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CN-122009362-A - Steering wheel omnidirectional autonomous mobile robot

CN122009362ACN 122009362 ACN122009362 ACN 122009362ACN-122009362-A

Abstract

The invention belongs to the technical field of robots, and particularly relates to a steering wheel omni-directional autonomous mobile robot which comprises a chassis, a steering wheel set, a suspension system, a cradle head mechanism, a main control module and a power module, wherein the chassis is connected with the steering wheel set through the suspension system, the cradle head mechanism is fixed at the top of the chassis through a four-point contact bearing of a large yaw shaft, the main control module is fixed at the middle part of the chassis, the main control module is electrically connected with the steering wheel set through a CAN bus and is connected with the power module through a wire, and the power module is fixed in a cross-shaped area of the chassis. The invention improves the strength of the hub and reduces the weight by a die-casting carbon fiber process, enhances the performances of wear resistance, skid resistance and the like by a steering wheel encapsulation process, reduces unsprung mass by rocker arm type independent suspension, improves rigidity and anti-rolling capability, reduces the deflection of a rotation center, increases the degree of freedom of a double-yaw shaft cradle head, optimizes the transmission angle by matching with a four-bar mechanism, and adopts a die spring to improve the precision by gravity compensation.

Inventors

  • WANG LONGYAN
  • WANG ZHENGKUN
  • ZHAO YUSHAN
  • DONG JUNHUA
  • KONG WEIMIN
  • LIU ZI

Assignees

  • 中北大学

Dates

Publication Date
20260512
Application Date
20250704
Priority Date
20250620

Claims (10)

  1. 1. The steering wheel omnidirectional autonomous mobile robot is characterized by comprising a chassis (1), a steering wheel set (2), a suspension system (3), a cradle head mechanism (4), a main control module (5) and a power module (6), wherein the chassis (1) is connected with the steering wheel set (2) through the suspension system (3), the cradle head mechanism (4) is fixed at the top of the chassis (1) through a four-point contact bearing of a large yaw shaft (401), the main control module (5) is fixed at the middle part of the chassis (1), the main control module (5) is electrically connected with the steering wheel set (2) through a CAN bus and is connected with the power module (6) through a wire, and the power module (6) is fixed in a well-shaped area of the chassis (1).
  2. 2. The steering wheel omni-directional autonomous mobile robot of claim 1, wherein the steering wheel set (2) comprises an embedded wheel hub (201), the embedded wheel hub (201) is connected with a rudder motor (203) through an expansion sleeve (202), a primary step (205) and a secondary step (206) are arranged between the expansion sleeve (202) and a flange plate (204), the primary step (205) is used for axially positioning the expansion sleeve (202), the secondary step (206) is used for preventing an outer ring of the expansion sleeve (202) from generating an indentation, the outer surface of the embedded wheel hub (201) is coated with a rubber layer through a rubber coating process, and the rubber coating process comprises metal matrix sand blasting, kem-lock adhesive coating and compression-vulcanization molding.
  3. 3. The steering wheel omnidirectional autonomous mobile robot according to claim 1, wherein the suspension system (3) is a rocker arm type independent suspension and comprises a rocker arm (301), a brass shaft sleeve (302), an electric adjusting fixing plate (303) and a brass gasket (304), the rocker arm (301) is connected with a chassis through the brass shaft sleeve (302) by a stopper screw with the diameter of 6mm, one end of the rocker arm (301) is isolated from the electric adjusting fixing plate (303) by the brass gasket (304) and is fixed, and the electric adjusting fixing plate (303) serves as a rib plate to strengthen the rigidity of the rocker arm.
  4. 4. The steering wheel omnidirectional autonomous mobile robot of claim 1, wherein the cradle head mechanism (4) adopts a double-yaw-shaft structure and comprises a large yaw shaft (401), a small yaw shaft (402) and a four-bar mechanism (403), the large yaw shaft (401) is supported by adopting a four-point contact bearing, pitch shaft pitching is realized by the small yaw shaft (402) through the four-bar mechanism (403), the minimum transmission angle of the four-bar mechanism (403) is larger than 40 degrees, the cradle head mechanism (4) carries a navigation laser radar (404), and the navigation laser radar (404) is arranged on one side of the large yaw shaft (401) through an adjustable fixing piece so as to avoid interference with a transmitting mechanism.
  5. 5. The steering wheel omni-directional autonomous mobile robot according to claim 1, wherein the main control module (5) adopts an STM32F334C8T6 chip, is communicated with the steering motor (203) through a CAN bus, the CAN bus circuit comprises a TJA1050 transceiver and a 120 omega terminal resistor, and the main control module (5) collects voltage and current signals of a super capacitor group (601) and a battery through an OPA2350 operational amplifier and processes data through a limiting mean value filtering method and a two-point fitting method.
  6. 6. The steering wheel omni-directional autonomous mobile robot according to claim 1, wherein the power module (6) comprises a super capacitor group (601), a double-switch DC-DC converter (602) and a chassis motor (603), the super capacitor group (601) is connected with the chassis motor (603) through the double-switch DC-DC converter (602), charging and discharging of the super capacitor group (601) are controlled by a cascade PID closed-loop algorithm, and charging is controlled by a power ring and a current ring, and discharging is controlled by a voltage ring and a current ring.
  7. 7. The steering wheel omni-directional autonomous mobile robot according to claim 2, wherein the wheel diameter of the wheel hub wheel system (201) is 100-120mm, the thickness of the rubber coating layer is 3-8mm, the rubber coating hardness is 60-70A, the wheel hub wheel system (201) is molded by adopting a die-casting carbon fiber process, the material is In2 slow curing resin and Dongli 3mm carbon fiber chopped filaments, and the curing temperature is 60 ℃.
  8. 8. The steering wheel omni-directional autonomous mobile robot of claim 6 wherein the charging and discharging control logic of said super capacitor bank (601) is verified by MATLABSIMULINK simulation to realize constant current charging, trickle to be discharged and constant voltage discharging, and the MOSFET of said dual-switch DC-DC converter (602) is selected from the group consisting of English flying ice BSC070N10NS5, withstand voltage of 100V and internal resistance of 7mΩ.
  9. 9. The steering wheel omni-directional autonomous mobile robot according to claim 1, wherein the steering wheel set (2) calculation algorithm derives the rotation angle and speed of each steering wheel by vector superposition based on a four steering wheel linear model and a spin model; the angle equation is: the velocity equation is: Wherein: Indicating the steering angle of the xth steering wheel; Representing the x-axis translation speed of the vehicle body under a global coordinate system; representing the y-axis translation speed of the vehicle body under a global coordinate system; The spin angular velocity of the vehicle body is represented.
  10. 10. The steering wheel omni-directional autonomous mobile robot according to claim 1, wherein the steering smoothness optimization algorithm of the steering wheel set (2) calculates the shortest path of steering motor (203) rotation, and when the rotation angle exceeds 90 degrees, the steering motor speed is automatically reversed, and the shortest path algorithm formula is: Wherein: Indicating the target rotation angle of the rudder motor (203), Representing the current actual angle of the rudder motor (203); representing 360-degree modulo operation on the numerical value in the bracket, and ensuring that the angle difference is mapped to a 0-360-degree interval; the shortest path angle difference indicating the rudder motor (203) rotating from the current angle to the target angle.

Description

Steering wheel omnidirectional autonomous mobile robot Technical Field The invention belongs to the technical field of robots, and particularly relates to a steering wheel omni-directional autonomous mobile robot. Background The conventional mobile robot has obvious defects in the motion and endurance technology, such as difficult maintenance, high energy consumption and low speed of the crawler type gas monitoring robot, the conventional wheel type (Mecanum wheel, omni wheel and the like) can move omnidirectionally, but consumes a large amount of motor power and has serious rubber wheel abrasion, the steering wheel robot needs to drive steering and wheel steering motors simultaneously, the energy consumption greatly influences endurance, the super capacitor is developed to meet the requirements of endurance and chassis power output promotion, the technology and structure are complicated, the production cost and the maintenance cost are high, commercial application is limited, the conventional suspension system such as a Watt linkage structure has the problems of insufficient rigidity and high ground contact risk due to a plurality of hinge points, the candelage suspension has a large virtual position and low anti-roll effect, the tripod head gravity compensation adopts rubber bands which are easy to age and cannot be perfectly balanced, the conventional steering wheel solution algorithm does not optimize steering paths, the steering motors are easy to consume power, and the radar layout, the wiring design, the core part strength and the light quantization and other aspects have optimization space. Disclosure of Invention Aiming at the technical problems of the existing mobile robots, the invention provides a steering wheel omni-directional autonomous mobile robot. In order to solve the technical problems, the invention adopts the following technical scheme: The utility model provides a steering wheel qxcomm technology independently removes robot, includes chassis, steering wheel wheelset, suspension, cloud platform mechanism, main control module and power module, the chassis passes through suspension and steering wheel wheelset to be connected, cloud platform mechanism passes through the four-point contact bearing of big yaw axle to be fixed at the chassis top, main control module fixes at the chassis middle part, main control module passes through CAN bus and steering wheel wheelset electric connection to connect power module through the wire, power module fixes in the well type region of chassis. The steering wheel set comprises an embedded wheel hub wheel system, wherein the embedded wheel hub wheel system is connected with a steering motor shaft through an expansion sleeve, a primary step and a secondary step are arranged between the expansion sleeve and a flange plate, the primary step is used for axially positioning the expansion sleeve, and the secondary step is used for preventing an outer ring of the expansion sleeve from generating an indentation; The suspension system is a rocker arm type independent suspension and comprises a rocker arm, a brass shaft sleeve, an electric adjusting fixing plate and a brass gasket, wherein the rocker arm penetrates through the brass shaft sleeve through a stopper screw with the diameter of 6mm to be connected with the chassis, one end of the rocker arm is isolated from the electric adjusting fixing plate through the brass gasket and is fixed, and the electric adjusting fixing plate is used as a rib plate to strengthen the rigidity of the rocker arm; The cradle head mechanism adopts a double-yaw shaft structure and comprises a big yaw shaft, a small yaw shaft and a four-bar mechanism, the big yaw shaft is supported by adopting a four-point contact bearing, pitch shaft pitching is realized by the small yaw shaft through the four-bar mechanism, the minimum value of the transmission angle of the four-bar mechanism is larger than 40 degrees, the cradle head mechanism is carried with a navigation laser radar, and the navigation laser radar is arranged on one side of the big yaw shaft through an adjustable fixing piece and is prevented from interfering with a transmitting mechanism. The master control module adopts an STM32F334C8T6 chip, is communicated with the rudder motor through a CAN bus, the CAN bus circuit comprises a TJA1050 transceiver and a 120Ω terminal resistor, and the master control module acquires voltage and current signals of the super capacitor group and the battery through an OPA2350 operational amplifier and performs data processing through a limiting mean value filtering method and a two-point fitting method. The power module comprises a super capacitor group, a double-switch DC-DC converter and a chassis motor, wherein the super capacitor group is connected with the chassis motor through the double-switch DC-DC converter, the charging and discharging control of the super capacitor group adopts a cascade PID closed-loop algorithm, and is controlled