CN105882784A - Omnidirectional moving platform and dynamic universal wheel thereof - Google Patents
Omnidirectional moving platform and dynamic universal wheel thereof Download PDFInfo
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- CN105882784A CN105882784A CN201610368798.4A CN201610368798A CN105882784A CN 105882784 A CN105882784 A CN 105882784A CN 201610368798 A CN201610368798 A CN 201610368798A CN 105882784 A CN105882784 A CN 105882784A
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- Prior art keywords
- motor
- roller
- lower frame
- universal wheel
- gear
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses an omnidirectional moving platform and a dynamic universal wheel thereof. The dynamic universal wheel comprises an upper frame, a lower frame, a roller, a first motor and a second motor, the lower frame is rotatably connected to the upper frame, the roller is rotatably mounted to the lower frame, the first motor is mounted on the upper frame and used for driving the lower frame to rotate, the second motor is connected with the roller to drive the same to roll, and rotating of the lower frame and rolling of the roller are controlled independently through the first motor and the second motor respectively. When the omnidirectional moving platform runs, degrees of freedom of steering and driving motion are not coupled, so that no extra rolling motion of the roller is output during steering motion; a special mechanism does not need to be added for decoupling, so that the omnidirectional moving platform is simple in structure, free of lateral sliding during running, smooth in steering motion and high in motion control accuracy.
Description
Technical field
The present invention relates to mobile platform, be specifically related to Omni-mobile platform and power universal wheel thereof.
Background technology
Omnidirectional's wheeled mobile robot is prone to processing and manufacturing because of it than leg type mobile robot, bearing capacity
High with efficiency, motion flexibly and can run in narrow and crowded environment, receives more and more wider
Apply generally.
At present wheeled mobile robot frequently with wheel have three kinds: ordinary wheel, Mecanum wheel and
Global wheel.Ordinary wheel is exactly our daily seen wheel used in various types of vehicles, Mecanum
Wheel is to install a number of roller on the circumference of ordinary wheel again.Ball wheel is one and is shaped as spherical
Roller.Among three, ordinary wheel structure is simplest, but simple ordinary wheel is not provided that omnidirectional
Locomotive function.Mike receives the design of female wheel and control relatively complicated, due on the circumference of wheel uniformly
Distributed many little rollers, contacting discontinuously with ground, so inevitably producing when motion
Raw vibration and skidding.The motor control of global wheel is more difficult.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, without breakking away in running, divertical motion is soft
Suitable, power universal wheel that motion control accuracy is high and Omni-mobile platform.
For achieving the above object, according to an aspect of the present invention, it is provided that a kind of power universal wheel, described
Power universal wheel includes roller and has the divertical motion around vertical axis and the rotary shaft around described roller
The driving campaign of line.Divertical motion and described driving campaign are independently controlled by two motors respectively so that
Without coupling between described divertical motion with described driving campaign.
In one embodiment, described power universal wheel farther includes Part I and Part II, wherein
Described Part II is rotatably connected at described Part I, and one of said two motor is used for driving
Described Part II rotates, and described roller is installed on described Part II and by said two motor
In another drive.
In one embodiment, described Part II includes spaced two support arms, wherein said roller
It is installed between said two support arm, and the rolling axis of the steer axis of described Part II and described roller
Between first offset or dish is set.
In another embodiment, described roller is installed on the lateral surface of described Part II, and the footpath of described roller
One the second offset or dish is set between the steer axis of central plane and described Part II.
According to a further aspect in the invention, it is provided that a kind of power universal wheel, described power universal wheel includes:
Upper frame；Lower frame, described lower frame is rotatably connected at described upper frame；Roller, described roller can
It is rotatably mounted to described lower frame；First motor, described first motor be installed on described upper frame and for
Described lower frame is driven to rotate；And second motor, described second motor associates to drive institute with described roller
State roller to roll.
In one embodiment, described first electricity is passed through in the rolling with described roller that rotates of described lower frame respectively
Machine and described second motor independently control.
In one embodiment, described universal wheel also includes the first drive mechanism and the second drive mechanism, Qi Zhongsuo
The output shaft stating the first motor is connected to the input of described first drive mechanism, described first drive mechanism
Outfan is connected with described lower frame；The output shaft of described second motor is connected to described second drive mechanism
Input, the outfan of described second drive mechanism and a rotary shaft connect, and described roller is installed on this turn
On moving axis；And described first drive mechanism and described second drive mechanism separate.
In one embodiment, described second drive mechanism is arranged to together with described lower frame rotate.
In one embodiment, described first drive mechanism and described second drive mechanism are respectively the first gear train
With the second gear train, wherein said first gear train includes first be connected with the output shaft of described first motor
Gear and the second gear being connected with described lower frame；And described second gear train includes and described second electricity
The 3rd gear that the output shaft of machine connects and the 4th gear being connected with described rotary shaft.
In one embodiment, described upper frame is housing, and described first motor is installed on described hull outside and institute
State the first gear train to be contained in described housing.
In one embodiment, described lower frame includes spaced two support arms, the two ends of described rotary shaft
It is rotatably connected at said two support arm respectively, and described roller is installed in described rotary shaft and is positioned at institute
State between two support arms.
In one embodiment, described second motor is wheel hub motor, and described lower frame includes being spaced from each other
Two support arms, wherein said wheel hub motor is installed between said two support arm and described roller is installed on institute
State on wheel hub motor.
In one embodiment, described first motor and described second motor are wheel hub motor, and wherein said first
The output shaft of motor is connected with described lower frame, and described lower frame includes spaced two
Arm, wherein said second motor is installed between said two support arm and described roller is installed on described second
On motor.
In one embodiment, between steer axis and the rolling axis of described roller of described lower frame, arrange one
Individual first offset or dish e1.
Preferably, described first offset or dish e1 is: 1/6*D1 < e1 < 2/3*D1, wherein D1 is described
The diameter of roller.
In one embodiment, described roller is installed on the lateral surface of described lower frame, and described roller and under
One the second offset or dish e2 is set between side and the steer axis of described lower frame that support body is relative.
Preferably, described second offset or dish e2 is: 1/6*D1 < e2 < 2/3*D1, wherein D1 is described
The diameter of roller.
In one embodiment, described upper frame and described lower frame are respectively the first housing and the second housing, and institute
State the first drive mechanism and described second drive mechanism is respectively the first gear train and the second gear train, Qi Zhongsuo
State the first gear train to be contained in described first housing, and described second gear train is contained in described second housing
In.
In one embodiment, the output shaft of described first motor is connected by the first gear train and described lower frame,
And described second motor is wheel hub motor and described roller is installed on described wheel hub motor.
In one embodiment, described first motor and described second motor are wheel hub motor, and wherein said first
The output shaft of motor is connected with described lower frame, and described second motor is rotatably connected at institute by rotary shaft
Lateral surface and the described roller of stating lower frame are installed on described second motor.
According to another aspect of the invention, it is provided that a kind of Omni-mobile platform.This Omni-mobile platform bag
Including main platform body and wheels, described wheels are installed on the bottom of described main platform body, it is characterised in that
Described wheels include the power universal wheel that at least two is above-mentioned.
The Omni-mobile platform of the present invention, in running, turns to and drives nothing between freedom of motion
Coupling, thus ensure do not have extra roller rolling movement to export when performing divertical motion, it is not necessary to enter
Row adds special mechanism and goes decoupling, therefore without breakking away in simple in construction, and running, turns to
Moving submissive, motion control accuracy is high.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the forward type power universal wheel according to one embodiment of the invention；
Fig. 2 is the side view of the forward type power universal wheel of Fig. 1；
Fig. 3 is the sectional view of the hatching A-A cutting along Fig. 2；
Fig. 4 is the side view of forward type power universal wheel according to another embodiment of the present invention；
Fig. 5 is the sectional view of the hatching B-B cutting along Fig. 4；
Fig. 6 is the side view of forward type power universal wheel according to still another embodiment of the invention；
Fig. 7 is the sectional view of the hatching C-C cutting along Fig. 6；
Fig. 8 is the axonometric chart of the side-mounted power universal wheel according to one embodiment of the invention；
Fig. 9 is the side view of the side-mounted power universal wheel of Fig. 8；
Figure 10 is the sectional view of the hatching D-D cutting along Fig. 9；
Figure 11 is the side view of side-mounted power universal wheel according to another embodiment of the present invention；
Figure 12 is the sectional view of the hatching E-E cutting along Figure 11；
Figure 13 is the side view of side-mounted power universal wheel according to still another embodiment of the invention；
Figure 14 is the sectional view of the hatching F-F cutting along Figure 13；
Figure 15 is the axonometric chart of the Omni-mobile platform that have employed forward type universal wheel；And
Figure 16 is the axonometric chart of the Omni-mobile platform that have employed side-mounted universal wheel.
Detailed description of the invention
Below with reference to accompanying drawing, presently preferred embodiments of the present invention is described in detail, in order to become apparent from reason
Solve the purpose of the present invention, feature and advantage.It should be understood that embodiment shown in the drawings is not right
The restriction of the scope of the invention, and simply to illustrate that the connotation of technical solution of the present invention.
Embodiments below relates to offset dynamic universal wheel, implements and is divided into wheels side biasing with front
Biasing.This offset dynamic universal wheel provides power to drive for mobile robot (i.e. Omni-mobile platform)
Move and realize divertical motion, so that whole robot realizes craspedodrome, skidding, diagonal and original place
The motions such as rotation.Being mainly characterized by of the offset dynamic universal wheel of the application have two rotatably mounted
Degree, produces without coupled motions between the two freedom of motion, and controlled.By power universal wheel
On each motor Collaborative Control just so that whole mobile robot is in the condition not changing self attitude
Under move along any direction in plane, it is achieved Omni-mobile.
The following specifically describes the forward type power universal wheel according to various embodiments of the present invention.
Forward type power universal wheel possesses two rotational freedoms, is around transfer vertical axis respectively
Divertical motion and around the driving campaign of roller horizontal axis.The two is moved respectively by being arranged on it
Two motors in face are controlled by internal drive system.Therefore it may only be necessary to the two motor is entered
Row motor control just can be fully achieved the motor control to whole power universal wheel, and then realizes dress
The mobile robot of this power universal wheel standby or the control of vehicle, make robot or vehicle can along to
Fixed route realization craspedodrome, skidding, diagonal and rotating in place etc. is moved.Forward type power universal wheel
Internal design by structure makes drive system driving-chain can rotate together with transfer, so may be used
To ensure that its divertical motion keeps without coupling between motion with driving, thus ensure to be equipped with this power
Mobile robot or the vehicle of universal wheel are defeated without extra roller rolling movement when performing go to action
Go out so that this moves robot or vehicle in running without breakking away, it is ensured that operate steadily, and
Accurate motor control can be obtained.Further, since there is not fortune between divertical motion and driving campaign
Dynamic coupling, so without using special mechanism to go decoupling for stable movement so that power universal wheel
Total is simplified.
Embodiment one
As Figure 1-3, forward type power universal wheel 100 include housing 1001 (or deserving to be called support body),
Lower frame 1002 and roller 1003, wherein lower frame 1002 is rotatably connected at housing 1001,
Roller 1003 lower frame 1002 rotationally.Motor 1004 is installed on the side of housing 1001 and leads to
Cross and be placed in drive system within housing 1001 and drive lower frame 1002 to rotate, it is achieved divertical motion.
Motor 1005 is installed on the opposite side of housing and drives roller 1003 to roll by corresponding drive system
Dynamic, it is achieved translational motion.
Specifically, forward type power universal wheel 100 is mainly made up of following part, respectively: electricity
Support 101, gland 102, locking nut 103, bearing 104, axle sleeve 105, bearing 106, bearing
Set 107, housing 1001, gland 109, bearing 1010, gland 1011, lower frame 1002, bearing
1013, bearing 1014, power transmission shaft 1015, axle sleeve 1016, roller 1003, power transmission shaft 1018, axle
Set 1019, bearing 1020, axle sleeve 1021, gear 1022, locking nut 1023, power transmission shaft 1024,
Gear 1025, locking nut 1026, bearing 1027, gear 1028, locking nut 1029, axle sleeve
1030, bearing 1031, axle sleeve 1032, gear 1033, axle sleeve 1034, locking nut 1035, lock
Jack panel 1036, bearing 1037, gear 1038, gear 1039, bearing 1040, support set 1041,
Bearing 1042, locking nut 1043, power transmission shaft 1044, axle sleeve 1045, bearing 1046, motor cabinet
1047, gland 1048, gear 1049 and photoswitch 1050.
Steer motor 1005 is connected with bearing block 101 by screw.Steer motor 1005 is by flat
Key is connected with gear 1049.Gland 102 is connected with bearing block 101 by screw.Gear 1049
It is connected with bearing block 101 by bearing 104, axle sleeve 105, bearing 106 and locking nut 103.
Bearing block 101 is connected with housing 1001 by screw.Drive motor 1004 by screw and motor
Seat 1047 is connected.Support shaft 1041 is connected with motor cabinet 1047 by screw.Motor cabinet 1047
It is connected with housing 1001 by bearing 1042.Gland 1048 is connected with housing 1001 by screw
Connect.Power transmission shaft 1044 is by bearing 1046, axle sleeve 1045, locking nut 1043 and motor cabinet 1047
It is connected.Prop up bearing 1041 to be connected with gear 1039 by screw.Gear 1039 and gear 1049
Engagement.Power transmission shaft 1044 is by bearing 1040, locking nut 1036, gland 1011 and gear 1039
It is connected.Gear 1039 is by bearing 1010, bearing 1037, gland 109 and screw and housing 1001
It is connected.Gear 1038 is connected with power transmission shaft 1044 by flat key, locking nut 1035.Undercarriage
Body 1002 is connected with gland 1011 by screw.Power transmission shaft 1018 is by bearing 1013, bearing
1031, locking nut 1029 is connected with lower frame 1002.Axle sleeve 1034, axle sleeve 1032, axle sleeve
1030 are placed on power transmission shaft 1018.Gear 1033, gear 1028 are respectively by flat key and power transmission shaft
1018 are connected.Power transmission shaft 1024 is by bearing 1027, locking nut 1026 and lower frame 1002
Connect.Gear 1025 is connected with power transmission shaft 1024 by flat key.Power transmission shaft 1015 passes through bearing
1014, bearing 1020, locking nut 1023 are connected with lower frame 1002.Axle sleeve 1016, axle sleeve
1019, axle sleeve 1021 is placed on power transmission shaft 1015.Roller 1003, gear 1022 are respectively by flat
Key is connected with power transmission shaft 1015.In said gear, except gear 1033,1038,1039 and
1049 is outside bevel gear, and remaining gear is roller gear.Gear ratio between each gear can basis
Need to arrange, be not described in detail in this.
Steer motor 1005 and driving motor 1004 can be alternating current generator, direct current generator, asynchronous electricity
Machine or synchronous motor.
Two support arms 10021 of preset distance as it is shown on figure 3, lower frame 1002 includes being spaced from each other
With 10022.Two bearings 1014 and 1020 are individually fixed on two support arms 10021 and 10022.
The two ends of power transmission shaft 1015 are fixedly installed in the inner ring of two bearings 1014 and 1020 respectively, thus pass
Moving axis can rotate relative to support arm.
Also as it is shown on figure 3, be also respectively provided with lid 1006 outside the two of lower frame 1002 support arms
With 1007.Lid 1006 and 1007 can play to enter the bearing being installed on two support arms and gear etc.
The effect of row protection, prevents dust etc. from entering.The lower end of housing 1001 is provided with from the lower end of housing radially
Outwardly flange 10011.Flange is provided with multiple connecting hole, and these connecting holes are for by power ten thousand
Install to the main platform body of Omni-mobile platform to wheel, be as described further below.
As in figure 2 it is shown, the turning of rolling axis and lower frame of the roller 1003 at power universal wheel 100
One offset or dish e1 is set between moving axis line.Preferably, offset or dish e1 is:
1/6*D1 < e1 < 2/3*D1, wherein D1 is the diameter of roller 1003.It should be understood that as required,
Offset or dish e1 can also use other any suitable numerical value.The pivot center of lower frame and roller
Biasing between rolling axis can be by making specific shape by the two of lower frame support arms, such as
Similar L-shaped realizes.
Photoswitch 1050 on power universal wheel 100 is installed on support by screw, and this support leads to
Cross screw to be installed on housing 1001.The effect of photoswitch 1050 determines that initial the zero of lower frame
Point position.
During work, the rolling movement of roller 1003 is by driving motor 1004 by power transmission shaft 1044 fortune
Moving and pass to gear 1038, gear 1038 rotates by engaging drive power transmission shaft 1018 with gear 1033,
Power transmission shaft 1018 is rotated by flat key driven gear 1028, and gear 1028 engages with gear 1025,
Gear 1025 engages with gear 1022, and gear 1022 drives power transmission shaft 1015 to rotate by flat key,
Power transmission shaft 1015 drives roller 1003 to rotate by flat key, completes main driving and moves.Whole dynamic
The divertical motion of power universal wheel is rotated by flat key driven gear 1049 by steer motor, gear 1049
Engage with gear 1039, driven the lower frame 1002 being connected with it and roller 1003 by gear 1039
Complete go to action.
Embodiment two
Fig. 4-5 illustrates the structure of forward type power universal wheel 200 according to the second embodiment of the present invention
Schematic diagram.The forward type power universal wheel of the present embodiment is universal with the power of the embodiment shown in Fig. 1-3
Wheel difference is, the driving campaign of the power universal wheel of the present embodiment is realized by wheel hub motor,
Correspondingly, eliminate in above-described embodiment, it is achieved drive the drive system needed for motion.
As illustrated in figures 4-5, forward type power universal wheel 200 include housing 2001 (or deserving to be called support body),
Lower frame 2002 and roller 2003, wherein lower frame 2002 is rotatably connected at housing 2001,
Roller 2003 is installed on wheel hub motor 2004 and is installed on lower frame together with wheel hub motor 2004
2002, thus roller 2003 rolls relative to lower frame 2002, it is achieved translational motion.Motor 2005
It is installed on the side of housing 2001 and drives undercarriage by being placed in the drive system within housing 2001
Body 2002 rotates, it is achieved divertical motion.
As it is shown in figure 5, steer motor 2005 is connected with bearing block 201 by screw.Steer motor
2005 are connected with gear 2049 by flat key.Gland 202 is connected with bearing block 201 by screw.
Gear 2049 is by bearing 204, axle sleeve 205, bearing 206 and locking nut 203 and bearing block 201
It is connected.Bearing block 201 is connected with housing 2001 by screw.Gear 2039 by bearing 2010,
Bearing 2037, gland 209 and screw are connected with housing 2001.Gear 2039 passes through spiral shell further
Nail and gland 2011 are connected with lower frame 2002.Wheel hub motor 2004 is installed on by wheel shaft 2006
On lower frame 2002.Roller 2003 is installed on wheel hub motor 2004 and can driving at wheel hub motor
Dynamic lower rolling.
During work, steer motor 2005 driven gear 2049, gear 2049 engages with gear 2039,
The rotation of gear 2039 drives lower frame 2002 to rotate, thus completes divertical motion.Wheel hub motor 2004
Drive roller 2003 to roll, thus complete to drive motion.
Embodiment three
Fig. 6-7 illustrates the structure of forward type power universal wheel 300 according to the third embodiment of the invention
Schematic diagram.The forward type power universal wheel 300 of the present embodiment and the power of the embodiment shown in Fig. 4-5
Universal wheel 200 difference is, the divertical motion of the power universal wheel of the present embodiment is also by wheel hub electricity
Machine realizes, and correspondingly, eliminates in Fig. 4-5 illustrated embodiment, it is achieved the biography needed for divertical motion
Dynamic system.
As shown in fig. 6-7, forward type power universal wheel 300 include housing 3001 (or deserving to be called support body),
Lower frame 3002 and roller 3003, wherein lower frame 3002 is rotatably connected at housing 3001,
Roller 3003 is installed on wheel hub motor 3004 and is installed on lower frame together with wheel hub motor 3004
3002, thus roller 3003 rolls relative to lower frame 3002, it is achieved translational motion.Wheel hub motor
3004 (i.e. steer motor) are installed on housing 3001 inside and drive lower frame by power transmission shaft 3039
3002 rotate, it is achieved divertical motion.
As it is shown in fig. 7, wheel hub motor 3005 is connected with power transmission shaft 3039.Power transmission shaft 3039 passes through
Bearing 3010, bearing 1037, gland 309 and screw are connected with housing 3001.Wheel hub motor 3004
It is installed on lower frame 3002 by wheel shaft 3006.Roller 3003 is installed on wheel hub motor 3004
And can roll under the driving of wheel hub motor.
During work, wheel hub motor 3005 drives power transmission shaft 3039, under the rotation of power transmission shaft 3039 drives
Support body 3002 rotates, thus completes divertical motion.Wheel hub motor 3004 drives roller 3003 to roll,
Thus complete to drive motion.
The following specifically describes the side-mounted power universal wheel according to various embodiments of the present invention.
The side-mounted power universal wheel of following embodiment has two freedoms of motion, is around perpendicular respectively
The divertical motion of straight axis and the driving campaign of the horizontal axis (i.e. pivot center) around roller.These are two years old
Individual motion is controlled by internal drive system by two motors being mounted above respectively.Therefore,
Have only to that the two motor is carried out motor control and fortune to whole power universal wheel just can be fully achieved
Dynamic control, and then realize the control to whole mobile robot, make the robot can be along given road
Line realization craspedodrome, skidding, diagonal and rotating in place etc. is moved.Structure is passed through inside power universal wheel
Design makes divertical motion and drives without coupling between motion, thus ensures that mobile robot is when turning to
Without extra roller rolling movement output so that this robot nothing in running is breakked away, it is ensured that fortune
Row is steady, and can be precisely controlled.Further, since between divertical motion and driving campaign not
There is coupling, so without using special mechanism to go decoupling so that power universal wheel total obtains
To simplifying.
Embodiment one
As seen in figs. 8-10, side-mounted power universal wheel include housing 4001 (or deserving to be called support body), under
Support body 4002 and roller 4003, wherein lower frame 4002 is rotatably connected at housing 4001, rolling
Wheel 4003 lower frame 4002 rotationally.Motor 4004 is installed on the side of housing 4001 and passes through
The drive system being placed in enclosure interior drives lower frame 4002 to rotate, it is achieved divertical motion.Motor 4005
It is installed on the opposite side of housing and drives roller 4003 to roll by corresponding drive system, it is achieved be flat
Shifting movement.
Specifically, this side-mounted power universal wheel 300 is mainly made up of following part, respectively:
Bearing block 401, gland 402, locking nut 403, bearing 404, axle sleeve 405, bearing 406 is sliding
Moving axis bearing sleeve 407, housing 4001, gland 409, bearing 4010, gland 4011, lower frame 4002,
Locking nut 4013, locking nut 4014, bearing 4015, bearing 4016, axle sleeve 4017, axle sleeve
4018, cover plate 4019, power transmission shaft 4020, axle sleeve 4021, bearing 4022, axle sleeve 4023, roller
4003, gear 4025, power transmission shaft 4026, bearing 4027, axle sleeve 4028, gear 4029, axle sleeve
4030, gear 4031, gear 4032, bearing 4033, locking nut 4034, locking nut 4035,
Gear 4036, bearing 4037, support shaft 4038, bearing 4039, locking nut 4040, power transmission shaft
4041, axle sleeve 4042, bearing 4043, motor cabinet 4044, gland 4045, bearing 4046 and light
Electric switch 4047.
Steer motor 4005 is connected with bearing block 401 by screw.Steer motor passes through flat key and tooth
Wheel 4046 is connected.Gland 402 is connected with bearing block 401 by screw.Gear 4046 passes through
Bearing 404, axle sleeve 405, bearing 406 and locking nut 403 are connected with bearing block 401.Bearing
Seat 401 is connected with housing 4001 by screw.Drive motor 4004 by screw and motor cabinet 4044
It is connected.Support shaft 4038 is connected with motor cabinet 4044 by screw.Motor cabinet 4044 passes through axle
Hold 4039 to be connected with housing 4001.Gland 4045 is connected with housing 4001 by screw.Pass
Moving axis 4041 is connected with motor cabinet 4044 by locking nut 4040, axle sleeve 4042, bearing 4043
Connect.Motor 4004 is driven to be connected with power transmission shaft 4041 by flat key.Support shaft 4038 passes through screw
It is connected with gear 4036.Power transmission shaft 4044 is by bearing 4037, locking nut 4035 and gear
4036 are connected.Gear 4036 is by bearing 4010, gland 409 and screw and housing 4001 phase
Connect.Lower frame 4002 is connected with gland 409 by screw.Gear 4032 passes through locking nut
4034, flat key is connected with power transmission shaft 4041.Power transmission shaft 4026 is by locking nut 4013, bearing
4015, bearing 4027 is connected with lower frame 4002.Axle sleeve 4018, axle sleeve 4030, axle sleeve 4028
It is placed on power transmission shaft 4026.Gear 4029 is connected with power transmission shaft 4026 by flat key.Gear 4031
It is connected with power transmission shaft 4026 by flat key.Power transmission shaft 4020 by locking nut 4014, bearing 4016,
Bearing 4022 is connected with lower frame 4002.Axle sleeve 4017, axle sleeve 4023, axle sleeve 4021 empty set
On power transmission shaft 4020.Gear 4025 is connected with power transmission shaft 4020 by flat key.Roller 4003
It is connected with power transmission shaft 4020 by flat key.In said gear, except gear 4033,4038,4039
And 4049 be outside bevel gear, remaining gear is roller gear.Gear ratio between each gear can
It is arranged as required to, is not described in detail in this.Steer motor 1005 and driving motor 1004 can be to hand over
Stream motor, direct current generator, asynchronous machine or synchronous motor.
Lower frame 4002 is housing.Roller 4003 is arranged on the lateral surface of lower frame 4002, and roller
4003 and second offset is set between side and the steer axis of lower frame that lower frame is relative
From e2.Preferably, described second offset or dish e2 is: 1/6*D1 < e2 < 2/3*D1, wherein D1 is
The diameter of described roller.All travelling gears, power transmission shaft are arranged at housing 4001 and lower frame 4002
Inside, it is ensured that power universal wheel grease on running middle gear is not lost so that gear
The most sufficiently lubricated, make robot motion realize steadily, noiselessness.Steer motor 4005 He
Driving motor 4004 can be direct current generator, asynchronous machine or synchronous motor.
As shown in Figure 8, the lower end of housing 4001 is provided with the flange that the lower end from housing projects radially outward
40011.Flange is provided with multiple connecting hole, and these connecting holes are for installing power universal wheel to omnidirectional
In the main platform body of mobile platform, it is as described further below.On side-mounted power universal wheel 400
Photoswitch 4047 is installed on support by screw, and this support is installed on housing 4001 by screw
On.The effect of photoswitch 4047 determines that the initial zero position of lower frame.
During work, motion is driven to be driven power transmission shaft 4041 to rotate by driving motor 4004 by flat key,
Power transmission shaft 4041 passes to gear 4032 by flat key motion, gear 4032 by with gear 4029
Engagement, passes to power transmission shaft 4026 and above gear 4031, gear 4031 and gear 4025 motion
Engaging and motion is passed to power transmission shaft 4020 and its upper surface roller 4003, drive roller 4003 rotates,
Complete to drive motion transmission.Divertical motion is passed to gear by flat key motion by steer motor 4005
4046, gear 4046 engages drive lower frame 4002 with gear 4036 and upper surface roller 4003 is complete
Become go to action.
Embodiment two
Figure 11-12 illustrates the knot of side-mounted power universal wheel 500 according to the second embodiment of the present invention
Structure schematic diagram.The side-mounted power universal wheel of the present embodiment and the power ten thousand of the embodiment shown in Fig. 8-10
Being to taking turns 400 differences, the driving campaign of the power universal wheel of the present embodiment is come by wheel hub motor
Realize, correspondingly, eliminate in above-described embodiment, it is achieved drive the drive system needed for motion.
As depicted in figs. 11-12, side-mounted power universal wheel 500 include housing 5001 (or deserving to be called support body),
Lower frame 5002 and roller 5003, wherein lower frame 5002 is rotatably connected at housing 5001,
Roller 5003 is installed on wheel hub motor 5004 and is installed on lower frame together with wheel hub motor 5004
5002, thus roller 5003 rolls relative to lower frame 5002, it is achieved translational motion.Steer motor
Drive on 5005 sides being installed on housing 5001 and by being placed in the drive system within housing 5001
Lower frame 5002 rotates, it is achieved divertical motion.
As shown in figure 12, steer motor 5005 is connected with bearing block 501 by screw.Turn to electricity
Machine 5005 is connected with gear 5049 by flat key.Gland 502 is by screw and bearing block 501 phase
Connect.Gear 5049 is by bearing 504, axle sleeve 505, bearing 506 and locking nut 503 and axle
Bearing 501 is connected.Bearing block 501 is connected with housing 5001 by screw.Gear 5039 leads to
Cross bearing 5010, bearing 5037, gland 509 and screw to be connected with housing 5001.Gear 5039
It is connected with lower frame 5002 by screw and gland 5011 further.Wheel hub motor 5004 passes through wheel shaft
5006 are installed on lower frame 5002.Roller 5003 is installed on wheel hub motor 5004 and can be at wheel
Roll under the driving of hub motor.
During work, steer motor 5005 driven gear 5049, gear 5049 engages with gear 5039,
The rotation of gear 5039 drives lower frame 5002 to rotate, thus completes divertical motion.Wheel hub motor 5004
Drive roller 5003 to roll, thus complete to drive motion.
Embodiment three
Figure 13-14 illustrates the knot of side-mounted power universal wheel 600 according to the third embodiment of the invention
Structure schematic diagram.The side-mounted power universal wheel 600 of the present embodiment and the embodiment shown in Figure 11-12
Power universal wheel 500 difference is, the divertical motion of the power universal wheel of the present embodiment is also by taking turns
Hub motor realizes, and correspondingly, eliminates in Figure 11-12 illustrated embodiment, it is achieved divertical motion institute
The drive system needed.
As illustrated in figs. 13-14, side-mounted power universal wheel 600 include housing 6001 (or deserving to be called support body),
Lower frame 6002 and roller 6003, wherein lower frame 6002 is rotatably connected at housing 6001,
Roller 6003 is installed on wheel hub motor 6004 and is installed on lower frame together with wheel hub motor 6004
6002, thus roller 6003 rolls relative to lower frame 6002, it is achieved translational motion.Wheel hub motor
6004 (i.e. steer motor) are installed on housing 6001 inside and drive lower frame by power transmission shaft 6039
6002 rotate, it is achieved divertical motion.
As shown in figure 14, wheel hub motor 6005 is connected with power transmission shaft 6039.Power transmission shaft 6039 leads to
Cross bearing 6010, bearing 1037, gland 609 and screw to be connected with housing 6001.Wheel hub motor
6004 are installed on lower frame 6002 by wheel shaft 6006.Roller 6003 is installed on wheel hub motor 6004
Go up and can roll under the driving of wheel hub motor.
During work, wheel hub motor 6005 drives power transmission shaft 6039, under the rotation of power transmission shaft 6039 drives
Support body 6002 rotates, thus completes divertical motion.Wheel hub motor 6004 drives roller 6003 to roll,
Thus complete to drive motion.
The Omni-mobile platform that have employed above-mentioned power universal wheel briefly described below (also referred to as moves machine
People)
Figure 15 and 16 illustrates and has been respectively adopted the complete of above-mentioned forward type universal wheel and side-mounted universal wheel
Axonometric chart to mobile platform 1000 and 2000.As shown in figure 15, Omni-mobile platform 1000 wraps
Include main platform body 700 and be installed on forward type power universal wheel 100,200 and bottom main platform body
/ or 300, forward type power universal wheel is installed on the bottom of main platform body by suspension 900.Forward type
The quantity of power universal wheel can set as required, but typically at least needs two forward type power ten thousand
To wheel.It addition, in order to keep robot or vehicle overall structure stably can move robot or car
Arranging one or more auxiliary wheel, such as auxiliary universal wheel 800 on, quantity does not limits.
Similarly, as shown in figure 16, Omni-mobile platform 2000 includes main platform body 700 and peace
It is loaded on the side-mounted power universal wheel 400,500 and/or 600 bottom main platform body, side-mounted power ten thousand
It is installed on the bottom of main platform body by suspension 900 to wheel.The quantity of side-mounted power universal wheel is permissible
Set as required, but typically at least need two side-mounted power universal wheels.It addition, as required,
The bottom of Omni-mobile platform 2000 is also equipped with one or more auxiliary wheel (not shown).
Here, main platform body is typically used for carrying the platform of material or equipment etc., and it can have appoints
Structure needed for what and shape, such as polygonal body, cuboid, cylinder or other shape.Suspension
Structure can use any suitable structure, as long as it can provide the motion of vertical direction certainly for roller
By spending, it is thus possible to efficiently reduce and reduce mobile platform noise and vibration in running, and
Corresponding Automatic adjusument can be accomplished according to real-time road.
Forward type power universal wheel and the side-mounted power universal wheel of the application have a characteristic that
1) this side-mounted power universal wheel and forward type power universal wheel make to drive by structure design
Drive system chain can move with steer drive chain, therefore turns in running and drives
Without coupling between dynamic freedom of motion, thus ensure do not have extra roller to roll when performing divertical motion
Dynamic movement output, it is not necessary to carry out adding special mechanism and go decoupling, therefore simple in construction, and run
During without breakking away, divertical motion is submissive, and motion control accuracy is high.
2) the motion transmission of whole mobile robot is all completed by gear drive, and it has transmission efficiency
Height, and accurate gear ratio can be kept, it is to avoid the shortcoming that V belt translation needs regular tensioning.Owing to adopting
It is designed as assembling with modular unit and maintenance brings great convenience.
3) side-mounted power universal wheel use roller side mode, make travelling gear be in housing and
Inside lower frame, it is ensured that gear obtains well lubricating fully all the time, contribute to extending travelling gear
Life-span, and whole mobile robot can be made to remain in motor process steadily, noiselessness.
4) forward type power universal wheel use the vertical central axis of transfer and roller horizontal axis it
Between an offset or dish is set so that universal wheel motion stabilization when turning to is reliable.
5) in mobile robot or vehicle at least provided with two above-mentioned power universal wheels by respectively driving
Galvanic electricity machine and steer motor are controlled, so that it may so that moving machine device people or vehicle realize not changing certainly
Move along any direction in plane under conditions of figure state, and simple in construction, reliable, and design is new
Grain husk, has wide market application foreground.
Below presently preferred embodiments of the present invention has been described in detail, it is understood that reading this
After bright above-mentioned teachings, the present invention can be made various changes or modifications by those skilled in the art.
These equivalent form of values fall within the application appended claims limited range equally.
Claims (10)
1. a power universal wheel, described power universal wheel includes roller and has turning to around vertical axis
Motion and the driving campaign of pivot center around described roller, it is characterised in that described divertical motion with
Described driving motion is independently controlled by two motors respectively so that described divertical motion drives fortune with described
Without coupling between Dong.
Power universal wheel the most according to claim 1, it is characterised in that described power universal wheel
Farther including Part I and Part II, wherein said Part II is rotatably connected at described
Part I, one of said two motor is used for driving described Part II to rotate, and described roller
It is installed on described Part II and is driven by another in said two motor.
Power universal wheel the most according to claim 2, it is characterised in that described Part II bag
Including spaced two support arms, wherein said roller is installed between said two support arm, and described
Between steer axis and the rolling axis of described roller of two parts, first offset or dish is set；
In another embodiment, described roller is installed on the lateral surface of described Part II, and the footpath of described roller
One the second offset or dish is set between the steer axis of central plane and described Part II.
4. a power universal wheel, it is characterised in that described power universal wheel includes:
Upper frame；
Lower frame, described lower frame is rotatably connected at described upper frame；
Roller, described roller is rotatably installed on described lower frame；
First motor, described first motor is installed on described upper frame and for driving described lower frame to rotate；
And
Second motor, described second motor associates with described roller to drive described roller to roll.
Power universal wheel the most according to claim 4, it is characterised in that the rotation of described lower frame
Rolling with described roller is independently controlled by described first motor and described second motor respectively.
Power universal wheel the most according to claim 4, it is characterised in that described universal wheel also includes
First drive mechanism and the second drive mechanism, the output shaft of wherein said first motor is connected to described first and passes
The input of motivation structure, the outfan of described first drive mechanism is connected with described lower frame；Described second electricity
The output shaft of machine is connected to the input of described second drive mechanism, the outfan of described second drive mechanism with
One rotary shaft connects, and described roller is installed in this rotary shaft；And described first drive mechanism and described
Second drive mechanism is separate；
In one embodiment, described second drive mechanism is arranged to together with described lower frame rotate.
Power universal wheel the most according to claim 6, it is characterised in that described first drive mechanism
It is respectively the first gear train and the second gear train, wherein said first gear train bag with described second drive mechanism
Include the first gear that the output shaft with described first motor is connected and the second gear being connected with described lower frame；
And described second gear train includes the 3rd gear being connected with the output shaft of described second motor and with described
The 4th gear that rotary shaft connects；
In one embodiment, described upper frame is housing, and described first motor is installed on described hull outside and institute
State the first gear train to be contained in described housing；
In one embodiment, described lower frame includes spaced two support arms, the two ends of described rotary shaft
It is rotatably connected at said two support arm respectively, and described roller is installed in described rotary shaft and is positioned at institute
State between two support arms；
In one embodiment, described second motor is wheel hub motor, and described lower frame includes being spaced from each other
Two support arms, wherein said wheel hub motor is installed between said two support arm and described roller is installed on institute
State on wheel hub motor；
In one embodiment, described first motor and described second motor are wheel hub motor, and wherein said first
The output shaft of motor is connected with described lower frame, and described lower frame includes spaced two
Arm, wherein said second motor is installed between said two support arm and described roller is installed on described second
On motor.
Power universal wheel the most according to claim 4, it is characterised in that turning to of described lower frame
One the first offset or dish e1 is set between the rolling axis of axis and described roller.
Preferably, described first offset or dish e1 is: 1/6*D1 < e1 < 2/3*D1, wherein D1 is described
The diameter of roller.
Power universal wheel the most according to claim 4, it is characterised in that described roller is installed on institute
State the lateral surface of lower frame, and the steering spindle of the side relative with lower frame of described roller and described lower frame
One the second offset or dish e2 is set between line；
Preferably, described second offset or dish e2 is: 1/6*D1 < e2 < 2/3*D1, wherein D1 is described
The diameter of roller；
In one embodiment, described upper frame and described lower frame are respectively the first housing and the second housing, and institute
State the first drive mechanism and described second drive mechanism is respectively the first gear train and the second gear train, Qi Zhongsuo
State the first gear train to be contained in described first housing, and described second gear train is contained in described second housing
In；
In one embodiment, the output shaft of described first motor is connected by the first gear train and described lower frame,
And described second motor is wheel hub motor and described roller is installed on described wheel hub motor；
In one embodiment, described first motor and described second motor are wheel hub motor, and wherein said first
The output shaft of motor is connected with described lower frame, and described second motor is rotatably connected at institute by rotary shaft
Lateral surface and the described roller of stating lower frame are installed on described second motor.
10. an Omni-mobile platform, it is characterised in that described Omni-mobile platform includes main platform body
And wheels, described wheels are installed on the bottom of described main platform body, it is characterised in that described wheels bag
Include at least two power as claimed in any one of claims 1-9 wherein universal wheel.
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| CN201610368798.4A CN105882784B (en) | 2016-05-27 | 2016-05-27 | Omnidirectional mobile platform and power universal wheel thereof |
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|---|---|---|---|
| CN201610368798.4A CN105882784B (en) | 2016-05-27 | 2016-05-27 | Omnidirectional mobile platform and power universal wheel thereof |
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| CN106515942A (en) * | 2016-12-23 | 2017-03-22 | 桂林电子科技大学 | Wheelbarrow mechanism capable of moving in all directions |
| CN106515904A (en) * | 2016-12-26 | 2017-03-22 | 同方威视技术股份有限公司 | Mobile platform |
| CN106994994A (en) * | 2017-03-15 | 2017-08-01 | 北海星沅电子科技有限公司 | One kind transport aging vehicle and its transportation resources |
| CN107600149A (en) * | 2017-10-21 | 2018-01-19 | 广东九御酒业有限公司 | A kind of wheel with turning function and speed-regulating function |
| CN108297904A (en) * | 2018-04-08 | 2018-07-20 | 苏州博牛电气有限公司 | A kind of Moped Scooter based on wheel hub motor universal wheel |
| CN108819612A (en) * | 2018-07-31 | 2018-11-16 | 宁波舜宇贝尔自动化有限公司 | Omnidirectional driving wheel |
| CN108909880A (en) * | 2018-07-31 | 2018-11-30 | 宁波舜宇贝尔自动化有限公司 | One kind slipping into towed AGV |
| CN109199724A (en) * | 2018-11-06 | 2019-01-15 | 北京工业大学 | A kind of Omni-mobile intelligent wheel chair bed |
| CN109466312A (en) * | 2018-11-27 | 2019-03-15 | 合肥工业大学 | A kind of wheel assembly of all directionally movable robot |
| CN110293835A (en) * | 2019-07-10 | 2019-10-01 | 杭州极木科技有限公司 | Ultrathin universal driving wheel |
| CN111746197A (en) * | 2020-06-12 | 2020-10-09 | 中国长江电力股份有限公司 | Guiding and walking supporting wheel of hydropower station large-gradient runner maintenance platform and use method |
| AT523435B1 (en) * | 2018-06-22 | 2021-08-15 | Ebm Papst St Georgen Gmbh & Co Kg | Wheel drive module for driving and steering a wheel |
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| CN108297904A (en) * | 2018-04-08 | 2018-07-20 | 苏州博牛电气有限公司 | A kind of Moped Scooter based on wheel hub motor universal wheel |
| AT523435B1 (en) * | 2018-06-22 | 2021-08-15 | Ebm Papst St Georgen Gmbh & Co Kg | Wheel drive module for driving and steering a wheel |
| AT523435A5 (en) * | 2018-06-22 | 2021-08-15 | Ebm Papst St Georgen Gmbh & Co Kg | Wheel drive module for driving and steering a wheel |
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| CN109199724A (en) * | 2018-11-06 | 2019-01-15 | 北京工业大学 | A kind of Omni-mobile intelligent wheel chair bed |
| CN109466312A (en) * | 2018-11-27 | 2019-03-15 | 合肥工业大学 | A kind of wheel assembly of all directionally movable robot |
| CN110293835A (en) * | 2019-07-10 | 2019-10-01 | 杭州极木科技有限公司 | Ultrathin universal driving wheel |
| CN111746197A (en) * | 2020-06-12 | 2020-10-09 | 中国长江电力股份有限公司 | Guiding and walking supporting wheel of hydropower station large-gradient runner maintenance platform and use method |
| CN111746197B (en) * | 2020-06-12 | 2021-09-17 | 中国长江电力股份有限公司 | Guiding and walking supporting wheel of hydropower station large-gradient runner maintenance platform and use method |
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