Omnidirectional Mobile Platform and Its Powered Universal Wheels

A universal wheel and power technology, applied in the field of mobile platforms, can solve the problems of discontinuous contact, vibration, slippage, etc., and achieve the effects of smooth steering motion, high motion control precision and simple structure

Active Publication Date: 2021-08-17
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among the three, the ordinary wheel has the simplest structure, but the simple ordinary wheel cannot provide omnidirectional movement function
The design and control of the McNam master wheel are relatively cumbersome, because many small rollers are evenly distributed on the circumference of the wheel, and the contact with the ground is discontinuous during movement, so vibration and slippage will inevitably occur
Motion control of spherical wheels is difficult

Method used

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  • Omnidirectional Mobile Platform and Its Powered Universal Wheels
  • Omnidirectional Mobile Platform and Its Powered Universal Wheels
  • Omnidirectional Mobile Platform and Its Powered Universal Wheels

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] Such as Figure 1-3 As shown, the front-mounted power universal wheel 100 includes a housing 1001 (or an upper frame body), a lower frame body 1002 and a roller 1003, wherein the lower frame body 1002 is rotatably connected to the housing 1001, and the roller 1003 can rotate the lower frame Body 1002. The motor 1004 is installed on one side of the casing 1001 and drives the lower frame body 1002 to rotate through the transmission system inside the casing 1001 to realize the steering movement. The motor 1005 is installed on the other side of the casing and drives the roller 1003 to roll through a corresponding transmission system to realize translational movement.

[0049] Specifically, the front-mounted power universal wheel 100 is mainly composed of the following parts, namely: a motor base 101, a gland 102, a lock nut 103, a bearing 104, a shaft sleeve 105, a bearing 106, a bearing sleeve 107, and a housing 1001, gland 109, bearing 1010, gland 1011, lower frame body...

Embodiment 2

[0058] Figure 4-5 A schematic structural diagram of a front-mounted power universal wheel 200 according to a second embodiment of the present invention is shown. The front type power universal wheel of the present embodiment and Figure 1-3 The difference of the power universal wheel in the illustrated embodiment is that the driving motion of the power universal wheel in this embodiment is realized by the hub motor, correspondingly, the transmission system required to realize the driving motion in the above embodiment is cancelled. .

[0059] Such as Figure 4-5 As shown, the front-mounted power universal wheel 200 includes a housing 2001 (or an upper frame), a lower frame 2002 and a roller 2003, wherein the lower frame 2002 is rotatably connected to the housing 2001, and the roller 2003 is installed on the hub motor 2004 and mounted on the lower frame body 2002 together with the hub motor 2004, so that the roller 2003 rolls relative to the lower frame body 2002 to realize...

Embodiment 3

[0063] Figure 6-7 A schematic structural diagram of a front-mounted power universal wheel 300 according to a third embodiment of the present invention is shown. The front type power universal wheel 300 of the present embodiment and Figure 4-5 The difference of the power universal wheel 200 of the illustrated embodiment is that the steering movement of the power universal wheel in this embodiment is also realized by the hub motor, and correspondingly, the Figure 4-5 In the embodiment shown, the drive train required to achieve the steering movement.

[0064] Such as Figure 6-7 As shown, the front-mounted power universal wheel 300 includes a housing 3001 (or an upper frame), a lower frame 3002 and a roller 3003, wherein the lower frame 3002 is rotatably connected to the housing 3001, and the roller 3003 is installed on the hub motor 3004 and is mounted on the lower frame body 3002 together with the hub motor 3004, so that the roller 3003 rolls relative to the lower frame b...

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Abstract

The invention discloses an omnidirectional mobile platform and its power universal wheels. The power universal wheel includes an upper frame body, a lower frame body, rollers, a first motor and a second motor. The lower frame body is rotatably connected to the upper frame body. The rollers are rotatably installed on the lower frame body. The first motor is installed on the upper frame and is used to drive the lower frame to rotate. A second motor is associated with the scroll wheel to drive the scroll wheel to scroll. The rotation of the lower frame body and the rolling of the rollers are independently controlled by the first motor and the second motor respectively. During the operation of the omnidirectional mobile platform of the present invention, there is no coupling between the degrees of freedom of the steering and driving motions, thereby ensuring that there is no additional rolling motion output of the rollers when the steering motion is performed, and there is no need to add a special mechanism for decoupling, so the structure It is simple, and there is no side slip during operation, the steering movement is smooth, and the motion control precision is high.

Description

technical field [0001] The invention relates to a mobile platform, in particular to an omnidirectional mobile platform and its power universal wheels. Background technique [0002] Omnidirectional wheeled mobile robots are more and more widely used because they are easier to process and manufacture than legged mobile robots, have high carrying capacity and efficiency, flexible movement, and can operate in narrow and crowded environments. [0003] At present, there are three types of wheels commonly used in wheeled mobile robots: ordinary wheels, Mecanum wheels and spherical wheels. Ordinary wheels are the wheels used on various vehicles that we see every day. Mecanum wheels are installed with a certain number of rollers on the circumference of ordinary wheels. The ball wheel is a roller shaped as a sphere. Among the three, the ordinary wheel has the simplest structure, but the simple ordinary wheel cannot provide omnidirectional movement function. The design and control o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D63/02B60B19/00B60K7/00
CPCB60B19/003B60K7/0007B62D63/02
Inventor 王慰军杨桂林张驰陈庆盈
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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