CN102826135B - Crawler type omni-directional moving platform - Google Patents
Crawler type omni-directional moving platform Download PDFInfo
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- CN102826135B CN102826135B CN201210347188.8A CN201210347188A CN102826135B CN 102826135 B CN102826135 B CN 102826135B CN 201210347188 A CN201210347188 A CN 201210347188A CN 102826135 B CN102826135 B CN 102826135B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/20—Tracks of articulated type, e.g. chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Abstract
A kind of crawler type omni-directional moving platform, it is mainly made up of travel mechanism, control subsystem, drives subsystem and power subsystem, the travel mechanism is made up of multiple all-around mobile crawler belts, and the multiple all-around mobile crawler belt is arranged with the four-wheel wheel group structure of similar automobile.The all-around mobile crawler belt is mainly made up of driving wheel (12), creeper tread (13), roller (14), bogie wheel (15), moping pulley (16) and inducer (17).The roller (14) is fixed on the roller bracket (23) of each creeper tread, the setting of the axis of its pivot center and the driving wheel (12) of the all-around mobile crawler belt is at a certain angle, forms the offset angle of the roller (14).It is have it is cross-country, climbing and on uneven road surface all-around mobile crawler platform.
Description
Technical field
The invention belongs to mechanically moving engineering device technique field, and in particular to a kind of crawler-type mobile with omnibearing movable
Platform.
Background technology
In recent years, mobile platform gradually deeply and is widened in the application of every profession and trade, such as storage transport, Aero-Space, army
The field such as thing safety and service trade.It can be divided into comprehensive and non-comprehensive two kinds but existing most of by kinetic characteristic
Mobile platform is all non-comprehensive.With it is non-it is comprehensive compared with, omni-directional moving platform under space coordinates XYZ, have
Three freedoms of motion on X/Y plane, i.e., along X-axis, the translation of Y-axis and rotation about the z axis.It has more flexible motor-driven
Performance, it be able to can also be realized using any point in towards posture of any direction movement in plane without changing platform
The divertical motion of the heart, any radius.Therefore, omni-directional moving platform, can flexibly certainly in narrow and small and crowded Space-Work
Such as advance, can also carry out trickle adjustment to the position of itself and posture, be highly suitable for needs and be accurately positioned and high-precision rail
The occasion of mark tracking.
Travel mechanism is the basis of mobile platform motion, is commonly divided into wheeled, crawler type and leg foot formula, in addition with suitable
For the step-by-step movement of specific occasion, creeping motion type and snakelike formula.At present, most of omni-directional moving platform all uses wheeled machine
Structure, mainly have：Mecanum wheel (Mecanum wheel), continuous switching wheel (Alternate wheel), orthogonal wheel
(Orthogonal wheel), ball wheel (ball wheel) and Rover wheels etc..Wheeled omni-directional moving platform obtains in engineering
To being widely applied.
The development of crawler type omni-directional moving platform then relatively lags behind, and correlation just occurs until the beginning of the nineties in last century
Achievement in research.Because existing crawler type omni-directional moving mechanism is perfect not enough, species is also less so that crawler type is comprehensive
Mobile platform is not applied in engineering so far, remains in the test platform stage.
Mecanum wheels are a kind of typical wheeled omni-directional moving mechanisms, as shown in figure 1, it mainly by wheel hub 1 and is fixed
A series of equally distributed cydariform rollers 3 on wheel hub form, the gabarit envelope 2 of roller and the theoretical circumference phase of wheel
Overlapping, roller can rotate freely around its axis, and the angle of roller axis and hub axis is the offset angle of roller, be usually ±
45°。
The wheeled omni-directional moving platforms of Mecanum are a kind of current most widely used omni-directional moving platforms, it in order to
Realize that omnibearing movable needs the Mecanum wheels of three or more than three, four Mecanum wheels of generally use.For four rolling hitches
Structure, to make platform operate steadily, supporting construction is stable, and general rational wheel group layout structure form is longitudinally asymmetric layout, class
Like the wheel group structure form of kart.But because the structure of Mecanum wheels is special, in actual applications, to make manufacture economy
Rationally, general four wheel construction parameters take identical value, take forward and reverse two kinds of mounting means when mounted, therefore taken turns on platform
Roller offset angle only has two kinds of ± α (being usually taken to be ± 45 °).By the parsing to platform kinematics, optimal wheel group cloth is obtained
For office's scheme as shown in Fig. 2 four rectangle frames in figure represent four wheels, square frame bend represents the axis of each wheel ground connection roller
Direction, i.e. biased direction.
Because Mecanum wheels are with being that point contacts between ground, this results in whole platform and only has 4 points to contact with ground,
Contact area is very small.And Mecanum wheels are a kind of rigid wheels, are jolted so platform easily produces in motion process,
It is particularly evident under high-speed case.The ideal operation condition of the wheeled omni-directional moving platforms of Mecanum is flat road surface.It is in injustice
The precision and stability of omnibearing movable is difficult to ensure that on road surface.Because entirely only having 4 points to contact between platform and ground, and
There is concavo-convex and fluctuating etc. on uneven road surface, so easily there is the situation that some wheel or certain several wheel do not contact to earth, will so cause
Platform can not complete omnibearing movable.
" VUTON " Crawler is by the Shigeo Hirose teaching inventive crawler-type mobiles mechanism of Japan, his invention
Inspiration Sources are in certain directional wheel.Professor Hirose wants to instead of original directional wheel by a series of free roller, from
And developed into a kind of crawler type omni-directional moving mechanism.As shown in figure 3, its structure is mainly by a pair of chains 4,5 and
Several cylindrical free rollers 7 are formed, and fixed spacing is kept between two chains, are connected with rectangle frame 6 between them,
Free roller is then fixed on rectangle frame, and they can be around own axis, but keeps horizontal attitude all the time.The spy of this mechanism
Point is that structure is flat, compact；Compared to original directional wheel, contact area increase, lifting capacity also strengthens；Simultaneously because with ground
Sliding phenomenon does not occur between face and contact area is larger, so smaller to the destructiveness on ground." VUTON " moves crawler belt
(crawler) object construction is mainly by drive sprocket axle, inner side chain, outside chain, speed belt, rectangle frame, frame bracket, roller
And tensioning apparatus is formed, the angle of wherein roller axis and driving wheel axis is 90 °, i.e., the offset angle of roller is 90 °.
Part-structure design in " VUTON " mobile crawler belt, for example with 90 ° of offset angle rollers and rectangle frame etc., causes it to pass through tool
Have that the ability on the road surface of the obstacles such as step, groove is poor, so as to reduce its passing through property.
For the mobile platform using " VUTON " mobile crawler belt, an omni-directional moving platform at least needs four
The pedrail mechanism.For four caterpillar belt structures, parsed by its motion, platform can only use four crawler belts as shown in Figure 4
Around symmetric configuration scheme, and the wheel group placement scheme of similar kart can not be used.Rectangle frame represents a crawler belt in figure,
A series of short solid line then represents a series of axis of ground connection rollers on crawler belt in frame, and fine dotted line represents driving wheel axis.Platform
On every crawler belt independently driven by motor, by the size and Orientation for controlling every crawler belt rotating speed, so that it may obtain different fortune
Dynamic combination, so as to realize the all-around mobile of platform." VUTON " Crawler itself structure and the crawler belt group layout of platform
Scheme, determine ability of the platform by obstacles such as step, grooves.
The content of the invention
Jolted to solve the motion of existing Mecanum wheeled omni-directional moving platforms, road surface adaptability it is poor, Yi Jiwei
Solves the problems, such as " VUTON " mobile crawler type omni-directional moving platform obstacle climbing ability difference, the invention provides a kind of crawler type
Omni-directional moving platform, it is mainly made up of travel mechanism, control subsystem, drives subsystem and power subsystem, its feature
It is, the travel mechanism is made up of multiple all-around mobile crawler belts, and the multiple all-around mobile crawler belt is with similar automobile
Four-wheel wheel group structure is arranged.
The all-around mobile crawler belt mainly by driving wheel 12, creeper tread 13, roller 14, bogie wheel 15, moping pulley 16 with
And inducer 17 is formed.The all-around mobile crawler belt is spliced by multiple creeper treads 13, and the roller 14 is fixed on each
On the roller bracket 23 of creeper tread.The all-around mobile crawler belt is spliced by multiple creeper treads 13, and the roller 14 is fixed
On the roller bracket 23 of each creeper tread；
The control subsystem is by control stick, electric machine controller, and for calculating motor speed and steering and by motor
The integrated controller that rotating speed and steering order are sent to corresponding electric machine controller is formed, wherein the electric machine controller is according to reception
Instruction adjust rotating speed and the steering of each motor, and the reality for feeding back to the integrated controller each motor current time turns
Speed；
The roller 14 is cylindrical roller.
The axis of the pivot center of the roller bracket 23 and the driving wheel 12 of the all-around mobile crawler belt is arranged to one
Fixed angle, form the offset angle of the roller 14.
In addition, it is being formed in by the multiple all-around mobile crawler belt in the longitudinally asymmetric structure of four-wheel wheel group, in a pair
The offset angle of two all-around mobile crawler belts on linea angulata is identical, and two on another diagonal normal thereto are comprehensive
The offset angle of mobile crawler belt is opposite with foregoing offset angle.
The creeper tread is made up of plate body 19, guiding tooth 20, engagement shaft 21, pin-and-hole 22 and roller bracket 23, wherein institute
State engagement shaft 21 to be intermeshed with the gear ring on the driving wheel 12 to realize the conversion of power, the pin-and-hole 22 is used for will be multiple
Creeper tread is spliced into a complete crawler belt.
The axis of the roller bracket 23 of the creeper tread and the axis of driving wheel 12 are into a fixed angle, so that the shoe
Multiple rollers 14 on band plate 13 form unified fixed bias angle.The biasing angular region of the roller 14 (0 °, 90 °) or (-
90 °, 0 °) between.It is preferred that the offset angle of the roller 14 is ± 45 °.
Further, the control subsystem is by control stick, electric machine controller, and for calculating motor speed and turning to simultaneously
The integrated controller that motor speed and steering order are sent to corresponding electric machine controller is formed.The drives subsystem is by motor
Formed with decelerator, the motor is connected by decelerator with travel mechanism, and is received the rotating speed of the electric machine controller and turned
To instruction to drive the travel mechanism.
The crawler type omni-directional moving platform of the present invention has following excellent compared with the mobile platform of foregoing prior art
Point：(1) stationarity of omni-directional moving platform motion is improved；(2) the road surface adaptability of omni-directional moving platform is enhanced；
(3) obstacle climbing ability of omni-directional moving platform is improved.
Brief description of the drawings
Fig. 1：Mecanum (Mecanum) wheel shaft is to perspective view in the prior art；
Fig. 2：The optimal wheel group placement scheme of mobile platform of Mecanum (Mecanum) wheel shaft is used in the prior art；
Fig. 3：The structure principle chart of " VUTON " mobile crawler belt in the prior art；
Fig. 4：The crawler belt of mobile platform four of " VUTON " mobile crawler belt is used in the prior art around symmetric configuration scheme；
Fig. 5：The crawler type omni-directional moving platform general structure schematic diagram of the present invention；
Fig. 6：The all-around mobile caterpillar belt structure schematic diagram of the present invention；
Fig. 7：The longitudinally asymmetric layout of crawler belt group of the crawler type omni-directional moving platform of the present invention；
Fig. 8：The driving wheel structural representation of the all-around mobile crawler belt of the present invention；
Fig. 9：The track plate structure schematic diagram of the all-around mobile crawler belt of the present invention.
Embodiment
Fig. 5 is the general structure schematic diagram of crawler type omni-directional moving platform of the present invention.As shown in figure 5, the shoe of the present invention
Belt omni-directional moving platform, it is a kind of electric transmission control platform.It is mainly by travel mechanism, control subsystem, driving subsystem
The composition such as system and power subsystem.Wherein, travel mechanism is the basis of platform, and control subsystem is the core of platform.
For travel mechanism, the travel mechanism of platform of the present invention is made up of four " all-around mobile crawler belts ".It is " complete
Move crawler belt in orientation " it is the basic structure of the travel mechanism based on endless-track vehicle, and be uniformly distributed thereon a number of
Cylindrical roller with fixed bias angle, roller can rotate freely around own axes, biasing angular region be (0 °, 90 °) or (-
90 °, 0 °), it is usually ± 45 °.Its structural representation is incited somebody to action as shown in fig. 6, the detailed construction and characteristic of " all-around mobile crawler belt "
Elaborate below.
Its main feature of mobile platform of the present invention using above-mentioned " all-around mobile crawler belt " in addition to travel mechanism is used as, also
It is the layout type of its platform crawler belt group, as shown in fig. 7, present invention employs longitudinally asymmetric layout as shown in Figure 7, its class
It is similar to the four-wheel wheel group structure of car.Scheme medium and small rectangle frame and represent crawler belt, preferably " all-around mobile crawler belt ", one connects in frame
The oblique line of string then represents the axis direction of a succession of ground connection roller on crawler belt, i.e. biased direction, four dotted lines then represent driving wheel
Axis direction.Due to the special construction of " all-around mobile crawler belt ", the crawler belt on platform needs to take positive and negative two kinds of installation sides
Formula, so the roller offset angle on platform has two kinds, it is usually ± 45 °.What is be made up of the multiple all-around mobile crawler belt
In four-wheel wheel group structure, the offset angle of two all-around mobile crawler belts on a pair of linea angulatas is identical, is hung down therewith positioned at another
The offset angle of two all-around mobile crawler belts on straight diagonal is opposite with foregoing offset angle.For example, A and C crawler belts in Fig. 7
Roller offset angle it is identical, and then (the roller offset angle of such as A and C crawler belts just in contrast of the roller offset angle of B and No. D
For 45 °, then the roller offset angle of B and No. D is then -45 °).
For the control subsystem of mobile platform, the control subsystem of platform is by control stick, integrated controller and four
Individual electric machine controller composition.The workflow of control subsystem is as follows：Integrated controller will be manipulated using AD conversion module first
The analog signal of bar is converted to data signal, and calculates rotating speed and the steering of each motor；Then, integrated controller passes through
CAN by the rotating speed of each motor and steering order send corresponding to electric machine controller；Finally, electric machine controller is according to reception
Instruction adjust rotating speed and the steering of each motor, while can also feed back to the reality at integrated controller each motor current time
Rotating speed.
For the drives subsystem of mobile platform, the drives subsystem of platform is made up of four groups of motors and decelerator.
Motor is connected by decelerator with travel mechanism, the rotating speed and steering order of electric machine controller is received, so as to drive travel mechanism
Realize omnibearing movable.Further, since the inducer on " all-around mobile crawler belt " can also be used as driving wheel, so in needs
In the case of, eight groups of motors and decelerator can be also used, then every crawler belt will be driven simultaneously by two groups of motors and decelerator.
For the power subsystem of mobile platform, its power subsystem is that the control of platform, driving etc. provide power supply,
Electrical source of power of the generally use dc source as platform.Here power battery pack is selected.
The concrete structure of " all-around mobile crawler belt " and its spy used by mobile platform of the present invention is described more fully below
Point.
It is well known that existing endless-track vehicle has the advantages that stable movement, road surface are adaptable, the present invention program is exactly
Based on the basic structure of existing endless-track vehicle travel mechanism, by Curve guide impeller and a kind of novel crawler mechanism for developing --- it is complete
Move crawler belt in orientation.All-around mobile crawler belt had both maintained original endless-track vehicle travel mechanism stable movement, road surface adaptability
The advantages of strong, but also with the function of realizing omnibearing movable.
The present invention all-around mobile caterpillar belt structure schematic diagram as shown in fig. 6, the mechanism mainly by driving wheel 12, creeper tread
13rd, six parts such as roller 14, bogie wheel 15, moping pulley 16 and inducer 17 form.
Wherein driving wheel 12 uses double gear ring structure, as shown in figure 5, its function is, is nibbled by gear ring and creeper tread 13
Close, the driving torque that motor exports is converted into the pulling force of crawler belt, so as to drive whole caterpillar drive.The number of teeth and chi of driving wheel
It is very little to be determined according to the crawler belt size being actually needed.
In the design of crawler belt and driving wheel, it has been determined that width, pitch, engagement system and the engagement shaft of creeper tread
Diameter.The creeper tread 13 is as shown in figure 9, each creeper tread can be divided into following components：Plate body 19, it is oriented to tooth
20th, engagement shaft 21, pin-and-hole 22 and roller bracket 23.Wherein plate body 19 is used for supports bogie wheels 15 and carrier wheel 16, equivalent to shifting
The track of the main movement of dynamic crawler belt；It is oriented to tooth 20 and then serves guide effect, ensure that bogie wheel 15 and moping pulley 16 be not inclined
From the track of plate body 19；Engagement shaft 20 is intermeshed with the gear ring on driving wheel 12, the conversion of power is realized, due to driving wheel 12
It is bidentate coil structures, so having a pair of meshing axle on a creeper tread；The connection that pin-and-hole 22 is used between multiple creeper treads, most
A complete crawler belt is formed afterwards；Roller bracket 23 is located at below plate body, for fixing roller, its axis 24 and drive sprocket axle
Line is at a certain angle, and in the range of (0 °, 90 °) or (- 90 °, 0 °), usual optimization design is ± 45 °.
Roller of the present invention is the grounded part of crawler belt, mainly comprehensive to realize with the interaction on ground by it
Motion, its outline is a cylinder.It compares the foregoing wheeled omni-directional moving platforms of Mecanum of the prior art, entirely
The stationarity of orientation movement caterpillar drive greatly promotes.The grounded part of all-around mobile crawler belt is a series of cylindrical roller
Son, they are linear contact lay between ground, this effectively increases the contact area of platform, and with track length increase and
Increase.In addition, in motion process, the roller of comprehensive crawler belt is kept for one section of time of contact (at this section after each ground connection
Between depended on the length and active wheel speed of crawler belt), be so likely to make to reach between ground connection roller and ground of short duration quiet flat
Weighing apparatus, so as to effectively slow down the degree of jolting, improve the stationarity of platform motion.The roller is installed on roller bracket, can be around
Own axes freely rotate, because the axis and driving wheel axis of roller bracket are at a certain angle, so roller has necessarily
Offset angle, be usually ± 45 ° in the range of (0 °, 90 °) or (- 90 °, 0 °).
The comprehensive crawler belt of the present invention is provided with bogie wheel in addition, and guide groove is provided with bogie wheel, its with creeper tread
Be oriented to tooth engage so that bogie wheel without departing from creeper tread slab track.The function of bogie wheel is that support car body is grounded in crawler belt
Rolled in section, and the gravity of platform is relatively evenly distributed on whole track length on ground.Generally, have on a crawler belt multiple
Bogie wheel, increase the quantity of bogie wheel, the pressure distribution on crawler belt supporting surface can be made uniform, make the mechanism poor in bearing capacity
Ground on improved by property, reduce the destructiveness to ground.Selection, structure and the size of bogie wheel can be according to reality
Demand is designed.
In addition, the all-around mobile crawler belt of the present invention also includes moping pulley, moping pulley is similar to heavy burden wheel construction, but size
It is relatively small.It plays a supporting role to upper branch segment track, can so reduce the swing of upper branch segment track, so as to reduce crawler belt
The power loss of plate hinged place.Also there are multiple moping pulleys, particular number can be according to upper branch segment track on a general crawler belt
Length determines.
Further the all-around mobile crawler belt of the present invention also includes inducer.Generally, the function of inducer is for supporting
Upper branch segment track and the direction of motion for changing upper branch segment track, it is similar to the structure of moping pulley, but size is larger.However, such as
Although the inducer shown in Fig. 4 is identical with active wheel construction, it does not have active drive ability.However, if it is desired to increase
During the driving force of crawler belt, the inducer can be directly transformed to driving wheel, then for whole piece crawler belt by two active wheel drives, this can
Determine according to the actual requirements.
The crawler type omni-directional moving platform of the present invention has the following advantages that compared with existing mobile platform：
(1) stationarity of omni-directional moving platform motion is improved.
Compared to the wheeled omni-directional moving platforms of Mecanum, the stationarity of crawler type omni-directional moving platform motion carries significantly
Rise.Because its travel mechanism is made up of four " all-around mobile crawler belts ", and the grounded part of " all-around mobile crawler belt " is
A series of cylindrical roller, they are linear contact lay between ground, this effectively increases the contact area of platform, and with
The increase of track length and increase.In addition, in motion process, the roller of comprehensive crawler belt is kept for one section after each ground connection
Time of contact (length and active wheel speed that have depended on crawler belt this period), be so likely to make ground connection roller and ground it
Between reach of short duration static balance, so as to effectively slowing down the degree of jolting, improve the stationarity of platform motion.
(2) the road surface adaptability of omni-directional moving platform is enhanced.
Compared to the wheeled omni-directional moving platforms of Mecanum, crawler type omni-directional moving platform can better adapt at random
Uneven road surface.Because the number of whole platform ground connection roller is more, when being moved on Stochastic uneven road, despite the presence of it is concavo-convex,
Groove or fluctuating etc., there is hanging situation in the partial roller that can cause to be grounded in segment track, but as long as every crawler belt is up to
A rare roller keeps ground connection, just can still realize omnibearing movable.In addition, the contact area of platform is big, can effectively overcome not
The vibrational excitation that flat road surface is brought to platform, so as to slow down the degree of jolting.It can be seen that crawler type omni-directional moving platform is not at random
The adaptability of flat road surface is stronger, and strengthens with the increase of track length.
(3) obstacle climbing ability of omni-directional moving platform is improved.
The comprehensive platform of crawler type employs the rectangular layout scheme of similar car wheel group structure, and " all-around mobile
Crawler belt " is with good by property, and every crawler belt can also configure bi-motor and be driven in addition, therefore platform passes through step, groove
The ability of the obstacles such as ditch is greatly improved.
Although the present invention is described with reference to multiple embodiments, the present invention is not limited to above-described embodiment, should
When understand those skilled in the art can to above-described embodiment in the part that is related to carry out appropriate combination and form new embodiment,
The various obvious modifications and variations carried out on the basis of the principle of the invention is not departed from should all fall into protection scope of the present invention
Within.
Claims (8)
1. a kind of crawler type omni-directional moving platform, it is mainly by travel mechanism, control subsystem, drives subsystem and power supply
System is formed, and the travel mechanism is made up of multiple all-around mobile crawler belts, and the multiple all-around mobile crawler belt is with automobile
The longitudinally asymmetric Structural assignments of four-wheel wheel group；
The all-around mobile crawler belt is mainly by driving wheel (12), creeper tread (13), roller (14), bogie wheel (15), moping pulley
(16) and inducer (17) is formed；
The all-around mobile crawler belt is spliced by multiple creeper treads (13), and the roller (14) is fixed on each creeper tread
On roller bracket (23)；
The control subsystem is by control stick, electric machine controller, and for calculating motor speed and steering and by motor speed
And steering order is sent to the integrated controller composition of corresponding electric machine controller, control stick can be passed through again by integrated controller
CAN controls 4 motors or 8 motors, then power is transmitted into comprehensive crawler belt by decelerator；Wherein described motor control
Device adjusts rotating speed and the steering of each motor according to the instruction of reception, and it is every by CAN to feed back to the integrated controller
The actual speed at individual motor current time；
The roller (14) is cylindrical roller.
2. crawler type omni-directional moving platform as claimed in claim 1, it is characterised in that the rotation of the roller bracket (23)
The setting of the axis of axis and the driving wheel (12) of the all-around mobile crawler belt is at a certain angle, forms the roller (14)
Offset angle.
3. crawler type omni-directional moving platform as claimed in claim 2, it is characterised in that by the multiple all-around mobile
In the longitudinally asymmetric structure of four-wheel wheel group that crawler belt is formed, the offset angle phase of two all-around mobile crawler belts on a pair of linea angulatas
Together, the offset angle of two all-around mobile crawler belts on another diagonal normal thereto is opposite with foregoing offset angle.
4. crawler type omni-directional moving platform as claimed in claim 2, it is characterised in that the creeper tread by plate body (19),
Be oriented to tooth (20), engagement shaft (21), pin-and-hole (22) and roller bracket (23) are formed, wherein the engagement shaft (21) with it is described
Gear ring on driving wheel (12) is intermeshed to realize the conversion of power, and the pin-and-hole (22) is used to multiple creeper treads being spliced into
One complete crawler belt.
5. crawler type omni-directional moving platform as claimed in claim 3, it is characterised in that the roller bracket of the creeper tread
(23) axis and the driving wheel (12) axis is into a fixed angle, so that the roller (14) on every crawler belt forms system
One fixed bias angle.
6. the crawler type omni-directional moving platform as described in one of claim 2 to 5, it is characterised in that the roller (14)
Angular region is biased between (0 °, 90 °) or (- 90 °, 0 °).
7. crawler type omni-directional moving platform as claimed in claim 6, it is characterised in that the offset angle of the roller (14) is
±45°。
8. crawler type omni-directional moving platform as claimed in claim 7, it is characterised in that the drives subsystem by motor and
Decelerator forms, and under CAN control, motor is 4 or 8, and the motor is connected by decelerator with travel mechanism,
And rotating speed and the steering order of the electric machine controller are received to drive the travel mechanism.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210347188.8A CN102826135B (en) | 2012-09-19 | 2012-09-19 | Crawler type omni-directional moving platform |
| PCT/CN2012/001755 WO2014043841A1 (en) | 2012-09-19 | 2012-12-28 | Track type omnibearing moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210347188.8A CN102826135B (en) | 2012-09-19 | 2012-09-19 | Crawler type omni-directional moving platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102826135A CN102826135A (en) | 2012-12-19 |
| CN102826135B true CN102826135B (en) | 2017-12-08 |
Family
ID=47329498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210347188.8A Active CN102826135B (en) | 2012-09-19 | 2012-09-19 | Crawler type omni-directional moving platform |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102826135B (en) |
| WO (1) | WO2014043841A1 (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826135B (en) * | 2012-09-19 | 2017-12-08 | 张豫南 | Crawler type omni-directional moving platform |
| CN103043128B (en) * | 2012-09-19 | 2017-06-13 | 张豫南 | All-around mobile crawler belt |
| EP2930088A1 (en) * | 2014-04-09 | 2015-10-14 | BIBA Bremer Institut für Produktion und Logistik GmbH | Running gear, tracked vehicle and sub-vehicle with same and vehicle with such a tracked vehicle or sub-vehicle |
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- 2012-09-19 CN CN201210347188.8A patent/CN102826135B/en active Active
- 2012-12-28 WO PCT/CN2012/001755 patent/WO2014043841A1/en active Application Filing
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| Publication number | Publication date |
|---|---|
| WO2014043841A1 (en) | 2014-03-27 |
| CN102826135A (en) | 2012-12-19 |
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