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All-directional-drive moving platform steering driving mechanism and system

A technology of driving mechanism and mobile platform, applied in electric steering mechanism, power steering mechanism, steering mechanism and other directions, can solve the problems of large vibration of mobile platform, limitation of obstacle crossing ability, limited application, etc., and achieves good versatility and lateral resistance. The effect of strong impact ability and smooth moving process

Pending Publication Date: 2018-08-14
SHANGHAI ZHICHI INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above omni-directional wheels have the following problems. 1. Poor mechanical properties. The disadvantage of traditional omni-directional wheels is that they are forced to move by the friction generated between their own wheels and the bottom surface, and the axles of the wheel body are prone to failure, which leads to limited applications. The bearing capacity is poor; and due to the structure of the mecanum wheel, the mobile platform vibrates relatively large and the noise is large when moving, which will cause adverse effects
2. In terms of obstacle surmounting performance, the obstacle surmounting ability of the wheel body of the traditional omnidirectional wheel has been limited, mainly because the diameter of the passive wheel is too small, and the passive side may be stuck on small obstacles, such as Mecanum The Mecanum wheel adopts a wheel body structure. Mecanum wheels have poor ability to overcome obstacles in heavy loads and passive directions. These are the bottlenecks of traditional omni-directional wheels, and also limit the development of omni-directional wheels in some special-purpose directions.
3. Traditional omni-directional wheel control is more complicated, mainly because the wheel body is separated by force. When the mobile platform completes an action, each wheel body needs to cooperate with each other, resulting in a more complicated control algorithm and poor stability.
Although some scientific research institutes have developed an all-round mobile platform with a wheel structure, each driving wheel needs a corner motor to control the steering. The large number of motors makes the control more complicated, difficult to ensure accuracy, and poor consistency of action

Method used

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  • All-directional-drive moving platform steering driving mechanism and system
  • All-directional-drive moving platform steering driving mechanism and system
  • All-directional-drive moving platform steering driving mechanism and system

Examples

Experimental program
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Effect test

Embodiment 1

[0015] Such as figure 1 and figure 2 As shown, a steering drive system for an omnidirectional driving mobile platform includes a steering drive mechanism and an electrical control module 9; wherein the steering drive mechanism includes a steering gear 1, a steering knuckle 2, a steering shaft 3, a turn plate 6, and a wheel 8; the steering gear The output shaft 11 of 1 stretches in the keyway that the steering shaft 3 upper section center offers, and the output shaft 11 is connected with the steering shaft 3, and the steering shaft 3 rotates synchronously with the output shaft 11 of the steering gear 1.

[0016] Such as figure 2 As shown, the steering knuckle 2 includes a steering gear fixing part 21 and a pressing member 22 that are arranged in parallel and are connected and fixed to each other. Planar bearing races are respectively arranged on the opposite two surfaces, and planar bearings 4 are respectively arranged in them. The disc-shaped member on the upper section of...

Embodiment 2

[0022] Such as Figure 4 As shown, in this embodiment, the steering knuckle 2 includes steering gear fixing parts 21 and pressing members 22 that are arranged in parallel and are connected and fixed to each other. The upper surface of the disc-shaped member and the pressing member 22 and the lower surface of the disc-shaped member are respectively provided with corresponding circumferential groove raceways 32 , and ball assemblies are respectively provided in the two groups of circumferential groove raceways 32 . The groove shape and groove size of the corresponding two circumferential groove raceways 32 are the same; this structure makes the rotation between the disc member and the steering knuckle smoother. The rest of the structure of this embodiment is the same as that of Embodiment 1.

[0023] The cross-sectional shape of the two circumferential groove raceways 32 may be a semicircle, and its radius is equal to that of the ball. In order to simplify the processing, the ...

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Abstract

The invention discloses an all-directional-drive moving platform steering driving mechanism and system. The system comprises an electrical control module and a mechanical actuator; a command allocation calculator of the electrical control module receives a command decoded by a decoder and sent from a host; the command is allocated to a steering portion and a driving portion, thus finally controlling steering or driving motor to adjust speed; the steering motor controls a steering engine in the mechanical actuator to operate; an output shaft of the steering engine is extended into a steering shaft; the steering shaft rotates synchronously with the output shaft of the steering engine; a plane bearing seat ring is arranged on opposing faces of a steering engine fastener and a compression member; a needle bearing is clamped in the plane bearing seat ring; a needle in the needle bearing is in contact with a rotary shaft; the steering shaft is fixedly connected to one end of a rotary plate;the other end of the rotary plate is fixedly connected with a wheel spindle. The system allows all-directional drive for a moving platform, stability of a steering process is guaranteed, and no play occurs.

Description

technical field [0001] The invention relates to a vehicle drive system, in particular to a steering drive mechanism and a steering drive system of an omnidirectional traveling mobile platform. Background technique [0002] With the rapid development of science and technology, all-round mobile technology has attracted widespread attention, and more and more occasions require flexible transportation equipment, such as automatic transport vehicles in factories, luggage delivery vehicles in airports, and automatic wheelchairs for the disabled. etc. require more flexible transport equipment. Omni-directional movement refers to the movement of three degrees of freedom of front and rear, left and right, and self-rotation on a plane. Since cars in daily life do not have the degree of freedom of self-rotation, they do not move in all directions. Parking on the side of the car is relatively difficult. trouble. [0003] Traditional omni-directional wheels generally include the follow...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60K7/00B62D5/04
CPCB62D5/0418B60K7/0007B60K2007/0092
Inventor 严鹏飞严彪
Owner SHANGHAI ZHICHI INTELLIGENT TECH CO LTD