Mecanum wheel universal projectile robot

Abstract

The invention discloses a Mecanum wheel universal projectile robot. The Mecanum wheel universal projectile robot comprises a Mecanum wheel moving platform, a holder and a launching mechanism; the holder is fixed at the top of the Mecanum wheel moving platform; and the launching mechanism is fixed on the holder. The holder includes a Yaw shaft rotating frame, a Yaw shaft motor, a Pitch shaft motor and a pitching frame; the Yaw shaft motor is fixed at the top of the Mecanum wheel moving platform; an output shaft of the Yaw shaft motor is fixedly connected with the bottom surface of the Yaw shaft rotating frame through a connecting piece; the top of the Yaw shaft rotating frame is rotationally connected with the pitching frame to form a launching mechanism fixed frame; the launching mechanism is fixed in the launching mechanism fixed frame; and the Pitch shaft motor is fixed on the Yaw shaft rotating frame, and an output shaft thereof is fixedly connected with the pitching frame. The Mecanum wheel universal projectile robot can perform universal movement, and can emit bullets; and the carried holder can rotate around horizontal and vertical axles to adjust aiming of the launching mechanism.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a mecanum wheel omnidirectional projectile robot. Background technique [0002] At present, the Mecanum wheel is widely used in storage, port, airport loading and unloading, patrol and other tasks. The mecanum wheel has oblique rollers, which can generate lateral force. The mecanum wheel can achieve lateral movement, horizontal movement, and rotation around itself through the cooperation of the four wheel speeds. Through the cooperation of three degrees of freedom, it can Realize omnidirectional movement. However, the energy loss of the mecanum wheel is large, and the control precision of the motion is high. At present, the pan / tilt control has reached the level of five-axis, six-axis, etc. The highest level in China can carry out six-axis linkage, and foreign countries can achieve nine-axis or even more axis linkage, but there are generally small application ranges, high co...

AI Technical Summary

Problems solved by technology

However, the energy loss of the mecanum wheel is large, and the precision of motion control is high.

At present, the pan / tilt control has reached the level of five-axis, six-axis, etc. The highest level in China can be six-axis linkage, and foreign countries can achieve nine-axis or even more axis linkage, but there are generally small application ranges, high cost requirements, and limited accuracy. question

And the main components rely on imports, and cannot be independently manufactured in China

At present, the actuators of ejection robots generally have problems such as simple structure, poor reliability, poor manufacturing process, and poor innovation. Higher-precision ejection mechanisms are mainly imitation firearms, which are highly lethal and have a high risk factor, and are not suitable for civilian use.

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