12 results about "Omnidirectional vehicle" patented technology

The present invention aims to provide a control device that enables high-precision stopping of an omnidirectional mobile vehicle driven by a drive motor, regardless of the floor surface conditions, and an omnidirectional mobile vehicle equipped with the control device. [Solution] The control device for an omnidirectional vehicle includes a motor drive command generation unit for measuring floor surface movement characteristics, a floor surface movement characteristics measurement unit, and a floor surface movement characteristics storage unit for measuring floor surface movement characteristics in advance; a movement path execution unit and a motor drive command generation unit for movement path execution for performing path-following driving during normal driving; and a stop position error measurement unit and a motor drive command generation unit for correction movement for performing corrective movement according to the floor surface movement characteristics after path-following driving.

The present invention provides a control device adapted to stop, with high accuracy, an omnidirectional vehicle driven by a drive motor irrespective of floor surface properties and the omnidirectional vehicle including the control device. The control device for an omnidirectional vehicle includes: a motor drive command generating section for on-floor mobility characteristic measurement to measure an on-floor mobility characteristic in advance; an on-floor mobility characteristic measuring section; an on-floor mobility characteristic storing section; a moving route executing section to perform route following travel in normal travel; a motor drive command generating section for moving route execution; a stop position error measuring section to perform corrective movement in accordance with the on-floor mobility characteristic after the route following travel; and a motor drive command generating section for corrective movement.

The present invention provides a control device configured to stop with high accuracy an omnidirectional vehicle driven by a drive motor independently of ground surface properties, as well as an omnidirectional vehicle comprising the control device.The control device for an omnidirectional vehicle comprises: a motor drive command generation section for ground mobility characteristic measurement to measure a ground mobility characteristic in advance; a ground mobility characteristic measurement section; a ground mobility characteristic storage section; a motion route execution section to execute a driving route during normal driving; a motor drive command generation section for motion route execution; a stop position error measurement section to perform a corrective movement according to the ground mobility characteristic after the driving route; and a motor drive command generation section for corrective movement.

The utility model relates to the technical field of transport vehicles, and discloses a heavy load AGV omni-directional trolley which comprises a trolley body, a box expansion mechanism is arranged at the tail of the trolley body and comprises a lengthened box, the lengthened box is fixedly installed at the tail of the trolley body, and a protection plate is movably installed on the tail side of the lengthened box. According to the heavy-load AGV trolley, the bearing capacity of the AGV trolley can be greatly improved, the service life of the AGV trolley can be greatly prolonged by arranging the box expansion mechanism and the side protection mechanism, the box expansion mechanism is installed at the tail of the trolley body and is mainly composed of a lengthened box, a protection plate and a pull block, the lengthened box is fixedly installed at the tail of the trolley body, and by increasing the length of the trolley body, the protection plate is fixed to the lengthened box; the bearing capacity of the AGV trolley is remarkably improved, pull blocks are fixedly installed on the surfaces of the protection plates, operators can manually unfold or fold the protection plates conveniently, the inner space of the lengthened box can be opened by opening the protection plates, and therefore the space utilization rate of the AGV trolley is further increased.

This invention provides a trolley capable of performing appropriate rotational movements. The trolley (1) includes: a body (2); left and right omnidirectional wheels (3); left and right drive units (4); handles (5) provided on the body; sensors (6) for detecting the front-rear load, left-right load, and torque about the vertical axis applied to the handles; and a control device (7) for controlling the drive units based on the front-rear load, left-right load, and torque about the vertical axis detected by the sensors. The control device sets a target front-rear speed of the body based on the front-rear load, sets a target left-right speed of the body based on the left-right load, sets a target angular velocity of the body about the vertical axis based on the torque about the vertical axis, and corrects the target left-right speed based on the target angular velocity so that the absolute value of the target angular velocity increases while the absolute value of the target left-right speed decreases, and controls the drive units based on the target front-rear speed, the corrected target left-right speed, and the target angular velocity.

The omni-directional vehicle carrying robot comprises a vehicle body, an unbalance loading and overturning preventing cantilever structure and a lifting part are arranged on the vehicle body, a front-back moving mechanism is arranged in a supporting leg of the vehicle body, the unbalance loading and overturning preventing cantilever structure comprises fork teeth and a cantilever, the fork teeth are installed on the lower portion of the cantilever, and tooth tip sensors are installed at the ends of the fork teeth. A gravity sensor is installed in the cantilever, an in-place sensor is installed in front of the middle of the two fork teeth, and a camera is installed above the in-place sensor. The lifting part comprises a motor, a synchronous belt, a screw rod and a linear guide rail; the front-back moving mechanism comprises racks, gears and a bidirectional driving motor, the gears are installed at the two ends of the bidirectional driving motor, and the gears are meshed with the corresponding racks; omni-directional driving wheels are further installed in the front and back of the supporting legs. An unbalance loading and overturning preventing cantilever structure and a lifting part are arranged on the vehicle body, unbalance loading and overturning induction can provide detection for goods to prevent the goods from overturning when the goods are carried, omni-directional movement can be achieved, and the space requirement of the vehicle body for a use scene is lowered.

The application discloses a recyclable lifting device, which comprises a lifting machine, a hinge and a locking part, the lifting machine comprises an outer sleeve, a screw rod is rotatably arranged in the outer sleeve, a nut is threadedly connected to the screw rod, a guide mechanism is arranged between the nut and the outer sleeve, the nut can slide along the axial direction of the outer sleeve through the guide mechanism, an inner sleeve is fixedly connected to the nut, the inner sleeve is located between the screw rod and the outer sleeve, the screw rod is driven to rotate through a power mechanism, the outer sleeve can be switched between a lifting state and a recycling state through the hinge, and the outer sleeve can be kept in the recycling state through the locking part. The application further discloses an AGV omnidirectional vehicle using the recyclable lifting device. The purpose is to provide a recyclable lifting device and an AGV omnidirectional vehicle using the same, so that an operator can complete the disassembly and assembly of large mechanical bottom parts through simple operation, thereby greatly improving the efficiency of the whole maintenance work.

The utility model relates to the technical field of driven wheel modules, and discloses a compact high-precision steering driven wheel module which comprises a driven tire, a driving wheel support is rotatably connected to the interior of the driven tire, and a slewing bearing is fixedly connected to the outer wall of the driving wheel support. The gear end of a gear in the slewing bearing is connected with a first-stage transmission gear in a meshed mode, the inner wall of the first-stage transmission gear is rotationally connected with a steering component support, a steering speed reducer is arranged on the outer wall of the steering component support, and a planetary speed reducer is arranged on the outer wall of the steering speed reducer. According to the utility model, the battery supplies power to the servo driver, the servo driver drives the absolute value servo motor to rotate, and drives the gear of the slewing bearing moving part to rotate through the planetary reducer, the corner reducer and the primary transmission gear, so that the steering action of the driven tire is realized, and the purpose that the module is designed into a large-bearing compact structure is achieved; and an effective module effect is provided for the design of the narrow-road omnidirectional vehicle.

An omnidirectionally orientable vehicle comprising a main body, arms extending radially therefrom and orientable propulsion modules. Each propulsion module is coupled to an arm and comprises at least three propulsion units rigidly attached to the propulsion module. Each propulsion module is coupled to the arm by interposition of a rotary junction formed by a first revolute joint coupled to the arm and a second revolute joint attached to the propulsion module and perpendicularly coupled to the first revolute joint. The first revolute joint allows the propulsion module to rotate around the arm and the second revolute joint allows the propulsion module to rotate around an axis perpendicular to the arm providing the propulsion module with two DOF relative to the main body. The vehicle comprises rotary encoders located in proximity to the revolute joints and configured to monitor the orientation of the propulsion modules relative to the main body.

The utility model provides an all-electric omni-directional vehicle robot forward moving mechanism, which belongs to the technical field of transportation equipment, and comprises a frame assembly, a base, a support column in threaded connection with the side wall of the base, a support plate fixedly connected with the end part of the support column, and a shell connecting seat mounted on the side wall of the top of the support plate; the moving assembly comprises a rotating disc rotationally connected to the bottom of the base, a support fixedly connected to the side wall of the lower end of the rotating disc, a driving motor fixedly connected to the middle position of the support and an omnidirectional wheel installed at the output end of the driving motor in a matched mode. The omni-directional vehicle has the advantages that the vehicle frame assembly ensures that the omni-directional vehicle does not shake or incline in the running process. The omni-directional vehicle can flexibly move and steer in all directions through the moving assembly, the maneuverability and applicability of the omni-directional vehicle are improved, and the omni-directional vehicle is suitable for various complex working scenes. The design of the battery socket facilitates the replacement and charging of the battery, and improves the use convenience.

The invention discloses a semi-closed load uniform distribution and wheel protection structure of an omnidirectional wheel. Aiming at the technical defects of weak bearing capacity, poor impact resistance and the like of the existing omnidirectional wheel, the innovative solution is provided: a semi-closed design of combining a top hemispherical cover and a bottom support ring is adopted, a bull eye wheel group is arranged at the top of the hemispherical cover to form centering fixation with a ball wheel, and meanwhile, an annular bull eye wheel array is arranged at the equator line position to form a spherical wheel; the supporting ring is of an annular structure design, the inner diameter of the supporting ring is slightly smaller than the maximum outer diameter of the ball wheel, and a built-in elastic bull eye wheel array is installed on the inner surface of the supporting ring in a centering mode along the circumference to form containing fit. The unique structural design achieves three technical effects that firstly, loads are dispersed through multi-point contact, and the bearing capacity is remarkably improved; the guide effect of the bull eye wheel set is utilized to ensure that the motion freedom degree of the ball wheel is not limited; and thirdly, the bottom supporting ring and the equator wheel set cooperate to effectively prevent the wheels from deviating and falling off. The protection structure is convenient to disassemble and assemble and low in maintenance cost, provides a reliable omni-directional moving solution for intelligent moving equipment such as AGVs, service robots and ball balance robots, and has important application value in the fields of industrial automation and intelligent logistics.