OMNIDIRECTIONAL PLATFORM AND OMNIDIRECTIONAL CONVEYOR (Machine-translation by Google Translate, not

专利摘要:
Omnidirectional platform and omnidirectional conveyor. Omnidirectional platform comprising a first module (1) with at least one first driving wheel (10) connected to a first horizontal shaft (11) operated by a first actuator (12) and a second driving wheel (20) connected to a second shaft (21) driven by a second actuator (22); a second module (2) connected to said first module (1) by means of a third vertical shaft (31) driven by a third actuator (32); a control device (3) connected to the first, second and third actuators (12, 22, 32), wherein the second module (2) is supported on the first module (1); the first module (1) further includes a free-running rolling element (40). In a second embodiment, the platform is placed face down, with its wheels accessible from a transport plane, forming a static omnidirectional conveyor for the omnidirectional transfer of packages. (Machine-translation by Google Translate, not legally binding)
公开号:ES2697921A1
申请号:ES201730976
申请日:2017-07-26
公开日:2019-01-29
发明作者:Gil Juan José Canuto；Mestres Carles Domènech
申请人:Universitat Politecnica de Catalunya UPC；
IPC主号:

专利说明:

[0001]
[0002] Field of technique
[0003] The present invention concerns the field of omnidirectional platforms and conveyors. It will be understood that an omnidirectional platform is a mobile vehicle that can move in any horizontal direction, while an omnidirectional conveyor will be understood to be a non-displaceable device that allows moving a load in any horizontal direction within its range of action.
[0004] The platform and the proposed conveyor are of the type that achieve said omnidirectional capacity using only simple motorized wheels arranged and controlled in a way that allows said omnidirectionality, without the need to use complex wheels such as spherical wheels, compound wheels, wheels with lateral translation capacity, etc.
[0005] State of the art
[0006] Document EP0716974 describes an omnidirectional platform which, according to the embodiment shown in Figs. 22 and 23 of said document, includes a first module provided with two coaxial and opposed driving wheels, said first module being connected through a vertical shaft with a second module supported on four spherical wheels. The controlled drive of the drive wheels of the first module and the rotation of the vertical shaft allow obtaining an omnidirectional displacement of the omnidirectional platform, allowing any displacement of translation and any rotation of the second module. However, the solution described in this document EP0716974 requires that the wheels on which the second module is supported are omnidirectional wheels, such as for example the spherical wheels shown in the figures accompanying said document, which are expensive and difficult to maintain and do not suitable for irregular terrain.
[0007] Furthermore, the solution described in this document EP0716974 requires six wheels, which means that the displacement of this omnidirectional platform is only possible on a smooth floor that guarantees the correct and simultaneous contact of all six wheels of the omnidirectional platform, since the control Steering requires a permanent contact of the driving wheels with the ground, and the document does not mention any solution that allows the omnidirectional platform to adapt to irregular terrain while maintaining permanent contact with the ground of the driving wheels.
[0008] Document JP2007152019A shows in its Fig. 2 and in the text an embodiment similar to that described in relation to EP0716974, which therefore suffers from the same defects mentioned above. Other embodiments shown in this Japanese document require the use of complex wheels with lateral translation capacity, which as mentioned before are expensive, difficult to maintain, unsuitable for uneven terrain, and which also tend to generate a slight rattle during their displacement, being for all this inadequate.
[0009]
[0010] BRIEF DESCRIPTION OF THE INVENTION
[0011] The present invention concerns, according to a first aspect, an omnidirectional platform.
[0012] An omnidirectional platform is a mobile vehicle that can move in any horizontal direction, ie forward, backward, sideways by lateral translation, diagonally, etc., and also make turns on itself.
[0013] The proposed omnidirectional platform comprises, in a known way:
[0014] • a first module that defines a center of rotation of the omnidirectional platform in which a coordinate origin is placed with an X axis, a Y axis and a Z axis orthogonal to each other, said first module being provided with at least one first drive wheel connected to a first horizontal shaft parallel to the X axis and of a second driving wheel connected to a second horizontal shaft, both first and second coplanar axes having the same plane parallel to the axis Z, said plane being separated by a distance D from the axis Z, the first drive wheel being actuated by a first actuator, and the second drive wheel being actuated by a second actuator;
[0015]
[0016] • a second horizontal module connected to said first module by means of a third vertical shaft coaxial with the Z axis, the relative rotation of the second module and the first module being actuated by a third actuator, said second module defining a loading platform;
[0017]
[0018] • a control device connected to the first, second and third actuators to control its coordinated actuation configured to obtain an omnidirectional displacement of the platform by means of precise control of the displacement of the center of rotation, obtained by actuating the first and second actuators, and by precise control of the orientation of the second module by the precise actuation of the third actuator.
[0019] Therefore the proposed omnidirectional platform includes a second module that defines a loading platform rotatably connected to a first module that integrates a first and second drive wheels whose axes are coplanar on a vertical plane spaced apart from the axis of rotation between the first and second axes. second modules.
[0020] The independent drive of the two driving wheels and their control from the control device allow determining a forward and backward movement of the omnidirectional platform, in a straight line if both first and second wheels rotate at the same tangential speed or determining a rotation of the platform omnidirectional if different tangential speeds are obtained in both driving wheels.
[0021] Furthermore, said first and second wheels are spaced from the third rotation shaft, coaxial to the vertical Z-axis a distance D, said third shaft determining the rotation of the first module with respect to the second module. This characteristic, together with the precise control of the first, second and third actuators, allows that a displacement of the first module governed by a tangential speed different from the first and second driving wheels, determines a displacement of lateral translation of the center of rotation of the platform , allowing that if the rotation of said center of rotation is compensated for by actuating the third actuator, the second module has a transverse displacement.
[0022] In other words, by means of the combination of the precise and independent control of the advance and retraction of the first and second wheels, a displacement of the center of rotation of the first module in any direction can be produced without using complex wheels that allow lateral translation, as for example spherical wheels or compound wheels. By adding control of the rotation of the second module with respect to the first module around the third tree, an omnidirectional platform is obtained.
[0023] The proposed omnidirectional platform also includes, in an innovative way, the following characteristics:
[0024]
[0025] • the second module is supported on the first module;
[0026]
[0027] • the first module also includes a free-running rolling element, defining the points of contact with the ground of the first driving wheel, second driving wheel and the free-running rolling element a support plane on a floor; Y • the center of rotation is arranged on an area of the first module comprised between the first driving wheel, the second driving wheel and the free-running rolling element.
[0028] Thus, it is proposed that the first module has, in addition to the first and second driving wheels described above that provide two points of contact of the first module with the ground, a free-running rolling element that provides a third contact point of the first module with the ground, thus achieving that the first module is stable and guaranteeing a perfect contact of the first module on the ground by means of said three points of contact, even in irregular floors.
[0029] It will be understood that a rolling element is a wheel or similar that allows the transmission of vertical loads on a point of contact with the ground, while allowing a horizontal displacement without friction or with a negligible friction. Said rolling element may have two degrees of freedom of horizontal displacement with little friction, such as for example a spherical wheel, or more preferably a single horizontal degree of freedom with little friction said rolling element being self-orientating in the direction of travel, such as a self-adjusting wheel.
[0030] The second module will be supported on the first module, and therefore will not require own wheels that support it, transmitting all the vertical loads to the first module and this to the ground through said three points of contact. To guarantee the stability of the omnidirectional platform, it is required that the center of rotation be located within the area between the two driving wheels and the free-turning element, since the entire load of the second module is transmitted to the first module through said module. center of rotation, and therefore this center of rotation must be comprised between the three points of contact with the ground to avoid overturning the omnidirectional platform in certain cases.
[0031] Having the first module two driving wheels and a rolling element, will have three points of contact with the ground, which guarantees perfect stability and a constant permanent contact of all points of contact with the ground, thus ensuring that the turn of the first and second drive wheels is transmitted correctly, and therefore the control of the displacement of the omnidirectional platform is accurate at all times even on uneven floors, which with other solutions equipped with more points of contact with the ground can not guarantee without taking additional measures.
[0032] Additionally it is proposed that the rolling element be a third single or double freewheeling wheel around a fourth horizontal shaft, said third wheel being self-orienting by means of a fifth vertical shaft parallel to the axis Z offset from the center of the third wheel, said fifth free-form articulated tree with respect to the first module by means of a bearing. This type of wheels are the wheels known as idlers, self-steering wheels or "caster wheel".
[0033] The horizontal freewheeling shaft allows the single wheel or double wheel to rotate with minimal resistance. When said wheel is attached to the first module through a fifth tree offset from the center of the single wheel or the center of the double wheel assembly, when the direction of displacement of the first module changes, the single or double wheel is reoriented and alienated with the new direction of movement of the first module, allowing the free rotation of said single or double wheel.
[0034] Another embodiment proposes that at least one suspension device is interposed between the second module and any one of the first drive wheel, second drive wheel and rolling element. This means that a suspension element dampens the transmission of stresses and movements between the second module and the first drive wheel, and / or between the second module and the second drive wheel, and / or between the second module and the rolling element. This will avoid the rattle of the omnidirectional platform even on uneven terrain, and will ensure a perfect contact of the first. second wheels with the ground and the rolling element with the ground, also avoiding that the irregularities of the ground can cause shaking.
[0035] It is also contemplated that said at least one suspension device is for example a block of elastomeric material connecting two independent segments of the platform, one segment integrating the second module and the other segment integrating at least the first wheel, the second wheel or the element rolling.
[0036] Alternatively said at least one suspension device may consist of springs or springs connecting independent segments of the platform articulated to each other, one segment integrating the second module and the other segment integrating at least the first wheel, the second wheel or the element rolling.
[0037] Alternatively it is proposed that said rolling element consists of two self-orienting wheels connected to each other by a chassis which in turn is joined to the first module by means of a horizontal articulation of axis parallel to the Y axis. This solution will offer a total of four contact points with the ground, but the two self-steering wheels can tilt around the horizontal articulation adapting the self-adjusting wheels to irregular terrains, thus maintaining at all times the contact with the ground of said four points of contact even on uneven terrain.
[0038] Alternatively or additionally, the freewheeling rolling element, the first wheel and / or the second wheel may include tires, the rolling element being a single or double freewheeling wheel as described above. The tires allow some cushioning between the wheels and the omnidirectional platform, while they better distribute the loads on the ground by increasing the contact surface, and increase the grip of the wheels with the ground, reducing the risk of the wheel skidding or does not produce displacement by turning, even on irregular terrain, or in the presence of loose particles. Said tires may consist of an air chamber or be only a coating of elastomeric material disposed around the wheel.
[0039] The proposed omnidirectional platform may further include a position detector connected to the control device, configured to determine the relative position of the platform with respect to fixed reference points external to said omnidirectional platform, said control device being configured to check whether a position real detected by said position detector coincides with an estimated position calculated by the control device from the displacement of the ordered platform from said control device, detecting deviations from the platform, and the control device being configured to command a corrective displacement of the position of the platform based on the deviations detected. In other words, that the control device always compares the real position of the omnidirectional platform detected by the position detector with an estimated position that the control device itself calculates based on the theoretical displacement of the omnidirectional platform that should have been obtained from the control commands given at least to the first and second actuators of the driving wheels, thus allowing to detect deviations and apply corrections.
[0040] It is further proposed to include a communicating device connected to the control device that allows the transmission and reception of data and / or control commands.
[0041] In such case preferably the control device will be configured to communicate with other nearby omnidirectional platforms and to coordinate their displacement with the displacement of said omnidirectional next platforms. This can make it possible to avoid collisions, order the flow of omnidirectional platforms, or even transport a large load supported simultaneously on several coordinated omnidirectional platforms.
[0042] According to a proposed embodiment, the third tree is located in the geometric center of the second module.
[0043] It is also contemplated that the second module is supported on the first module, and also on at least one other module with identical characteristics as the first module, the control device of the first module and the other module being at least one, common and said control device being configured to coordinate the actuation of the first module and the other module which is at least one. Between the driving wheels, the rolling element and the second module, there will be, as described above, a suspension device, or the wheels will be fitted with tires. This will allow the omnidirectional platform equipped with a first module and another module supporting a second module, and therefore equipped with six points of contact with the ground, ensure the correct contact of said points of contact at all times even on uneven floors , thanks to said suspension device or said tires.
[0044] It is also proposed to include a lifting device that allows to increase the thickness of the second module, for example by means of two parallel horizontal surfaces with a variable spacing regulated by said lifting device that may consist of a scissors mechanism, pistons, or other equivalent mechanism . This feature would allow sliding the conveyor platform under a package distanced from the ground by end supports between which there is sufficient space for access to the omnidirectional platform and, by actuating the lifting device, proceed to raise the package supporting all its weight on the omnidirectional platform. An inverse operation will allow you to deposit the package in a desired location.
[0045]
[0046] According to a second aspect, the present invention concerns an omnidirectional platform intended to be a static platform designed to support loads on its wheels, oriented upwards, and to transfer said loads in any horizontal direction, allowing an omnidirectional transport of the loads within the radius of action of the static omnidirectional conveyor.
[0047] The proposed omnidirectional conveyor comprises, like the omnidirectional platform described in relation to the first aspect of the invention:
[0048] • a first module that defines a turning center of the omnidirectional platform in which a coordinate origin with an X axis, a Y axis and a Z axis orthogonal to each other is located, said first module having:
[0049]
[0050] • at least one first drive wheel connected to a first horizontal shaft parallel to the X axis and a second drive wheel connected to a second horizontal shaft, both first and second coplanar axes having the same plane parallel to the Z axis, said plane being separated a distance D of the axis Z, the first drive wheel being actuated by a first actuator, and the second drive wheel being actuated by a second actuator;
[0051]
[0052] • a second horizontal module connected to said first module by means of a third vertical shaft coaxial with the Z axis, the relative rotation of the second module and the first module being actuated by a third actuator;
[0053]
[0054] • a control device connected to the first, second and third actuators to control their coordinated operation.
[0055] The proposed transporter also includes the following characteristics
[0056]
[0057] • the second module is fixed to a support, and the first module is supported on the second module;
[0058]
[0059] • the first module further includes at least one free-running rolling element, the first driving wheel, second driving wheel and the free-running rolling element defining a plane for transporting loads above the conveyor;
[0060]
[0061] • the control device is configured to obtain an omnidirectional displacement of a load resting on the load transport plane on said first driving wheel, second driving wheel and the at least one freewheeling wheel, by means of precise control of the orientation of the first module by means of the precise drive of the third actuator, and by a precise control of the drive of the first and second drive wheels.
[0062] Thus this second aspect of the invention is equivalent to the omnidirectional platform described in the first aspect of the invention but placed face-down, the second module being fixed to a support and the first module being supported on top of the second module, ie the reverse that in the first aspect of the invention. Therefore the drive of the driving wheels do not produce the displacement of the assembly, since this is fixed to a support and the wheels lack traction on a floor.
[0063] In the omnidirectional conveyor the first and second wheels as well as the rolling element will be oriented upwards and will offer a transport plane above the conveyor, designed to support loads deposited in it and to transfer said loads to any horizontal direction by means of precise control of the first, second and third actuators by the control device.
[0064] Preferably said first, second and third actuators will be motors, for example electric motors or servomotors, with electronic control.
[0065] Therefore, a package deposited on the transport plane and supported on the first and second driving wheels and the rolling element can be directed and driven in any horizontal direction by the actuation and control of the first, second and third actuators by the control device. Obviously, it is contemplated that around the omnidirectional conveyor some type of reception surface will be arranged, coplanar with the transport plane, to receive said package when it leaves the first and second driving wheels. The receiving surface can be a table, a set of conveyor belts, a surface with omnidirectional spheres, etc.
[0066] According to a further embodiment the rolling element will be a third single or double freewheeling wheel about a fourth horizontal shaft, said third wheel being self-orienting by means of a fifth vertical shaft parallel to the axis Z offset from the center of the third wheel, said fifth free-form articulated tree with respect to the first module by means of a bearing.
[0067] Preferably the center of rotation will be arranged in an area of the first module comprised between the first drive wheel, the second drive wheel and the at least one freewheeling wheel. This allows the rotation of the first module with respect to the second module to produce a rotation of the supported package on the transport plane on itself, reducing the space necessary for the movement of the package.
[0068] It is also contemplated that the control device be shared with a plurality of adjacent omnidirectional conveyors with the same load transport plane, said control device being configured to coordinate the actuation of the first, second and third actuators of the omnidirectional conveyor with the drive of the first, second and third actuators of the adjacent conveyors, allowing an omnidirectional load transport on the plane of load transport, transferring said loads from the omnidirectional conveyor to another adjacent omnidirectional conveyor.
[0069] It will be understood that geometric position references, such as parallel, perpendicular, tangent, etc. they admit deviations of up to ± 5 ° with respect to the theoretical position defined by said nomenclature.
[0070] Other characteristics of the invention will appear in the following detailed description of an exemplary embodiment.
[0071] Brief description of the figures
[0072] The foregoing and other advantages and features will be more fully understood from the following detailed description of an exemplary embodiment with reference to the accompanying drawings, which should be taken by way of illustration and not limitation, in which:
[0073] Fig. 1 shows a bottom view of the proposed omnidirectional platform according to a first embodiment in which the rolling element is a third self-orientating, double free-turning wheel, and in which the omnidirectional platform lacks a suspension device;
[0074] Fig. 2 shows a cross section of the omnidirectional platform shown in Fig. 1;
[0075] in Fig. 3 the omnidirectional platform shown in Fig. 1 appears in an initial position of a lateral translation displacement in the direction of the X axis indicated with a straight arrow, the same omnidirectional platform in a final position of said displacement shown in discontinuous line, as well as the trajectories that the first driving wheel, the second driving wheel and the third freewheeling wheel must follow from the initial position to the final position in order to get the center of rotation of the omnidirectional platform to move in a straight line getting a lateral translation; Fig. 4 shows a cross section of an omnidirectional platform according to another embodiment provided with a suspension device integrating blocks of elastomeric material;
[0076] Fig. 5 shows an alternative embodiment similar to that shown in Fig. 4 but with a second larger module supported on the first module and also on another module;
[0077] Fig. 6 shows a bottom view of the omnidirectional platform according to an embodiment in which the rolling element consists of two self-adjusting wheels joined to a chassis which in turn is joined to the rest of the first module by means of a horizontal articulation; Fig. 7 shows a cross section of the proposed omnidirectional conveyor referring to the second aspect of the invention, the first and second driving wheels being, as well as the rolling element in the form of double free-wheeling double wheels, oriented upwards defining a plane of transport, which in this example of embodiment is coplanar with spherical bearings arranged around it as a conveyor surface.
[0078]
[0079] Detailed description of an embodiment
[0080] The attached figures show examples of embodiment with non-limiting illustrative character of the present invention.
[0081]
[0082] In Figs. 1 and 2 there is shown an omnidirectional platform according to a first embodiment that has a first module 1 that includes a center of rotation CG that defines a coordinate axis of three orthogonal axes X, Y and Z.
[0083]
[0084] On the first module 1, in the form of a flat platform of approximately triangular geometry, a second module 2 is supported in the form of a flat rectangular platform provided for the transport of goods. Both first and second modules 1 and 2 are connected through a third shaft 31 coaxial with the vertical Z axis disposed in a central zone of the first module 1 and in the geometric center of the second module 2, allowing the relative rotation of both the first and second ones. second modules 1 and 2 around the third shaft 31 driven by a third actuator 32 connected to said third shaft 31.
[0085]
[0086] The first module 1 has a first driving wheel 10 connected to a first shaft 11 driven by a first actuator 12, and of a second driving wheel 20 connected to a second shaft 21 driven by a second actuator 22, both first and second wheels being motors 10 and 20 of identical size in this embodiment, and being facing and coaxial, the first and second axes 11 and 21 being parallel to the X axis but being spaced a distance D thereof in the direction of the Y axis. This distance D allows the controlled and independent actuation of the first and second actuators 12 and 22 to allow a displacement of the center of rotation CG in any horizontal direction, the first and second driving wheels 10 and 20 being supported on a floor.
[0087]
[0088] An example of said omnidirectional displacement of the platform is shown in Fig. 3 in which the omnidirectional platform appears in an initial position, and in broken line, in a final position. In this figure is indicated by arrows the approximate trajectory that each of the first driving wheel 10, second driving wheel 20 and rolling element 40 must follow to obtain a lateral rectilinear displacement (in the direction of the X axis in the initial position). As can be seen in this figure, the trajectory of the first and second driving wheels 10 and 20 must be precisely coordinated to obtain said lateral rectilinear displacement. In this example, the second drive wheel 20 must also change its direction of rotation to achieve the desired movement of the center of rotation CG. Furthermore, the displacement of the first module 1 produces a rotation thereof, so that the second module must constantly correct its relative angular position with the first module 1 in order to counteract said rotation and stay in the same orientation, thus obtaining its lateral translation. Said relative rotation is achieved with the actuation of the third actuator 32 connected to the third shaft 31.
[0089]
[0090] A control device 3 controls the first, second and third actuators 12, 22 and 32, which in this example are electric servomotors, so as to, in coordination, obtain an omnidirectional displacement of the omnidirectional platform. Said control device 3 will be a programmable logic controller endowed with memory and calculation capacity, and will be programmed to execute algorithms that determine the precise actuation of the first, second and third actuators 12, 22, 32 necessary to obtain a controlled displacement of the center of CG rotation of the omnidirectional platform. Said algorithms will take into account the diameter of the wheels and their distance D with respect to the center of rotation CG of the first module 1, among other factors.
[0091]
[0092] To provide stability to the first module 1, a third wheel 40 with free rotation is provided as a rolling element 40. Said third wheel 40 rotates freely around a fourth horizontal shaft 41, and can be self-oriented in any horizontal direction with respect to the first one. module 1 thanks to being joined to it by a fifth shaft 42 vertical parallel to the axis Z and displaced with respect to the center of the third wheel 40 of free rotation.
[0093]
[0094] The third freewheeling wheel 40 may be a single wheel or a double wheel.
[0095] The set of the first, second driving wheels 10 and 20 and third wheel 40 of free rotation guarantee the total stability of the assembly and guarantee a permanent contact of all the wheels with the ground, even on uneven terrains.
[0096]
[0097] The wheels 10, 20 and 40 also have a tire composed of a coating of rubber or other similar elastomeric material.
[0098]
[0099] According to another embodiment shown in Fig. 4 the omnidirectional platform further includes a suspension device 50 which prevents the transmission of vibrations of the wheels to the second module 2.
[0100]
[0101] In this example the first module 1 has a segment 5 that integrates the first drive wheel 10, the second drive wheel 20 and the third freewheeling wheel 40 as well as the first and second actuators 12 and 22. A second segment 4 is independent of the other segment 5 described above and integrates the third actuator 32 and the third vertical shaft 31 which is connected to the second module 2. Between the two segments 4 and 5 are blocks of elastomeric material as suspension device 50 which they dampen the transmission of vibrations between the first module 1 and the second module 2, thus preventing possible bumps or irregularities of the ground on which the first module 1 transits from being transmitted directly to the second module 2.
[0102]
[0103] Obviously said blocks of elastomeric material can be replaced by springs, pistons, or other equivalent damping system.
[0104]
[0105] Of course it will be understood that other embodiments may be envisaged in which a segment 5 supports only one of the first drive wheel 10, second drive wheel 20 together with its corresponding first or second actuator 12 and 22, constituting the rest of the omnidirectional platform another independent segment 4, the block of elastomeric material, or the suspension device 50 being equivalent, between both segments 4 and 5. In this example a platform can include several suspension devices 50, for example one for each driving wheel 10 and 20 and one for the rolling element 40.
[0106]
[0107] Fig. 6 shows an alternative embodiment of the rolling element. According to this embodiment said rolling element consists of two self-adjusting wheels connected to the first module 1 by means of a suspension device 50. This allows each of said two self-adjusting wheels to adapt their position to an irregular terrain, thus ensuring and maintaining a permanent contact of the driving wheels with the ground, ensuring an omnidirectional displacement of the platform.
[0108]
[0109] According to the example shown in Fig. 6 this embodiment provided with two self-orienting wheels consists of a chassis 44 to which both self-adjusting wheels are joined. Said chassis 44 is in turn connected to the first module 1 by means of a horizontal articulation 43 parallel to the axis Y which acts as suspension device 50. This horizontal articulation 43 allows the chassis 44 to oscillate with respect to the first module 1, and therefore so much that the two self-adjusting wheels adapt their position according to the irregularities of the terrain on which the omnidirectional platform transits, ensuring the permanent contact both of the two self-adjusting wheels and also of the two driving wheels 10 and 20 with the ground.
[0110]
[0111] It will be understood that alternatively both self-adjusting wheels could be independent of each other and each be connected to the first module 1 through a self-contained and autonomous suspension device 50, not requiring the aforementioned common chassis 44.
[0112]
[0113] Fig. 7 shows an exemplary embodiment referred to a second aspect of the present invention relative to an omnidirectional conveyor provided for the transport and routing of packages. Said conveyor is identical to the omnidirectional platform shown in Fig. 1, but is arranged upside down with the second module fixed to a support and therefore making it impossible to move. In this case the first module 1 and the first and second driving wheels 10 and 20 are above the second module 2, said driving wheels 10 and 20 defining, together with the rolling element 40, a transport plane. A package of a size greater than the distance between the wheels and the rolling element can therefore be deposited on the transport plane, supported on the driving wheels 10 and 20 and the rolling element 40. The coordinated drive of the first, second and third actuator devices 12, 22 and 32 will allow to rotate and displace said package in any horizontal direction, and to propel it outside the range of operation of the omnidirectional conveyor in any direction. It is recommended that a coplanar table with the transport plane be arranged around said conveyor, preferably a low friction table with spherical rolling elements, or with conveyor belts.
[0114] It will be understood that the different parts constituting the invention described in one embodiment can be freely combined with the parts described in other different embodiments although said combination has not been explicitly described, provided that there is no harm in the combination.

权利要求:
Claims (16)
[1]
1. Omnidirectional platform comprising:
a first module (1) that defines a center of rotation (CG) of the omnidirectional platform in which a coordinate origin is placed with an X axis, a Y axis and a Z axis orthogonal to each other, said first module ( 1) endowed with:
at least one first drive wheel (10) connected to a first horizontal shaft (11) parallel to the X axis and a second driving wheel (20) connected to a second horizontal shaft (21), both first and second shafts (11) being 21) coplanar with the same plane parallel to the axis Z, said plane being spaced a distance D from the axis Z, the first drive wheel (10) being actuated by a first actuator (12), and the second drive wheel (20) being actuated by means of a second actuator (22);
a second module (2) connected to said first module (1) by means of a third vertical shaft (31) coaxial with the Z axis, the relative rotation of the second module (2) and the first module (1) being actuated by a third actuator (32);
a control device (3) connected to the first, second and third actuators (12, 22, 32) to control its coordinated actuation configured to obtain an omnidirectional displacement of the platform by means of precise control of the displacement of the center of rotation (CG), obtained by actuating the first and second actuators (12, 22), and by precise control of the orientation of the second module (2) by the precise actuation of the third actuator (32);
characterized because
the second module (2) is supported on the first module (1);
the first module (1) further includes a rolling element (40) with free rotation, defining the points of contact with the ground of the first driving wheel (10), second driving wheel (20) and the rolling element (40) of free rotation a plane of support on a floor; and the center of rotation (CG) is arranged on an area of the first module (1) comprised between the first driving wheel (10), the second driving wheel (20) and the free-running rolling element (40).
[2]
2. Omnidirectional platform according to claim 1 wherein, the rolling element (40) is a third wheel (40) single or double free rotation around a fourth horizontal shaft (41), said third wheel (40) self-adjustable through a fifth tree (42) vertical parallel to the axis Z misaligned with respect to the center of the third wheel (40), said fifth shaft (42) being connected freely to the first module (1) by means of a bearing.
[3]
3. Omnidirectional platform according to claim 2 wherein the first wheel (10), the second wheel (20) and / or the third wheel (40) include tires.
[4]
4. Omnidirectional platform according to claim 1, 2 or 3 wherein between the second module (2) and any one of the first drive wheel (10), second drive wheel (20) and rolling element (40) is interposed at least one suspension device (50).
[5]
5. Omnidirectional platform according to claim 4 wherein said at least one suspension device (50) is a block of elastomeric material connecting two segments (4, 5) independent of the platform, a segment integrating at least the second module (2) and the other segment integrating at least the first wheel (10), the second wheel (20) or the rolling element (40).
[6]
Omnidirectional platform according to claim 4 wherein said at least one suspension device (50) consists of springs or springs that connect segments (4, 5) independent of the platform articulated to each other, a segment (4) integrating at least the second module (2) and the other segment (5) integrating at least the first wheel (10), the second wheel (20) or the rolling element (40).
[7]
Omnidirectional platform according to any one of the preceding claims, wherein a position detector connected to the control device (3) is also included, configured to determine the relative position of the platform with respect to fixed reference points external to said platform , said control device (3) being configured to check whether a real position detected by said position detector coincides with an estimated position calculated by the control device (3) from the displacement of the ordered platform from said control device ( 3), detecting deviations from the platform, and the control device (3) being configured to order a corrective displacement of the position of the platform based on the deviations detected.
[8]
8. Omnidirectional platform according to any one of the preceding claims, wherein a communicating device connected to the control device (3) that allows the transmission and reception of data and / or control commands is also included.
[9]
9. Omnidirectional platform according to claim 8 wherein the control device (3) is configured to communicate with other omnidirectional platforms nearby and for coordinate their displacement with the displacement of said omnidirectional platforms nearby.
[10]
An omnidirectional platform according to any one of the preceding claims, wherein the third tree (31) is located in the geometric center of the second module (2).
[11]
Omnidirectional platform according to any one of the preceding claims 3 to 6, wherein the second module (2) is supported on the first module (1), and also on at least one other module (1b) of identical characteristics as the first module (1), the control device (3) of the first module (1) and the other module (1b) being at least one, common and said control device (3) being configured to coordinate the actuation of the first module (1) and the other module (1b) which is at least one.
[12]
Omnidirectional platform according to claim 1 wherein said rolling element (40) consists of two self-adjusting wheels connected to the first module (1) by means of a suspension device (50).
[13]
13. Omnidirectional transporter comprising:
a first module (1) defining a center of rotation (CG) of the omnidirectional conveyor in which is located a coordinate origin equipped with an axis X, a Y axis and a Z axis orthogonal to each other, said first module (1 ) provided with:
at least one first drive wheel (10) connected to a first horizontal shaft (11) parallel to the X axis and a second driving wheel (20) connected to a second horizontal shaft (21), both first and second shafts (11) being 21) coplanar with the same plane parallel to the axis Z, said plane being spaced a distance D from the axis Z, the first drive wheel (10) being actuated by a first actuator (12), and the second drive wheel (20) being actuated by means of a second actuator (22);
a second module (2) connected to said first module (1) by means of a third vertical shaft (31) coaxial with the Z axis, the relative rotation of the second module (2) and the first module (1) being actuated by a third actuator (32);
a control device (3) connected to the first, second and third actuators (12, 22, 32) to control its coordinated actuation;
characterized because
the second module (2) is fixed to a support, and the first module (1) being supported on the second module (2);
the first module (1) further includes at least one free-running rolling element (40), the first driving wheel (10), the second driving wheel (20) and the free-running rolling element (40) defining a plane of rotation. transport of loads over the omnidirectional conveyor;
the control device (3) is configured to obtain an omnidirectional displacement of a load supported on the plane of load transport on said first drive wheel (10), second drive wheel (20) and the at least one running element (40). ) with free rotation, by precise control of the orientation of the first module (1) by means of the precise drive of the third actuator (32), and by a precise control of the drive of the first and second drive wheels (10, 20).
[14]
14. Omnidirectional conveyor according to claim 13 wherein, the rolling element (40) is a third wheel (40) single or double free rotation about a fourth tree (41) horizontal, said third (40) wheel self-adjustable by means of a fifth vertical shaft (42) parallel to the axis Z offset from the center of the third wheel (40), said fifth shaft (42) being connected freely to the first module (1) by means of a bearing.
[15]
Omnidirectional conveyor according to claim 13 or 14 wherein the center of rotation (CG) is arranged in an area of the first module (1) comprised between the first drive wheel (10), the second drive wheel (20) and the at least one a third wheel (40) of free rotation.
[16]
Omnidirectional conveyor according to claim 13, 14 or 15 wherein the control device (3) is shared with a plurality of adjacent omnidirectional conveyors with the same load transport plane, said control device (3) being configured to coordinate the actuation of the first, second and third actuators (12, 22, 32) of the omnidirectional conveyor with actuation of the first, second and third actuators (12, 22, 32) of the adjacent conveyors, allowing an omnidirectional load transport on the plane of cargo transport, transferring said loads from the omnidirectional conveyor to another adjacent omnidirectional conveyor.

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同族专利:

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公开号 | 公开日

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ES2697921B2|2020-06-22|

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WO2019020861A3|2019-03-28|

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EP3659755B1|2021-03-24|

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WO2019020861A2|2019-01-31|

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ES2880224T3|2021-11-24|

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EP3659755A2|2020-06-03|

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法律状态:
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优先权:

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申请号 | 申请日 | 专利标题

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ES201730976A|ES2697921B2|2017-07-26|2017-07-26|OMNIDIRECTIONAL PLATFORM|ES201730976A| ES2697921B2|2017-07-26|2017-07-26|OMNIDIRECTIONAL PLATFORM|

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EP18801007.8A| EP3659755B1|2017-07-26|2018-07-26|Omnidirectional platform and omnidirectional transporter|

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ES18801007T| ES2880224T3|2017-07-26|2018-07-26|Omnidirectional platform and omnidirectional conveyor|

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PCT/ES2018/070534| WO2019020861A2|2017-07-26|2018-07-26|Omnidirectional platform and omnidirectional transporter|