A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Four-wheel independent drive and independent steering mobile robot platform suitable for outdoor sweeping operation
The invention relates to a four-wheel independent drive and independent steering mobile robot platform suitable for outdoor sweeping operation. The platform is composed of a shell, a suspension mechanism, a sweeping mechanism, a vehicle body structure, a seal box body and an air suction structure. A steering mechanism comprises four sets of servo motors and four sets of hub motors, and the drivingfunction of the mobile robot platform is achieved. A four-link rod suspension structure is composed of two sets of springs and a pair of parallelogram link rod mechanisms, and the adaptive capacity of the platform under the conditions of acceleration, deceleration and running on an uneven ground in the outdoor environment is achieved. The sweeping mechanism is composed of three sets of sweeping structures, each set of structure is composed of two sweeping brushes and a motor, and the sweeping structures cooperate with the seal box body and the air suction structure to achieve the ground garbage collecting and sweeping functions. The platform is connected to a garbage collecting vehicle provided with a suction fan through a hose pipeline, and swept garbage can be collected into the garbagecollecting vehicle through a center pipeline. The mobile robot platform provided by the invention is stable in movement and flexible in steering, the parallelogram link rod suspension structure is reliable and good in suspension buffering effect and suitable for narrow space operation. The invention aims to provide the four-wheel independent drive and independent steering mobile robot platform suitable for outdoor cleaning operation.
本发明涉及一种适用于户外清扫作业的四轮独立驱动独立转向移动机器人平台，由壳体、悬架机构、清扫机构、车身结构、密封箱体、吸气结构组成。转向机构包括四组伺服电机和四组轮毂电机组成，实现移动机器人平台的驱动功能。四连杆悬架结构由两组弹簧和一对平行四边形连杆机构组成，实现在户外环境下平台在加速减速和运行于地面不平整的情况下的适应能力。清扫机构由三组清扫结构组成，每组结构由两个扫刷和电机组成，配合密封箱体和吸风结构实现地面垃圾的收集以及清扫功能，该平台会通过软管管道与安装吸风机的垃圾收集车连接，所清扫的垃圾会通过中心管道收集到垃圾清收集车中。本发明运动平稳，转向灵活，平行四边形连杆悬架结构可靠，悬架缓冲效果好，适用于狭小空间作业。本发明操作旨在提供一种适用于户外清扫作业的四轮独立驱动独立转向移动机器人平台。
Four-wheel independent drive and independent steering mobile robot platform suitable for outdoor sweeping operation
The invention relates to a four-wheel independent drive and independent steering mobile robot platform suitable for outdoor sweeping operation. The platform is composed of a shell, a suspension mechanism, a sweeping mechanism, a vehicle body structure, a seal box body and an air suction structure. A steering mechanism comprises four sets of servo motors and four sets of hub motors, and the drivingfunction of the mobile robot platform is achieved. A four-link rod suspension structure is composed of two sets of springs and a pair of parallelogram link rod mechanisms, and the adaptive capacity of the platform under the conditions of acceleration, deceleration and running on an uneven ground in the outdoor environment is achieved. The sweeping mechanism is composed of three sets of sweeping structures, each set of structure is composed of two sweeping brushes and a motor, and the sweeping structures cooperate with the seal box body and the air suction structure to achieve the ground garbage collecting and sweeping functions. The platform is connected to a garbage collecting vehicle provided with a suction fan through a hose pipeline, and swept garbage can be collected into the garbagecollecting vehicle through a center pipeline. The mobile robot platform provided by the invention is stable in movement and flexible in steering, the parallelogram link rod suspension structure is reliable and good in suspension buffering effect and suitable for narrow space operation. The invention aims to provide the four-wheel independent drive and independent steering mobile robot platform suitable for outdoor cleaning operation.
本发明涉及一种适用于户外清扫作业的四轮独立驱动独立转向移动机器人平台，由壳体、悬架机构、清扫机构、车身结构、密封箱体、吸气结构组成。转向机构包括四组伺服电机和四组轮毂电机组成，实现移动机器人平台的驱动功能。四连杆悬架结构由两组弹簧和一对平行四边形连杆机构组成，实现在户外环境下平台在加速减速和运行于地面不平整的情况下的适应能力。清扫机构由三组清扫结构组成，每组结构由两个扫刷和电机组成，配合密封箱体和吸风结构实现地面垃圾的收集以及清扫功能，该平台会通过软管管道与安装吸风机的垃圾收集车连接，所清扫的垃圾会通过中心管道收集到垃圾清收集车中。本发明运动平稳，转向灵活，平行四边形连杆悬架结构可靠，悬架缓冲效果好，适用于狭小空间作业。本发明操作旨在提供一种适用于户外清扫作业的四轮独立驱动独立转向移动机器人平台。
Four-wheel independent drive and independent steering mobile robot platform suitable for outdoor sweeping operation
一种适用于户外清扫作业的四轮独立驱动独立转向移动机器人平台
SONG JINGZHOU (author) / YANG PENG (author) / ZHANG YU (author) / GUANG HONG (author)
2020-06-09
Patent
Electronic Resource
Chinese
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