Electromechanical integrated novel omnibearing structure wheel device

Abstract

An electromechanical integrated novel omnibearing structure wheel device comprises a controllable gear motor, a base for fixing a motor, a positioning electromagnet, a positioning slip ring, a reversing slip ring, a reversing electromagnet, a wheel stand end cover of a transmission shaft, a rolling bearing matched with the transmission shaft, a transmission pair between the transmission shaft anda worm rod, upper and lower bearing blocks for fixing the worm rod, a wheel stand, a worm wheel, the worm rod, two wheel sheets forming a wheel hub, a rolling bearing B and a wheel shaft. The device rotates naturally and stably; and the omnibearing movement effect can be achieved on the premise of not changing platform posture, and the moment of force of each wheel is basically balanced when the device moves in non-X and non-Y directions. When multiple omnibearing structure wheel devices are combined for use, the control driving of the multiple omnibearing structure wheel devices can be realized only by using single motor through a mechanical serial connection mode, so that the motor does not need to be installed on each wheel. Walking functions such as autonomous navigation, positioning and track searching of a platform can be built conveniently; and the production process is also greatly improved, and the device can be manufactured conveniently without needing 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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