Omnidirectional moving chassis and leveling method thereof
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An omnidirectional movement and chassis technology, applied in the direction of motor vehicles, suspensions, vehicle springs, etc., can solve the problems of inconsistent program output paths, inability to achieve precise movement, and unequal combined speed direction, etc., achieving good effects and low cost , The effect of the same friction force
Pending Publication Date: 2017-05-10
CHENGDU EVENTEC SCI & TECH CO LTD
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[0004] The purpose of the present invention is to overcome existing in the prior art if if the wheel on this robot chassis is not coplanar, the relative ground normal pressure of each omnidirectional wheel just exists difference so, if at least one wheel appears positive Insufficient pressure, or when the ground is uneven, the wheels cannot be adjusted, resulting in slipping, which ma
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Embodiment 1
[0048] Such as Figure 1-5 As shown, the omnidirectional mobile chassis of the present invention includes a frame 1, a drive system and a control system.
[0049] Such as Figure 1-3 As shown, the frame 1 is a cuboid frame structure, and its four bottom corners are respectively provided with an adjustment part 3, a bracket 4 and an omnidirectional wheel 2, and each omnidirectional wheel 2 is connected to the corresponding bracket 4. Each of the adjustment parts 3 includes a bolt 5, a nut 51, a nut 2 52, a slider 6, a spring 7 and a buffer pad 8, such as Figure 5 As shown, the bolt 5 is a stepped bolt, one end of which is provided with a shaft hole, the shaft hole is adapted to the shaft, the shaft is connected to the frame 1, and the bolt body at one end of the shaft hole is provided with an M6 outer thread, the middle is a smooth section, its diameter is 5mm, and the other end of the bolt body is provided with an M5 external thread, the nut one 51 is an M6 nut, the nut two...
Embodiment 2
[0055] Such as Figure 1-6 As shown, the leveling method of the omnidirectional mobile chassis of the present invention, the application of the omnidirectional mobile chassis as described in Embodiment 1 includes the following steps:
[0056] A, an electronic scale is set under each of the omnidirectional wheels 2;
[0057] B. Screw the nut one 51 on each of the adjustment parts 3 to make the corresponding omnidirectional wheel 2 move vertically up and down;
[0058] C. Read the positive pressure value of the corresponding omnidirectional wheel 2 on each of the electronic scales;
[0059] D. Adjust each nut one 51 until all positive pressure values are consistent or within the allowable error range;
[0060] E. Make the chassis suspended, all the omnidirectional wheels 2 off the ground, each of the springs 7 returns to the free state length, screw the nut 2 52 on each of the adjustment parts 3, and drive the buffer pad 8 to move, so that the buffer pad 8 contacts the slid...
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Abstract
The invention discloses an omnidirectional moving chassis which comprises a frame, a driving system and a control system. At least three omnidirectional wheels are arranged on the frame, at most two omnidirectional wheels are fixedly connected to the frame, all of the rest omnidirection wheels are connected with a support, one end of the support is hinged on the frame while the other end of the same is connected on the frame through an adjusting part, the adjusting part can adjust the other end, connected with the same, of the support to move up and down relative to the frame, the driving system is connected with each omnidirectional wheel, and the control system controls the driving system to drive the omnidirectional wheels to rotate. By using the chassis, the adjusting part can adjust support up and down, in other words, adjusting up-down positions of the omnidirectional wheels to enable all omnidirectional wheels to be in a same plane, positive pressure of the omnidirectional wheels relative to the ground is ensured identical, in other words, friction force of the omnidirectional wheels relative to the ground is ensured identical, and resultant speed direction and program output path of the omnidirectional wheels are enabled to be uniform to accurately control movement. The omnidirectional moving chassis is simple and compact in structure, convenient to connect and use, good in acting effect and low in cost.
Description
technical field [0001] The invention relates to a chassis, in particular to an omnidirectional mobile chassis and a leveling method thereof. Background technique [0002] Robots are widely used and developed rapidly, and have entered all walks of life and our lives. Some special-purpose robots, such as sports robots, require sensitive movement, timely braking, stable operation, and omnidirectional movement. [0003] To achieve omnidirectional movement, it will be applied to omnidirectional wheels. The movement principle of this wheel is to determine the final speed direction of the robot by the synthesis of the speed direction of each wheel. The program controls the forward and reverse rotation and speed of each wheel. During operation, if the wheels on the chassis of the robot are not coplanar, the positive pressure of each omnidirectional wheel relative to the ground is different, then if there is at least one wheel with insufficient positive pressure, or if the ground is ...
Claims
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Application Information
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