support/suspensionTransformers/inductances coolingDistribution transformerMecanum wheel
The invention relates to the technical field of power distribution transformers, and discloses a high-maneuverability integrated intelligent power distribution transformer which comprises a transformer body, two lower clamping pieces are connected to the bottom end of the transformer body, and two connecting bases are connected to the sides, away from each other, of the lower clamping pieces. And rotating racks are rotationally arranged on the inner sides of the connecting seats correspondingly, and Mecanum wheels are connected to the inner sides of the rotating racks correspondingly. By arranging the C-shaped frame and the Mecanum wheels, the position of the transformer body can be conveniently adjusted, positioning is conducted through the positioning mechanism after the C-shaped frame is put down, hoisting transportation can also be conducted through the hoisting ring, the corresponding low-voltage distribution box and the corresponding high-voltage distribution box can be carried while transportation or hoisting is conducted, the integration integrity is guaranteed, and the practicability is high. Assembling, disassembling and moving are convenient, the overall use maneuverability is greatly improved, meanwhile, heat dissipation and cooling are conducted through airflow generated by the refrigeration assembly, and the heat dissipation effect is guaranteed through cooperation of the refrigeration pieces.
Owner:ZHEJIANG JIANGSHAN TRANSFORMER CO LTD
Multifunctional grabbing robot based on Mecanum wheel
The application discloses a multifunctional grabbing robot based on Mecanum wheels, two mirror image reconfigurable opening and closing mechanisms are symmetrically installed on a base and can rotate horizontally, two mirror image finger centering mechanisms are installed on the base and the reconfigurable opening and closing mechanisms, two mirror image Mecanum wheel moving finger mechanisms are respectively fixedly connected to rotating structures of the reconfigurable opening and closing mechanisms and can rotate around shafts, an under-actuated fixed finger mechanism is rotationally connected to the base and the distance between the under-actuated fixed finger mechanism and the base can be adjusted, the Mecanum wheel moving finger mechanism comprises two knuckles, a left-hand rotating Mecanum wheel is installed on the first knuckle, a right-hand rotating Mecanum wheel is installed on the second knuckle, the first knuckle and the second knuckle are rotationally connected through a joint shaft, and the left-hand rotating Mecanum wheel and the right-hand rotating Mecanum wheel respectively control the rotating direction and the rotating speed through motors. The application can control the position of an object after the object is grabbed, can switch working modes and complete various tasks such as pipeline passing and exploration.
Owner:ZHEJIANG UNIV
Adjustable Mecanum wheel chassis
The invention discloses an adjustable Mecanum wheel chassis which comprises a base, a driving shaft and Mecanum wheels arranged on the base, the driving shaft drives the Mecanum wheels to rotate, a guide groove is formed in the base, and the driving shaft is arranged in the guide groove in a reciprocating motion mode; the device further comprises a main control board, a pushing mechanism and a position sensor, the pushing mechanism is arranged on the base and pushes the driving shaft to reciprocate relative to the guide groove, and therefore the position of the driving shaft relative to the base can be adjusted; the position sensor detects the position of the Mecanum wheel relative to the base in real time and sends the position information to the main control board; and the main control board adjusts the angular speed of each driving shaft to the Mecanum wheel according to the position information of each driving shaft, so that the movement accuracy of the deformed chassis is ensured. The Mecanum wheel chassis solves the problems that an existing Mecanum wheel chassis is insufficient in anti-overturning capacity, and the wheel distance and the axle distance cannot be flexibly changed while the movement precision is met.
Owner:XIAMEN AOJIAHUA ROBOT TECHNOLOGY CO LTD
Electromechanical pipeline mounting equipment based on BIM (Building Information Modeling) and three-dimensional laser assistance and mounting process thereof
The invention relates to electromechanical pipeline mounting equipment based on BIM and three-dimensional laser assistance and a mounting process thereof, and relates to the field of electromechanical pipeline mounting equipment. The device comprises a moving part, an adjusting part, a rotating part and a lifting part, the moving part comprises a moving base, Mecanum wheels are rotationally connected to the two sides of the bottom face of the moving base, a driving motor is horizontally fixed to the bottom face of the moving base, the output end of the driving motor is fixed to the Mecanum wheels, and the adjusting part is arranged on the top face of the moving base; and the adjusting part is used for adjusting the mounting position of the electromechanical pipeline. According to the method, drawing defects are eliminated through BIM model optimization, civil engineering deviation is adapted through three-dimensional laser scanning, high-precision installation collaborative innovation is achieved through intelligent equipment, the core problems that traditional MEP pipeline construction is much in rework, low in precision and poor in efficiency are thoroughly solved, the drawing defect discovery rate is increased, the installation precision is improved, and the construction efficiency is improved. And the construction efficiency can be improved, and the operation and maintenance cost can be reduced.
Owner:SHANGHAI YIJIAN INSTALLATION ENG CO LTD
A driving control system of a robot dexterous hand based on Mecanum wheels
The application discloses a driving control system of a robot dexterous hand based on Mecanum wheels, which communicates with an upper computer through a data line, the dexterous hand is provided with a rudder that controls the movement and rotation of the finger joints, and a DC motor that controls the rotation of the Mecanum wheels in the finger joints, and the system comprises a single-chip microcomputer, a voltage drop module, a motor driving board and a DC stabilized power supply; one end of the DC stabilized power supply is connected with the voltage drop module in series to supply power to the rudder after voltage reduction, and the other end is connected with the motor driving board to supply power to the DC motor; the single-chip microcomputer and the upper computer use serial communication, the control signals sent by the upper computer are processed and sent to the rudder and the motor driving board, and the motor driving board drives the DC motor according to the signals. The system of the application reduces the complexity and manufacturing cost of the system while maintaining the flexibility of the dexterous hand operation, realizes multi-degree-of-freedom operation on objects, and has potential application fields and expansion prospects.
Owner:ZHEJIANG UNIV
Predefined time sliding mode control method for a Mecanum wheeled robot
The application discloses a predefined time sliding mode control method of a Mecanum wheel robot, wherein a main controller controls input size and converts the input size into required voltage size to control a motor driving circuit in the form of a pulse width modulation waveform and interacts with an upper computer through Bluetooth; a radar and a six-axis acceleration sensor collect pose information including X-axis Y-axis position information and yaw angle information; an encoder collects direct current motor angular velocity information; the motor driving circuit converts the pulse width modulation waveform signal into a voltage signal to control the direct current motor rotating speed; S10, the radar, the six-axis acceleration sensor and the encoder collect motion parameters of the Mecanum wheel robot; S20, the main controller calculates an expected pose and an actual pose error; S30, the value of a sliding mode variable is updated; and S40, a sliding mode control input is updated. The application can realize faster convergence speed with smaller control input, and the actuator saturation phenomenon is avoided while the convergence speed is improved.
Owner:HANGZHOU DIANZI UNIV
Mecanum wheel mobile robot trajectory tracking control method and device based on adaptive power reaching law terminal sliding mode
PendingCN121254831AVehicle position/course/altitude controlPosition/direction controlLyapunov stabilityClassical mechanics
The invention discloses a Mecanum wheel mobile robot trajectory tracking control method and device based on an adaptive power reaching law terminal sliding mode, and the method comprises the steps: 1), building a kinematics and dynamics model for a Mecanum wheel mobile robot; (2) designing a nonsingular terminal sliding mode surface and an adaptive power reaching law according to the mobile robot model established in the step (1) so as to realize dynamic adjustment of switching gain; 3) according to the sliding mode surface and the reaching law designed in the step 2, designing an adaptive power reaching law terminal sliding mode control algorithm suitable for the Mecanum wheel mobile robot; and 4) based on the Lyapunov stability theory, proving that the control algorithm designed in the step 3 can enable the system state to converge to a balance point within finite time, and performing simulation on an MATLAB / Simulink platform to verify the effectiveness of the control algorithm in trajectory tracking control of the Mecanum wheel mobile robot. According to the method, the trajectory tracking control precision of the Mecanum wheel mobile robot and the adaptability of the Mecanum wheel mobile robot under complex working conditions can be remarkably improved.
Owner:HUZHOU WUXING DISTRICT DIGITAL ECONOMY & TECH RES INST