Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof

An omnidirectional wheel and power technology, which is applied in the fields of machinery manufacturing and assembly and intelligent control, can solve the problems of complicated control of the mobile platform of the steering mechanism, limited application of the microphone wheel, etc., and achieves low cost, easy maintenance, and flexible movement. Effect

Inactive Publication Date: 2017-02-08
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
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Problems solved by technology

[0006] The purpose of the present invention is to address the deficiencies of the above-mentioned background technology, provide an angle-controllable power differential omnidirectional wheel and its control method, and an omnidirectional mobile platform, and realize the omnid

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  • Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof
  • Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof
  • Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof

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Embodiment Construction

[0036] The technical solution of the invention will be described in detail below in conjunction with the accompanying drawings.

[0037] The angle controllable dynamic differential omnidirectional wheel that the present invention relates to is as figure 1 As shown, it includes: a wheel frame main body 1, a slewing support bearing 2, two wheels 3, two elastic couplings 4, two reduction motors 5, a gyroscope 12, and a controller 13. The wheel frame main body 1 comprises: a horizontal plate for bearing load, two vertical plates for fixing the wheels, two vertical plates for transmitting the loads of the omnidirectional wheels and load-bearing plates fixedly connected with them, each vertical plate It is fixedly connected with the horizontal plate, the inner ring of the slewing ring bearing 2 is fixed on the horizontal plate, one end of the axle of each wheel 3 is fixed on a vertical plate, and the other end of the axle of each wheel 3 passes through a piece for transmitting the o...

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Abstract

The invention discloses an angle-controllable power differential omnidirectional wheel, and a control method and an omnidirectional moving platform thereof, and relates to the technical field of machinery manufacturing and assembly and intelligent control. The angle-controllable power differential omnidirectional wheel comprises a wheel frame main body, a rotary support bearing, two wheels, two elastic shaft couplers, two speed reducing motors, a gyroscope and a controller. According to the control method of the omnidirectional wheel, the rotating speed of two wheels is subjected to closed loop control so that the practical azimuthal angle of the omnidirectional wheel tracks the expected value; the flexible steering is realized; the cost is low; the omnidirectional moving requirements of the heavy equipment or cargo transportation can be met. The omnidirectional platform comprises the omnidirectional wheel and a platform bottom plate connected with the omnidirectional wheel through the rotary support bearing; the non-steering flexible movement of the platform bottom plate is realized.

Description

technical field [0001] The invention discloses an angle-controllable power differential omnidirectional wheel, a control method thereof and an omnidirectional mobile platform, and relates to the technical fields of mechanical manufacturing and assembly and intelligent control. Background technique [0002] At present, omnidirectional mobile platforms can realize the function of omnidirectional movement of vehicles, mainly including omnidirectional platforms using Mecanum wheels (hereinafter referred to as "Mike Wheels") and mobile platforms using special steering control mechanisms. [0003] The omnidirectional vehicle using the microphone wheel is flexible in steering and can move in any direction. Because it appeared earlier, the industry has studied it more deeply, the related control methods are relatively mature, and the motion accuracy is relatively high. Due to the complex design and structure of the microphone wheel, the high price of a single wheel set, and poor mai...

Claims

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Application Information

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IPC IPC(8): B62D11/04B62D63/02
CPCB62D11/04B62D63/02
Inventor 闫方叶永强曹柔梅园园
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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