Spherical omnidirectional wheel mechanism based on artificial potential field

An artificial potential field and omni-directional wheel technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of small ball shaking, system instability, and limited restoring torque, so as to prevent adverse effects, enhance restoring torque, and avoid adverse effects. effect of influence

Pending Publication Date: 2018-02-16
GUILIN UNIV OF ELECTRONIC TECH
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  • Claims
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Problems solved by technology

However, when the mechanism works as a wheel at high speed and under heavy load, according to the principle of relative motion, due to the limited restoring moment generated by gravity

Method used

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  • Spherical omnidirectional wheel mechanism based on artificial potential field
  • Spherical omnidirectional wheel mechanism based on artificial potential field
  • Spherical omnidirectional wheel mechanism based on artificial potential field

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Embodiment Construction

[0024] The technical solutions of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0025] The present invention is based on the spherical omnidirectional wheel mechanism of the artificial potential field, and its structure includes an outer spherical shell 2, which is installed on the bottom of the automobile chassis 13 through the wheel frame 12. A spherical shell 1, the inner spherical shell 1 is provided with an outer spherical shell driving assembly that drives the outer spherical shell 2 to rotate, such as figure 1 shown.

[0026] Described wheel frame 12 comprises upper cage-shaped frame body 12-1 (the lower part is big and the upper part is small) and the annular frame body 12-2 of lower part, and described annular frame body 12-2 surrounds the ball diameter place of outer spherical shell 2 and The bullseye wheels 11 evenly distributed on its upper circumference are rollingly connected with ...

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Abstract

The invention discloses a spherical omnidirectional wheel mechanism based on an artificial potential field. Wheels, single-row omnidirectional wheels are installed on the inner spherical shell through the wheel frame, elastic elements are arranged between each wheel frame and the inner spherical shell, and each wheel frame is equipped with a walking motor that drives the corresponding single-row omnidirectional wheel; the inner ball The shell is installed at the bottom of the magnetic isolation plate, and there is a drum-shaped frame on the magnetic isolation plate. The drum-shaped frame is rollingly connected with the outer spherical shell through the bull’s eye wheel, and the electromagnet inside the ball is installed on the top of the magnetic isolation plate; the outer spherical shell is installed on the wheel frame through the wheel frame. On the automobile chassis, the wheel frame between the automobile chassis and the outer spherical shell is provided with an outer electromagnet aligned with the inner electromagnet, and the outer electromagnet and the inner electromagnet are opposite to each other. The artificial potential field generated by the electromagnet system in the present invention can strengthen the gravitational potential field, thereby enhancing the restoring moment, and further making the internal system more stable.

Description

technical field [0001] The invention relates to a wheeled road running mechanism, in particular to a spherical omnidirectional wheel mechanism based on an artificial potential field. Background technique [0002] Four-wheel vehicle is a means of transportation widely used in people's daily life, and the wheel body support and drive are its basic units. [0003] At present, common wheels often can only rotate around the axis of rotation perpendicular to the plane of the wheel, so the car usually cannot achieve lateral movement, which easily limits the flexibility of parking the car into storage and quickly avoiding danger. [0004] Recently, British inventor Matthew Liddiard (Matthew Liddiard) designed a laterally driven omnidirectional wheel mechanism and applied it to automobile wheels, called Liddiard wheel. This omnidirectional wheel motion can roll laterally along the direction of travel of the car body, allowing the car to move laterally from left (right) to right (lef...

Claims

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Application Information

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IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 黄用华黄浩庄未李凯钟艳如黄美发孙永厚匡兵钟永全
Owner GUILIN UNIV OF ELECTRONIC TECH
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