CN105329334A - Vertical rotary shaft type omni-directional shifting device - Google Patents
Vertical rotary shaft type omni-directional shifting device Download PDFInfo
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- CN105329334A CN105329334A CN201510784422.7A CN201510784422A CN105329334A CN 105329334 A CN105329334 A CN 105329334A CN 201510784422 A CN201510784422 A CN 201510784422A CN 105329334 A CN105329334 A CN 105329334A
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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
- B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
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Abstract
The invention discloses a vertical rotary shaft type omni-directional shifting device which comprises a chassis, a first driving wheel, a second driving wheel, an omni-directional wheel, a first motor, a second motor, a third motor, a first vertical rotary shaft control mechanism, a second vertical rotary shaft control mechanism and a controller, wherein the first driving wheel, the second driving wheel and the omni-directional wheel are arranged below the chassis, and connecting lines among the first driving wheel, the second driving wheel and the omni-directional wheel form a triangle; the first motor, the second motor and the third motor are respectively connected with the first driving wheel, the second driving wheel and the omni-directional wheel and used for respectively driving rolling parts of the first driving wheel, the second driving wheel and the omni-directional wheel to rotate; the first vertical rotary shaft control mechanism and the second vertical rotary shaft control mechanism are respectively connected with the first driving wheel and the second driving wheel so as to respectively control the first driving wheel and the second driving wheel to steer according to a set angle; the first motor, the second motor, the third motor, the first vertical rotary shaft control mechanism and the second vertical rotary shaft control mechanism are also simultaneously connected with the controller. According to the omni-directional shifting device, the chassis has relatively high flexibility; more selective driving directions are available, so that free driving in each direction is realized; the omni-directional shifting device can flexibly shift in a narrow passage and is relatively high in operating efficiency.
Description
Technical field
The present invention relates to a kind of mobile device, particularly a kind of vertical rotation axis formula omnidirectional mobile device.
Background technology
Along with the development of modern processing manufacturing industry, logistics, intelligent factory and intelligent logistic storage propose new requirement to operating and controlling handling machinery (as transportation fork-truck, workpiece handling dolly) flexibly.
At present, conventional handling machinery mostly is parallel four wheel constructions, direction controlling adopts double front wheel or double rear wheel steering mode, also exist that turn radius is large, spot turn is difficult, can only before and after travel, left and right turn travels, can not cross running, thus add operation space, reduce space service efficiency, increase storage and logistics cost.
Summary of the invention
For above-mentioned the deficiencies in the prior art, technical matters to be solved by this invention is: provide a kind of turning, travel flexibly, can the vertical rotation axis formula omnidirectional mobile device that rotates of omnidirectional.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of vertical rotation axis formula omnidirectional mobile device, comprise chassis, first and second drive wheel, an omni-directional wheel, the first to the 3rd motor, first and second vertical rotation axis control mechanism and controller; Under first, second drive wheel described and omni-directional wheel are located at described chassis, between them, line forms a triangle, first to the 3rd motor is connected with first, second drive wheel and omni-directional wheel respectively, drives the rolling portion of first, second drive wheel and omni-directional wheel to rotate respectively; First and second vertical rotation axis control mechanism is connected to control first and second drive wheel respectively with first and second drive wheel described respectively and turns to by set angle; Described first to the 3rd motor, first and second vertical rotation axis control mechanism are also connected with described controller simultaneously.
As optimization, first and second vertical rotation axis control mechanism described comprises first and second steering engine, first and second angular stop means respectively; First and second steering engine described is vertically positioned on the motor cabinet of the first motor and the second motor respectively, carries out rotating and reverse of contrary direction respectively for the motor cabinet controlling described first motor and the second motor centered by the turning cylinder of the first steering engine and the second steering engine; Described first angular stop means is located to control rotating forward or the reverse angle of described first wheel shaft between described chassis and the first motor cabinet, and described second angular stop means is located between described chassis and the second motor cabinet to control the reversion of described second wheel shaft or positive gyration.
As optimization, described first angular stop means comprises one first knock hole sheet and one first elasticity determines pearl bayonet lock, be positioned on described first motor cabinet under described first knock hole sheet is fixedly arranged on described chassis, described first knock hole sheet offers the first knock hole of multiple fixed angle, described first elasticity is determined pearl bayonet lock and is located on described first motor cabinet, for the lower surface frictional fit with described first knock hole sheet and carry out spacing cooperation with described some first knock holees, carry out to make the first live axle be connected with one end of described first motor cabinet by the first wheel shaft different angles direction turns to location, described second angular stop means comprises one second knock hole sheet and one second elasticity determines pearl bayonet lock, described second knock hole sheet is fixedly arranged on described second motor cabinet, described second knock hole sheet is provided with the second knock hole of multiple fixed angle, described second elasticity is determined pearl bayonet lock and is located at inside described second motor cabinet, for the lower surface frictional fit with described second knock hole sheet and carry out spacing cooperation with described some second knock holees, carry out to make the second live axle be connected with one end of described second motor cabinet by the second wheel shaft different angles direction turns to location.
As optimization, first and second vertical rotation axis control mechanism described also comprises first and second respectively and supports reel, first and second thrust baring, first and second rolling bearing, and described chassis is also provided with first and second mounting hole; Described first and second supports reel and lays respectively on first and second motor cabinet described, and after first and second support reel described is inserted in first and second thrust baring and first and second rolling bearing respectively, interference is installed in first and second mounting hole described respectively.
As optimization, with the line of centers of described first drive wheel, the second drive wheel and omni-directional wheel tangent line circle altogether, described first drive wheel, the second drive wheel and omni-directional wheel are equal with the distance of described center-point.
As optimization, described chassis comprises rectangular frame and is located at support Y-shaped in described frame, described rectangular shaped rim is isolated into three abdominal cavities by described Y shaped bracket, and described first drive wheel, the second drive wheel and omni-directional wheel lay respectively at the below of three terminations of described Y shape and the junction on described chassis.
As optimization, the upper surface of described Y shaped bracket is located at respectively by described controller, first and second steering engine, and described controller drives interface to be connected with the described first to the 3rd motor, to be connected with first and second steering engine by one; Described controller carries out positive and negative rotation respectively for controlling first and second steering engine described, positive and negative rotation is carried out to drive the first motor cabinet and the second motor cabinet respectively, described controller also carries out rotating in same direction for controlling the described first to the 3rd motor, and to drive first and second drive wheel described respectively, the rolling portion of omni-directional wheel carries out rotating in same direction.
As optimization, angle between the Y shaped bracket line of centers of described installation first drive wheel and the Y shaped bracket line of centers installing omni-directional wheel equals the angle between the Y shaped bracket line of centers of installation second drive wheel and the Y shaped bracket line of centers installing omni-directional wheel, and equaling 135 degree, the angle of the Y shaped bracket line of centers of described installation first drive wheel and the Y shaped bracket line of centers of described installation second drive wheel equals 90 degree.
Vertical rotation axis formula omnidirectional mobile device of the present invention, compared to existing technology, has following beneficial effect: turn to flexibly, structure is ingenious, can realize turning in level on different directions, such as level longitudinal direction, horizontal cross, original place spinfunction.This omnidirectional mobile device is turned to and is controlled by controller, and be quick on the draw quick, the rotation direction of first and second drive wheel can adjust arbitrarily.Chassis has higher flexibility ratio, and selectable travel direction is more, realizes all directions and freely travels, and can move flexibly in narrow passage, operating efficiency is higher.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of vertical rotation axis formula omnidirectional mobile device one embodiment of the present invention.
Fig. 2 is the supine structural representation in the end on chassis in Fig. 1.
Fig. 3 is design of Structural Parameters figure in Fig. 1.
Fig. 4 a and Fig. 4 b is the partial enlarged drawing of first and second vertical rotation axis control mechanism in Fig. 1.
Fig. 5 a, 5b and 5c are three kinds of running state figure of vertical rotation axis formula omnidirectional mobile device.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in this present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
First, before embodiment is described, be necessary that some terms to occurring make an explanation herein.Such as:
Use the term such as " first ", " second " to describe various element if occur herein, but these elements should not limited by these terms.These terms are only used for differentiation element and another element.Therefore, " first " element also can be called as " second " element and not depart from this instruction of the present invention.
In addition, should be understood that, when mentioning an element " connection " or " connection " to another element, it can directly connect or directly be connected to another element or also can there is intermediary element.On the contrary, when mentioning that an element " directly connection " or " directly connecting " are to another element, then there is not intermediary element.
The various terms occurred in this article are only not intended to as limitation of the invention for describing the object of concrete embodiment.Unless context is clearly pointed out in addition, then singulative intention also comprises plural form.
" comprise " when using term in this manual and/or " including " time, these terms specify the existence of described feature, entirety, step, operation, element and/or parts, but also do not get rid of more than one other features, entirety, step, operation, element, the existence of parts and/or its group and/or additional.
About embodiment:
Refer to Fig. 1 to Fig. 5 c, the vertical rotation axis formula omnidirectional mobile device of the present embodiment, comprise chassis 1, first and second drive wheel 21,22, one omni-directional wheel the 23, first to the 3rd motor 31 to 33, first and second vertical rotation axis control mechanism and controller 43; First, second drive wheel 21,22 described and omni-directional wheel 23 are located at described chassis 1 time, between them, line forms a triangle, first to the 3rd motor 31 to 33 is connected with first, second drive wheel 21,22 and omni-directional wheel 23 respectively, drives the rolling portion of first, second drive wheel 21,22 and omni-directional wheel 23 to rotate respectively; First and second vertical rotation axis control mechanism is connected to control first and second drive wheel 21,22 respectively with first and second drive wheel 21,22 described respectively and turns to by set angle; Described first to the 3rd motor 31 to 33, first and second vertical rotation axis control mechanism are also connected with described controller 43 simultaneously.Particularly:
Described chassis 1 comprises rectangular frame and is located at support 11 Y-shaped in described frame, described rectangular shaped rim is isolated into three abdominal cavities by described Y shaped bracket 11, and described first drive wheel 21, second drive wheel 22 and omni-directional wheel 23 are respectively near three terminations of described Y shape and the junction on described chassis 1.Understandable, described chassis 1 can also be set to other shape or structure, the maximum function in chassis 1 is for installing the device such as above-mentioned motor cabinet, controller 43 and being moved thing for carrying, and its structure is based on movement that is simple, that save material, strengthen intensity, facilitate different directions.Such as in various embodiments, chassis 1 directly can be designed to solid disk, filled polygon shape or be framed structure etc., just repeats no longer one by one herein.
First and second vertical rotation axis control mechanism described comprise respectively first and second steering engine 51,52, first and second angular stop means.
The upper surface of described Y shaped bracket 11 is located at respectively by the power unit 42 of described controller 43, omnidirectional mobile device, first and second steering engine 51,52, and described controller 43 drives interface 41 to be connected with the described first to the 3rd motor 31 to 33, to be connected with first and second steering engine 51,52 by one.
In the present embodiment, also comprise the first to the 3rd motor cabinet 34 to 36 for fixing the first to the 3rd motor 31 to 33 respectively, for first, second drive wheel 21,22 and omni-directional wheel 23 are connected with the first to the 3rd motor 31 to 33 respectively the first to third round axle 24 to 26, first to the 3rd coupler 27 to 29.Wherein: the first to the 3rd motor cabinet 34 to 36 is fixed on the lower surface of the relevant position on chassis 1, one end of the first to third round axle 24 to 26 connects first respectively, second drive wheel 21, 22 and omni-directional wheel 23, the other end is fixed with one end of the first to the 3rd motor cabinet 34 to 36 respectively, first to the 3rd coupler 27 to 29 lays respectively on the first to the 3rd motor cabinet 34 to 36, one end of described first to the 3rd coupler 27 to 29 is respectively with described first, second drive wheel 21, 22 and the first to the third round axle 24 to 26 of omni-directional wheel 23 be connected, the other end of the first to the 3rd coupler 27 to 29 is connected with the output shaft of the first to the 3rd motor 31 to 33 respectively.
Described controller 43 carries out positive and negative rotation respectively for controlling first and second steering engine 51,52 described, positive and negative rotation is carried out to drive the first motor cabinet 34 and the second motor cabinet 35 respectively, described controller 43 also carries out rotating in same direction for controlling the described first to the 3rd motor 31 to 33, with drive respectively described first and second drive wheel 21,22, the rolling portion of omni-directional wheel 23 carries out rotating in same direction.In the present embodiment, first and second steering engine 51,52 described is fixedly installed on the junction of described Y shaped bracket 11 and described frame respectively by chassis 1 mounting hole, they lay respectively on first and second motor cabinet 34,35 described, and its drive shaft supports reel 55 respectively and sells and be connected with first and second.Understandable, in other examples, the devices such as described controller 43, driving interface 41, power unit 42, steering engine can also adopt the form of control box to be located on described chassis 1, become one by them, adopt in this way, control part can be made more succinct.
In order to make the better pivot stud of described mobile device, with the line of centers of described first drive wheel 21, second drive wheel 22 and omni-directional wheel 23 tangent line circle altogether, make described first drive wheel 21, second drive wheel 22 and omni-directional wheel 23 equal with the distance of described center-point.Namely set a center-point as O point, with radius be R point with the finger or gesticulate around this center together the heart circle, first, second drive wheel 21,22 and omni-directional wheel 23 are installed on the concentric circles that radius is R, and first, second drive wheel 21,22 and omni-directional wheel 23 all equal with the distance of this center-point O point.For the front and back craspedodrome of guarantee omnidirectional mobile device and the conformability of horizontal left and right straight-ahead operation, the axial angle ∠ AOB of the location point A of optimum choice the omni-directional wheel 23 and location point B of the first drive wheel 21 equals the axial angle ∠ AOC of the location point A of the omni-directional wheel 23 and location point C of the second drive wheel 22, and ∠ AOB=∠ AOC=135 degree, makes the axial angle ∠ BOC=90 degree of the first drive wheel 21 and the second drive wheel 22.
In the present embodiment, described omnidirectional mobile device controls first and second drive wheel 21 respectively by first and second vertical rotation axis control mechanism, 22 are undertaken rotating and spacing by the angle of setting in the horizontal direction, such as make the first drive wheel 21 and the second drive wheel 22 rotate after and oblique spacing, can rotate in original place to make omnidirectional mobile device, such as make again first and second drive wheel 21, 22 respectively rotate after carry out vertical 90 degree spacing, can carry out to make omnidirectional mobile device moving forward and backward (as Fig. 5 a), such as make again first and second drive wheel 21, 22 respectively rotate after put down to location, sway (as Fig. 5 b) can be carried out to make omnidirectional mobile device, the present embodiment carries out the movement on different directions by three wheels, omnidirectional mobile device can be made convenient, simply, fast speed moves.
In the present embodiment, first and second vertical rotation axis control mechanism described comprise respectively first and second steering engine 51,52, first and second angular stop means; The motor cabinet that the motor cabinet that first and second steering engine 51,52 described is vertically connected at the first drive wheel 21 respectively supports reel 55 and the second drive wheel 22 supports on reel 55, carries out rotating and reverse of contrary direction respectively for controlling described first motor cabinet 34 and the second motor cabinet 35 centered by the turning cylinder of the first steering engine 51 and the second steering engine 52; Described first angular stop means is located to control rotating forward or the reverse angle of described first motor cabinet 34 between described chassis 1 and the first motor cabinet 34, and described second angular stop means is located between described chassis 1 and the second motor cabinet 35 to control the reversion of described second motor cabinet 35 or positive gyration.Wherein:
The first above-mentioned motor cabinet 34 and the second motor cabinet 35 carry out rightabout rotating and reverse and refer to: when described first motor cabinet 34 reverses, so the second motor cabinet 35 rotates forward; When the first motor cabinet 34 rotates forward, the second motor cabinet 35 reverses.Namely, when the first motor cabinet 34 rotates clockwise, the second motor cabinet 35 rotates counterclockwise.When the first motor cabinet 34 and the second motor cabinet 35 respectively cw and after rotating counterclockwise and suitable Oblique 45 Degree angle spacing after, namely become Fig. 5 c state from Fig. 5 b state, then can vertical rotation axis formula omnidirectional mobile device be driven at pivot stud by 31 to 33, the first to the 3rd motor.
Described first angular stop means comprises one first knock hole sheet 531 and one first elasticity determines pearl bayonet lock 532, described first knock hole sheet 531 is fixedly arranged on described chassis 1 time and is positioned on described first motor cabinet 34, described first knock hole sheet 531 offers first knock hole (scheming not shown) of multiple fixed angle, described first elasticity is determined pearl bayonet lock 532 and is located on described first motor cabinet 34, for the lower surface frictional fit with described first knock hole sheet 531 and carry out spacing cooperation with described some first knock holees, carry out to make the live axle on described first motor cabinet 34 different angles direction turns to location.Described second angular stop means comprises one second knock hole sheet 541 and one second elasticity determines pearl bayonet lock 542, described second knock hole sheet 541 is fixedly arranged on described second motor cabinet 35, described second knock hole sheet 541 is provided with the second knock hole 543 of multiple fixed angle, described second elasticity is determined pearl bayonet lock 542 and is located at inside described second motor cabinet 35, for the lower surface frictional fit with described second knock hole sheet 541 and carry out spacing cooperation with described some second knock holees 543, carry out to make the live axle on described second motor cabinet 35 different angles direction turns to location.
In this example, first and second knock hole sheet 541 is all the sector structure of 90 degree in radian, first and second knock hole 543 is respectively three, radian between three knock holees after line is 90 degree, spacing often between adjacent two knock holees is equal, the Position Design of three knock holees determines the rotational angle of first and second motor cabinet 34,35, in this example, the rotational angle of first and second motor cabinet 34,35 is respectively 0 degree, 45 degree, 90 degree, though first and second wheel shaft 24,25 in horizontal cross shape, the skewed and an angle of 90 degrees vertical configuration of miter angle.When first and second wheel shaft 24,25 is in horizontal cross shape, first and second drive wheel 21,22, in vertical vertical shape, can move forward and backward; When first and second wheel shaft 24,25 is skewed in miter angle, the pivot stud of vertical rotation axis formula omnidirectional mobile device when the first drive wheel 21, second drive wheel 22 and omni-directional wheel 23 rotating in same direction, can be realized; When first and second wheel shaft 24,25 described is in 90 degree of vertical configurations, first and second drive wheel 21,22, can sway in horizontal cross shape.
In this example, described first elasticity determines the upper end of pearl bayonet lock 532 in the semisphere upwards arched upward, it has elasticity in the vertical, when described first steering engine 51 drives described first motor cabinet 34 to rotate, described first elasticity is determined pearl bayonet lock 532 and is namely rotated along the arc limit of described first knock hole sheet 531.Determine pearl bayonet lock 532 when described first elasticity to turn to after in one of them first knock hole, described first elasticity is determined pearl bayonet lock 532 and is popped up location, if the first steering engine 51 still rotates at described first motor cabinet 34 of driving, described first elasticity is determined pearl bayonet lock 532 and is pressed slippage to go out in above-mentioned first knock hole, advance to next first knock hole according to stroke directions, determine pearl bayonet lock 532 when described first elasticity to turn to after in next first knock hole, described first elasticity is determined pearl bayonet lock 532 and is again popped up location, if described first steering engine 51 stops driving, so, described first elasticity is determined pearl bayonet lock 532 and is just in time limited in this first knock hole, spacing with after turning to the first wheel shaft 24.In the present embodiment, if when the first elasticity is determined pearl bayonet lock 532 and is played that first the first knock hole is spacing to be coordinated from left to right, first wheel shaft 24 is in putting down to (i.e. horizontal cross) location, and that first drive wheel 21 in the longitudinal register vertical with described first wheel shaft 24 (see Fig. 5 a); When the first elasticity determine pearl coordinate with second the first knock hole is spacing time, even if the first wheel shaft 24 left-hand revolution miter angle on level attitude under Fig. 5 a state, the first drive wheel 21 then followed by the first wheel shaft 24 left-hand revolution miter angle (see Fig. 5 c); When the first elasticity determine pearl with the 3rd the first knock hole is spacing coordinate time, even if the first wheel shaft 24 left-hand revolution miter angle again under Fig. 5 c state, finally make described first wheel shaft 24 in longitudinal register, the first drive wheel 21 is then in put down to locate (see Fig. 5 b) vertical with described first wheel shaft 24.
Described second spacer is identical or similar with the structure of described first spacer.It is identical or similar that described second elasticity determines the structure that pearl bayonet lock 542 and the first elasticity determines pearl bayonet lock 532, and also in the semisphere upwards arched upward, it has elasticity in the vertical.When described second steering engine 52 drives described second motor cabinet 35 to rotate, described second elasticity is determined pearl bayonet lock 542 and is namely rotated along the arc limit of described second knock hole sheet 541, determine pearl bayonet lock 542 when described second elasticity to turn to after in one of them second knock hole 543, described second elasticity is determined pearl bayonet lock 542 and is popped up location, if the second steering engine 52 still rotates at described second motor cabinet 35 of driving, described second elasticity is determined pearl bayonet lock 542 and is gone out from pressure slippage in above-mentioned second knock hole 543, advance to next second knock hole 543 according to stroke directions, determine pearl bayonet lock 542 when described second elasticity to turn to after in next second knock hole 543, described second elasticity is determined pearl bayonet lock 542 and is again popped up location, if described second steering engine 52 stops driving, so, described second elasticity is determined pearl bayonet lock 542 and is just in time limited in this second knock hole 543, spacing with after turning to the second wheel shaft 25.In the present embodiment, if when the second elasticity is determined pearl bayonet lock 542 and played that first the second knock hole 543 is spacing to be coordinated from right to left, the second wheel shaft 25 is in putting down to location, and that second drive wheel 22 in the longitudinal register vertical with described second wheel shaft 25 (see Fig. 5 a); When the second elasticity determine pearl coordinate with second the second knock hole 543 is spacing time, even if the positive hour hands on level attitude of the second wheel shaft 25 under Fig. 5 a state rotate miter angle, the second drive wheel 22 then followed by the second wheel shaft 25 inhour and rotates miter angle (see Fig. 5 c); When the second elasticity determine pearl coordinate with the 3rd the second knock hole 543 is spacing time, even if the second wheel shaft 25 under Fig. 5 c state again positive hour hands rotates miter angle, finally make described second wheel shaft 25 in longitudinal register, the second drive wheel 22 is then in put down to locate (see Fig. 5 b) vertical with described second wheel shaft 25.
In this example, first and second vertical rotation axis control mechanism described also comprises first and second respectively and supports reel 55, first and second thrust baring 56, first and second rolling bearing (scheming not shown), and described chassis 1 is also provided with first and second mounting hole (scheming not shown); Described first and second supports reel 55 and lays respectively on first and second motor cabinet 34,35 described, and after first and second support reel 55 described is inserted in first and second thrust baring 56 and first and second rolling bearing respectively, interference is installed in first and second mounting hole described respectively.First and second steering engine 51,52 drive shaft described supports reel 55 respectively and sells and be connected with first and second.
In the present embodiment, described omnidirectional mobile device also comprises the first to the 3rd motor cabinet 34 to 36, the first to the 3rd coupler 27 to 29, described first to the 3rd motor 31 to 33 is located on the described first to the 3rd motor cabinet 34 to 36 respectively, and is connected with described the first to third round axle 24 to 26 respectively by the first to the 3rd coupler 27 to 29; First and second elasticity described determines the inner side that pearl bayonet lock 542 is located at first and second motor cabinet 34,35 described respectively, and described first and second supports the upper surface that first and second motor cabinet 34,35 described is located at respectively by reel 55.
In this example, because first and second motor cabinet 34,35 lays respectively at immediately below first and second knock hole sheet 541 described in this example just, therefore, first and second elasticity above-mentioned determines the inner side that pearl bayonet lock 542 is located at first and second motor cabinet 34,35 described respectively.Adopt this structure, first and second steering engine 51,52 described can be made to control first and second motor cabinet 34,35 described easily and anyway rotate respectively.
Embodiment of the present invention, unidirectional rotation is carried out in order to control the first to the 3rd motor 31 to 33 in controller 43 1 aspect, such as make the first to the 3rd motor 31 to 33 rotate forward or reversion simultaneously, thus make the rolling portion of first, second drive wheel 21,22 and omni-directional wheel 23 carry out the rotation of same direction, and then whole mobile device is driven to move toward same direction or rotate; Controller 43 carries out rightabout control in order to control steering engine on the other hand, rightabout association rotation is carried out in the horizontal direction respectively to control first and second wheel shaft 24,25, if during the first wheel shaft 24 clickwise, second 25, wheel shaft left-hand revolution, if during the first wheel shaft 24 left-hand revolution, the second 25, wheel shaft clickwise.
First angular stop means and the second angular stop means are carried out spacing to it after being used for controlling the first motor cabinet 34 and the rotation of the second motor cabinet 35 respectively, and such as the first inhibiting device and the second inhibiting device are respectively used to make the first wheel shaft 24 and the second wheel shaft 25 be longitudinal, simultaneously spacing towards relative direction inclination miter angle simultaneously in horizontal direction, simultaneously.When needs mobile device carries out sway, described first wheel shaft 24 and the second wheel shaft 25 is then made longitudinally to arrange, thus first and second drive wheel 21,22 is arranged in horizontal direction, controller 43 controls the first to the 3rd motor 31 to 33 more just to carry out or reverse turn, finally makes first, second drive wheel 21,22 and omni-directional wheel 23 drive chassis 1 or move right left.When needs mobile device carries out movable, then make the first wheel shaft 24 and the second wheel shaft 25 horizontally set, thus first and second drive wheel 21,22 is arranged in the longitudinal direction perpendicular to wheel shaft, controller 43 controls the first to the 3rd motor 31 to 33 again and carries out forward or reverse, first, second drive wheel 21,22 is finally made to drive chassis 1 to move forward or backward, omni-directional wheel 23 does micro-turn, stepping left and right, realizes the adjustment to direction, to ensure the directivity moved forward and backward.When needs mobile device rotates in original place, the first wheel shaft 24 and the second wheel shaft 25 is then made to arrange in relative direction inclination miter angle, controller 43 controls the first to the 3rd motor 31 to 33 again to carry out rotating forward or reversing, and finally makes first, second drive wheel 21,22 and omni-directional wheel 23 drive chassis 1 to rotate forward in original place or reversion.When needs mobile device carries out front and back or sway again after rotating to an angle, then first control to stop after described chassis 1 rotates to an angle, make first and second steering engine 51,52 that first and second wheel shaft 24,25 is distinguished in horizontal direction or vertical direction state again, and then make first and second drive wheel 21,22 in vertical direction or horizontal direction state, then control the first to the 3rd motor 31 to 33 by controller 43 and drive first, second drive wheel 21,22 and omni-directional wheel 23 to carry out moving respectively.
These are only embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize specification sheets of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (8)
1. a vertical rotation axis formula omnidirectional mobile device, comprises chassis, first and second drive wheel, an omni-directional wheel, the first to the 3rd motor, first and second vertical rotation axis control mechanism and controller;
Under first, second drive wheel described and omni-directional wheel are located at described chassis, between them, line forms a triangle, first to the 3rd motor is connected with first, second drive wheel and omni-directional wheel respectively, drives the rolling portion of first, second drive wheel and omni-directional wheel to rotate respectively;
First and second vertical rotation axis control mechanism is connected to control first and second drive wheel respectively with first and second drive wheel described respectively and turns to by set angle;
Described first to the 3rd motor, first and second vertical rotation axis control mechanism are also connected with described controller simultaneously.
2. vertical rotation axis formula omnidirectional mobile device as claimed in claim 1, is characterized in that: first and second vertical rotation axis control mechanism described comprises first and second steering engine, first and second angular stop means respectively;
First and second steering engine described is vertically positioned on the motor cabinet of the first motor and the second motor respectively, carries out rotating and reverse of contrary direction respectively for the motor cabinet controlling described first motor and the second motor centered by the turning cylinder of the first steering engine and the second steering engine;
Described first angular stop means is located to control rotating forward or the reverse angle of described first wheel shaft between described chassis and the first motor cabinet, and described second angular stop means is located between described chassis and the second motor cabinet to control the reversion of described second wheel shaft or positive gyration.
3. vertical rotation axis formula omnidirectional mobile device as claimed in claim 2, it is characterized in that: described first angular stop means comprises one first knock hole sheet and one first elasticity determines pearl bayonet lock, be positioned on described first motor cabinet under described first knock hole sheet is fixedly arranged on described chassis, described first knock hole sheet offers the first knock hole of multiple fixed angle, described first elasticity is determined pearl bayonet lock and is located on described first motor cabinet, for the lower surface frictional fit with described first knock hole sheet and carry out spacing cooperation with described some first knock holees, carry out to make the first live axle be connected with one end of described first motor cabinet by the first wheel shaft different angles direction turns to location,
Described second angular stop means comprises one second knock hole sheet and one second elasticity determines pearl bayonet lock, described second knock hole sheet is fixedly arranged on described second motor cabinet, described second knock hole sheet is provided with the second knock hole of multiple fixed angle, described second elasticity is determined pearl bayonet lock and is located at inside described second motor cabinet, for the lower surface frictional fit with described second knock hole sheet and carry out spacing cooperation with described some second knock holees, carry out to make the second live axle be connected with one end of described second motor cabinet by the second wheel shaft different angles direction turns to location.
4. vertical rotation axis formula omnidirectional mobile device as claimed in claim 3, it is characterized in that: first and second vertical rotation axis control mechanism described also comprises first and second respectively and supports reel, first and second thrust baring, first and second rolling bearing, and described chassis is also provided with first and second mounting hole;
Described first and second supports reel and lays respectively on first and second motor cabinet described, and after first and second support reel described is inserted in first and second thrust baring and first and second rolling bearing respectively, interference is installed in first and second mounting hole described respectively.
5. the vertical rotation axis formula omnidirectional mobile device any one of Claims 1-4 as described in claim, it is characterized in that: with the line of centers of described first drive wheel, the second drive wheel and omni-directional wheel tangent line circle altogether, described first drive wheel, the second drive wheel and omni-directional wheel are equal with the distance of described center-point.
6. vertical rotation axis formula omnidirectional mobile device as claimed in claim 5, it is characterized in that: described chassis comprises rectangular frame and is located at support Y-shaped in described frame, described rectangular shaped rim is isolated into three abdominal cavities by described Y shaped bracket, and described first drive wheel, the second drive wheel and omni-directional wheel lay respectively at the below of three terminations of described Y shape and the junction on described chassis.
7. vertical rotation axis formula omnidirectional mobile device as claimed in claim 6, it is characterized in that: the upper surface of described Y shaped bracket is located at respectively by described controller, first and second steering engine, described controller drives interface to be connected with the described first to the 3rd motor, to be connected with first and second steering engine by one; Described controller carries out positive and negative rotation respectively for controlling first and second steering engine described, positive and negative rotation is carried out to drive the first motor cabinet and the second motor cabinet respectively, described controller also carries out rotating in same direction for controlling the described first to the 3rd motor, and to drive first and second drive wheel described respectively, the rolling portion of omni-directional wheel carries out rotating in same direction.
8. vertical rotation axis formula omnidirectional mobile device as claimed in claim 5, it is characterized in that: the angle between the Y shaped bracket line of centers of described installation first drive wheel and the Y shaped bracket line of centers installing omni-directional wheel equals the angle between the Y shaped bracket line of centers of installation second drive wheel and the Y shaped bracket line of centers installing omni-directional wheel, and equaling 135 degree, the angle of the Y shaped bracket line of centers of described installation first drive wheel and the Y shaped bracket line of centers of described installation second drive wheel equals 90 degree.
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| CN111084976A (en) * | 2019-12-26 | 2020-05-01 | 哈尔滨工业大学（深圳） | Movement device of omnidirectional sliding plate chassis and control method thereof |
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