Mecanum wheel series branch chain leg and its omnidirectional mobile attitude adjustment platform

Abstract

The invention relates to a mecanum wheel series branch chain leg and an omnidirectional mobile posture adjustment platform. The mecanum wheel series branch chain leg includes a lifting drive module, a vertical lifting module and a lifting platform module. The guide rail and the slider form a first moving Pz pair connection, the wheel bracket and the mecanum wheel form the first rotating Rx pair connection; the omnidirectional mobile attitude adjustment platform of the mecanum wheel series branch chain legs includes a frame, a controller installed on the frame, a battery pack and Multiple mecanum wheels in series branch chain legs, multiple mecanum wheel series branch chain legs take four mecanum wheel series branch chain legs as a mecanum wheel series branch chain leg group, each mecanum wheel The leg groups of series branch chains are arranged symmetrically at the four corners of a rectangle on the vehicle frame, and are fixedly connected with the vehicle frame through the lifting base plate. The invention integrates omnidirectional movement and attitude adjustment, solves the problems of fixed or inflexible movement of the existing attitude adjustment platform, and occupies too much space and height, and effectively expands the use range of the six-degree-of-freedom attitude adjustment platform.

Description

technical field [0001] The invention belongs to the technical field of large component docking and assembling equipment for heavy equipment manufacturing, and particularly relates to a mecanum wheel series branch leg and an omnidirectional moving attitude adjustment platform. Background technique [0002] In the field of heavy equipment such as aircraft, ships, and electric power, its products are generally assembled from multiple parts. Therefore, in the production process, it is often necessary to transfer, dock and assemble parts. Due to the relatively high volume and quality of parts in the heavy industry It is too large and cannot be directly operated manually, so it is necessary to use a mobile attitude adjustment platform for assisted transfer and assembly. The existing mobile attitude adjustment platforms can be divided into wheeled trucks and Mecanum wheel trucks. Because wheeled trucks and Mecanum wheel trucks generally only have three functions: plane movement and...

AI Technical Summary

Problems solved by technology

The existing mobile attitude adjustment platforms can be divided into wheeled trucks and mecanum wheeled trucks, because wheeled trucks and mecanum wheeled trucks generally only have three functions: plane movement and rotation around the normal line of their loading platform. degrees of freedom, it is impossible to realize the six-degree-of-freedom adjustment of parts in space, so the problem that two parts cannot be docked often occurs during the docking process of parts

In order to solve this problem, those skilled in the art combine the parallel mechanism with the car body, and realize the six-degree-of-freedom attitude adjustment of the truck by installing a multi-degree-of-freedom parallel attitude adjustment mechanism on the truck. For example, Chinese patent CN109231065A discloses a method based on The six-degree-of-freedom attitude adjustment system of the omnidirectional mobile module installs the multi-degree-of-freedom parallel attitude adjustment mechanism on the vehicle body. Although the six-degree-of-freedom attitude adjustment of parts can be realized, the added parallel mechanism makes the height of the truck greatly Increased and reduced the passability of the truck, making it impossible to complete equipment docking and assembly in some low spaces

Moreover, the attitude adjustment system composed of the transport vehicle and the parallel mechanism still belongs to two independent systems in essence. The motion errors generated by the transport vehicle and the parallel mechanism during the working process are mutually accumulated, thereby reducing the impact on the end of the mobile attitude adjustment platform. Movement accuracy is not conducive to high-precision docking and assembly of parts

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