Omnidirectional motion control method and device for unmanned vehicle

Abstract

The invention relates to an omni-directional motion control method and device for an unmanned vehicle. The device mainly comprises a steering motor, a walking motor, a first walking wheel and a second walking wheel, and further comprises a base and a base plate arranged at the top of the base, the steering motor and the walking motor are installed on one side wall of the base at intervals, the axial direction of the steering motor is parallel to the base plate, the axial direction of the walking motor is parallel to the base plate, and the first walking wheel and the second walking wheel are arranged on the base plate. A first gear set and a second gear set are arranged in the base, a first driving gear is installed on the walking motor and used for driving the first gear set to rotate, and a second driving gear is installed on the steering motor and used for driving the second gear set to rotate. The axial direction of each gear in the first gear set is perpendicular to the base plate, and the axial direction of each gear in the second gear set is perpendicular to the base plate. The overall thickness of the device is small, and installation in a small installation space is facilitated.

Description

Technical Field

[0001] The invention relates to the field of steering wheel manufacturing, and in particular to an omnidirectional motion control method and device for an unmanned vehicle. Background Art

[0002] Some existing unmanned vehicles are equipped with an unmanned vehicle omnidirectional motion control device at the bottom. Such unmanned vehicle omnidirectional motion control device generally includes a steering motor, a travel motor, a first travel wheel and a second travel wheel. The travel motor is used to drive the two travel wheels to move forward or backward. The steering motor is used to drive the two travel wheels to rotate synchronously around an axis, thereby changing the movement direction of the travel wheels. Such existing unmanned vehicle omnidirectional motion control devices have the following shortcomings: the overall thickness is relatively thick, which is not convenient for installation at the bottom of some unmanned vehicles, because the bottom installation space of these unmanned vehicles is small, and the thicker unmanned vehicle omnidirectional motion control device cannot be installed. Summary of the invention

[0003] Based on this, an unmanned vehicle omnidirectional motion control device is provided. The device is thin in overall thickness and is convenient for installation in a small installation space.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] An omnidirectional motion control device for an unmanned vehicle includes a steering motor, a travel motor, a first travel wheel and a second travel wheel, and also includes a base and a substrate arranged on the top of the base.

[0006] The steering motor and the travel motor are installed at intervals on one side wall of the base, respectively. The axial direction of the steering motor is parallel to the base plate, and the axial direction of the travel motor is parallel to the base plate.

[0007] The base is provided with a first gear set and a second gear set, the travel motor is provided with a first drive gear, the first drive gear is used to drive the first gear set to rotate, the steering motor is provided with a second drive gear, the second drive gear is used to drive the second gear set to rotate, the axial direction of each gear in the first gear set is perpendicular to the base plate, and the axial direction of each gear in the second gear set is perpendicular to the base plate,

[0008] The base is also provided with a traveling gear and a steering gear, the traveling gear and the steering gear are coaxially arranged, and the steering gear is located below the traveling gear.

[0009] The base is provided with a cavity at the bottom, the first and second running wheels are provided in the cavity, the axes of the first and second running wheels are parallel to the base plate, a part of the first and second running wheels are exposed outside the cavity,

[0010] The travel gear is used to drive the first travel wheel and the second travel wheel to rotate through the transmission assembly, and the steering gear is used to drive the first travel wheel and the second travel wheel to rotate around the axial direction of the steering gear through the transmission assembly.

[0011] In one of the embodiments, a traveling gear mounting groove and a steering gear mounting groove are provided in the base.

[0012] In one embodiment, the first gear set includes a first gear and a second gear meshing with each other, the second gear meshing with the travel gear, the second gear is mounted on the second gear shaft, the first gear is mounted on the first gear shaft, a first bevel gear is also mounted on the first gear shaft, the first drive gear is a bevel gear, and the first drive gear meshes with the first bevel gear.

[0013] In one embodiment, the second gear set includes a third gear and a fourth gear that are meshed with each other, the third gear is meshed with the steering gear, the third gear is mounted on the third gear shaft, the fourth gear is mounted on the fourth gear shaft, a second bevel gear is also mounted on the fourth gear shaft, the second drive gear is a bevel gear, and the second drive gear is meshed with the second bevel gear.

[0014] In one embodiment, the transmission assembly includes a support shaft, an intermediate transmission member is connected to the support shaft through a bearing, the intermediate transmission member is connected to the travel gear, a universal joint structure is arranged between the lower end of the intermediate transmission member and a transmission shaft arranged below the intermediate transmission member, and the lower end of the transmission shaft is connected to a third bevel gear.

[0015] The transmission shaft is mounted on a box body through a bearing, a wheel axle is mounted on the box body, a bearing is arranged between the wheel axle and the box body, the first and second running wheels are respectively mounted on both ends of the wheel axle, the first and second running wheels are located on both sides of the box body, a fourth bevel gear located in the box body is arranged on the wheel axle, and the fourth bevel gear is meshed with the third bevel gear,

[0016] The steering gear comprises a gear part and a connecting part connected to the gear part, the connecting part comprises two connecting arms arranged at intervals, a rotating shaft is arranged between each connecting arm and the box body, and a bearing is arranged between the rotating shaft and the connecting arm.

[0017] In one embodiment, it further comprises an intermediate bearing, wherein the outer ring of the intermediate bearing is connected to the traveling gear, and the inner ring of the intermediate bearing is connected to the steering gear.

[0018] In one of the embodiments, the steering gear is provided with an intermediate cavity, the intermediate cavity is used to accommodate the intermediate bearing, and the traveling gear is provided with a groove body for accommodating the intermediate transmission member.

[0019] In one embodiment, the steering motor and the travel motor are both brake motors.

[0020] In one embodiment, the axial directions of the steering motor and the travel motor are perpendicular to the axial directions of the first travel wheel and the second travel wheel.

[0021] A method for controlling the omnidirectional motion of an unmanned vehicle adopts the omnidirectional motion control device of the unmanned vehicle and controls the movement of the unmanned vehicle through the omnidirectional motion control device of the unmanned vehicle.

[0022] The beneficial effects of this application are:

[0023] 1. The device of the present application has a relatively thin overall thickness due to the reasonable layout and coordination of the steering motor, the travel motor, the first travel wheel, the second travel wheel, the travel gear, the steering gear, the transmission assembly, the first gear set and the second gear set, which is conducive to installation in a smaller space.

[0024] 2. The first running wheel and the second running wheel of the device of the present application are relatively small in size, and a part of them are accommodated in the cavity at the bottom of the base, which is conducive to making the overall structure compact and saving space.

[0025] 3. The steering motor and the travel motor of the present application are arranged at the rear end of the base, and the first travel wheel and the second travel wheel are arranged at the front end of the base. Such a layout makes the overall device narrow and flat, which is conducive to installation in a narrow and flat space.

[0026] 4. The device of the present application is provided with a universal joint structure, so that the first and second running wheels can be tilted at a certain angle, and when the first and second running wheels are tilted, the base as a whole remains stable and does not tilt, thereby ensuring that the large unmanned vehicle connected to the device of the present application remains stable and does not tilt. Moreover, the first and second running wheels can still rotate smoothly when they are tilted. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional diagram of an omnidirectional motion control device for an unmanned vehicle according to an embodiment of the present application.

[0028] Figure 2 This is a schematic diagram of the bottom structure of the unmanned vehicle omnidirectional motion control device according to an embodiment of the present application.

[0029] Figure 3 This is a schematic diagram of the internal structure of the base of the unmanned vehicle omnidirectional motion control device according to an embodiment of the present application.

[0030] Figure 4 This is a schematic diagram of the structure in which the travel motor cooperates with the first gear set and the steering motor cooperates with the second gear set in an embodiment of the present application.

[0031] Figure 5This is a schematic diagram of the assembly relationship of the travel gear and the steering gear of an embodiment of the present application.

[0032] Figure 6 This is a schematic diagram of the matching relationship between the connecting arm, rotating shaft and box body of the steering gear in an embodiment of the present application.

[0033] Figure 7 This is a schematic diagram of a traveling gear according to an embodiment of the present application.

[0034] Figure 8 Schematic diagram of a steering gear according to an embodiment of the present application.

[0035] Fig. 9 This is a schematic diagram of a universal joint structure provided between the intermediate transmission member and the transmission shaft of an embodiment of the present application.

[0036] Fig.10 It is a schematic diagram of the assembly relationship between the intermediate bearing and the intermediate transmission member of an embodiment of the present application.

[0037] Fig.11 A schematic diagram of a base according to an embodiment of the present application.

[0038] in:

[0039] 101, travel motor; 102, steering motor; 103, first travel wheel; 104, second travel wheel; 105, base; 106, base plate; 107, first gear set; 108, second gear set; 109, travel gear; 110, steering gear; 111, first drive gear; 112, second drive gear;

[0040] 1071, first gear; 1072, second gear; 1073, first gear shaft; 1074, first bevel gear; 1081, third gear; 1082, fourth gear; 1083, fourth gear shaft; 1084, second bevel gear;

[0041] 113, support shaft; 114, intermediate transmission member; 115, end bearing; 116, wheel axle; 117, housing; 118, transmission shaft; 119, universal joint structure; 120, bearing; 122, third bevel gear; 123, fourth bevel gear; 124, connecting arm; 125, rotating shaft; 126, gear unit; 127, intermediate bearing; 1271, inner ring; 1272, outer ring; 1051, travel gear mounting groove; 1052, steering gear mounting groove;

[0042] 1091. trough body; 1101. middle cavity. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0044] like Figures 1 to 4 As shown, an embodiment of the present application provides an unmanned vehicle omnidirectional motion control device, which includes a steering motor 102, a walking motor 101, a first walking wheel 103 and a second walking wheel 104, and also includes a base 105 and a substrate 106 arranged on the top of the base 105, the substrate 106 is detachably connected to the base 105, and an installation cavity is arranged inside the base 105. After the substrate 106 is connected to the base 105, the installation cavity is closed by the substrate 106. The walking motor 101 is responsible for making the unmanned vehicle omnidirectional motion control device move forward or backward. The steering motor 102 is responsible for changing the walking direction of the unmanned vehicle omnidirectional motion control device.

[0045] The steering motor and the travel motor 101 are installed at intervals on one side wall of the base 105, respectively. The axial direction of the steering motor 102 is parallel to the base plate 106, and the axial direction of the travel motor 101 is parallel to the base plate 106. The base 105 is provided with a first gear set 107 and a second gear set 108. The travel motor 101 is provided with a first driving gear 111, and the first driving gear 111 is used to drive the first gear set 107 to rotate. The steering motor 102 is provided with a second driving gear 112, and the second driving gear 112 is used to drive the second gear set 108 to rotate. The axial direction of each gear in the first gear set 107 is perpendicular to the base plate 106, and the axial direction of each gear in the second gear set 108 is perpendicular to the base plate 106. 05 is also provided with a traveling gear 109 and a steering gear 110, the traveling gear 109 is coaxially arranged with the steering gear 110, the steering gear 110 is located below the traveling gear 109, a cavity is provided at the bottom of the base 105, the first traveling wheel 103 and the second traveling wheel 104 are provided in the cavity, the axial directions of the first traveling wheel 103 and the second traveling wheel 104 are parallel to the base plate 106, a part of the first traveling wheel 103 and a part of the second traveling wheel 104 are exposed outside the cavity, the traveling gear 109 is used to drive the first traveling wheel 103 and the second traveling wheel 104 to rotate by means of a transmission assembly, and the steering gear 110 is used to drive the first traveling wheel 103 and the second traveling wheel 104 to rotate around the axial direction of the steering gear 110 by means of a transmission assembly.

[0046] Specifically, the travel motor 101 drives the first gear set 107 to rotate, the first gear set 107 drives the travel gear 109 to rotate, and the travel gear 109 drives the first travel wheel 103 and the second travel wheel 104 to rotate through the transmission assembly, thereby realizing the forward and backward movement of the first travel wheel 103 and the second travel wheel 104. The steering motor 102 drives the second gear set 108 to rotate, the second gear set 108 drives the steering gear 110 to rotate, and the steering gear 110 drives the first travel wheel 103 and the second travel wheel 104 to rotate around the axial direction of the steering gear 110 through the transmission assembly, so that the moving direction of the unmanned vehicle omnidirectional motion control device can be changed.

[0047] In one embodiment, an end bearing 115 is disposed on the upper end surface of the traveling gear 109 .

[0048] In one embodiment, if Fig.11 As shown, a traveling gear mounting groove 1051 and a steering gear mounting groove 1052 are provided in the base 105. The traveling gear mounting groove 1051 and the steering gear mounting groove 1052 are arranged in a stepped shape.

[0049] In one embodiment, if Figure 4 As shown, the first gear set 107 includes a first gear 1071 and a second gear 1072 that mesh with each other, the second gear 1072 meshes with the travel gear 109, the second gear 1072 is mounted on the second gear 1072 shaft, the first gear 1071 is mounted on the first gear shaft 1073, and the first bevel gear 1074 is also mounted on the first gear shaft 1073, the first drive gear 111 is a bevel gear, and the first drive gear 111 meshes with the first bevel gear 1074.

[0050] Specifically, the first driving gear 111 drives the first bevel gear 1074 to rotate, so that the first bevel gear 1074 drives the first gear shaft 1073 to rotate, and then the first gear shaft 1073 drives the first gear 1071 to rotate, and then the first gear 1071 drives the second gear 1072 to rotate, and then the second gear 1072 drives the travel gear 109 to rotate.

[0051] In one embodiment, Figure 4 As shown, the second gear set 108 includes a third gear 1081 and a fourth gear 1082 that mesh with each other, the third gear 1081 meshes with the steering gear 110, the third gear 1081 is mounted on the third gear 1081 shaft, the fourth gear 1082 is mounted on the fourth gear shaft 1083, and the fourth gear shaft 1083 is also mounted with a second bevel gear 1084, the second drive gear 112 is a bevel gear, and the second drive gear 112 meshes with the second bevel gear 1084.

[0052] Specifically, the second driving gear 112 rotates to drive the second bevel gear 1084 to rotate, and the second bevel gear 1084 drives the fourth gear shaft 1083 to rotate, and the fourth gear 1082 rotates to drive the third gear 1081 to rotate, and the third gear 1081 drives the steering gear 110 to rotate.

[0053] In one embodiment, if Figures 5 to 10 As shown, the transmission assembly includes a support shaft 113, an intermediate transmission member 114 is connected to the support shaft 113 through a bearing, the intermediate transmission member 114 is connected to the travel gear 109, and a universal joint structure 119 is arranged between the lower end of the intermediate transmission member 114 and a transmission shaft 118 arranged below the intermediate transmission member 114. Fig. 9 In the embodiment, a substructure is disposed at the lower end of the intermediate transmission member 114, and a substructure is disposed at the upper end of the transmission shaft 118, and the two substructures cooperate with each other to form a universal joint structure 119. It can be understood that the universal joint structure 119 can also be disposed in other ways. The lower end of the transmission shaft 118 is connected to the third bevel gear 122, and the transmission shaft 118 is installed on a box 117 through a bearing 120. The box 117 is equipped with an axle 116, and a bearing is arranged between the axle 116 and the box 117. The first walking wheel 103 and the second walking wheel 104 are respectively arranged at both ends of the axle 116, and the first walking wheel 103 and the second walking wheel 104 are located on both sides of the box 117. The axle 116 is provided with a fourth bevel gear 123 located in the box 117, and the fourth bevel gear 123 is meshed with the third bevel gear 122. The steering gear 110 includes a gear portion 126 and a connecting portion connected to the gear portion 126 and located below the gear portion 126, the connecting portion includes two connecting arms 124 arranged at intervals, a rotating shaft 125 is arranged between each connecting arm 124 and the box 117, and a bearing is arranged between the rotating shaft 125 and the connecting arm 124.

[0054] Specifically, the box body 117 includes a box cover and a main body, and the box cover and the main body are detachably connected.

[0055] Specifically, the rotation of the traveling gear 109 will drive the intermediate transmission member 114 to rotate, and the intermediate rotating member will drive the transmission shaft 118 below to rotate through the universal joint structure 119, and the transmission shaft 118 will drive the third bevel gear 122 to rotate, and the third bevel gear 122 will drive the wheel axle to rotate, and the wheel axle will drive the first traveling wheel 103 and the second traveling wheel 104 to rotate.

[0056] Specifically, the rotation of the steering gear 110 drives the box body 117 to rotate through the connecting arm 124 and the rotating shaft 125 , and the rotation of the box body 117 drives the first running wheel 103 and the second running wheel 104 to rotate.

[0057] Specifically, due to the provision of the universal joint structure 119, the first running wheel 103 and the second running wheel 104 can be tilted at a certain angle, and when the first running wheel 103 and the second running wheel 104 are tilted, the base 105 as a whole remains stable and does not tilt, and the first running wheel 103 and the second running wheel 104 can still rotate, so that the unmanned vehicle omnidirectional motion control device as a whole can still move forward or backward.

[0058] In one embodiment, if Figure 6 and Fig.10 As shown, it also includes an intermediate bearing 127, the outer ring 1272 of the intermediate bearing 127 is connected to the travel gear 109, and the inner ring 1271 of the intermediate bearing 127 is connected to the steering gear 110. The above arrangement is conducive to the smooth rotation of the travel gear 109 and the steering gear 110. And the two gears can rotate smoothly through one bearing.

[0059] Based on the above, in one embodiment, if Figure 8 As shown, the steering gear 110 is provided with an intermediate cavity 1101, and the intermediate cavity 1101 is used to accommodate the intermediate bearing 127, and the traveling gear 109 is provided with a groove body 1091 for accommodating the intermediate transmission member 114. Such a configuration is conducive to saving space and making the overall structure compact.

[0060] In one embodiment, the steering motor 102 and the travel motor 101 are both brake motors.

[0061] In one embodiment, if Figure 2 As shown, the axial directions of the steering motor 102 and the travel motor 101 are perpendicular to the axial directions of the first travel wheel 103 and the second travel wheel 104. For example, the steering motor 102 and the travel motor 101 are both arranged at the rear of the base 105, the first travel wheel 103 and the second travel wheel 104 are both arranged at the front of the base 105, and the axial directions of the steering motor 102 and the travel motor 101 are perpendicular to the axial directions of the first travel wheel 103 and the second travel wheel 104.

[0062] The embodiment of the present application also provides an omnidirectional motion control method for an unmanned vehicle, which uses the omnidirectional motion control device for the unmanned vehicle to control the movement of the unmanned vehicle through the omnidirectional motion control device for the unmanned vehicle.

[0063] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An omnidirectional motion control device for an unmanned vehicle, comprising a steering motor, a travel motor, a first travel wheel and a second travel wheel, characterized in that: It also includes a base and a substrate arranged on the top of the base, The steering motor and the travel motor are installed at intervals on one side wall of the base, respectively. The axial direction of the steering motor is parallel to the base plate, and the axial direction of the travel motor is parallel to the base plate. The base is provided with a first gear set and a second gear set, the travel motor is provided with a first drive gear, the first drive gear is used to drive the first gear set to rotate, the steering motor is provided with a second drive gear, the second drive gear is used to drive the second gear set to rotate, the axial direction of each gear in the first gear set is perpendicular to the base plate, and the axial direction of each gear in the second gear set is perpendicular to the base plate, The base is also provided with a traveling gear and a steering gear, the traveling gear and the steering gear are coaxially arranged, and the steering gear is located below the traveling gear. The base is provided with a cavity at the bottom, the first and second running wheels are provided in the cavity, the axes of the first and second running wheels are parallel to the base plate, a part of the first and second running wheels are exposed outside the cavity, The travel gear is used to drive the first travel wheel and the second travel wheel to rotate through the transmission assembly, and the steering gear is used to drive the first travel wheel and the second travel wheel to rotate around the axial direction of the steering gear through the transmission assembly.

2. The unmanned vehicle omnidirectional motion control device according to claim 1, characterized in that: A traveling gear installation slot and a steering gear installation slot are arranged in the base.

3. The unmanned vehicle omnidirectional motion control device according to claim 1, characterized in that: The first gear set includes a first gear and a second gear meshing with each other, the second gear meshing with the travel gear, the second gear is mounted on the second gear shaft, the first gear is mounted on the first gear shaft, a first bevel gear is also mounted on the first gear shaft, the first drive gear is a bevel gear, and the first drive gear meshes with the first bevel gear.

4. The unmanned vehicle omnidirectional motion control device according to claim 1, characterized in that: The second gear set includes a third gear and a fourth gear meshing with each other, the third gear meshing with the steering gear, the third gear is mounted on the third gear shaft, the fourth gear is mounted on the fourth gear shaft, a second bevel gear is also mounted on the fourth gear shaft, the second drive gear is a bevel gear, and the second drive gear meshes with the second bevel gear.

5. The unmanned vehicle omnidirectional motion control device according to claim 1, characterized in that: The transmission assembly includes a support shaft, an intermediate transmission member is connected to the support shaft through a bearing, the intermediate transmission member is connected to the travel gear, a universal joint structure is arranged between the lower end of the intermediate transmission member and a transmission shaft arranged below the intermediate transmission member, and the lower end of the transmission shaft is connected to a third bevel gear. The transmission shaft is mounted on a box body through a bearing, a wheel axle is mounted on the box body, a bearing is arranged between the wheel axle and the box body, the first and second running wheels are respectively mounted on both ends of the wheel axle, the first and second running wheels are located on both sides of the box body, a fourth bevel gear located in the box body is arranged on the wheel axle, and the fourth bevel gear is meshed with the third bevel gear, The steering gear comprises a gear part and a connecting part connected to the gear part, the connecting part comprises two connecting arms arranged at intervals, a rotating shaft is arranged between each connecting arm and the box body, and a bearing is arranged between the rotating shaft and the connecting arm.

6. The unmanned vehicle omnidirectional motion control device according to claim 5, characterized in that: It also includes an intermediate bearing, the outer ring of which is connected to the traveling gear, and the inner ring of which is connected to the steering gear.

7. The unmanned vehicle omnidirectional motion control device according to claim 6, characterized in that: The steering gear is provided with an intermediate cavity, and the intermediate cavity is used to accommodate the intermediate bearing. The traveling gear is provided with a groove body for accommodating the intermediate transmission member.

8. The unmanned vehicle omnidirectional motion control device according to claim 1, characterized in that: The steering motor and the travel motor are both brake motors.

9. The unmanned vehicle omnidirectional motion control device according to claim 1, characterized in that: The axial directions of the steering motor and the travel motor are perpendicular to the axial directions of the first travel wheel and the second travel wheel.

10. A method for controlling omnidirectional motion of an unmanned vehicle, characterized in that: The unmanned vehicle omnidirectional motion control device according to any one of claims 1 to 9 is used to control the movement of the unmanned vehicle.

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