Mecanum wheel double branch chain legs and omnidirectional mobile attitude adjustment platform

Abstract

The invention relates to a mecanum wheel double-connected branch chain leg and an omnidirectional mobile posture adjustment platform. The mecanum wheel double-connected branch chain legs all include a lifting drive module, a synchronous belt module, a vertical lifting module, a mecanum wheel double The wheel set and the walking drive module, the guide rail and the slider cooperate to form the first mobile Pz pair connection, the wheel bracket is connected to the cross axis mounting frame and the first rotation Rx pair to adapt to the ground change and maintain the pressure load of the mecanum wheel, the cross The shaft installation frame is connected with the second rotation Ry pair at the middle position of the drive shaft through the cross shaft bearing; the omnidirectional mobile attitude adjustment platform includes a frame and four mecanum wheel double-linked branch chain legs, and the frame is equipped with a controller and The battery pack and four mecanum wheel double-connected branch chain legs are arranged symmetrically in the four corners of the frame in a rectangular shape, and are fixedly connected to the frame through the lifting base plate. The invention integrates omnidirectional movement and attitude adjustment, improves the motion accuracy and stability of the attitude adjustment platform, 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 part docking and assembly equipment for heavy equipment manufacturing, and in particular relates to a mecanum wheel double-connected branch chain leg and an omnidirectional mobile attitude adjustment platform. Background technique [0002] In the fields of heavy equipment such as large aircraft, ships, electric power, and oceans, their products are generally assembled from multiple parts, so it is often necessary to carry out docking and assembly between parts during the production process. And the mass is too large to be directly operated manually, so it needs to be transported and assembled with the help of a mobile attitude adjustment platform. 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 two directions of movement in the plane x and y, and the plumb axis can m...

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 two directions of movement in the plane x and y, and the plumb axis can move around The three degrees of freedom, such as the rotation of the normal line of the loading platform, cannot realize the six-degree-of-freedom attitude adjustment of the parts, so the problem that two parts cannot be connected often occurs during the part docking process.

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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