CN203078634U - Wheel-type omnidirectional moving device and transporter - Google Patents
Wheel-type omnidirectional moving device and transporter Download PDFInfo
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- CN203078634U CN203078634U CN 201320077699 CN201320077699U CN203078634U CN 203078634 U CN203078634 U CN 203078634U CN 201320077699 CN201320077699 CN 201320077699 CN 201320077699 U CN201320077699 U CN 201320077699U CN 203078634 U CN203078634 U CN 203078634U
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Abstract
The utility model discloses a wheel-type omnidirectional moving device which comprises a car frame, two driving wheel assemblies, two no-drive universal wheels, a steering apparatus and a control system, wherein each driving wheel assembly is provided with a rim drive motor, and two driving wheels are arranged on the car frame along a diagonal line; the two no-drive universal wheels are arranged on the car frame along the other diagonal line; the steering apparatus comprises a steering drive motor, a two-way speed reducer, a transmission device, two worm gear reducers and a clutch, output shafts of the worm gear reducers are respectively connected with the vertical shafts of the two driving wheel assemblies, and the steering drive motor and the clutch are arranged between the two worm gear reducers through the transmission device; and the control system is respectively connected with the two rim drive motors and the steering drive motor so as to control the rotating speed of the two rim drive motors and the angles of the steering and driving wheels. The utility model also provides a transporter adopting the wheel-type omnidirectional moving device and the transporter is simple in structure, and can conveniently and flexibly implement omnidirectional moving, steering and in-situ rotation and implement transportation and positioning under relatively complicated ground conditions in narrow sites.
Description
Technical field
The utility model relates to a kind of mobile device, the conveying arrangement that relates in particular to a kind of wheeled omnidirectional mobile device and have this wheeled omnidirectional mobile device, can realize each to moving, turn to cast, can also realize transportation and location under the comparison complicated ground condition in the narrow and small place.
Background technology
Existing conveying arrangement or employing conventional truck structure can not realize omnidirectional moving, or adopt omnidirectional's wheeled construction that relatively be typically Mecanum wheel, these mode complex structures can't be used in industry spot.
The utility model content
Technical problem to be solved in the utility model is, the conveying arrangement that a kind of wheeled omnidirectional mobile device, omnidirectional's moving method is provided and has this wheeled omnidirectional mobile device can realize that each is to moving, turn to cast and realizing transportation and the location under the comparison complicated ground condition in the narrow and small place.
For reaching above-mentioned purpose, a kind of wheeled omnidirectional of the utility model mobile device, it comprises:
Vehicle frame;
Two drive wheel assemblies comprise respectively: driving wheel and be arranged at wheel limit drive motor on the driving wheel, and two described driving wheels are arranged at described vehicle frame with a diagonal line;
Two are not had the cardan wheel of driving, are arranged at described vehicle frame with another diagonal line;
One is used to drive driving wheel around the rotating steering hardware of self axis of revolution, it comprises: turn to drive motor and two shaft retarder, driving device, worm type of reduction gearing and power-transfer clutch, described worm type of reduction gearing is two, the output shaft of described worm type of reduction gearing connects the vertical shaft of described two drive wheel assemblies respectively, and the described drive motor and two shaft retarder and described power-transfer clutch of turning to is successively set between two described worm type of reduction gearings by described driving device;
Control system connects two described limit drive motor and described drive motor and two shaft retarders of turning to of taking turns respectively, describedly takes turns the rotating speed of limit drive motor and turns to and the angle of described driving wheel to control two.
Above-mentioned wheeled omnidirectional mobile device, wherein, two described driving wheels are set to the near front wheel and off hind wheel respectively.
Above-mentioned wheeled omnidirectional mobile device, wherein, described driving device comprises: be arranged at described worm type of reduction gearing respectively and describedly turn between drive motor and the two shaft retarder, describedly turn between drive motor and two shaft retarder and the described power-transfer clutch, transmission shaft and coupler between described power-transfer clutch and the described worm type of reduction gearing.
Above-mentioned wheeled omnidirectional mobile device, wherein, described driving device also comprises two gear case commutators, be arranged at described worm type of reduction gearing and described turning between drive motor and the two shaft retarder respectively, described turning between drive motor and two shaft retarder and the described power-transfer clutch, and make described worm type of reduction gearing and described drive motor and the two shaft retarders of turning to, it is described that to turn to drive motor and two shaft retarders and described power-transfer clutch be the vertical drive setting by described gear case commutator.
Above-mentioned wheeled omnidirectional mobile device, wherein, described control system comprises: power supply, motion-control module, digital quantity input/output module, described motion-control module connects two described limit drive motor and described drive motor and two shaft retarders of turning to of taking turns respectively, and described digital quantity input/output module connects described power-transfer clutch.
Above-mentioned wheeled omnidirectional mobile device, wherein, described control system also comprises a handheld box.
Above-mentioned wheeled omnidirectional mobile device, wherein, described control system also comprises a communication module, connects a remote computer by network.
Above-mentioned wheeled omnidirectional mobile device, wherein, described motion-control module and two are described to take turns the limit drive motor and described turning between drive motor and the two shaft retarder also is respectively arranged with servo unit and coder.
Above-mentioned wheeled omnidirectional mobile device wherein, connects the described drive motor that turns to and also is connected a spacing module with the servo unit of two shaft retarders.
For reaching above-mentioned purpose, the utility model also provides a kind of conveying arrangement with above-mentioned wheeled omnidirectional mobile device.
For the effect of utility model is, conveying arrangement adopts wheeled omnidirectional of the present utility model mobile device, simple in structure, can make things convenient for, realize flexibly that each is to moving, turn to cast and realizing transportation and the location under the comparison complicated ground condition in the narrow and small place.
Below in conjunction with the drawings and specific embodiments the utility model is described in detail, but not as to qualification of the present utility model.
Description of drawings
The wheeled omnidirectional of Fig. 1 a the utility model mobile device plan structure scheme drawing;
The mobile device master of the wheeled omnidirectional of Fig. 1 b the utility model TV structure scheme drawing;
Fig. 2 a is respectively to the straight-line motion scheme drawing;
Fig. 2 b gyroscopic movement scheme drawing;
Fig. 2 c divertical motion scheme drawing;
Fig. 3 the utility model electric control theory figure;
Fig. 4 a is respectively to mode travel controls diagram of circuit;
Fig. 4 b revolution mode travel controls diagram of circuit;
Fig. 4 c steering mode travel controls diagram of circuit.
Wherein, Reference numeral
1 vehicle frame
2 drive wheel assemblies
The vertical shaft of 21 drive wheel assemblies
3 do not have the cardan wheel of driving
4 steering hardwares
41 turn to drive motor and the two shaft retarders that turn to drive motor are installed
42 drivings device
43 power-transfer clutchs
44-1,44-2 worm type of reduction gearing
45-1,45-2 gear case commutator
The specific embodiment
Below in conjunction with accompanying drawing structural principle of the present utility model and principle of work are done concrete description:
In the specific embodiment shown in Fig. 1 a, Fig. 1 b, the utility model discloses a kind of wheeled omnidirectional mobile device, can realize that each is to moving, turn to cast and realizing transportation and the location under the comparison complicated ground condition in the narrow and small place.
As shown in the figure, the wheeled omnidirectional mobile device that discloses of the utility model comprises: vehicle frame 1, two drive wheel assemblies 2, two do not have cardan wheel 3, steering hardware 4 and the control system of driving.
Described vehicle frame 1 is used to be arranged on a conveying arrangement; Described two drive wheel assemblies 2 are arranged on the described vehicle frame 1 with a diagonal line; Described two nothings drive cardan wheel 3 and are arranged on the described vehicle frame with another diagonal line; The worm type of reduction gearing output shaft of described steering hardware 4 connects the vertical shaft of described drive wheel assemblies, is driven by reducer output shaft and rotates; Described control system connects respectively and controls described two drive wheel assemblies 2 and described steering hardware 4, to realize that each is to straight-line motion, gyroscopic movement and divertical motion.
Referring to Fig. 2 a each to the straight-line motion scheme drawing; Fig. 2 b gyroscopic movement scheme drawing; Fig. 2 c divertical motion scheme drawing.
As shown in the figure, need be when certain direction to be done straight-line motion at conveying arrangement, steering hardware makes two driving wheels be diverted to wheel synchronously behind direction of travel, and two driving wheels rotate with speed, this moment, conveying arrangement moved to direction of travel, drove flower wheel simultaneously over against direction of travel.
When conveying arrangement needed cast, after steering hardware made two driving wheels be diverted to the wheel shaft conllinear synchronously, synchronizing wheel oppositely rotated with speed, and this moment, the conveying arrangement cast drove the sense of motion that goes to of power wheel simultaneously.
When conveying arrangement need turn to, the power-transfer clutch put out of gear of steering hardware makes the revolution of monolateral driving wheel, make the wheel shaft of two driving wheels give predetermined center of gyration after, driving wheel is according to the proportional rotation of the distance of distance center of gyration, and conveying arrangement carries out divertical motion.
Further, referring to the wheeled omnidirectional of Fig. 1 a the utility model mobile device plan structure scheme drawing; The mobile device master of the wheeled omnidirectional of Fig. 1 b the utility model TV structure scheme drawing; Fig. 2 a is respectively to the straight-line motion scheme drawing; Fig. 2 b gyroscopic movement scheme drawing; Fig. 2 c divertical motion scheme drawing and Fig. 3 the utility model electric control theory figure, the specific embodiment (wherein, the right side among Fig. 1 a, Fig. 1 b, Fig. 2 a, Fig. 2 b Fig. 2 c is a front-wheel) of the wheeled omnidirectional mobile device that detailed description the utility model discloses.
Shown in Fig. 1 a, Fig. 1 b,
Described two drive wheel assemblies 2 comprise respectively: driving wheel, be arranged on the wheel limit drive motor that is used to control driving wheel on the driving wheel and rotates, connect driving wheel and be used to control the vertical shaft 21 that imput shaft turns to;
Described two drive wheel assemblies 2 are arranged on the described vehicle frame 1 with a diagonal line, and present embodiment adopts the left front and right back position with described vehicle frame that two described drive wheel assemblies 2 are set, that is, the near front wheel and off hind wheel are respectively driving wheel.
Another diagonal line of vehicle frame is used to be provided with two does not have the cardan wheel 3 of driving, that is, off front wheel and left rear wheel are respectively does not have the cardan wheel 3 of driving.
Described driving device 42 comprises: two gear case commutator 45-1 and 45-2, transmission shaft and coupler;
Described gear case commutator 45-1 is arranged at described worm type of reduction gearing 44-1 and described turning between drive motor and the two shaft retarder 41, and described gear case commutator 45-2 is arranged at described turning between drive motor and two shaft retarder 41 and the described power-transfer clutch 43;
Described transmission shaft and coupler are arranged at respectively: between described worm type of reduction gearing 44-1 and the described gear case commutator 45-1, described gear case commutator 45-1 and describedly turn between drive motor and the two shaft retarder 41, describedly turn between drive motor and two shaft retarder 41 and the described gear case commutator 45-2, between described gear case commutator 45-2 and the described power-transfer clutch 43, between described power-transfer clutch 43 and the described worm type of reduction gearing 44-2;
Shown in Fig. 1 a, Fig. 1 b, described worm type of reduction gearing 44-1 and described drive motor and the two shaft retarder 41 of turning to, the described drive motor that turns to is realized the vertical drive setting by being connected of described gear case commutator 45-1 and 45-2 with two shaft retarders 41 respectively with described power-transfer clutch 43.
Shown in Fig. 1 a, Fig. 1 b, the concrete set-up mode of present embodiment steering hardware 4 is, described worm type of reduction gearing 44-1 is connected described gear case commutator 45-1 by transmission shaft with coupler, described gear case commutator 45-1 is connected described drive motor and the two shaft retarder 41 of turning to by transmission shaft with coupler; The setting of described gear case commutator 45-1 makes described worm type of reduction gearing 44-1 be vertical power transmission between drive motor and the two shaft retarder 41 with described turning to; Described turn to drive motor and two shaft retarders 41 by transmission shaft be connected described gear case commutator 45-2 with coupler, described gear case commutator 45-2 is connected described power-transfer clutch 43 by transmission shaft with coupler, same, the setting by described gear case commutator 45-2 makes the described vertical power transmission of realization between drive motor and two shaft retarder 41 and the described power-transfer clutch 43 that turns to; Be connected with coupler by transmission shaft between described power-transfer clutch 43 and the described worm type of reduction gearing 44-2.
Referring to Fig. 3 the utility model electric control theory figure, control system (not indicating in the constructional drawing) comprising: power supply, communication module, motion-control module, digital quantity input/output module and handheld box.
Described communication module connects a remote computer by network, and this enforcement remote computer is selected industrial panel computer for use, is used for parameter settings such as real-time status demonstration and speed, acceleration/accel;
Described motion-control module connects respectively and controls two and describedly take turns the limit drive motor and turn to drive motor, described motion-control module and two described wheels between the drive motor of limit, described motion-control module and turn to and also be respectively arranged with servo unit and coder between the drive motor, thereby accept and carry out control command, control and describedly take turns the limit drive motor and the described drive motor that turns to drives described two drive wheel assemblies, and then realize each required mode of motion.Particularly, each of car body to, turn round and the walking manner that turns to all has handheld box to give an order, by a servomotor control, the angle of front left wheel, right rear wheel is controlled by a servomotor respectively for front left wheel, right rear wheel.The angle of front left wheel, right rear wheel can realize above 3 kinds of walking manners in conjunction with the rotating speed and the rotating of two drive motor.
Present embodiment, wheeled omnidirectional mobile device also is provided with inhibiting device, and being used for provides limit signal to connecting the described servo unit of drive motor and two shaft retarders that turns to, with the position-limiting action of realizing being provided with according to demand.
Described digital quantity input/output module connection is also controlled described power-transfer clutch.
Present embodiment also is provided with a handheld box, sends instruction by the control handheld box, control two and describedly takes turns limit drive motor and the described action that turns to drive motor and pair shaft retarders.
Referring to Fig. 4 a each to mode travel controls diagram of circuit; Fig. 4 b revolution mode travel controls diagram of circuit; Fig. 4 c steering mode travel controls diagram of circuit, and cooperate Fig. 2 a, Fig. 2 b, Fig. 2 c, further 3 kinds of modes that the utility model is disclosed are described.
Shown in Fig. 4 a, each is walked to mode is that the control front left wheel is identical with the right rear wheel angle, two wheel limit drive motor with speed, in the same way, adopt following steps,
Step S110, walking powers on;
Step S120, servo enabling;
Step S130 controls described steering hardware by handheld box, adjusts front left wheel and right rear wheel to equal angular, and wherein, angle is any;
Step S140 moves in the same way by two described same speed of taking turns the limit drive motor of handheld box control, realizes moving forward and backward motion (or translation).
For this reason, the wheeled omnidirectional of the utility model mobile device can be realized the advancing of dolly, translation and oblique walking by the angle that changes front left wheel and right rear wheel.
Shown in Fig. 4 b, it is the control front left wheel that the revolution mode is walked, when the right rear wheel axis is in straight line, take turns the limit drive motor with fast incorgruous rotation realization car body cast for two.
Step S210, walking powers on;
Step S220, servo enabling;
Step S230 controls described steering hardware by handheld box, adjusts front left wheel and right rear wheel angle to dead in line;
Step S240, the incorgruous operation of same speed by two drive motor of handheld box control realizes gyroscopic movement.
Shown in Fig. 4 c, the steering mode walking is that the angle of control front left wheel and vehicle body is spent less than 45 greater than 0 degree, when the angle 0 of right rear wheel and vehicle body was spent, two wheel limit drive motor moved in the same way with fixed proportion speed and realize turning to of vehicle body, and two-wheeled speed is directly proportional with the distance of its center of gyration.
Step S310, walking powers on;
Step S320, servo enabling;
Step S330 opens power-transfer clutch;
Step S340 controls described steering hardware by handheld box, adjusts front left wheel and right rear wheel angle to shown in Fig. 2 c;
Step S350 closes power-transfer clutch;
Step S360 by moving in the same way with fixed proportion speed of handheld box controlling and driving motor, realizes divertical motion;
Step S370 turns to finish, and repeats above-mentioned steps 330-350 and makes wheel recover same angle state.
The utility model also discloses a kind of conveying arrangement with above-mentioned wheeled omnidirectional mobile device, and is simple in structure, can make things convenient for, realize flexibly that each is to moving, turn to cast and realizing transportation and the location under the comparison complicated ground condition in the narrow and small place.
Certainly; the utility model also can have other various embodiments; under the situation that does not deviate from the utility model spirit and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the utility model, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the utility model.
Claims (10)
1. a wheeled omnidirectional mobile device is characterized in that, comprising:
Vehicle frame;
Two drive wheel assemblies comprise respectively: driving wheel and be arranged at wheel limit drive motor on the driving wheel, and two described driving wheels are arranged at described vehicle frame with a diagonal line;
Two are not had the cardan wheel of driving, are arranged at described vehicle frame with another diagonal line;
One is used to drive driving wheel around the rotating steering hardware of self axis of revolution, it comprises: turn to drive motor and two shaft retarder, driving device, worm type of reduction gearing and power-transfer clutch, described worm type of reduction gearing is two, the output shaft of described worm type of reduction gearing connects the vertical shaft of described two drive wheel assemblies respectively, and the described drive motor and two shaft retarder and described power-transfer clutch of turning to is successively set between two described worm type of reduction gearings by described driving device;
Control system connects two described limit drive motor and described drive motor and two shaft retarders of turning to of taking turns respectively, describedly takes turns the rotating speed of limit drive motor and turns to and the angle of described driving wheel to control two.
2. wheeled omnidirectional according to claim 1 mobile device is characterized in that two described driving wheels are set to the near front wheel and off hind wheel respectively.
3. wheeled omnidirectional according to claim 2 mobile device, it is characterized in that described driving device comprises: be arranged at described worm type of reduction gearing respectively and describedly turn between drive motor and the two shaft retarder, describedly turn between drive motor and two shaft retarder and the described power-transfer clutch, transmission shaft and coupler between described power-transfer clutch and the described worm type of reduction gearing.
4. wheeled omnidirectional according to claim 3 mobile device, it is characterized in that, described driving device also comprises two gear case commutators, be arranged at described worm type of reduction gearing and described turning between drive motor and the two shaft retarder respectively, described turning between drive motor and two shaft retarder and the described power-transfer clutch, and make described worm type of reduction gearing and described drive motor and the two shaft retarders of turning to, it is described that to turn to drive motor and two shaft retarders and described power-transfer clutch be the vertical drive setting by described gear case commutator.
5. wheeled omnidirectional according to claim 1 mobile device, it is characterized in that, described control system comprises: power supply, motion-control module, digital quantity input/output module, described motion-control module connects two described limit drive motor and described drive motor and two shaft retarders of turning to of taking turns respectively, and described digital quantity input/output module connects described power-transfer clutch.
6. wheeled omnidirectional according to claim 5 mobile device is characterized in that described control system also comprises a handheld box.
7. wheeled omnidirectional according to claim 6 mobile device is characterized in that described control system also comprises a communication module, connects a remote computer by network.
8. wheeled omnidirectional according to claim 7 mobile device is characterized in that, described motion-control module and two are described to take turns the limit drive motor and described turning between drive motor and the two shaft retarder also is respectively arranged with servo unit and coder.
9. wheeled omnidirectional according to claim 8 mobile device is characterized in that, connects the described drive motor that turns to and also is connected a spacing module with the servo unit of two shaft retarders.
10. conveying arrangement with any described wheeled omnidirectional mobile device of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320077699 CN203078634U (en) | 2013-02-19 | 2013-02-19 | Wheel-type omnidirectional moving device and transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320077699 CN203078634U (en) | 2013-02-19 | 2013-02-19 | Wheel-type omnidirectional moving device and transporter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203078634U true CN203078634U (en) | 2013-07-24 |
Family
ID=48824495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320077699 Withdrawn - After Issue CN203078634U (en) | 2013-02-19 | 2013-02-19 | Wheel-type omnidirectional moving device and transporter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203078634U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103991491A (en) * | 2013-02-19 | 2014-08-20 | 北京机械工业自动化研究所 | Wheel-type omni-directional moving device and method and transportation device |
| CN110512929A (en) * | 2019-08-27 | 2019-11-29 | 北京航空航天大学 | A kind of car carrier that achievable cooperation is carried |
| CN111137374A (en) * | 2018-11-02 | 2020-05-12 | 杭州海康机器人技术有限公司 | Unmanned guided vehicle and chassis thereof |
-
2013
- 2013-02-19 CN CN 201320077699 patent/CN203078634U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103991491A (en) * | 2013-02-19 | 2014-08-20 | 北京机械工业自动化研究所 | Wheel-type omni-directional moving device and method and transportation device |
| CN103991491B (en) * | 2013-02-19 | 2016-05-04 | 北京机械工业自动化研究所 | A kind of wheeled omnidirectional mobile device, Omni-mobile method and conveying arrangement |
| CN111137374A (en) * | 2018-11-02 | 2020-05-12 | 杭州海康机器人技术有限公司 | Unmanned guided vehicle and chassis thereof |
| CN110512929A (en) * | 2019-08-27 | 2019-11-29 | 北京航空航天大学 | A kind of car carrier that achievable cooperation is carried |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130724 Effective date of abandoning: 20160504 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |