Omni-directional moving device based on non-universal wheels

Abstract

The invention discloses an omni-directional moving device based on non-universal wheels. Infrastructure of the omni-directional moving device comprises at least two double-wheel driving wheel sets and a plurality of driven wheel sets. The double-wheel driving wheel set is used for changing the moving and rotating directions of the structural body; the driven wheel set is used for supporting the structural body to keep balance displacement. Each double-wheel driving wheel set at least comprises two driving motors and at least two wheel bodies, and the two driving motors independently drive the two wheels to rotate clockwise or anticlockwise respectively. And after the rotation angle is processed by the control unit, the rotation direction and the rotation angle of the driving motor are adjusted. On the basis of a common wheel body instead of a universal wheel, the omni-directional moving function is achieved, and the cost is reduced while the using effect is achieved; a common wheel body is large in contact area, good in road holding performance, high in control precision of all-directional movement, capable of meeting the use requirements of different occasions and convenient to apply and popularize.

Description

technical field [0001] The invention relates to the application field of robot technology, in particular to an omni-directional mobile device realized based on non-universal wheels. Background technique [0002] With the booming fields of computer science and artificial intelligence, robotics has made great strides with each passing day. Omni-directional mobile technology is the basis of robot movement. It can realize three degrees of freedom movement on the plane: front and back, left and right, and rotation around its own fixed point. It is suitable for working in small spaces and places with high requirements for mobile performance. [0003] Many research institutions and manufacturers at home and abroad have carried out research work on all-round mobile technology, focusing on the design of wheel trains. The products are mainly universal wheels with special structures. The products that have been released so far mainly include: Mecanum wheel, spherical wheel, continuous...

AI Technical Summary

Problems solved by technology

[0004] 1. The manufacturing process of the wheel train with special structure is complicated and the cost is high;

[0005] 2. Due to the special steering mechanism of such universal wheels, the load capacity is relatively limited, which is difficult to meet the actual operation requirements;

[0006] 3. When the above-mentioned wheel train actually turns in different working conditions, because the rollers of its mechanical structure cannot continuously contact the ground, the structure is prone to vibration and slipping and displacement, especially in the case of upper and lower slopes and uneven ground. At this time, its omnidirectional movement effect and control accuracy are difficult to guarantee

Images