Mecanum wheel-based rocker omnidirectional mobile platform

A technology of all-round movement and mecanum wheels, which is applied in the direction of motor vehicles, interconnection systems, suspensions, etc., can solve the problem of poor obstacle-surpassing performance and terrain adaptability, suspension of wheels, and inability to obtain mobile platforms with mecanum wheels Good control and other issues to achieve good terrain adaptability and smooth operation

Active Publication Date: 2015-04-08
CHINA UNIV OF MINING & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the actual ground is not necessarily ideal. There may be obstacles such as undulations, slope changes, bosses, steps, and trenches. Under such road conditions, the Mecanum wheel mobile platform may have certain wheel suspension and wheel load bearing Uneven situation
In this way, the movement of the Mecanum wheel mobile platform will not be well controlled, there will be a large deviation between the movement and control, and the obstacle surmounting performance and terrain adaptability will be poor.

Method used

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  • Mecanum wheel-based rocker omnidirectional mobile platform
  • Mecanum wheel-based rocker omnidirectional mobile platform
  • Mecanum wheel-based rocker omnidirectional mobile platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] Refer to attached figure 1 , 2 :

[0026] figure 1 It is a perspective view of Embodiment 1 of the present invention. In this embodiment, the structures of rocker suspension 1 2 and rocker suspension 2 15 are left-right symmetrical, and they are symmetrically arranged on the left and right sides of main vehicle body 1. On the side, the rocker suspension one 2 is hinged with the left side of the main vehicle body 1 by a rotating pair 4, and the rocker suspension two 15 is also hinged with the right side of the main vehicle body 1 by a rotating pair, And the two rotating pairs are coaxial. The axis of the rotating pair 10 formed by the middle part of the roll bar 8 of the balance mechanism 6 and the main vehicle body 1 is perpendicular to the front view projection plane of the main vehicle body 1; the side link one 9 and the side link two 11 are up and down Direction setting, the lower end of side link one 9 is hinged with one end of roll bar 8 by ball pair 7, and the...

Embodiment 2

[0029] Refer to attached image 3 , 4 :

[0030] image 3 It is a perspective view of Embodiment 2 of the present invention. The difference from Embodiment 1 is that the axis of the rotating pair 10 formed by the middle part of the roll bar 8 of the balance mechanism 6 and the main vehicle body is perpendicular to the main vehicle body 1 The top view projection plane of , the side link one 9 and the side link two 11 are arranged in the front and back directions, and the position of the ball pair 13 hinged between the side link one 9 and the rocker suspension one 2 is the same as that of the rocker suspension one 13 The axis of the revolving pair 4 in the middle has a certain offset in the vertical direction of the rocker suspension one 13; The connection structure of suspension one and two is symmetrical. Embodiment two and figure 2 The working principle of the first embodiment shown is similar, Figure 4 It is a state diagram of Embodiment 2 of the present invention wh...

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Abstract

A Mecanum wheel-based rocker omnidirectional mobile platform comprises a main body (1), leftwards-rotating Mecanum wheel assemblies (3), rightwards-rotating Mecanum wheel assemblies (5), a rocker suspension I (2), a rocker suspension II (15) and a balancing mechanism (6); the middle parts of the rocker suspension I and the rocker suspension II are hinged to the left and right sides of the main body through revolute joints symmetrically; the middle part of a transverse rocker (8) of the balancing mechanism and one end of the main body are hinged by a revolute joint (10); one end of a side connecting rod I (9) and one end of a side connecting rod II (11) of the balancing mechanism are hinged to the left and right ends of the transverse rocker by spherical joints, and the other end of the side connecting rod I (9) and the other end of the side connecting rod II (11) of the balancing mechanism are hinged to the rocker suspension I and the rocker suspension II by spherical joints; two Mecanum wheel assemblies with different rotation directions are fixed to the two ends of each rocker suspension, and the Mecanum wheel assemblies at the same ends of the rocker suspension I and the rocker suspension II are opposite in rotation directions. According to the invention, wheels are always in contact with the ground and the load is shared, so that the Mecanum wheel-based rocker omnidirectional mobile platform has better motion controllability and terrain trafficability.

Description

technical field [0001] The invention relates to an omnidirectional mobile platform, which belongs to the research field of the traveling mechanism of the mobile platform. Background technique [0002] Omni-directional mobile technology is widely used in mobile robots, forklifts, pallet trucks and wheelchairs. Mecanum wheels are usually used as the running mechanism. When the Mecanum wheel is used as the walking mechanism, when the mobile platform is moving, it is required that the four wheels can be in good contact with the ground and bear a balanced load. Therefore, the ground of the mobile platform based on the Mecanum wheel is required to be as flat as possible. However, the actual ground is not necessarily ideal. There may be obstacles such as undulations, slope changes, bosses, steps, and trenches. Under such road conditions, the Mecanum wheel mobile platform may have certain wheel suspension and wheel load bearing Uneven situation. In this way, the motion of the mec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B60G21/045B60G21/055
CPCB60G21/045B60G21/055B62D57/02
Inventor 李允旺田丰代素梅赵德龙代阳阳李彬贾正乾严序聪丁明华白森王勇
Owner CHINA UNIV OF MINING & TECH
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