An asymmetric wheel-leg omnidirectional mobile chassis

Abstract

The invention discloses an asymmetric wheel leg type all-directional moving chassis. The asymmetric wheel leg type all-directional moving chassis comprises a chassis frame, a controller, mechanical legs, Mecanum wheels, drivers and sensors, wherein the mechanical legs are hinged to the chassis frame and arranged at four directions of the chassis frame, the Mecanum wheels are mounted at the tail ends of the mechanical legs respectively and are driven by the independent drivers, and the drivers and angle sensors are connected with the controller. The drivers and the angle sensors on the mechanical legs are connected with the controller arranged in the middle of the chassis frame, and the controller receives signals of the sensors, sends out control commands and controls the drivers in a closed loop manner by the drivers. The horizontal sensors are fixed on the chassis frame and connected with the controller and are used for measuring inclination of the chassis frame. On the basis of all-directional moving, posture of the asymmetric wheel leg type all-directional moving chassis is automatically controlled, and the Mecanum wheels can adaptively move in all directions on various road conditions.

Description

technical field [0001] The invention belongs to the field of vehicle engineering, and in particular relates to an asymmetric wheel-leg type omnidirectional mobile chassis. Background technique [0002] Mecanum wheel (mecanum wheel) is a kind of all-round mobile wheel, which was invented by Swiss Bengt Lion in 1973. The characteristic of the mecanum wheel is that on the basis of the traditional wheel, a number of small rollers that can rotate freely are installed on the rim at a certain angle to the axis. When the wheel rolls, the small rollers will produce lateral movement. Through the combined use and control of the mecanum wheels, the car body can be moved and rotated in any direction within the motion plane. [0003] In 1975, Lion obtained US patent 3746112, the patent Directionally Stable Self Propelled Vehicle (directly stable self-propelled vehicle). After the patent expired in 1996, many universities, research institutes and companies around the world have carried o...

AI Technical Summary

Problems solved by technology

As a result, the omnidirectional mobile vehicle with Mecanum wheels can only drive on barrier-free and flat roads, and it cannot meet the requirements for some road conditions that may be encountered during driving, including road bumps, road slopes, and center of gravity offsets.

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