CN219838636U - Spherical moving mechanism of centroid offset type omnidirectional steering wheel - Google Patents
Spherical moving mechanism of centroid offset type omnidirectional steering wheel Download PDFInfo
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- CN219838636U CN219838636U CN202320401720.3U CN202320401720U CN219838636U CN 219838636 U CN219838636 U CN 219838636U CN 202320401720 U CN202320401720 U CN 202320401720U CN 219838636 U CN219838636 U CN 219838636U
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Abstract
The utility model discloses a centroid offset type omni-directional steering wheel spherical moving mechanism which comprises a spherical shell and a double-wheel driving device, wherein the double-wheel driving device comprises a bearing platform, a power supply assembly, a moving assembly and a balancing assembly, the moving assembly comprises friction wheels, driving wheels and a direct current motor, the two friction wheels are respectively arranged at the front end and the rear end of the bearing platform, and the two driving wheels are respectively arranged at the left side and the right side of the bearing platform; the balance component comprises a steering engine, a support frame, a bracket and a balance disc, wherein the steering engine is fixedly arranged on the surface of the bearing platform through the bracket, an output shaft of the steering engine is connected with the support frame, and the balance disc is arranged on the support frame. The utility model has simple mechanical structure, good bearing performance, stable movement, little influence by environment during movement, better completion of the task of a specified route and strong practicability.
Description
Technical Field
The utility model belongs to the technical field of mobile robots, and particularly relates to a spherical moving mechanism of an omni-directional steering wheel with an offset mass center.
Background
With the development of science and technology, mobile robots play an increasingly important role in the production and life of human beings. The traditional crawler-type and wheel-type mobile robots are early in development, the prior art is mature, but the traditional crawler-type and wheel-type mobile robots have obvious defects, such as high manufacturing cost, low running speed, high energy consumption and high abrasion, and the traditional wheel-type robots are poor in obstacle crossing capability and poor in terrain adaptability. With the continuous expansion of the application field of robots, new mobile robots are gradually developed, and become a beneficial supplement to the traditional mobile robots.
The spherical robot integrates a motion executing mechanism, a sensor, a controller and the like into a whole, relies on spherical characteristics to realize movement, and has good self-stability. Spherical robot based on omnidirectional steering wheel mechanism can realize the omnidirectional movement under the environment of two-dimensional coordinates. The general omni-directional steering wheel mechanism is provided with a totally-enclosed spherical shell, wherein the spherical shell internally comprises a control system, a power system, a motion executing device, a sensor and the like. Compared with the traditional mobile robot, the mobile robot has strong balance and flexible movement. However, most of the existing spherical robots are complex in mechanical structure, complex in steering system, easy to influence in motion and small in bearing capacity, and the problems encountered by the robots in the actual road environment cannot be well solved.
Disclosure of Invention
The utility model aims to provide a centroid offset type omnidirectional steering wheel spherical moving mechanism which is simple in mechanical structure, good in bearing performance, stable in movement, less in environmental influence during moving, capable of better completing a specified route task and high in practicability.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a centroid offset type omni-directional steering wheel spherical moving mechanism comprises a spherical shell and a double-wheel driving device arranged in the spherical shell, wherein the center of gravity of the double-wheel driving device is lower than that of the spherical shell;
the double-wheel driving device comprises a bearing platform, a power supply assembly, a moving assembly and a balancing assembly which are arranged on the bearing platform, wherein the moving assembly comprises friction wheels, driving wheels and direct current motors, the two friction wheels are respectively arranged at the front end and the rear end of the bearing platform and are in contact with the inner wall of a spherical shell, the two direct current motors are respectively arranged at the left side and the right side of the bearing platform, the output shaft of each direct current motor is connected with one driving wheel, and the driving wheels are in contact with the inner wall of the spherical shell; the balancing component comprises a steering engine, a support frame, a bracket and a balancing disc, wherein the steering engine is fixedly arranged on the surface of the bearing platform through the bracket, an output shaft of the steering engine is connected with the support frame, the balancing disc is arranged at the other end of the support frame, and the disc surface of the balancing disc is in contact with the inside of the spherical shell; the power supply assembly is electrically connected with the direct current motor and the steering engine.
Further, the spherical shell is composed of two hemispherical shells.
Further, the bearing platform adopts a mesh plate.
Further, the power supply assembly comprises a mounting frame and a battery, the mounting frame is mounted at the bottom of the bearing platform, the battery is fixedly mounted on the mounting frame, and the battery is electrically connected with the direct current motor and the steering engine.
The utility model has the following beneficial effects:
(1) The adopted friction wheel can ensure that the driving wheel and the spherical shell are in good contact, so that serious deformation of the spherical shell caused by pressure concentration is avoided, normal movement performance can be kept, meanwhile, the contact area between the driving wheel and the spherical shell is increased, the pressure in the spherical shell is dispersed, and further, larger working load can be borne;
(2) The adopted supporting frame supports the balance disc and the bearing platform, so that the driving wheel is in close contact with the spherical shell;
(3) The driving wheel and the spherical shell are in point contact, the spherical robot can move only by small power driving, the constant-speed rotation of the driving wheel realizes forward and backward, and the differential rotation of the driving wheel realizes left and right rotation;
(4) The steering engine controls the double-wheel driving device to swing in the longitudinal plane, and the gravity center is shifted, so that the eccentric moment generated by gravity and the impact moment generated by jolt or collision on a road are balanced, and the magnitude of the eccentric moment generated by the friction force between the driving wheel and the spherical shell is adjusted to adapt to rolling friction between the spherical shells of different road sections and the ground.
Drawings
Fig. 1 is a schematic structural view of the present utility model.
Fig. 2 is a schematic structural view of a dual wheel driving device according to the present utility model.
FIG. 3 is a schematic diagram of a control assembly according to the present utility model.
Fig. 4 is a schematic side view of the straight-through steering of the present utility model.
FIG. 5 is a state diagram of an application of the position control assembly of the present utility model.
FIG. 6 is a schematic diagram of the workflow of the control assembly of the present utility model.
The marks in the figure: 100. a spherical shell; 200. a two-wheel drive; 210. a load-bearing platform; 221. a friction wheel; 222. a driving wheel; 223. a DC motor; 231. steering engine; 232. a bracket; 233. a support frame; 234. a balancing disk; 241. a mounting frame; 242. a battery; 250. a control assembly; 300. and an upper computer.
Detailed Description
As shown in fig. 1 to 6, the center of mass offset type omni-wheel spherical moving mechanism provided in this embodiment includes a spherical housing 100 and a dual-wheel driving device 200 disposed in the spherical housing 100, wherein the spherical housing 100 is formed by two hemispherical housings, the two hemispherical housings are fixedly connected through bolts and other components, the dual-wheel driving device 200 is mounted on the spherical housing 100, and the center of gravity of the dual-wheel driving device 200 is lower than the center of sphere of the spherical housing 100, similar to the principle of a tumbler, so that the overall center of gravity is biased, and therefore, the overturning cannot easily occur, and the environmental adaptability is strong.
As shown in fig. 2, the dual wheel driving apparatus 200 includes a carrying platform 210, a power supply assembly, a control assembly 250, a moving assembly and a balancing assembly, wherein the carrying platform 210 adopts a mesh plate, so that the power supply assembly, the control assembly 250, the moving assembly and the balancing assembly are conveniently installed.
The moving assembly is used for controlling a mechanism to move, and comprises two friction wheels 221, two driving wheels 222 and two direct current motors 223, wherein the two friction wheels 221 are respectively arranged at the front end and the rear end of the bearing platform 210 and are in contact with the inner wall of the spherical shell 100, the two direct current motors 223 are respectively arranged at the left side and the right side of the bearing platform 210, the output shaft of each direct current motor 223 is connected with one driving wheel 222, the driving wheels 222 are in contact with the inner wall of the spherical shell 100, the direct current motors 223 work to drive the driving wheels 222 to rotate, and then the spherical robot is enabled to turn, specifically, forward and backward rotation of the direct current motors 223 are achieved, and left and right rotation is achieved by controlling the differential speed of the two direct current motors 223.
The balance assembly comprises a steering engine 231, a support frame 233, a support frame 232 and a balance disc 234, wherein the steering engine 231 is fixedly arranged on the surface of the bearing platform 210 through the support frame 232 and is particularly positioned between two driving wheels 222, an output shaft of the steering engine 231 is connected with the support frame 233, the balance disc 234 is arranged at the other end of the support frame 233, the disc surface of the balance disc 234 is in contact with the inside of the spherical shell 100, the steering engine 231 works to drive the double-wheel driving device 200 to swing in a longitudinal plane, the gravity center of the mechanism is changed, and the eccentric moment generated by friction force between the driving wheels 222 and the spherical shell is adjusted so as to adapt to rolling friction resistance between the spherical shells of different road segments and the ground.
The power supply assembly is used for supplying power to the control assembly 250, the moving assembly and the balancing assembly, and comprises a mounting frame 241 and a battery 242, wherein the mounting frame 241 is arranged at the bottom of the bearing platform 210 through a supporting rod and other components, the battery 242 is fixedly arranged on the mounting frame 241, and the battery 242 is used for providing working voltages for the direct current motor 223, the steering engine 231 and the control assembly 250.
The control component 250 is configured to instruct to receive and send a control instruction to the moving component and the balancing component, so as to implement walking of the mechanism, where the control component 250 is a PCB circuit carrying various circuit modules, as shown in fig. 3, and includes a main controller, a wireless communication module, an angle detection module, a moving control module, and a position control module, where the main controller is connected to the wireless communication module, the angle detection module, the moving control module, and the position control module, respectively.
The wireless communication module is connected with the upper computer 300, receives the instruction of the upper computer 300 and sends a feedback signal to the upper computer 300, and the wireless communication module can adopt a module capable of realizing wireless communication in the existing mature technology such as a LoRa module, a GPRS module or a zigbee module.
The master controller is used as a command part of the spherical robot, and sends out a command according to a certain logic operation requirement to control three parts of input, operation and output of the computer to coordinate and work, and the master controller is specifically realized by adopting a mature micro-robot master controller in the prior art.
The angle detection module is used for collecting the actual angle of the spherical robot when the spherical robot turns, and the main controller controls the spherical robot to compensate the angle through the actual angle collected by the angle detection module, so that the turning precision of the spherical robot is improved, and the angle detection module of the embodiment is realized by adopting a gyroscope.
The movement control module is connected with the direct current motor 223 and is used for controlling the work of the direct current motor 223, in particular controlling the rotating speed, the rotating direction and the like of the direct current motor 223, thereby controlling the omnidirectional steering of the robot, and the movement control module is a motor driver matched with the direct current motor 223.
The position control module is connected with the steering engine 231 and is used for controlling the steering engine 231 to work so as to further control the swinging position of the double-wheel driving device 200 in the longitudinal plane, and simultaneously, the magnitude of eccentric moment generated by friction force between the driving wheel 222 and the spherical shell is adjusted so as to adapt to rolling friction between the spherical shells of different road segments and the ground.
As shown in fig. 6, when the initialization is completed, the control program of the main controller enters the super-loop, the upper computer 300 transmits the issued control command to the main controller through the wireless communication module, once the control command is detected to be received, the main controller executes the next action, analyzes the received command and drives the movement control module and the position control module of the omni-directional steering wheel to execute the movement actions including forward, backward, left-turn, right-turn and the like, wherein the forward, backward, left-turn and right-turn commands do not independently run, and the forward, backward, left-turn and right-turn commands can be superimposed through calculation proportion, so that the omni-directional steering wheel forwards left, forwards right, backwards left and backwards right, and has all-directional movements; meanwhile, the main controller forms closed-loop control through the actual angle fed back by the angle detection module, so that more accurate steering and running are obtained.
As shown in fig. 4, the driving wheel 222 rotates clockwise at a constant speed to enable the spherical robot to obtain a counterclockwise rotation moment M Ball with ball body Simultaneously overcomes the clockwise rolling friction resistance M generated by the ground f Forward movement is realized; similarly, the driving wheel 222 rotates at a constant speed and anticlockwise to enable the spherical robot to obtain a clockwise rotation moment M Ball with ball body Simultaneously overcomes the anticlockwise rolling friction resistance M generated by the ground f Realizing the backward movement.
The driving wheels 222 rotate clockwise and the rotation speed of one driving wheel 222 is greater than the rotation speed of the other driving wheel 222, so that the two-wheel driving device 200 rotates left and right while the left and right rotation of the spherical shell is realized under the action of friction force between the driving wheels 222 and the spherical shell.
As shown in fig. 5, the steering engine 231 can control the swinging position of the dual wheel driving device 200 in the longitudinal plane, and the gravity center O is shifted, so that the eccentric moment generated by the gravity mg is coupled with the impact force F on the road due to jolt or collision Punching machine The generated impact moment balances and, at the same time, adjusts the frictional force F between the driving wheel 222 and the spherical housing 100 Wheel pair ball The eccentric moment M generated Ball with ball body Rolling friction resistance M with size suitable for ball shells of different road sections to be subjected to ground f 。
The foregoing is merely a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any modification and substitution based on the technical scheme and the inventive concept provided by the present utility model should be covered in the scope of the present utility model.
Claims (4)
1. A centroid offset type omni-directional steering wheel spherical moving mechanism is characterized in that: the device comprises a spherical shell and a double-wheel driving device arranged in the spherical shell, wherein the gravity center of the double-wheel driving device is lower than that of the spherical shell;
the double-wheel driving device comprises a bearing platform, a power supply assembly, a moving assembly and a balancing assembly which are arranged on the bearing platform, wherein the moving assembly comprises friction wheels, driving wheels and direct current motors, the two friction wheels are respectively arranged at the front end and the rear end of the bearing platform and are in contact with the inner wall of a spherical shell, the two direct current motors are respectively arranged at the left side and the right side of the bearing platform, the output shaft of each direct current motor is connected with one driving wheel, and the driving wheels are in contact with the inner wall of the spherical shell; the balancing component comprises a steering engine, a support frame, a bracket and a balancing disc, wherein the steering engine is fixedly arranged on the surface of the bearing platform through the bracket, an output shaft of the steering engine is connected with the support frame, the balancing disc is arranged at the other end of the support frame, and the disc surface of the balancing disc is in contact with the inside of the spherical shell; the power supply assembly is electrically connected with the direct current motor and the steering engine.
2. The omni-directional steerable wheel spherical displacement mechanism of claim 1, wherein: the spherical shell is composed of two hemispherical shells.
3. The omni-directional steerable wheel spherical displacement mechanism of claim 1, wherein: the bearing platform adopts a mesh plate.
4. The omni-directional steerable wheel spherical displacement mechanism of claim 1, wherein: the power supply assembly comprises a mounting frame and a battery, the mounting frame is mounted at the bottom of the bearing platform, the battery is fixedly mounted on the mounting frame, and the battery is electrically connected with the direct current motor and the steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320401720.3U CN219838636U (en) | 2023-03-07 | 2023-03-07 | Spherical moving mechanism of centroid offset type omnidirectional steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320401720.3U CN219838636U (en) | 2023-03-07 | 2023-03-07 | Spherical moving mechanism of centroid offset type omnidirectional steering wheel |
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| Publication Number | Publication Date |
|---|---|
| CN219838636U true CN219838636U (en) | 2023-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320401720.3U Active CN219838636U (en) | 2023-03-07 | 2023-03-07 | Spherical moving mechanism of centroid offset type omnidirectional steering wheel |
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| Country | Link |
|---|---|
| CN (1) | CN219838636U (en) |
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2023
- 2023-03-07 CN CN202320401720.3U patent/CN219838636U/en active Active
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