CN106143680A - A kind of Omni-mobile platform - Google Patents
A kind of Omni-mobile platform Download PDFInfo
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- CN106143680A CN106143680A CN201510206463.8A CN201510206463A CN106143680A CN 106143680 A CN106143680 A CN 106143680A CN 201510206463 A CN201510206463 A CN 201510206463A CN 106143680 A CN106143680 A CN 106143680A
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- wheel
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- mobile platform
- skewback
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Abstract
The invention belongs to mobile platform technical field, particularly relate to a kind of Omni-mobile platform.Including wheel, motion control unit, Motor execution unit and platform base, wherein motion control unit is arranged at the top of platform base, the lower section of described platform base is provided with four wheels by four Motor execution unit respectively, and each Motor execution unit is all connected with motion control unit；The tire tread of described wheel is provided with twill.Described twill includes that the multiple skewed slots tilted in the same direction and multiple skewback, described skewed slot and skewback interval are arranged alternately.Described skewed slot and skewback are parallel to each other.The present invention can reduce cost, meet small size and require, reduce the feature such as applied environment requirement and simple in construction, and increasing can the scope of realizing of Omni-mobile platform application.
Description
Technical field
The invention belongs to mobile platform technical field, particularly relate to a kind of Omni-mobile platform.
Technical background
Omni-mobile platform refers to move along XY two direction, and can realize the platform rotated in place, tool
Turn to space little, the advantage of the directionally independent motion of XY, industry, toy, machine can be widely used in
People etc. relate to the mobile platform of in-wheel driving.The existing Omni-mobile flat-bed format bag realized based on tire
Including Mecanum wheels mode and omni-directional wheel mode, both tire constructions are similar, are all by wheel hub actively
Multiple passive rollers the most equally distributed with wheel hub outer rim form, and both are realizing omnidirectional certainly
Time mobile, tire distribution on platform is different, and respectively run-in index is installed and orthogonal formula is installed.But,
Two class tires have certain defect, owing to forming the complexity of structure, the reliability causing system is low,
Cost is high, and big for undersized manufacture difficulty, rotates wheel, for preventing dust additionally, due to existing more
Block and rotate, therefore environment is wanted height.Disadvantages described above, result in two class tires and in many circumstances can not
Applied.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of Omni-mobile platform.
To achieve these goals, the present invention is by the following technical solutions:
A kind of Omni-mobile platform, including at the bottom of wheel, motion control unit, Motor execution unit and platform
Seat, wherein motion control unit is arranged at the top of platform base, and the lower section of described platform base leads to respectively
Crossing four Motor execution unit and be provided with four wheels, each Motor execution unit is all with motion control unit even
Connect；The tire tread of described wheel is provided with twill.
Twill on the tire tread of described wheel include multiple skewed slots of tilting in the same direction and multiple tiltedly
Block, described skewed slot and skewback interval are arranged alternately.Described skewed slot and skewback are parallel to each other, described skewed slot and
Angle between skewback and wheel axis is acute angle or obtuse angle.
The plurality of skewed slot joins end to end the most successively, and the plurality of skewback head and the tail the most successively are relatively
Should or be connected；When the plurality of skewback joins end to end the most successively and connects, formation axially extends
Threaded line.Described threaded line is wall scroll or a plurality of.
Twill on the tire tread of two wheels of described Omni-mobile platform homonymy is oppositely oriented.Described
Twill on the tire tread of two wheels in Omni-mobile platform front is oppositely oriented.
Described Motor execution unit includes motor, decelerator and wheel hub adpting flange, and wherein motor is arranged on
The lower section of platform base output shaft and decelerator, the output shaft of described decelerator is connected by wheel hub
Flange is provided with a wheel, and described motor electrically connects with motion control unit.
Advantages of the present invention and providing the benefit that:
1. the present invention can reduce cost, meet small size requirement, reduction applied environment requirement and structure letter
The feature such as single, increasing can the scope of realizing of Omni-mobile platform application.
2. the present invention is by controlling turning to and rotating speed of four wheels respectively, it is achieved move before and after platform,
Move left and right, rotate in place and have the rotation of mobile radius of curvature.
3. the screw type tire design of the present invention, increases the adhesive force of tire and ground so that mobile flat
Platform reliably can travel on smooth earth.
Accompanying drawing explanation
Fig. 1 is the tire tread structure schematic diagram of wheel of the present invention；
Fig. 2 is the structural representation of mobile platform of the present invention；
Fig. 3 is the principle schematic that two wheels of the present invention produce translation；
Fig. 4 is the principle schematic that the present invention moves forward；
Fig. 5 is the principle schematic that the present invention is moved rearwards by；
Fig. 6 is the principle schematic that the present invention is moved to the left；
Fig. 7 is the principle schematic that the present invention moves right；
Fig. 8 is the principle schematic that the present invention turns clockwise；
Fig. 9 is the principle schematic that the present invention rotates counterclockwise.
Wherein: 1 is wheel, 101 is wheel axis, and 102 is skewed slot, and 103 is skewback, and 2 is motion control
Unit processed, 3 is Motor execution unit, and 4 is platform base, and 5 is motor, and 6 is decelerator, and 7 is wheel hub
Adpting flange, F is thrust, FCloseFor making a concerted effort, F1The thrust produced for the near front wheel, F2Produce for off-front wheel
Thrust, F3The thrust produced for left rear wheel, F4The thrust produced for off hind wheel, T is moment of torsion.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the present invention includes wheel 1, motion control unit 2, Motor execution unit
3 and platform base 4, wherein motion control unit 2 is arranged at the top of platform base 4, at the bottom of described platform
The lower section of seat 4 is provided with four wheels 1, each Motor execution unit by four Motor execution unit 3 respectively
3 are all connected with motion control unit 2, and the tire tread of described wheel 1 is provided with twill.
Twill on the tire tread of described wheel 1 includes multiple skewed slots 102 He tilted in the same direction
Multiple skewbacks 103, described skewed slot 102 and skewback 103 interval are arranged alternately and are parallel to each other.Described tiltedly
Angle between groove 102 and skewback 103 and wheel axis 101 is acute angle or obtuse angle.
The plurality of skewed slot 102 joins end to end the most successively, and the plurality of skewback 103 is the most successively
The most corresponding or be connected；When the plurality of skewback 103 joins end to end the most successively and connects, formed
The threaded line axially extended, described threaded line can be wall scroll or a plurality of.When described wheel 1 rotates, car
Wheel 1 and ground friction, produces and has thrust F of certain angle with wheel axis 101, this thrust F not with
Wheel axis 101 is vertical.
Twill on the tire tread of two wheels 1 of described Omni-mobile platform homonymy is oppositely oriented, front
Twill on the tire tread of two wheels 1 in side is oppositely oriented.
Described Motor execution unit 3 includes motor 5, decelerator 6 and wheel hub adpting flange 7, wherein motor
5 lower sections being arranged on platform base 4 output shaft and decelerator 6, on the output shaft of described decelerator 6
Being provided with a wheel 1 by wheel hub adpting flange 7, described motor 5 electrically connects with motion control unit 2.
Platform base 4 can be arbitrary form, is installed on the load above platform base 4 for carrying.
The operation principle of the present invention is:
As it is shown on figure 3, be installed on two wheels 1 of homonymy bottom platform base 4, the axletree of two wheels 1
Line 101 is parallel, and the helix of two wheels 1 is oppositely oriented.Two wheels 1 rotate to different directions respectively
Time, make two wheels 1 produce the most not parallel thrust F being also not orthogonal to 101 directions respectively.Two wheels 1 turn
Speed is identical, and curve symmetric is contrary, produces two equal-sized thrusts F, and the F that makes a concerted effort of two thrusts FCloseEdge
The middle subangle direction (i.e. wheel axis 101 direction) of two thrusts F.When two wheels 1 turn with phase inward turning
Time, F with joint effortsCloseTo the left；When two wheels 1 are simultaneously to external rotation, F with joint effortsCloseTo the right, thus realize
The left and right movement of platform base 4.
The present invention passes through four wheels 1 of reasonable installation, and the twill on two of which tire tread is left-handed, separately
Outer two is dextrorotation.Preferably installation method is: the twill rotation on the tire tread of two wheels 1 of homonymy
To on the contrary, the twill on the tire tread of two wheels 1 in front is oppositely oriented, two wheels 1 in rear
Twill rotation direction on tire tread is the most contrary.By controlling turning to and rotating speed of four wheels 1 respectively, real
Move, move left and right, rotate in place and have the rotation of mobile radius of curvature before and after existing platform.
Assembly method as shown in Figure 2, the tire helix of front left side and right lateral side wheel 1 is dextrorotation,
When the tire helix of forward right side and left rear side wheel 1 is left-handed, when four wheels 1 are with turning to, with turning
When speed rotates forward, it is possible to produce the F that makes a concerted effort forwardClose, so that mobile platform can realize travelling forward,
As shown in Figure 4；When four wheels 1 are with turning to, when rotating backward with rotating speed, it is possible to produce conjunction backward
Power FClose, so that mobile platform can move after realizing, as shown in Figure 5；When left side two wheel 1 is to inward turning
Turning, right side two wheel 1 keeps identical rotating speed to external rotation, four-wheel, and now mobile platform can realize a left side
Motion, as shown in Figure 6；When left side two wheel 1 inwardly rotates to external rotation, right side two wheel 1, four
Individual wheel 1 keeps identical rotating speed, and now mobile platform can realize right motion, as shown in Figure 7；Work as a left side
Side two wheel 1 rotates forward, and right side two wheel 1 rotates backward, and four wheels 1 keep identical rotating speed,
The power of four-wheel forms moment T, and now platform can realize turning clockwise of original place, as shown in Figure 8；Work as a left side
Side two wheel 1 rotates backward, and right side two wheel 1 rotates forward, and four-wheel keeps identical rotating speed, four-wheel
Power form moment T, now platform can realize the rotation counterclockwise in original place, as shown in Figure 9；When being unsatisfactory for
During appeal several ways rotating manner, platform then can produce making a concerted effort and turning round of other directions by 4 wheels
Square, makes platform be capable of along other directions and moves or turning motion.
Claims (9)
1. an Omni-mobile platform, it is characterised in that include wheel (1), motion control unit (2),
Motor execution unit (3) and platform base (4), wherein motion control unit (2) is arranged at the bottom of platform
The top of seat (4), the lower section of described platform base (4) is respectively by four Motor execution unit (3)
Being provided with four wheels (1), each Motor execution unit (3) is all connected with motion control unit (2)；
The tire tread of described wheel (1) is provided with twill.
2. the Omni-mobile platform as described in claim 1, it is characterised in that the wheel of described wheel (1)
Twill on tire tread includes multiple skewed slots (102) and the multiple skewback (103) tilted in the same direction,
Described skewed slot (102) and skewback (103) interval are arranged alternately.
3. the Omni-mobile platform as described in claim 2, it is characterised in that described skewed slot (102) and
Skewback (103) is parallel to each other, described skewed slot (102) and skewback (103) and wheel axis (101)
Between angle be acute angle or obtuse angle.
4. the Omni-mobile platform as described in claim 3, it is characterised in that the plurality of skewed slot (102)
Joining end to end the most successively, head and the tail are corresponding the most successively or are connected for the plurality of skewback (103).
5. the wheel as described in claim 4, it is characterised in that the plurality of skewback (103) is vertically
Join end to end successively and connect, form the threaded line axially extended.
6. the wheel as described in claim 5, it is characterised in that described threaded line is wall scroll or a plurality of.
7. the Omni-mobile platform as according to any one of claim 1-6, it is characterised in that described entirely
Twill on the tire tread of two wheels (1) of mobile platform homonymy is oppositely oriented.
8. the Omni-mobile platform as described in claim 7, it is characterised in that described Omni-mobile platform
Twill on the tire tread of two wheels (1) in front is oppositely oriented.
9. the Omni-mobile platform as described in claim 1, it is characterised in that described Motor execution unit
(3) including motor (5), decelerator (6) and wheel hub adpting flange (7), wherein motor (5) is installed
In the lower section of platform base (4) output shaft and decelerator (6), the output of described decelerator (6)
By wheel hub adpting flange (7), a wheel (1), described motor (5) and motion control are installed on axle
Unit processed (2) electrically connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510206463.8A CN106143680A (en) | 2015-04-27 | 2015-04-27 | A kind of Omni-mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510206463.8A CN106143680A (en) | 2015-04-27 | 2015-04-27 | A kind of Omni-mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106143680A true CN106143680A (en) | 2016-11-23 |
Family
ID=57347942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510206463.8A Pending CN106143680A (en) | 2015-04-27 | 2015-04-27 | A kind of Omni-mobile platform |
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| Country | Link |
|---|---|
| CN (1) | CN106143680A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725091A (en) * | 2018-06-07 | 2018-11-02 | 天地科技股份有限公司 | A kind of omnibearing ambulation wheel |
| CN110222432A (en) * | 2019-06-12 | 2019-09-10 | 中国科学院沈阳自动化研究所 | A kind of local restriction damping sheet method for optimally designing parameters based on genetic algorithm |
| CN111409737A (en) * | 2020-03-27 | 2020-07-14 | 吉林大学 | Electric carrying platform without steering system and capable of moving in all directions and control method thereof |
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| CN102310712A (en) * | 2011-06-03 | 2012-01-11 | 南京航空航天大学 | Heavy-duty self-driven omnidirectional wheel and design method thereof |
| CN102728067A (en) * | 2012-07-13 | 2012-10-17 | 中国人民解放军军事交通学院 | All-directional remote control toy car |
| CN103192899A (en) * | 2013-02-28 | 2013-07-10 | 河北工业大学 | Reconfigurable wheel stud running system |
| CN103569230A (en) * | 2012-07-25 | 2014-02-12 | 成都联腾动力控制技术有限公司 | Omni-directionally moving platform |
| CN203511266U (en) * | 2013-09-24 | 2014-04-02 | 北京星达科技发展有限公司 | Motor-driven all-directional mobile platform |
| WO2014052236A1 (en) * | 2012-09-28 | 2014-04-03 | Compagnie Generale Des Etablissements Michelin | Tire having diagonal ribs with trailing edge siping |
| CN204587080U (en) * | 2015-04-27 | 2015-08-26 | 中国科学院沈阳自动化研究所 | Omni-mobile platform |
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2015
- 2015-04-27 CN CN201510206463.8A patent/CN106143680A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310712A (en) * | 2011-06-03 | 2012-01-11 | 南京航空航天大学 | Heavy-duty self-driven omnidirectional wheel and design method thereof |
| CN102728067A (en) * | 2012-07-13 | 2012-10-17 | 中国人民解放军军事交通学院 | All-directional remote control toy car |
| CN103569230A (en) * | 2012-07-25 | 2014-02-12 | 成都联腾动力控制技术有限公司 | Omni-directionally moving platform |
| WO2014052236A1 (en) * | 2012-09-28 | 2014-04-03 | Compagnie Generale Des Etablissements Michelin | Tire having diagonal ribs with trailing edge siping |
| CN103192899A (en) * | 2013-02-28 | 2013-07-10 | 河北工业大学 | Reconfigurable wheel stud running system |
| CN203511266U (en) * | 2013-09-24 | 2014-04-02 | 北京星达科技发展有限公司 | Motor-driven all-directional mobile platform |
| CN204587080U (en) * | 2015-04-27 | 2015-08-26 | 中国科学院沈阳自动化研究所 | Omni-mobile platform |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725091A (en) * | 2018-06-07 | 2018-11-02 | 天地科技股份有限公司 | A kind of omnibearing ambulation wheel |
| CN110222432A (en) * | 2019-06-12 | 2019-09-10 | 中国科学院沈阳自动化研究所 | A kind of local restriction damping sheet method for optimally designing parameters based on genetic algorithm |
| CN110222432B (en) * | 2019-06-12 | 2021-10-15 | 中国科学院沈阳自动化研究所 | Local constraint damping plate parameter optimization design method based on genetic algorithm |
| CN111409737A (en) * | 2020-03-27 | 2020-07-14 | 吉林大学 | Electric carrying platform without steering system and capable of moving in all directions and control method thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161123 |
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| RJ01 | Rejection of invention patent application after publication |