Omnidirectional wheel walking system convenient to control
A walking system and omnidirectional wheel technology, applied in the field of omnidirectional wheel walking system, can solve the problems of large space, motor occupation, large system volume, etc., and achieve the effects of simple control method, fast response speed, and improved accuracy
Inactive Publication Date: 2018-07-20
XIHUA UNIV
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Problems solved by technology
[0003] In order to change the rotation direction of the four mecanum wheels at any time, the existing technology uses four motors to drive the four mecanum wheels respectively, that is, one motor corresponds to one mecanum wheel. In order to accurately control the movement of the platform, often The control requirements for the motors are very high, and the precision requirements for the speed and input power of the four motors are also very high, which makes the cost of the omnidirectional wheel walking system very high, and the motors also occupy a large space, making the system too large
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[0030] Such as Figure 2-Figure 8A kind of convenient control omnidirectional wheel walking system shown, comprises mobile platform, and left front omnidirectional wheel 31, right front omnidirectional wheel 32, left rear omnidirectional wheel 51, right rear omnidirectional wheel 52 are set on the chassis of mobile platform. An omnidirectional wheel, the omnidirectional wheel walking system also includes a biaxial output motor 001 installed in the center of the chassis of the mobile platform, the axis of the motor 001 is arranged along the front and rear directions of the mobile platform, and an output shaft of the biaxial output motor 001 The first power conversion device 002 is connected to the input end of the first main rotating shaft 1, and the other output shaft of the motor 001 is connected to the input end of the second main rotating shaft 2, and the first main rotating shaft 1 or the second main rotating shaft 2 A slidable first cylindrical gear 81 is also sleeved on ...
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The invention particularly relates to an omnidirectional wheel walking system which is high in precision, compact in structure and convenient to control. The omnidirectional wheel walking system comprises a double-shaft output motor, a first power conversion device and a second power conversion device. According to the omnidirectional wheel walking system, straight going, in-situ rotating and transverse moving of a moving platform can be achieved only by using one motor, and power is transmitted to four omnidirectional wheels through the first power conversion device and the second power conversion device correspondingly, so that the rotating speeds of the four omnidirectional wheels are kept to be consistent, running precision is improved, homodromous rotating or reverse rotating of the four omnidirectional wheels can be quickly achieved, the response speed is high, the situation that a rotating speed sensor detects a rotating speed signal is not required in the control process, and the control mode is simple.
Description
technical field [0001] The invention relates to the technical field of omnidirectional wheels, in particular to a conveniently controllable omnidirectional wheel walking system. Background technique [0002] Omni-directional wheels enable a full range of movement, and a special type of wheel is the key. We call them omnidirectional wheels. The common ones are Mecanum (Mecanum) wheel and continuous switching wheel. For the Mecanum wheel, the Mecanum wheel is composed of spokes and many small rollers fixed on the outer periphery. The angle between the wheel and the roller Usually 45°. Each wheel has three degrees of freedom, one is to rotate around the axis of the wheel, the second is to rotate around the axis of the roller, and the third is to rotate around the contact point between the wheel and the ground. The wheels are driven by motors, leaving the remaining two degrees of freedom to move freely. An all-round mobile robot platform can be formed by three or more mecanu...
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IPC IPC(8): B60K17/12B60K17/02B60B19/00
CPCB60K17/12B60B19/00B60K17/02
Inventor 陈子龙
Owner XIHUA UNIV