CN105966492A - All-wheel same-phase driving trolley and turning control method thereof - Google Patents
All-wheel same-phase driving trolley and turning control method thereof Download PDFInfo
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- CN105966492A CN105966492A CN201610368782.3A CN201610368782A CN105966492A CN 105966492 A CN105966492 A CN 105966492A CN 201610368782 A CN201610368782 A CN 201610368782A CN 105966492 A CN105966492 A CN 105966492A
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- wheel
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- trolley body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses an all-wheel same-phase driving trolley and a turning control method thereof. The all-wheel same-phase driving trolley comprises a trolley body and a plurality of round wheels arranged on the trolley body. The number of the round wheels is even and is at least four. The round wheels are symmetrically arranged on two sides of the trolley body through driving components in a pairwise mode. A plurality of large friction force circular arc segments are uniformly distributed on each round wheel. The large friction force circular arc segments on every two round wheels which are symmetrically arranged are complementary and can form a whole circle. The phase positions of the large friction force circular arc segments on the round wheels which are located on the same side of the trolley body are the same. The friction force produced by the round wheels on the two sides of the trolley body is different, and the deviation phenomenon of the trolley body occurs during speed changing, so that trolley turning is achieved. The all-wheel same-phase driving trolley is simple and reliable in integral structure, has the characteristics of being high in efficiency, good in land surface adaptability and high in obstacle crossing capability and can be used for mobile robots, obstacle crossing vehicles and other mobile devices which need to walk on the uneven ground and the even ground.
Description
Technical field
The invention belongs to robot field, be specifically related to a kind of full wheel same phase and drive dolly and Servo Control method thereof.
Background technology
Along with the development of China's advanced technology, the research of intelligence wheeled robot becomes more and more popular, and its application is more and more wider
General, it is worth the most notable.The general-purpose tugboat (three horn rings) occurred in recent years, various Stump-jump wheel and circle wheel and other form
The walking mechanism of mixing makes circle wheel start to depart from rigid planar ground and come into complicated landform.Therefore, research one can be multiple
Miscellaneous landform is walked freely, succinct wheeled mobile robot powerful, light becomes its application needs to overcome primary difficulty
Close.
Available data shows, circle wheel same phase is conducive to climbing obstacle detouring, is particularly suitable in complex environment walking.For wheeled shifting
Mobile robot, if its all circles take turns all same phases (the most entirely taking turns homophase), its climbing obstacle climbing ability will be greatly enhanced.Because
Full wheel homophase moves robot arbitrary round wheel has earth-grasping force when, can obtain all torsion torque, beneficially leaping over obstacles.But
Full wheel brings the problem of cornering difficulties with meeting, if introduced as the senior turning mode of motor turning frame one class, will reduce machine
The intensity of device people, increases structure complexity, also can increase the burden of energy power consumption, run counter to light succinct objective.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of full wheel same phase and drive dolly and Servo Control method thereof, do not drawing
The problem solving complicated difficulty of turning under full wheel homophase in the case of entering the complicated turning modes such as bogie.
For reaching above-mentioned purpose, the present invention provides following technical scheme: a kind of full wheel same phase drives dolly, including trolley body
And several circle wheels being arranged in trolley body, described circle wheel is even number and at least four, and described circle wheel is two-by-two by driving
Dynamic component is symmetricly set on trolley body both sides；It is evenly distributed with some sections of big circle of frictional force segmental arcs on each described circle wheel, the most right
Claim the big circle of frictional force segmental arc on two arranged circle wheels complementary and a full circle can be formed, being positioned on the circle wheel of trolley body the same side
Big circle of frictional force segmental arc phase place identical.
Further, it is connected by actuating device between adjacent driven parts.
Further, described driver part is mainly made up of rotary shaft and driving source, and circle wheel symmetrical two-by-two is connected also by rotary shaft
Driven by the source of driving.
Further, described actuating device is conveyer belt, and described conveyer belt two ends correspondence is sleeved on the driving of two groups of adjacent driven parts
On source.
The present invention also provide for a kind of above-mentioned full wheel same phase drive dolly Servo Control method:
Comprise the following steps:
(1) ensure that the relative phase that in trolley body, symmetrically arranged two circles are taken turns between phase complements and each circle wheel immobilizes；
(2) control dolly acceleration or deceleration, make trolley body both sides produce Relative sliding.
Further, including left steering control: when trolley body is accelerated, the big circle of frictional force segmental arc on right circles wheel contacts with ground,
Left circles wheel takes turns phase complements with right circles；When trolley body is slowed down, the big circle of frictional force segmental arc on left circles wheel contacts with ground,
Right circles wheel takes turns phase complements with left circles.
Further, including right turn control: when trolley body is accelerated, the big circle of frictional force segmental arc on left circles wheel contacts with ground,
Right circles wheel takes turns phase complements with left circles；When trolley body is slowed down, the big circle of frictional force segmental arc on right circles wheel contacts with ground,
Left circles wheel takes turns phase complements with right circles.
The beneficial effects of the present invention is:
(1) phase controlling and motor are driven (acceleration and deceleration) to carry out reasonable coordination by the present invention, have both remained full wheel homophase obstacle detouring energy
The advantage that power is strong, the problem having captured again full wheel homophase cornering difficulties, can be real in the case of the completely in phase position of each road wheel
Advance the most normally, retreat, turn left and turn right, there is the strongest practicality.
(2) structure is overall succinct reliable, has the advantages that efficiency is high, earth's surface adaptability is good, obstacle climbing ability is strong, is available for moving machine
Device people, barrier-exceeding vehicle etc. need the mobile device at uneven terrain and smooth ground running to use.
(3) when trolley body is with uniform speed or the most gently acceleration and deceleration walking on smooth ground, car body macroscopically straight line
Walking；When needs are turned, carry out anxious acceleration or anxious deceleration according to the phase state of circle wheel, turning efficiency can be reached.?
During non-flat forms ground running, due to circle wheel homophase, can the obstacle performance of wheeled vehicle be performed to ultimate attainment.
Accompanying drawing explanation
In order to make the purpose of the present invention, technical scheme and beneficial effect clearer, the present invention provides drawings described below to illustrate:
Fig. 1 is the structural representation (six wheel constructions) of the present invention；
Fig. 2 is the structural representation (four wheel constructions) of the present invention；
Fig. 3 is for accelerating left turn state schematic diagram；
Fig. 4 is deceleration left turn state schematic diagram；
Fig. 5 is for accelerating right turn state schematic diagram；
Fig. 6 is deceleration right turn state schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As it is shown in figure 1, the full wheel same phase in the present invention drives dolly, it is arranged on trolley body including trolley body 1 and six
Round wheel 2-1,2-2,2-3,2-4,2-5 and 2-6 on 1, described circle wheel is symmetricly set on dolly originally by driver part 3 two-by-two
Body 1 both sides, i.e. side are provided with circle wheel 2-1,2-2 and 2-3, and opposite side is provided with circle wheel 2-4,2-5 and 2-6.Each described circle
Some sections of big circle of frictional force segmental arcs 21, the big circle of frictional force segmental arc 21 on two be symmetrically set circle wheel it is evenly distributed with on wheel
Complementation also can form a full circle, and big circle of frictional force segmental arc 21 phase place being positioned on the circle wheel of trolley body 1 the same side is identical.Round
Big circle of frictional force segmental arc 21 phase place on wheel 2-1,2-2 and 2-3 is identical, the big frictional force circular arc on circle wheel 2-4,2-5 and 2-6
Section 21 phase places are identical, and corresponding and on circle wheel 2-4,2-5 and 2-6 the big circle of frictional force segmental arc 21 of circle wheel 2-1,2-2,2-3 is complementary.
Concrete, it is not provided with the arc section of big frictional force and corresponds to less friction arc section 22 and (scheme medium and small circle of frictional force segmental arc 22
For the light district on circle wheel, big circle of frictional force segmental arc 21 is the dark district on circle wheel).Due to interval the rubbing of upper out of phase of circle wheel
Wiping power is different, and the circle wheel phase place of homonymy is identical, and both sides circle wheel phase place is mutually complementary, therefore, in the same time, and trolley body 1
The both sides produced frictional force of circle wheel is different；And trolley body 1 vehicle body when speed change has skewness, deflection vehicle body with
Both sides differentiated friction power acts on down jointly, can complete dolly and turn to.
The present invention is connected by actuating device 4 between adjacent driven parts 3, i.e. the driver part 3 of circle wheel (2-1,2-4)
Be connected by actuating device 4 with the driver part of circle wheel (2-2,2-5), the driver part of circle wheel (2-2,2-5) also with circle
The driver part of wheel (2-3,2-6) is connected.All circle wheels are connected by driver part 3 by actuating device 4, strict guarantee
The immobilizing of relative phase.
Driver part 3 in the present invention is mainly made up of rotary shaft 31 and driving source 32, and round wheel symmetrical two-by-two passes through rotary shaft
31 connect and are driven by driving source 32.Wherein, driving source can be motor.
Actuating device 4 in the present invention is conveyer belt, and described conveyer belt two ends correspondence is sleeved on the driving of two groups of adjacent driven parts
On source 32.
Control this method that wheel same phase drives the carrying out of dolly to turn entirely, comprise the following steps:
(1) ensure that the relative phase that in trolley body 1, symmetrically arranged two circles are taken turns between phase complements and each circle wheel immobilizes；
(2) control dolly acceleration or deceleration, make trolley body 1 both sides produce Relative sliding.
Turn clockwise justifying wheel, illustrate based on right forward travel state.
Concrete, left steering controls: when trolley body 1 is accelerated, and the big circle of frictional force segmental arc on right circles wheel contacts with ground,
Left circles wheel takes turns phase complements with right circles；When trolley body 1 is slowed down, the big circle of frictional force segmental arc on left circles wheel connects with ground
Touching, right circles wheel takes turns phase complements with left circles.
Right turn controls: when trolley body 1 is accelerated, and the big circle of frictional force segmental arc on left circles wheel contacts with ground, and right circles is taken turns
Phase complements is taken turns with left circles；When trolley body 1 is slowed down, the big circle of frictional force segmental arc on right circles wheel contacts with ground, left side
Circle wheel takes turns phase complements with right circles.
As in figure 2 it is shown, as a example by a certain lorry, this trolley body 1 is provided with four circles wheel 2-1,2-2,2-3 and 2-4,
All having half cycle big circle of frictional force segmental arc 21 on each circle wheel, additionally half cycle is less friction arc section 22；Wherein, circle wheel 2-1 and circle
Wheel 2-4 is coaxially connected and phase complements, circle wheel 2-2 and circle wheel 2-3 are coaxially connected and phase complements.Big friction as circle wheel 2-1
Power arc section 21 is in high half cycle and time less friction arc section 22 is in low half cycle, the big circle of frictional force segmental arc 21 of circle wheel 2-4
It is in low half cycle and less friction arc section 22 is in high half cycle, owing to the phase place of circle wheel 2-1,2-2 is identical and front,
Rotary shaft 31 on trailing wheel is connected by conveyer belt, further ensures the fixing of four circle wheel relative phases.Therefore, dolly can
Realize car body deflection in different modes.
Following principle explanation all turns clockwise, i.e. based on forward travel state, as shown in Fig. 3,4,5,6 justifying wheel.
When normally travelling, owing to the absolute value of acceleration is relatively low, both sides circle wheel does not the most break through the limit of stiction, therefore institute
The stiction produced is identical, and both sides are all without sliding, and car body keeps straight-line travelling.
When the absolute value of acceleration is sufficiently large, trolley body 1 both sides or side circle wheel when breaking through the stiction limit, circle
There is sliding in wheel.Wherein, less friction arc section 22 is in the side of low half cycle, the frictional force between itself and ground less and first
Breaking through the limit of stiction, meanwhile, the big circle of frictional force segmental arc 21 of opposite side is in the side of low half cycle, and it is by frictional force
Bigger.When less friction side occurs sliding, big frictional force side sliding not to occur, car body can turn to.In like manner, two
When side all occurs sliding, because the frictional force suffered by both sides is different, car body can produce equally and turn to.
When turning left:
(1) add under fast mode, when the less friction arc section 22 of left circles wheel is in low half cycle, due to phase complements, right side
The big circle of frictional force segmental arc 21 of circle wheel is in low half cycle, the most drastically accelerates, side (must be little friction low half cycle side) or two
When the static friction limit is all broken through in side, there is sliding between circle wheel and ground so that car body turns left.As shown in Figure 3.
(2) under deceleration mode, when the big circle of frictional force segmental arc 21 of left circles wheel is in low half cycle, due to phase complements, right side
The less friction arc section 22 of circle wheel is in low half cycle, is now a significant slowdown, and side or bilateral can break through the static friction limit, circle
Sliding is there is so that car body turns left between wheel and ground.As shown in Figure 4.
When turning right:
(1) add under fast mode, when the big circle of frictional force segmental arc 21 of left circles wheel is in low half cycle, due to phase complements, right side
The less friction arc section 22 of circle wheel is in low half cycle, the most drastically accelerates, side (must be little friction low half cycle side) or two
When the static friction limit is all broken through in side, there is sliding between circle wheel and ground so that car body is turned right.As shown in Figure 5.
(2) under deceleration mode, when the less friction arc section 22 of left circles wheel is in low half cycle, due to phase complements, right side
The big circle of frictional force segmental arc 21 of circle wheel is in low half cycle, is now a significant slowdown, and side or bilateral can break through the static friction limit, circle
Sliding is there is so that car body is turned right between wheel and ground.As shown in Figure 6.
This trolley body, neither loses the efficiency of smooth ground running, has taken into account again obstacle performance.When trolley body 1 is with uniform speed
Or the most gently on smooth ground during acceleration and deceleration walking, car body macroscopically straight line moving；When needs are turned, according to circle
The phase state of wheel carries out anxious acceleration or anxious deceleration, can reach turning efficiency.When non-flat forms ground running, due to circle wheel
Homophase, can perform to ultimate attainment by the obstacle performance of wheeled vehicle.
Finally illustrating, preferred embodiment above is only in order to illustrate technical scheme and unrestricted, although by above-mentioned
The present invention is described in detail by preferred embodiment, it is to be understood by those skilled in the art that can in form and
In details, it is made various change, without departing from claims of the present invention limited range.
Claims (7)
1. a full wheel same phase drives dolly, it is characterised in that: include trolley body and several circles being arranged in trolley body
Wheel, described circle wheel is even number and at least four, and described circle wheel is symmetricly set on trolley body by driver part two-by-two
Both sides；Some sections of big circle of frictional force segmental arcs it are evenly distributed with, on two be symmetrically set circle wheel on each described circle wheel
Big circle of frictional force segmental arc is complementary and can form a full circle, is positioned at the big circle of frictional force segmental arc on the circle wheel of trolley body the same side
Phase place is identical.
Full wheel same phase the most according to claim 1 drives dolly, it is characterised in that: filled by transmission between adjacent driven parts
Put and be connected.
Full wheel same phase the most according to claim 2 drives dolly, it is characterised in that: described driver part is mainly by rotary shaft
And the source of driving composition, circle wheel symmetrical two-by-two is connected by rotary shaft and is driven by driving source.
Full wheel same phase the most according to claim 3 drives dolly, it is characterised in that: described actuating device is conveyer belt, institute
State conveyer belt two ends correspondence to be sleeved on the driving source of two groups of adjacent driven parts.
5. one kind controls described in any one of claim 1～4 method that full wheel same phase drives dolly to turn, it is characterised in that include with
Lower step:
(1) ensure that the relative phase that in trolley body, symmetrically arranged two circles are taken turns between phase complements and each circle wheel immobilizes；
(2) control dolly acceleration or deceleration, make trolley body both sides produce Relative sliding.
Full wheel same phase the most according to claim 5 drives dolly Servo Control method, it is characterised in that include left steering control:
When trolley body is accelerated, the big circle of frictional force segmental arc on right circles wheel contacts with ground, and left circles wheel takes turns phase place with right circles
Complementary；When trolley body is slowed down, the big circle of frictional force segmental arc on left circles wheel contacts with ground, right circles wheel and left circles
Wheel phase complements.
Full wheel same phase the most according to claim 5 drives dolly Servo Control method, it is characterised in that include right turn control:
When trolley body is accelerated, the big circle of frictional force segmental arc on left circles wheel contacts with ground, and right circles wheel takes turns phase place with left circles
Complementary；When trolley body is slowed down, the big circle of frictional force segmental arc on right circles wheel contacts with ground, left circles wheel and right circles
Wheel phase complements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368782.3A CN105966492B (en) | 2016-05-27 | 2016-05-27 | A kind of full wheel same-phase driving dolly and its Servo Control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610368782.3A CN105966492B (en) | 2016-05-27 | 2016-05-27 | A kind of full wheel same-phase driving dolly and its Servo Control method |
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| Publication Number | Publication Date |
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| CN105966492A true CN105966492A (en) | 2016-09-28 |
| CN105966492B CN105966492B (en) | 2018-02-27 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4101004A (en) * | 1977-01-31 | 1978-07-18 | Oltman Herbert D | Drive and steering apparatus |
| US20100206127A1 (en) * | 2006-09-28 | 2010-08-19 | Ricardo Uk Ltd | Methods and apparatus for improving the manoeuvrability of a vehicle |
| CN201881894U (en) * | 2010-12-15 | 2011-06-29 | 浙江中控研究院有限公司 | Four-wheel differential drive type travel mechanism |
| CN202754057U (en) * | 2012-08-23 | 2013-02-27 | 公安部上海消防研究所 | Six-wheel full drive fire-fighting robot mobile carrier |
| CN203727466U (en) * | 2013-12-19 | 2014-07-23 | 深圳市朗驰欣创科技有限公司 | All-terrain wheeled robot based on shaft joint steering |
| CN205686507U (en) * | 2016-05-27 | 2016-11-16 | 西南大学 | A kind of full wheel same phase drives dolly |
-
2016
- 2016-05-27 CN CN201610368782.3A patent/CN105966492B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4101004A (en) * | 1977-01-31 | 1978-07-18 | Oltman Herbert D | Drive and steering apparatus |
| US20100206127A1 (en) * | 2006-09-28 | 2010-08-19 | Ricardo Uk Ltd | Methods and apparatus for improving the manoeuvrability of a vehicle |
| CN201881894U (en) * | 2010-12-15 | 2011-06-29 | 浙江中控研究院有限公司 | Four-wheel differential drive type travel mechanism |
| CN202754057U (en) * | 2012-08-23 | 2013-02-27 | 公安部上海消防研究所 | Six-wheel full drive fire-fighting robot mobile carrier |
| CN203727466U (en) * | 2013-12-19 | 2014-07-23 | 深圳市朗驰欣创科技有限公司 | All-terrain wheeled robot based on shaft joint steering |
| CN205686507U (en) * | 2016-05-27 | 2016-11-16 | 西南大学 | A kind of full wheel same phase drives dolly |
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| CN105966492B (en) | 2018-02-27 |
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