Electromechanical integrated novel omnibearing structure wheel device

Abstract

A new type of electromechanical integrated omnidirectional structure wheel device, including a controllable geared motor, a base for fixing the motor, a positioning electromagnet, a positioning slip ring, a reversing slip ring, a reversing electromagnet, a drive shaft wheel frame end cover, and The rolling bearing matched with the transmission shaft, the transmission pair between the transmission shaft and the worm, the upper and lower bearings for fixing the worm, the wheel frame, the worm wheel, the worm, the two wheels forming the hub, the rolling bearing B, and the axle. The invention rotates naturally and smoothly; without changing the posture of the platform, it can achieve the effect of omnidirectional movement, and the torque of each wheel is basically balanced when moving in non-X and Y directions. When multiple omnidirectional structural wheel devices are used in combination, only a single motor can be used to realize the control and drive of multiple omnidirectional structural wheel devices through mechanical serial connection, without installing a motor on each wheel. It is convenient to realize the walking functions such as autonomous navigation, positioning, and track-seeking of the platform; the production and manufacturing process has also been greatly improved, and it is convenient to manufacture without special equipment.

Description

technical field [0001] The invention belongs to the technical field of robot chassis movement, and relates to a novel wheel train device which builds a robot mobile platform and can control omnidirectional movement with its own power. Background technique [0002] At present, in the machinery industry and high-end industrial control system equipment manufacturing industry, with the development of robot technology, the wheeled mobile robot chassis represented by the omnidirectional mobile platform has been more and more widely used, and the omnidirectional mobile platform is based on Omni-directional wheels are chassis moving mechanisms for moving parts. The omnidirectional wheel is also a key component for the platform to realize omnidirectional movement. The basic principle of the existing omnidirectional wheel is that the driving wheel can roll freely along the axis of the wheel through a number of rollers on the rim of the wheel, so as to realize the driving wheel moving ...

AI Technical Summary

Problems solved by technology

[0004] The advantage of the above two types of wheels is that they are compact in structure and can move in all directions. However, there are inevitably structural gaps between the driven rollers distributed on the rims of the above two types of wheel systems. In single-row applications, the wheels roll continuously. Due to the gap between the rollers on the rim when the wheel is rolling, trembling and vibration will inevitably occur. The most prominent defect is that when a single such omnidirectional wheel is combined with an ordinary universal wheel to build a mobile platform, it can only meet the requirements of X Or Y unidirectional movement requires more than four combined applications to achieve omnidirectional movement without changing the platform posture

In addition, when moving in non-X and Y directions and at a certain angle, due to the unbalanced torque generated by the movement of each wheel body component, the power of one of the motors will have a high peak value, which is prone to control failure, and the control algorithm is difficult It is relatively large, the production process is complicated and difficult, and special equipment is required to make it

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