Omnidirectional mobile platform vehicle and driving method thereof

Abstract

The present invention discloses an omnidirectional mobile platform vehicle, comprising a platform and a frame seat located on the bottom surface of the platform, wherein N driving wheel assemblies are evenly distributed on the frame seat, and the N driving wheel assemblies are arranged into an arbitrary polygon, wherein N is a natural number greater than or equal to three, and the frame seat is also provided with a steering drive shaft assembly, a steering transmission chain mechanism, a shifting drive shaft assembly and a shifting transmission chain mechanism, and each of the driving wheel assemblies comprises a central shaft, a sleeve shaft, a wheel, a lateral small shaft, a bearing seat and two bevel gears; it can be 360° omnidirectionally steered, flexible in movement, accurate in positioning, can be used in occasions with low space height, has a large carrying capacity, can be used on a ground of general flatness, can be equipped with a small number of accessories, can be applied to a variety of different purposes, has low manufacturing cost, and is easy to maintain. The present invention also discloses a driving method for an omnidirectional mobile platform vehicle.

Description

Technical Field

[0001] The invention relates to an omnidirectional mobile platform vehicle and a driving method thereof. Background Art

[0002] At present, most mobile platforms or vehicles use wheel structures, and a small number of them use air-floating structures and magnetic-floating structures. The wheel structure is relatively simple, so it is more commonly used. The air-floating structure and magnetic-floating structure are relatively complex, with greater technical difficulty, high requirements on the ground, difficult maintenance, and high cost, so they are not widely used.

[0003] The mobile platforms and wheels with wheel structures currently used have separate driving wheels and steering wheels, and the steering wheels can only turn within a small range, and cannot make a 360° full turn, let alone all wheels can synchronously rotate 360° in all directions. Therefore, most mobile platforms and vehicles cannot move 360° in all directions, nor can they rotate 360° in place. This will inevitably make them unusable in places with narrow sites and winding roads, greatly reducing the scope of use.

[0004] At present, there is an omnidirectional vehicle in the industry that uses a special structure of Mecanum wheels. Although it has flexible steering and can move 360° in all directions on the spot, this omnidirectional vehicle has high requirements on the flatness and smoothness of the ground and cannot be used for ordinary workshops, warehouses, squares and other grounds with general flatness. Moreover, this omnidirectional vehicle has a complex structure and is difficult to operate, so it cannot be fully promoted and used.

[0005] The applicant disclosed an omnidirectional mobile platform vehicle in patents CN201510025300.X and CN201520036292.4, but there are two shortcomings:

[0006] (1) When the steering shaft turns, it will interfere with the shift shaft, causing the shift shaft to shift and rotate, affecting the precise positioning of the omnidirectional mobile platform vehicle. Therefore, it cannot be used in situations where precise positioning is required.

[0007] (2) Due to structural reasons, the omnidirectional wheel has a relatively high longitudinal height, which is not suitable for use in places with low space height, thus limiting the scope of use of the omnidirectional mobile platform vehicle. Summary of the invention

[0008] The purpose of the present invention is to overcome the defects of the prior art and provide an omnidirectional mobile platform vehicle. 360 ° Omnidirectional steering, flexible movement, precise positioning, can be used in low-height spaces, large load-bearing capacity, can be used on ground of normal flatness, with a small number of accessories, it can be applied to a variety of different purposes, with low manufacturing cost and easy maintenance.

[0009] Another object of the present invention is to provide a driving method for an omnidirectional mobile platform vehicle, which can also achieve the above-mentioned effect.

[0010] A technical solution to achieve the above-mentioned purpose is: an omnidirectional mobile platform vehicle, comprising a platform and a frame seat located on the bottom surface of the platform, wherein N driving wheel assemblies are evenly distributed on the frame seat, and the N driving wheel assemblies are arranged into an arbitrary polygon, wherein N is a natural number greater than or equal to three, wherein the frame seat is also provided with a steering drive shaft assembly, a steering transmission chain mechanism, a shift drive shaft assembly and a shift transmission chain mechanism;

[0011] Each of the driving wheel assemblies comprises a central shaft, a sleeve shaft, a wheel, a lateral small shaft, a bearing seat and two bevel gears; the central shaft and the sleeve shaft are coaxially arranged in sequence from the inside to the outside; the lateral small shaft is mounted on the outer side wall of the lower part of the sleeve shaft; the wheel is mounted on the lateral small shaft through a bearing; one bevel gear is mounted on one side of the axial direction of the wheel, and the other bevel gear is mounted on the lower end of the central shaft, and the two bevel gears are meshed with each other; the middle part of the sleeve shaft is mounted in the bearing seat; the bearing seat comprises an upper bearing seat and a lower bearing seat arranged thereunder, and the lower bearing seat is mounted on the load-bearing bottom plate of the frame seat;

[0012] The intersection of the center line of the lateral pinion shaft and the center line of the center shaft and the line connecting the center points of the wheel and the ground contact surface overlaps with the meshing line of the two bevel gears;

[0013] The steering drive shaft assembly comprises a steering drive motor, a steering shaft and a steering support, wherein the steering support is fixed on the frame seat; the steering shaft is coaxially and rotatably supported on the radial inner side of the steering support; the driving shaft of the steering drive motor is horizontally arranged and connected to the bottom end of the steering shaft through a worm gear, and the steering drive motor drives the steering shaft to rotate;

[0014] The shift drive shaft assembly comprises a shift drive motor, a shift shaft, a shift support and two shift bevel gears, wherein the shift support is fixed on the frame seat; the shift shaft is coaxially and rotatably supported on the radial inner side of the shift support; the drive shaft of the shift drive motor is horizontally arranged, and one of the shift bevel gears is arranged on the drive shaft of the shift drive motor; the other shift bevel gear is arranged at the lower end of the shift shaft, and the two shift bevel gears are meshed with each other; the shift drive motor drives the shift shaft to rotate through the two shift bevel gears;

[0015] The steering transmission chain mechanism is a linkage system for connecting the sleeve shafts of all the driving wheel assemblies and the steering drive shaft assembly, and making the sleeve shafts of all the driving wheel assemblies rotate synchronously in the same direction;

[0016] The shift transmission chain mechanism is a linkage system for connecting the central axes of all the driving wheel assemblies with the shift driving shaft assembly and making the central axes of all the driving wheel assemblies rotate synchronously in the same direction.

[0017] The above-mentioned omnidirectional mobile platform vehicle, wherein the steering shaft drives the sleeve shafts of all driving wheel assemblies to rotate synchronously in the same direction through the steering transmission chain mechanism;

[0018] The shift shaft drives the central shafts of all driving wheel assemblies to rotate synchronously in the same direction through the shift transmission chain mechanism.

[0019] In the above-mentioned omnidirectional mobile platform vehicle, the steering drive motor and the shift drive motor are both adjustable speed motors, and the steering drive motor and the shift drive motor are DC motors, servo motors or stepper motors.

[0020] The above-mentioned omnidirectional mobile platform vehicle, wherein the steering transmission chain mechanism includes a steering double sprocket which is sleeved on the top of the sleeve shaft of all driving wheel assemblies and sleeved on the top of the steering shaft of the steering drive shaft assembly, the steering double sprocket is divided into an upper sprocket and a lower sprocket which are coaxially arranged up and down, the N+1 steering double sprockets are connected in series in sequence through an alternately arranged steering drive upper chain and a steering drive lower chain, the steering drive upper chain connects the upper sprockets of any two adjacent steering double sprockets, and the steering drive lower chain connects the lower sprockets of any two adjacent steering double sprockets in sequence.

[0021] The above-mentioned omnidirectional mobile platform vehicle, wherein the shift transmission chain mechanism includes a shift double sprocket sleeved on the top of the central axis of all the driving wheel assemblies and sleeved on the top of the shift shaft of the shift drive shaft assembly, the shift double sprocket is divided into an upper sprocket and a lower sprocket coaxially arranged up and down, the N +1 shift double sprocket, which is alternately connected in series through a shift drive upper chain and a shift drive lower chain that are arranged in sequence, the shift drive upper chain connects the upper sprockets of any two adjacent shift double sprockets, and the shift drive lower chain sequentially connects the lower sprockets of any two adjacent shift double sprockets.

[0022] The above-mentioned omnidirectional mobile platform vehicle, wherein the steering transmission chain mechanism includes a steering synchronous pulley sleeved on the top of the sleeve shaft of all the driving wheel assemblies and sleeved on the top of the steering shaft of the steering drive shaft assembly, and a synchronous belt for sequentially connecting the N+1 steering synchronous pulleys in series;

[0023] The shift transmission chain mechanism includes a shift synchronous pulley sleeved on the top of the central shaft of all the driving wheel assemblies and sleeved on the top of the shift shaft of the shift drive shaft assembly, and a synchronous belt for connecting the N+1 shift synchronous pulleys in series in sequence.

[0024] The above-mentioned omnidirectional mobile platform vehicle, wherein the steering transmission chain mechanism includes a steering pulley sleeved on the top of the sleeve shaft of all the driving wheel assemblies and sleeved on the top of the steering shaft of the steering drive shaft assembly, and a belt for connecting the N+1 steering pulleys in series in sequence;

[0025] The shift transmission chain mechanism includes a shift pulley sleeved on the top of the central shaft of all the driving wheel assemblies and sleeved on the top of the shift shaft of the shift driving shaft assembly, and a belt for connecting the N+1 shift pulleys in series in sequence.

[0026] The present invention also provides a driving method for an omnidirectional mobile platform vehicle, which is implemented on the above-mentioned omnidirectional mobile platform vehicle:

[0027] When driving the omnidirectional mobile platform vehicle to turn, firstly, the sleeve shafts of all the driving wheel assemblies are made to rotate synchronously in the same direction through the steering drive shaft assembly and the steering transmission chain mechanism; then, in each driving wheel assembly, the sleeve shaft drives the lateral small shaft fixed on its side wall to rotate, thereby driving the wheels to rotate, thereby realizing the turning of the omnidirectional mobile platform vehicle;

[0028] When driving the omnidirectional mobile platform vehicle to shift, the central axes of all the driving wheel assemblies are first made to rotate synchronously in the same direction through the shifting drive shaft assembly and the shifting transmission chain mechanism; then in each driving wheel assembly, the bevel gear installed on one side of the axial direction of the wheel is meshed with the bevel gear installed at the lower end of the central axis to drive the rotation of the wheel, thereby realizing the shifting of the omnidirectional mobile platform vehicle.

[0029] The above-mentioned driving method of an omnidirectional mobile platform vehicle, wherein the steering drive shaft assembly is equipped with an adjustable speed steering drive motor, and the shift drive shaft assembly is equipped with an adjustable speed shift drive motor, by adjusting the rotational speeds of the steering drive motor and the shift drive motor, the sleeve shaft and the center shaft on all the driving wheel assemblies can rotate synchronously in the same direction and at the same angular velocity, thereby realizing 360° turning in situ of the omnidirectional mobile platform vehicle.

[0030] The technical solution of the omnidirectional mobile platform vehicle of the present invention has the following advantages compared with the prior art:

[0031] (1) It can turn 360° and is flexible in turning, which is particularly suitable for use in narrow and small places: Since the turning of each set of wheels is achieved by the rotation of the sleeve shaft, and the vertically installed sleeve shaft can be rotated 360°, and the vertical sleeve shaft sprockets of each wheel set are connected to form a linkage system through a chain; therefore, the wheels of various wheel sets can rotate 360° synchronously without interfering with each other's directions; thus, the whole vehicle can be driven by the steering motor to make synchronous steering at any angle, achieving the effect of flexible steering;

[0032] (2) Lower height and wider applicable scope of use: Compared with the “an omnidirectional mobile platform vehicle and its driving method” disclosed in CN201510025300.X in the prior art, the height dimension of the omnidirectional mobile platform vehicle composed of such driving wheels is significantly reduced due to the significant improvement in the driving wheel structure, so that it is more suitable for use in spaces with low height dimensions, making the omnidirectional mobile platform vehicle have a wider range of applications;

[0033] (3) More accurate positioning: Compared with the "an omnidirectional mobile platform vehicle and its driving method" disclosed in CN201510025300.X in the prior art, the present invention has the following obvious effects: in the prior art, when the driving wheel turns, it will also drive the driving wheel to shift and rotate, so that the omnidirectional mobile platform vehicle will shift a little when turning, thereby affecting the positioning accuracy of the omnidirectional mobile platform vehicle; in the present application, when the driving wheel turns, the center of the sleeve shaft will not shift, so when the omnidirectional mobile platform vehicle is driven to turn alone, the omnidirectional mobile platform vehicle will not shift, thereby making the positioning of the omnidirectional mobile platform vehicle accurate;

[0034] (4) The omnidirectional mobile platform vehicle of the present application has a strong carrying capacity and low requirements on ground flatness. Compared with the omnidirectional vehicle with Mecanum wheels, it has the characteristics of simple structure, easy control, convenient maintenance and low cost;

[0035] The above-mentioned purpose can also be achieved by adopting the technical solution of the driving method of the omnidirectional mobile platform vehicle of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A bottom view of an omnidirectional mobile platform vehicle of the present invention;

[0037] Figure 2 It is a front view of an omnidirectional mobile platform vehicle of the present invention;

[0038] Figure 3 It is a structural diagram of a driving wheel assembly of an omnidirectional mobile platform vehicle of the present invention;

[0039] Figure 4 It is a structural diagram of a steering drive shaft assembly of an omnidirectional mobile platform vehicle of the present invention;

[0040] Figure 5 It is a structural diagram of a shift drive shaft assembly of an omnidirectional mobile platform vehicle of the present invention;

[0041] Figure 6 It is a structural diagram of a steering transmission chain mechanism of an omnidirectional mobile platform vehicle of the present invention;

[0042] Figure 7 The present invention is a structural diagram of a shift transmission chain mechanism of an omnidirectional mobile platform vehicle. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solution of the present invention, the specific implementation methods thereof are described in detail below in conjunction with the accompanying drawings:

[0044] See also Figures 1 to 7 In an embodiment of the present invention, an omnidirectional mobile platform vehicle includes a platform and a frame seat 100 located at the bottom of the platform, and a plurality of driving wheel assemblies are evenly distributed on the frame seat 100. The plurality of driving wheel assemblies are arranged into any polygon, such as a triangle, a quadrilateral, a hexagon, a heptagon or more polygons.

[0045] In this embodiment, there are four driving wheel assemblies 1, which are arranged in a rectangle. The frame seat 100 is also provided with a steering drive shaft assembly 2, a steering transmission chain mechanism 3, a shifting drive shaft assembly 4 and a shifting transmission chain mechanism 5.

[0046] See also Figure 3 Each driving wheel assembly 1 includes a central shaft 11, a sleeve shaft 12, a wheel 13, a lateral small shaft 14, a bearing seat and two bevel gears 15; the central shaft 11 and the sleeve shaft 12 are coaxially arranged in sequence from the inside to the outside; the lateral small shaft 14 is installed on the outer side wall of the lower part of the sleeve shaft 12, and the center line of the lateral small shaft 14 is perpendicular to the center line of the central shaft 11 and the intersection is A; the wheel 13 is installed on the lateral small shaft 14 through a bearing; one bevel gear 15 is installed on one side of the axial direction of the wheel 13, and the other bevel gear 15 is installed at the lower end of the central shaft 11, and the two bevel gears 15 are meshed with each other; the middle part of the sleeve shaft 12 is installed in the bearing seat; the bearing seat includes an upper bearing seat 161 and a lower bearing seat 162 arranged thereunder, and the lower bearing seat 162 is installed on the load-bearing base plate 101 of the frame seat 100.

[0047] In order to ensure that the central shaft 11 will not rotate when the sleeve shaft 12 rotates alone, the intersection point A of the center line of the lateral small shaft 14 and the center line of the central shaft 11 and the line AB between the center point B of the contact surface of the wheel 13 and the ground overlap with the meshing line CD of the two bevel gears; the top of the central shaft 12 is provided with a shift double sprocket 51, and the top of the sleeve shaft is provided with a steering double sprocket 31. When the shift double sprocket 51 rotates, the shift double sprocket 51 drives the wheel 13 to rotate through the bevel gear 15, thereby driving the entire omnidirectional mobile platform vehicle to move. When the steering double sprocket 31 above the sleeve shaft rotates, the steering double sprocket 31 passes through the sleeve shaft 12, and the sleeve shaft 12 drives the wheel 14 to make a steering movement through the lateral small shaft 14 installed on the side wall of the sleeve shaft 12.

[0048] See also Figure 4 The steering drive shaft assembly 2 includes a steering drive motor 21, a steering shaft 22 and a steering support 23. The steering support 23 is fixed on the frame seat 100. The steering shaft 22 is coaxially and rotatably supported on the radial inner side of the steering support 23. The driving shaft of the steering drive motor 21 is horizontally arranged and connected to the bottom end of the steering shaft 22 through a worm gear 24. The steering drive motor 21 drives the steering shaft 22 to rotate. The steering shaft 22 drives the sleeve shafts 12 of all the driving wheel assemblies 1 to rotate synchronously in the same direction through the steering transmission chain mechanism 3.

[0049] See also Figure 5 The shift drive shaft assembly 4 includes a shift drive motor 41, a shift shaft 42, a shift support 43 and two shift bevel gears 44. The shift support 43 is fixed on the frame seat 100; the shift shaft 42 is coaxially and rotatably supported on the radial inner side of the shift support 43; the drive shaft of the shift drive motor 41 is horizontally arranged, and a shift bevel gear 44 is arranged on the drive shaft of the shift drive motor 41; the other shift bevel gear 44 is arranged at the lower end of the shift shaft 42, and the two shift bevel gears 44 are meshed with each other; the shift drive motor 41 drives the shift shaft 42 to rotate through the two meshed shift bevel gears 44. The shift shaft 42 drives the central shafts 11 of all the driving wheel assemblies 1 to rotate synchronously in the same direction through the shift transmission chain mechanism 5.

[0050] The steering transmission chain mechanism 3 is a linkage system for connecting the sleeve shafts 12 of all the driving wheel assemblies 1 and the steering drive shaft assembly 2, and making the sleeve shafts 12 of all the driving wheel assemblies 1 rotate synchronously in the same direction;

[0051] The shift transmission chain mechanism 5 is a linkage system for connecting the central shafts 11 of all the driving wheel assemblies 1 and the shift driving shaft assembly 3 and making the central shafts 11 of all the driving wheel assemblies 1 rotate synchronously in the same direction.

[0052] The steering drive motor 21 and the shift drive motor 41 are both speed-adjustable motors. In addition to ordinary motors, the steering drive motor 21 and the shift drive motor 41 may also be a DC motor, a servo motor or a stepping motor.

[0053] See also Figure 6 The steering transmission chain mechanism 3 includes a steering double sprocket 31 (see FIG. 1 ) which is sleeved on the top of the sleeve shaft 12 of all the driving wheel assemblies 1 and sleeved on the top of the steering shaft 22 of the steering drive shaft assembly 2. Figure 1 and Figure 4 ). Since the central axis 11 of the driving wheel assembly 1 and the steering shaft 22 of the steering drive shaft assembly 2 are both in a vertical state, they are parallel to each other. The steering double sprockets 31 thereon are all in a horizontal rotation state, and the steering double sprockets 31 are divided into an upper sprocket and a lower sprocket coaxially arranged up and down, and all the upper sprockets are in the same horizontal plane, and all the lower sprockets are in the same horizontal plane. In this embodiment, there are five steering double sprockets, and the five steering double sprockets 31 are connected in series in sequence through the alternating steering drive upper chain 32 and the steering drive lower chain 33. The steering drive upper chain 32 connects the upper sprockets of any two adjacent steering double sprockets 31, and the steering drive lower chain 33 connects the lower sprockets of any two adjacent steering double sprockets 31 in sequence. In this way, each chain and the steering double sprocket 31 form a linkage system with each other. When the steering drive motor 21 is working, the steering double sprocket 31 at the top of the steering shaft 22 drives the steering double sprocket 31 at the top of the sleeve shaft 12 of the left and right adjacent driving wheel assemblies 1 to rotate through the chain, and the steering double sprocket 31 at the top of the sleeve shaft 12 of the adjacent driving wheel assembly 1 drives the steering double sprocket 31 at the top of the sleeve shaft 12 of the adjacent driving wheel assembly 1 to rotate, and so on, so that the steering double sprockets 31 at the top of all the sleeve shafts 12 rotate synchronously in the same direction, so that all the wheels 13 are turned synchronously in the same direction.

[0054] See also Figure 7 The shift transmission chain mechanism 5 includes a shift double sprocket 51 (see FIG. 1 ) sleeved on the top of the central shaft 11 of all driving wheel assemblies 1 and sleeved on the top of the shift shaft 42 of the shift drive shaft assembly 4. Figure 1 and Figure 5), since the central axis 11 of the driving wheel assembly 1 and the shifting axis 42 of the shifting driving axis assembly 4 are both in a vertical state, they are parallel to each other. The shifting double sprockets 51 thereon are all in a horizontal transmission state, and each shifting double sprocket 51 is divided into an upper sprocket and a lower sprocket coaxially arranged up and down, and all the upper sprockets are in the same horizontal plane, and all the lower sprockets are in the same horizontal plane. In this embodiment, there are a total of five shifting double sprockets, and the five shifting double sprockets 51 are alternately connected in series through the shifting driving upper chain 52 and the shifting driving lower chain 53 arranged in sequence. The shifting driving upper chain 52 connects the upper sprockets of any two adjacent shifting double sprockets, and the shifting driving lower chain 53 sequentially connects the lower sprockets of any two adjacent shifting double sprockets. In this way, each chain and the shifting double sprocket 51 form a linkage system with each other. When the shift drive motor 41 is working, the shift double sprocket 51 on the shift shaft 42 drives the shift double sprocket 51 on the top of the central shaft 11 of the left and right driving wheel assemblies 1 to rotate respectively, and the shift double sprocket 51 on the adjacent driving wheel assembly 1 drives the adjacent shift double sprocket 51 to rotate, and so on, so that the shift double sprocket 51 of all driving wheel assemblies 1 rotate synchronously in the same direction, so that all wheels 13 shift and rotate synchronously, and the entire omnidirectional platform vehicle shifts.

[0055] The above-mentioned sprocket and chain drive can also be replaced by pulley and belt drive, synchronous pulley and synchronous belt drive or gear drive. For example: the steering transmission chain mechanism includes a steering synchronous pulley sleeved on the top of the sleeve shaft of all driving wheel assemblies and sleeved on the top of the steering shaft of the steering drive shaft assembly, and a synchronous belt for connecting all the steering synchronous pulleys in series in sequence; the shifting transmission chain mechanism includes a shifting synchronous pulley sleeved on the top of the central shaft of all driving wheel assemblies and sleeved on the top of the shift shaft of the shift drive shaft assembly, and a synchronous belt for connecting all the shifting synchronous pulleys in series in sequence.

[0056] Alternatively, the steering transmission chain mechanism includes a steering pulley sleeved on the top of the sleeve shaft of all the driving wheel assemblies and sleeved on the top of the steering shaft of the steering drive shaft assembly, and a belt used to connect all the steering pulleys in series in sequence; the shift transmission chain mechanism includes a shift pulley sleeved on the top of the central shaft of all the driving wheel assemblies and sleeved on the top of the shift shaft of the shift drive shaft assembly, and a belt used to connect all the shift pulleys in series in sequence.

[0057] The number of the driving wheel assemblies 1 can be 3, 4, 5, 6, 7, etc., depending on the needs and is not limited; the arrangement of the driving wheel assemblies 1 can be a polygonal arrangement, or other arrangements can be made according to needs.

[0058] A driving method for an omnidirectional mobile platform vehicle:

[0059] When driving the omnidirectional mobile platform vehicle to turn, the sleeve shafts 12 of all the driving wheel assemblies 1 are first rotated synchronously in the same direction through the steering drive shaft assembly 2 and the steering transmission chain mechanism 3; then in each driving wheel assembly 1, the sleeve shaft 12 drives the lateral small shaft 14 fixed on its side wall to rotate, and then drives the wheel 13 to rotate, so as to realize the turning of the omnidirectional mobile platform vehicle;

[0060] When driving the omnidirectional mobile platform vehicle to shift, the central axes 11 of all driving wheel assemblies 1 are first rotated synchronously in the same direction through the shifting drive shaft assembly 4 and the shifting transmission chain mechanism 5; then in each driving wheel assembly 1, the bevel gear 15 installed on one side of the axial direction of the wheel 13 is meshed with the bevel gear 15 installed at the lower end of the central axis 11 to drive the rotation of the wheel 13, thereby realizing the shifting of the omnidirectional mobile platform vehicle.

[0061] The steering drive shaft assembly 2 is equipped with an adjustable speed steering drive motor 21, and the shift drive shaft assembly 4 is equipped with an adjustable speed shift drive motor 41. By adjusting the rotational speeds of the steering drive motor 21 and the shift drive motor 41, the sleeve shaft 12 and the center shaft 11 on all the drive wheel assemblies 1 can rotate synchronously in the same direction and at the same angular velocity, thereby realizing 360° turning in situ of the omnidirectional mobile platform vehicle.

[0062] The omnidirectional mobile platform vehicle of the present invention has the following advantages:

[0063] (1) Flexible movement and steering: Generally, only some wheels of a mobile platform or vehicle can be steered within a very small range, while all wheels of the omnidirectional mobile platform vehicle of the present invention can be steered synchronously; therefore, the steering range is large, the steering and movement are flexible, and the vehicle is suitable for use in various narrow occasions and curved and changeable passages;

[0064] (2) Low height, suitable for use in low-height spaces;

[0065] (3) High positioning accuracy: Since the steering drive and the displacement drive of the present invention do not interfere with each other, the displacement is not affected during steering, so the positioning accuracy is high;

[0066] (4) Suitable for a variety of uses: Since the omnidirectional mobile platform vehicle of the present invention has a low platform surface and a large area, it is suitable for installing various accessories and has a wide range of uses; such as special-purpose maintenance vehicles, assembly vehicles for various machines, transfer vehicles and lifting vehicles in workshops and warehouses, etc.;

[0067] (5) Large carrying capacity: Since the wheels of the omnidirectional mobile platform of the present invention are arranged in a high density and all wheels are driven synchronously during driving, the carrying capacity is large;

[0068] (6) Low requirements for ground flatness: Since there are many wheels and all of them are driving wheels, the uneven ground will have little impact on a single wheel, so the requirements for the ground are low;

[0069] (7) Simple structure, low manufacturing cost and easy maintenance.

[0070] In summary, the omnidirectional mobile platform vehicle and its driving method of the present invention can turn 360° in all directions, move flexibly, and have precise positioning. They can be used in places with low spatial heights. They have a large carrying capacity and can be used on ground of general flatness. With the addition of a small number of accessories, they can be suitable for a variety of different purposes. They have low manufacturing costs and are easy to maintain.

[0071] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. An omnidirectional mobile platform vehicle, comprising a platform and a frame seat located on the bottom surface of the platform, wherein N driving wheel assemblies are evenly distributed on the frame seat, and the N driving wheel assemblies are arranged in an arbitrary polygon, wherein N is a natural number greater than or equal to three, characterized in that: The frame seat is also provided with a steering drive shaft assembly, a steering transmission chain mechanism, a shift drive shaft assembly and a shift transmission chain mechanism; Each of the driving wheel assemblies comprises a central shaft, a sleeve shaft, a wheel, a lateral small shaft, a bearing seat and two bevel gears; the central shaft and the sleeve shaft are coaxially arranged in sequence from the inside to the outside; the lateral small shaft is mounted on the outer side wall of the lower part of the sleeve shaft; the wheel is mounted on the lateral small shaft through a bearing; one bevel gear is mounted on one side of the axial direction of the wheel, and the other bevel gear is mounted on the lower end of the central shaft, and the two bevel gears are meshed with each other; the middle part of the sleeve shaft is mounted in the bearing seat; the bearing seat comprises an upper bearing seat and a lower bearing seat arranged thereunder, and the lower bearing seat is mounted on the load-bearing bottom plate of the frame seat; The intersection of the center line of the lateral pinion shaft and the center line of the center shaft and the line connecting the center points of the wheel and the ground contact surface overlaps with the meshing line of the two bevel gears; The steering drive shaft assembly comprises a steering drive motor, a steering shaft and a steering support, wherein the steering support is fixed on the frame seat; the steering shaft is coaxially and rotatably supported on the radial inner side of the steering support; The driving shaft of the steering drive motor is arranged horizontally and connected to the bottom end of the steering shaft through a worm gear, and the steering drive motor drives the steering shaft to rotate; The shift drive shaft assembly comprises a shift drive motor, a shift shaft, a shift support and two shift bevel gears, wherein the shift support is fixed on the frame seat; the shift shaft is coaxially and rotatably supported on the radial inner side of the shift support; the drive shaft of the shift drive motor is horizontally arranged, and one of the shift bevel gears is arranged on the drive shaft of the shift drive motor; the other shift bevel gear is arranged at the lower end of the shift shaft, and the two shift bevel gears are meshed with each other; the shift drive motor drives the shift shaft to rotate through the two shift bevel gears; The steering transmission chain mechanism is a linkage system for connecting the sleeve shafts of all the driving wheel assemblies and the steering drive shaft assembly, and making the sleeve shafts of all the driving wheel assemblies rotate synchronously in the same direction; The shift transmission chain mechanism is a linkage system for connecting the central axes of all the drive wheel assemblies with the shift drive shaft assembly and making the central axes of all the drive wheel assemblies rotate synchronously in the same direction. The steering transmission chain mechanism comprises a steering double sprocket sleeved on the top of the sleeve shaft of all driving wheel assemblies and sleeved on the top of the steering shaft of the steering drive shaft assembly, the steering double sprocket is divided into an upper sprocket and a lower sprocket coaxially arranged up and down, and is connected in series in sequence through an alternately arranged steering drive upper chain and a steering drive lower chain, the steering drive upper chain connects the upper sprockets of any two adjacent steering double sprockets, and the steering drive lower chain sequentially connects the lower sprockets of any two adjacent steering double sprockets, The shift transmission chain mechanism includes a shift double sprocket sleeved on the top of the central axis of all the driving wheel assemblies and a shift double sprocket sleeved on the top of the shift shaft of the shift drive shaft assembly. The shift double sprocket is divided into an upper sprocket and a lower sprocket coaxially arranged up and down, and is alternately connected in series through a shift drive upper chain and a shift drive lower chain arranged in sequence. The shift drive upper chain connects the upper sprockets of any two adjacent shift double sprockets, and the shift drive lower chain sequentially connects the lower sprockets of any two adjacent shift double sprockets.

2. An omnidirectional mobile platform vehicle as claimed in claim 1, characterized in that: The steering shaft drives the sleeve shafts of all driving wheel assemblies to rotate synchronously in the same direction through the steering transmission chain mechanism; The shift shaft drives the central shafts of all driving wheel assemblies to rotate synchronously in the same direction through the shift transmission chain mechanism.

3. The omnidirectional mobile platform vehicle according to claim 1, characterized in that: The steering drive motor and the shift drive motor are both speed-adjustable motors, and the steering drive motor and the shift drive motor are DC motors, servo motors or stepper motors.

4. The omnidirectional mobile platform vehicle according to claim 1, characterized in that: The steering transmission chain mechanism includes a steering synchronous pulley sleeved on the top of the sleeve shaft of all the driving wheel assemblies and sleeved on the top of the steering shaft of the steering drive shaft assembly, and a synchronous belt for connecting the steering synchronous pulleys in series in sequence; The shift transmission chain mechanism comprises a shift synchronous belt wheel sleeved on the top of the central shaft of all the driving wheel assemblies and sleeved on the top of the shift shaft of the shift driving shaft assembly, and a synchronous belt for connecting the shift synchronous belt wheels in series in sequence.

5. The omnidirectional mobile platform vehicle according to claim 1, characterized in that: The steering transmission chain mechanism includes a steering pulley sleeved on the top of the sleeve shaft of all the driving wheel assemblies and sleeved on the top of the steering shaft of the steering drive shaft assembly, and a belt for connecting the steering pulleys in series in sequence; The shift transmission chain mechanism comprises a shift pulley sleeved on the top of the central shaft of all the driving wheel assemblies and sleeved on the top of the shift shaft of the shift driving shaft assembly, and a belt for connecting the shift pulleys in series in sequence.

6. A driving method for an omnidirectional mobile platform vehicle, characterized in that: The method is implemented on an omnidirectional mobile platform vehicle as described in claim 1: When driving the omnidirectional mobile platform vehicle to turn, firstly, the sleeve shafts of all the driving wheel assemblies are made to rotate synchronously in the same direction through the steering drive shaft assembly and the steering transmission chain mechanism; then, in each driving wheel assembly, the sleeve shaft drives the lateral small shaft fixed on its side wall to rotate, thereby driving the wheels to rotate, thereby realizing the turning of the omnidirectional mobile platform vehicle; When driving the omnidirectional mobile platform vehicle to shift, the central axes of all the driving wheel assemblies are first made to rotate synchronously in the same direction through the shifting drive shaft assembly and the shifting transmission chain mechanism; then in each driving wheel assembly, the bevel gear installed on one side of the axial direction of the wheel is meshed with the bevel gear installed at the lower end of the central axis to drive the rotation of the wheel, thereby realizing the shifting of the omnidirectional mobile platform vehicle.

7. A driving method for an omnidirectional mobile platform vehicle as claimed in claim 6, characterized in that: The steering drive shaft assembly is equipped with an adjustable-speed steering drive motor, and the shift drive shaft assembly is equipped with an adjustable-speed shift drive motor. By adjusting the rotational speeds of the steering drive motor and the shift drive motor, the sleeve shafts and the center shafts on all drive wheel assemblies can rotate synchronously in the same direction and at the same angular velocity, thereby achieving 360° in-situ steering of the omnidirectional mobile platform vehicle.

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