WO2016029662A1 - Novel omni-directional mobile platform - Google Patents

Novel omni-directional mobile platform Download PDF

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Publication number
WO2016029662A1
WO2016029662A1 PCT/CN2015/072521 CN2015072521W WO2016029662A1 WO 2016029662 A1 WO2016029662 A1 WO 2016029662A1 CN 2015072521 W CN2015072521 W CN 2015072521W WO 2016029662 A1 WO2016029662 A1 WO 2016029662A1
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Prior art keywords
steering
mobile platform
shaft
horizontal axis
horizontal
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PCT/CN2015/072521
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French (fr)
Chinese (zh)
Inventor
陆志国
龚佳乐
曾灿灿
赵洋
刘郁慧
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东北大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201410438482.9A external-priority patent/CN104210545A/en
Priority claimed from CN201420500569.XU external-priority patent/CN204124189U/en
Application filed by 东北大学 filed Critical 东北大学
Publication of WO2016029662A1 publication Critical patent/WO2016029662A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering

Definitions

  • the invention belongs to the field of robot technology, and in particular relates to a novel omnidirectional mobile platform.
  • the omnidirectional motion system has developed rapidly in recent years.
  • the development of omni-directional mobile machinery driven by the rise of composite wheeled mechanisms such as Mecanum Wheel and Swiss Wheel is relatively rapid, and is widely used in scientific research, industrial automation production and game competition. in.
  • the manufacturing is difficult and the cost is high, and the structural principle itself has problems such as poor rim switching continuity, which aggravates the vibration during driving.
  • the complex small wheel structure on the rim greatly reduces its carrying capacity and field adaptability.
  • Another widely used omni-directional mobile platform is the active rudder driving wheel type, that is, each driving wheel is equipped with a steering gear to control its traveling direction. This omnidirectional mobile system has too many power sources, which increases the cost. , increasing the probability of damage.
  • the present invention proposes a novel omnidirectional structure with simple structure, low cost, easy control and strong adaptability. mobile platform.
  • a novel omnidirectional mobile platform including a vehicle body, at least three steering shafts are disposed on the vehicle body, one end of the horizontal shaft is fixed at the lower end of each steering shaft, and the other end of the horizontal shaft is disposed There are driving wheels, each of which is provided with an independent power source, and each of the steering shafts is provided with a synchronous steering mechanism.
  • the steering shaft, the horizontal axis and the drive wheels are all an even number.
  • the steering shaft, the horizontal axis, and the drive wheel are all four.
  • the initial state of the horizontal axis is that the two horizontal axes of the front portion are on the inner side and the axes thereof coincide, the two horizontal axes of the rear portion are outside and the axes thereof coincide, and the horizontal axis of each front portion is opposite to the rear portion.
  • the horizontal axis is parallel.
  • the synchronous steering mechanism includes a belt and a pulley, and the pulleys are respectively fixed on a steering shaft of each of the driving wheels, and the belt is wound around each pulley to realize synchronous steering of the steering shafts.
  • the vehicle body is divided into a front body and a rear body.
  • the front body and the rear body are connected by a connecting shaft, and the connecting shaft is respectively hinged with the front body and the middle of the rear body.
  • the invention has the advantages that the structure is simple and reliable, the maneuverability is good, the adaptability is strong, the cost is low, the system power source is small, and the running orientation is easy to control.
  • Figure 1 is a schematic structural view of an embodiment of the present invention
  • Figure 2 is a plan view of Figure 1;
  • Figure 3 is a schematic view showing the running state of the line of Figure 1;
  • Figure 4 is a schematic view showing the running state of the curve of Figure 1;
  • 1-front body 2- rear body, 3-steering shaft, 4-horizon shaft, 5-drive wheel, 6-belt pulley, 7-belt, 8-connecting shaft, 9-motor.
  • a novel omnidirectional mobile platform includes a vehicle body, and the vehicle body is divided into two parts, a front body 1 and a rear body 2, and the front body 1 and The middle portion of the rear body 2 is respectively hinged at both ends of the connecting shaft 8.
  • This structure is for ensuring that all of the driving wheels 5 can stably land during the traveling of the new omnidirectional moving platform of the embodiment, and the vehicle body is provided with bearings through the bearing.
  • each of the steering shafts 3 is fixed with one end of the horizontal shaft 4, and the other end of the horizontal shaft 4 is provided with a driving wheel 5, and the four driving wheels 5 are respectively provided with independently controlled motors 9
  • Each of the steering shafts 3 is fixed with a pulley 6 on the outer side of the four pulleys 6 to ensure the synchronization of the steering of the four driving wheels 5.
  • the number of the driving wheels 5 may also be other numbers, but must exceed Two, preferably even, drive wheels 5 are arranged symmetrically to ensure the balance of the body.
  • the initial state of the horizontal axis 4 is that the two horizontal axes of the front portion are on the inner side and are in a straight line, and the two horizontal axes of the rear portion are on the outer side and are in a straight line, and the horizontal axis of each front portion is opposite to the rear portion.
  • the horizontal axis is parallel, and such an initial state is a state in which operation is more efficient.
  • the straight line running in the same position, as shown in Fig. 3, can be realized by the same running speed of the four driving wheels 5.
  • the position-changing curve runs, as shown in the arc curve shown in Fig. 4, the left rear drive wheel 5 and the right front drive wheel 5 motor 9 need to provide a higher rotational speed than the other two drive wheels 5, so that The differential speed of the adjacent two driving wheels 5 can realize that each horizontal axis 4 produces a clockwise rotation of the corresponding steering shaft 3. Since all the driving wheels 5 are synchronously steered, all the driving wheels 5 are clockwise. The process of turning forwards to form a course of arc curve advancement, but since the steering shaft 3 is connected to the vehicle body via the connecting shaft 8, the rotational torque is not transmitted to the vehicle body, and the driving provided by the adjacent two driving wheels 5 is provided. The forces appear in pairs, the driving force of all the driving wheels 5 is zero to the body, and the body is not subjected to external torque, so the posture of the body does not change.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

Disclosed is a novel omni-directional mobile platform, comprising vehicle bodies (1, 2). At least three steering shafts (3) are arranged on the vehicle bodies (1, 2). One end of a transverse shaft (4) is fixed to the lower end of each steering shaft (3). A drive wheel (5) is arranged at the other end of each transverse shaft (4). Each drive wheel (5) is provided with an independent power source (9). Each steering shaft (3) is provided with synchronous steering mechanisms (6, 7). The novel omni-directional mobile platform has a simple and reliable structure and a better direction controllability, and is strongly adaptable to different road surfaces.

Description

一种新型全向移动平台A new type of omnidirectional mobile platform 技术领域：Technical field:
本发明属于机器人技术领域，具体涉及一种新型全向移动平台。The invention belongs to the field of robot technology, and in particular relates to a novel omnidirectional mobile platform.
背景技术：Background technique:
全方位运动***在近些年来发展迅速，以麦克纳姆轮、瑞士轮等复合轮式机构的兴起带动的全方位移动机械的发展较为迅速，广泛应用在科研、工业自动化生产及游戏竞赛等机械中。但是，由于复合轮式机构复杂，制造难度较大，成本较高，加之其结构原理上本身即存在轮缘切换连贯性不好等问题，加重了行驶过程中的震动。轮缘上复杂的小轮结构使得其承载能力和野外适应能力大大减弱。另一种广泛应用的全方位移动平台为主动带舵驱动轮式，即每个驱动轮上方均配有一个舵机控制其行进方向，这种全方位移动***动力源过多，使得成本加大，增加了损坏的概率。The omnidirectional motion system has developed rapidly in recent years. The development of omni-directional mobile machinery driven by the rise of composite wheeled mechanisms such as Mecanum Wheel and Swiss Wheel is relatively rapid, and is widely used in scientific research, industrial automation production and game competition. in. However, due to the complexity of the composite wheel mechanism, the manufacturing is difficult and the cost is high, and the structural principle itself has problems such as poor rim switching continuity, which aggravates the vibration during driving. The complex small wheel structure on the rim greatly reduces its carrying capacity and field adaptability. Another widely used omni-directional mobile platform is the active rudder driving wheel type, that is, each driving wheel is equipped with a steering gear to control its traveling direction. This omnidirectional mobile system has too many power sources, which increases the cost. , increasing the probability of damage.
发明内容：Summary of the invention:
为解决现有技术存在的问题，尤其是因为结构过于复杂而带来的高成本和低稳定性的问题，本发明提出了一种结构简单、成本低、易控制且适应能力强的新型全向移动平台。In order to solve the problems existing in the prior art, especially because of the high cost and low stability caused by the structure being too complicated, the present invention proposes a novel omnidirectional structure with simple structure, low cost, easy control and strong adaptability. mobile platform.
为实现以上目的，本发明采用以下技术方案：一种新型全向移动平台，包括车身，车身上设置有至少三个转向轴，每个转向轴下端固定有横轴的一端，横轴另一端设置有驱动轮，所述每个驱动轮上均分别设置有独立的动力源，所述每个转向轴上均设置有同步转向机构。In order to achieve the above object, the present invention adopts the following technical solutions: a novel omnidirectional mobile platform including a vehicle body, at least three steering shafts are disposed on the vehicle body, one end of the horizontal shaft is fixed at the lower end of each steering shaft, and the other end of the horizontal shaft is disposed There are driving wheels, each of which is provided with an independent power source, and each of the steering shafts is provided with a synchronous steering mechanism.
所述转向轴、横轴和驱动轮均为偶数个。The steering shaft, the horizontal axis and the drive wheels are all an even number.
所述转向轴、横轴和驱动轮均为四个。The steering shaft, the horizontal axis, and the drive wheel are all four.
所述横轴的初始状态为：前部的两个横轴靠内侧且其轴线相重合，后部的两个横轴靠外侧且其轴线相重合，每个前部的横轴均与后部的横轴平行。The initial state of the horizontal axis is that the two horizontal axes of the front portion are on the inner side and the axes thereof coincide, the two horizontal axes of the rear portion are outside and the axes thereof coincide, and the horizontal axis of each front portion is opposite to the rear portion. The horizontal axis is parallel.
所述同步转向机构包括皮带和皮带轮，所述皮带轮分别固定在每个驱动轮的转向轴上，所述皮带缠绕在各皮带轮上实现各转向轴的同步转向。The synchronous steering mechanism includes a belt and a pulley, and the pulleys are respectively fixed on a steering shaft of each of the driving wheels, and the belt is wound around each pulley to realize synchronous steering of the steering shafts.
所述车身分为前车身和后车身两部分，前车身与后车身通过连接轴相连接，连接轴分别与前车身和后车身中部相铰接。The vehicle body is divided into a front body and a rear body. The front body and the rear body are connected by a connecting shaft, and the connecting shaft is respectively hinged with the front body and the middle of the rear body.
本发明的有益效果：结构简单可靠、操控性好、适应能力强、成本低、***动力源少且运行方位容易控制。The invention has the advantages that the structure is simple and reliable, the maneuverability is good, the adaptability is strong, the cost is low, the system power source is small, and the running orientation is easy to control.
附图说明：BRIEF DESCRIPTION OF THE DRAWINGS:
图1为本发明的一个实施例的结构示意图；Figure 1 is a schematic structural view of an embodiment of the present invention;
图2为图1的俯视图；Figure 2 is a plan view of Figure 1;
图3为图1的直线运行状态示意图； Figure 3 is a schematic view showing the running state of the line of Figure 1;
图4为图1的曲线运行状态示意图；Figure 4 is a schematic view showing the running state of the curve of Figure 1;
其中：1-前车身，2-后车身，3-转向轴，4-横轴，5-驱动轮，6-皮带轮，7-皮带，8-连接轴，9-电动机。Among them: 1-front body, 2- rear body, 3-steering shaft, 4-horizon shaft, 5-drive wheel, 6-belt pulley, 7-belt, 8-connecting shaft, 9-motor.
具体实施方式：detailed description:
下面结合附图和实施例对本发明做进一步说明：如图1～图2所示，一种新型全向移动平台，包括车身，车身分为前车身1和后车身2两部分，前车身1和后车身2的中部分别铰接在连接轴8的两端，这种结构是为了保证本实施例的新型全向移动平台在行进过程中所有驱动轮5都能稳定的着地，车身上通过轴承设置有四个转向轴3，每个转向轴3下端固定有横轴4的一端，横轴4另一端设置有驱动轮5，所述四个驱动轮5上均分别设置有独立控制的电动机9，所述每个转向轴3上均固定有皮带轮6，在四个皮带轮6外套装有皮带7，以保证四个驱动轮5转向的同步，驱动轮5的数量也可以为其他的数量，但是必须超过二个，优选偶数个驱动轮5，并对称设置，以保证车身的平衡。The present invention will be further described below with reference to the accompanying drawings and embodiments. As shown in FIG. 1 to FIG. 2, a novel omnidirectional mobile platform includes a vehicle body, and the vehicle body is divided into two parts, a front body 1 and a rear body 2, and the front body 1 and The middle portion of the rear body 2 is respectively hinged at both ends of the connecting shaft 8. This structure is for ensuring that all of the driving wheels 5 can stably land during the traveling of the new omnidirectional moving platform of the embodiment, and the vehicle body is provided with bearings through the bearing. Four steering shafts 3, one end of each of the steering shafts 3 is fixed with one end of the horizontal shaft 4, and the other end of the horizontal shaft 4 is provided with a driving wheel 5, and the four driving wheels 5 are respectively provided with independently controlled motors 9 Each of the steering shafts 3 is fixed with a pulley 6 on the outer side of the four pulleys 6 to ensure the synchronization of the steering of the four driving wheels 5. The number of the driving wheels 5 may also be other numbers, but must exceed Two, preferably even, drive wheels 5 are arranged symmetrically to ensure the balance of the body.
所述横轴4的初始状态为：前部的两个横轴靠内侧且呈一条直线，后部的两个横轴靠外侧且呈一条直线，每个前部的横轴均与后部的横轴平行，这样的初始状态是一种运行较为高效的状态。The initial state of the horizontal axis 4 is that the two horizontal axes of the front portion are on the inner side and are in a straight line, and the two horizontal axes of the rear portion are on the outer side and are in a straight line, and the horizontal axis of each front portion is opposite to the rear portion. The horizontal axis is parallel, and such an initial state is a state in which operation is more efficient.
本实施例的新型全向移动平台运行时可实现以下几种运行状态：The new omnidirectional mobile platform of this embodiment can realize the following operating states when running:
位姿不变的直线运行，如图3所示，四个驱动轮5运行速度相同即可实现。The straight line running in the same position, as shown in Fig. 3, can be realized by the same running speed of the four driving wheels 5.
位姿不变的曲线运行，如图4所示的圆弧曲线运行，左后方的驱动轮5和右前方的驱动轮5的电动机9需要提供比其他两个驱动轮5更大转速，这样通过相邻两驱动轮5的差速即可实现各个横轴4均对相对应转向轴3产生顺时针的旋转，由于所有驱动轮5是同步转向的，因而会使所有驱动轮5都在顺时针转动的过程中前进，从而形成一条圆弧曲线前进的路线，但是由于转向轴3与车身通过连接轴8连接，因此不会将转动力矩传递给车身，并且相邻两驱动轮5所提供的驱动力均成对出现，所有驱动轮5的驱动力对车身的合转矩为零，车身也没有受到来自外部的力矩，因而车身的位姿不会改变。The position-changing curve runs, as shown in the arc curve shown in Fig. 4, the left rear drive wheel 5 and the right front drive wheel 5 motor 9 need to provide a higher rotational speed than the other two drive wheels 5, so that The differential speed of the adjacent two driving wheels 5 can realize that each horizontal axis 4 produces a clockwise rotation of the corresponding steering shaft 3. Since all the driving wheels 5 are synchronously steered, all the driving wheels 5 are clockwise. The process of turning forwards to form a course of arc curve advancement, but since the steering shaft 3 is connected to the vehicle body via the connecting shaft 8, the rotational torque is not transmitted to the vehicle body, and the driving provided by the adjacent two driving wheels 5 is provided. The forces appear in pairs, the driving force of all the driving wheels 5 is zero to the body, and the body is not subjected to external torque, so the posture of the body does not change.
其他类型的运行曲线可以通过不同的控制方式来实现。 Other types of running curves can be implemented in different ways.

Claims (6)

  1. 一种新型全向移动平台，其特征在于：包括车身，所述车身上设置有至少三个转向轴，每个转向轴下端固定有横轴的一端，横轴另一端设置有驱动轮，所述每个驱动轮上均分别设置有独立的动力源，所述每个转向轴上均设置有同步转向机构。A novel omnidirectional mobile platform, comprising: a vehicle body, wherein the vehicle body is provided with at least three steering shafts, one end of each horizontal shaft is fixed at a lower end of each steering shaft, and a driving wheel is disposed at the other end of the horizontal shaft, An independent power source is disposed on each of the driving wheels, and each of the steering shafts is provided with a synchronous steering mechanism.
  2. 根据权利要求1所述的新型全向移动平台，其特征在于：所述转向轴、横轴和驱动轮均为偶数个。The novel omnidirectional mobile platform according to claim 1, wherein said steering shaft, said horizontal axis and said drive wheel are all even.
  3. 根据权利要求2所述的新型全向移动平台，其特征在于：所述转向轴、横轴和驱动轮均为四个。The novel omnidirectional mobile platform according to claim 2, wherein the steering shaft, the horizontal axis and the driving wheel are all four.
  4. 根据权利要求3所述的新型全向移动平台，其特征在于：所述横轴的初始状态为：前部的两个横轴靠内侧且其轴线相重合，后部的两个横轴靠外侧且其轴线相重合，每个前部的横轴均与后部的横轴平行。The novel omnidirectional moving platform according to claim 3, wherein the initial state of the horizontal axis is that the two horizontal axes of the front portion are inside and the axes thereof coincide, and the two horizontal axes of the rear portion are outside. And the axes thereof coincide, and the horizontal axis of each front portion is parallel to the horizontal axis of the rear portion.
  5. 根据权利要求1所述的新型全向移动平台，其特征在于：所述同步转向机构包括皮带和皮带轮，所述皮带轮分别固定在每个驱动轮的转向轴上，所述皮带缠绕在各皮带轮上实现各转向轴的同步转向。A novel omnidirectional mobile platform according to claim 1, wherein said synchronous steering mechanism comprises a belt and a pulley, said pulleys being respectively fixed on a steering shaft of each of the driving wheels, said belt being wound around each pulley Synchronous steering of each steering shaft is achieved.
  6. 根据权利要求1所述的新型全向移动平台，其特征在于：所述车身分为前车身和后车身两部分，前车身与后车身通过连接轴相连接，连接轴分别与前车身和后车身中部相铰接。 The novel omnidirectional mobile platform according to claim 1, wherein the vehicle body is divided into a front body and a rear body. The front body and the rear body are connected by a connecting shaft, and the connecting shaft is respectively connected with the front body and the rear body. The middle part is hinged.
PCT/CN2015/072521 2014-08-29 2015-02-09 Novel omni-directional mobile platform WO2016029662A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201410438482.9A CN104210545A (en) 2014-08-29 2014-08-29 Novel omnidirectional moving platform
CN201420500569X 2014-08-29
CN201420500569.XU CN204124189U (en) 2014-08-29 2014-08-29 A kind of novel Omni-mobile platform
CN2014104384829 2014-08-29

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CN106200646A (en) * 2016-08-29 2016-12-07 深圳市劲拓自动化设备股份有限公司 A kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system
CN106853843A (en) * 2017-01-09 2017-06-16 江南大学 A kind of achievable synchronous omni-directional moving platform for turning to

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US3008592A (en) * 1957-08-29 1961-11-14 Joy Mfg Co Power operated steering mechanism for six-wheel articulated shuttle car
CN2288896Y (en) * 1996-11-22 1998-08-26 王富 Four-wheel synchronous steering mechanism for electric balancing weight type fork truck
CN2393785Y (en) * 1999-08-26 2000-08-30 郑州黄河电动车制造厂 Synchronous steering device for industrial vehicle
CN103465779A (en) * 2013-09-17 2013-12-25 哈尔滨工程大学 Double-engine type omni-directional four-wheel drive traveling mechanism
CN104210545A (en) * 2014-08-29 2014-12-17 东北大学 Novel omnidirectional moving platform
CN204124189U (en) * 2014-08-29 2015-01-28 东北大学 A kind of novel Omni-mobile platform

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3008592A (en) * 1957-08-29 1961-11-14 Joy Mfg Co Power operated steering mechanism for six-wheel articulated shuttle car
CN2288896Y (en) * 1996-11-22 1998-08-26 王富 Four-wheel synchronous steering mechanism for electric balancing weight type fork truck
CN2393785Y (en) * 1999-08-26 2000-08-30 郑州黄河电动车制造厂 Synchronous steering device for industrial vehicle
CN103465779A (en) * 2013-09-17 2013-12-25 哈尔滨工程大学 Double-engine type omni-directional four-wheel drive traveling mechanism
CN104210545A (en) * 2014-08-29 2014-12-17 东北大学 Novel omnidirectional moving platform
CN204124189U (en) * 2014-08-29 2015-01-28 东北大学 A kind of novel Omni-mobile platform

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106200646A (en) * 2016-08-29 2016-12-07 深圳市劲拓自动化设备股份有限公司 A kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system
CN106853843A (en) * 2017-01-09 2017-06-16 江南大学 A kind of achievable synchronous omni-directional moving platform for turning to
CN106853843B (en) * 2017-01-09 2024-02-02 江南大学 Omnidirectional mobile platform capable of realizing synchronous steering

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