CN105329334B - Vertical rotation axis formula omnidirectional mobile device - Google Patents
Vertical rotation axis formula omnidirectional mobile device Download PDFInfo
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- CN105329334B CN105329334B CN201510784422.7A CN201510784422A CN105329334B CN 105329334 B CN105329334 B CN 105329334B CN 201510784422 A CN201510784422 A CN 201510784422A CN 105329334 B CN105329334 B CN 105329334B
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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 kind of vertical rotation axis formula omnidirectional mobile device, including chassis, first and second driving wheel, omni-directional wheel, the first to the 3rd motor, first and second vertical rotation axis controlling organization and controller；First, second driving wheel and omni-directional wheel are located under the chassis, line forms triangle between them, first to the 3rd motor is connected with first, second driving wheel and omni-directional wheel respectively, drives the rolling portion of first, second driving wheel and omni-directional wheel to be rotated respectively；First and second vertical rotation axis controlling organization is connected with first and second described driving wheel to control first and second driving wheel to be turned to by set angle respectively respectively；First to the 3rd motor, first and second vertical rotation axis controlling organization are also connected with the controller simultaneously.Above-mentioned omnidirectional mobile device, chassis possess higher flexibility ratio, and selectable travel direction is more, realizes that all directions freely travel, and can flexibly be moved in slype, operational efficiency is higher.
Description
Technical field
The present invention relates to a kind of mobile device, more particularly to a kind of vertical rotation axis formula omnidirectional mobile device.
Background technology
With modern processing manufacturing industry, the development of logistics, intelligent chemical plant and intelligent logistic storage are to operating and controlling
Make flexible handling machinery (such as transportation fork-truck, workpiece handling dolly) and propose new requirement.
At present, conventional handling machinery is mostly parallel four wheel construction, and direction controlling uses two front wheels or double rear wheel steering side
Formula, there is radius of turn is big, spot turn is difficult, can only front and rear traveling, left and right turn traveling, be unable to cross running, so as to
Operation space is added, reduces space service efficiency, increases storage and logistics cost.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problems to be solved by the invention are：Provide a kind of turning, traveling
Flexibly, it is capable of the vertical rotation axis formula omnidirectional mobile device of omnidirectional's rotation.
In order to solve the above technical problems, one aspect of the present invention is：A kind of vertical rotation axis formula omnidirectional is provided
Mobile device, including chassis, first and second driving wheel, an omni-directional wheel, the first to the 3rd motor, first and second vertical rotation axis
Controlling organization and controller；First, second driving wheel and omni-directional wheel are located under the chassis, line shape between them
Into a triangle, the first to the 3rd motor is connected with first, second driving wheel and omni-directional wheel respectively, drives first, the respectively
The rolling portion of two driving wheels and omni-directional wheel is rotated；First and second vertical rotation axis controlling organization is respectively with described first
And second driving wheel connection to control first and second driving wheel to be turned to by set angle respectively；Described first to the 3rd motor,
First and second vertical rotation axis controlling organization is also connected with the controller simultaneously.
As optimization, first and second described vertical rotation axis controlling organization includes first and second steering-engine, the respectively
One and second angle stopping means；First and second described steering-engine be respectively perpendicular positioned at the first motor and the second motor
On motor cabinet, for controlling the motor cabinet of first motor and the second motor to be turned to respectively with the first steering-engine and second
Rotating and reverse for opposite direction is carried out centered on the rotary shaft of steering wheel；The first angle stopping means is located at the chassis
To control the rotating forward of first motor cabinet or reverse angle between the first motor cabinet, the second angle stopping means is set
To control the reversion of second motor cabinet or positive gyration between the chassis and the second motor cabinet.
As optimization, the first angle stopping means includes one first positioning hole piece and one first elasticity determines pearl card
Pin, the first positioning hole piece is fixedly arranged under the chassis and on first motor cabinet, in first positioning hole
Offer the first positioning hole of multiple fixed angles on piece, first elasticity determine pearl bayonet lock be located at first motor cabinet it
On, spacing cooperation is carried out for the lower surface frictional fit with the first positioning hole piece and with first positioning hole, with
The first driving wheel for making to be connected with one end of first motor cabinet by the first wheel shaft carries out the steering on different angle direction
Positioning；The second angle stopping means includes one second positioning hole piece and one second elasticity determines pearl bayonet lock, and described second is fixed
Position hole piece is fixedly arranged on second motor cabinet, the second positioning provided with multiple fixed angles on the second positioning hole piece
Hole, second elasticity determines pearl bayonet lock on the inside of second motor cabinet, for the lower surface with the second positioning hole piece
Frictional fit and spacing cooperation is carried out with second positioning hole, so as to pass through the one of the second wheel shaft and second motor cabinet
Second driving wheel of end connection carries out the steering positioning on different angle direction.
As optimization, first and second described vertical rotation axis controlling organization respectively further comprise first and second support reel,
First and second thrust bearing, first and second rolling bearing, are additionally provided with first and second mounting hole on the chassis；It is described
First and second support reel respectively on first and second described motor cabinet, distinguish by first and second described support reel
It is inserted in after first and second thrust bearing and first and second rolling bearing interference respectively and is installed on first and second described installation
In hole.
As optimization, with the center line of first driving wheel, the second driving wheel and omni-directional wheel tangent line circle altogether, described the
One driving wheel, the second driving wheel and omni-directional wheel together tangent line circle central point distance it is equal.
As optimization, the chassis includes rectangular shaped rim and the Y shaped bracket in the rectangular shaped rim, the Y shape
The rectangular shaped rim is isolated into three abdominal cavities by support, and first driving wheel, the second driving wheel and omni-directional wheel are located at respectively
The lower section of three terminations of the Y shaped bracket and the junction on the chassis.
As optimization, the controller, first and second steering-engine are respectively arranged on the upper surface of the Y shaped bracket, institute
Controller is stated to be connected with the described first to the 3rd motor connection, with first and second steering-engine by a driving interface；It is described
Controller is used to control first and second described steering-engine to carry out positive and negative rotation respectively, to drive the first motor cabinet and the respectively
Two motor cabinets carry out positive and negative rotation, and the controller is additionally operable to control the described first to the 3rd motor to be rotate in same direction, to divide
Not Dai Dong first and second described driving wheel, the rolling portion of omni-directional wheel rotate in same direction.
As optimization, install between the Y shaped bracket center line of the first driving wheel and the Y shaped bracket center line of installation omni-directional wheel
Angle be equal to installation the second driving wheel Y shaped bracket center line and install omni-directional wheel Y shaped bracket center line between angle,
And equal to 135 degree, in the Y shaped bracket of the second driving wheel of Y shaped bracket center line and the installation of the first driving wheel of the installation
The angle of heart line is equal to 90 degree.
The vertical rotation axis formula omnidirectional mobile device of the present invention, compared with prior art, has the advantages that：Turn to spirit
It is living, clever structure, it is possible to achieve the steering in level on different directions, such as level longitudinal direction, horizontal cross, rotate in place work(
Energy.The omnidirectional mobile device is diverted through controller and is controlled, and is quick on the draw quick, the rotation side of first and second driving wheel
To can arbitrarily adjust.Chassis possesses higher flexibility ratio, and selectable travel direction is more, realizes that all directions freely travel,
Can flexibly it be moved in narrow passage, operational efficiency is higher.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the embodiment of vertical rotation axis formula omnidirectional mobile device one of the present invention.
Fig. 2 is the structural representation of the bottom surface on chassis in Fig. 1 upward.
Fig. 3 is design of Structural Parameters figure in Fig. 1.
Fig. 4 a and Fig. 4 b are the partial enlarged drawings of first and second vertical rotation axis controlling organization in Fig. 1.
Fig. 5 a, 5b and 5c are three kinds of running status figures of vertical rotation axis formula omnidirectional mobile device.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
First, before embodiment is described, it is necessary to which some herein presented terms are explained.Example
Such as：
If occur describing various elements using the term such as " first ", " second " herein, but these elements should not
Limited by these terms.These terms are only used for distinguishing an element and another element.Therefore, " first " element can also
It is referred to as " second " element without departing from this teachings of the present invention.
In addition, it is to be understood that when referring to an element " connection " or " coupled " to another element, it can be direct
Ground connects or is directly coupled to another element or there may also be intermediary element.An element is referred on the contrary, working as " directly
When connection " or " directly coupling " arrive another element, then in the absence of intermediary element.
The various terms occurred herein are used only for describing the purpose of specific embodiment and being not intended as to this
The restriction of invention.Unless context clearly dictates otherwise, then singulative is intended to also include plural form.
When using term " comprising " and/or " including " in this manual, these terms specify the feature, whole
Body, step, operation, the presence of element and/or part, but be also not excluded for more than one other feature, entirety, step, operation,
Element, part and/or the presence of its group and/or additional.
On embodiment：
Refer to Fig. 1 to Fig. 5 c, the vertical rotation axis formula omnidirectional mobile device of the present embodiment, including chassis 1, first and second
The motor 31 to 33 of 21,22, one omni-directional wheel of driving wheel the 23, first to the 3rd, first and second vertical rotation axis controlling organization and control
Device 43 processed；First, second driving wheel 21,22 and omni-directional wheel 23 are located under the chassis 1, and line forms one between them
Triangle, the first to the 3rd motor 31 to 33 are connected with first, second driving wheel 21,22 and omni-directional wheel 23, driven respectively respectively
The rolling portion of dynamic first, second driving wheel 21,22 and omni-directional wheel 23 is rotated；First and second vertical rotation axis control machine
Structure is connected with first and second described driving wheel 21,22 to control first and second driving wheel 21,22 respectively by set angle respectively
Degree turns to；Described first to the 3rd motor 31 to 33, first and second vertical rotation axis controlling organization also simultaneously with the controller
43 connections.Specifically：
The chassis 1 includes rectangular shaped rim and the Y shaped bracket 11 in the rectangular shaped rim, the Y shaped bracket 11
The rectangular shaped rim is isolated into three abdominal cavities, first driving wheel 21, the second driving wheel 22 and omni-directional wheel 23 lean on respectively
The junction of three terminations and the chassis 1 of the nearly Y shaped bracket.It should be understood that the chassis 1 may be arranged as it
Its shape or structure, the maximum function in chassis 1 are to be used to install the devices such as above-mentioned motor cabinet, controller 43 and for holding
Carry by motive objects, its structure with it is simple, save material, strengthen intensity, facilitate based on the movements of different directions.Such as not
With embodiment in, chassis 1 can be directly designed to solid disk, filled polygon shape or in frame structure etc., herein
Just no longer repeated one by one.
First and second described vertical rotation axis controlling organization respectively include first and second steering-engine 51,52, first and
Second angle stopping means.
The controller 43, the power unit 42 of omnidirectional mobile device, first and second steering-engine 51,52 are respectively arranged on
The upper surface of the Y shaped bracket 11, the controller 43 pass through a driving interface 41 and the described first to the 3rd motor 31 to 33
Connect, be connected with first and second steering-engine 51,52.
In the present embodiment, in addition to for fixing the first to the 3rd motor cabinet 34 of the first to the 3rd motor 31 to 33 respectively
To 36, for make that first, second driving wheel 21,22 and omni-directional wheel 23 be connected with the first to the 3rd motor 31 to 33 respectively
One to the shaft coupling 27 to 29 of third round axle the 24 to 26, first to the 3rd.Wherein：First to the 3rd motor cabinet 34 to 36 is fixed on bottom
The lower surface of the relevant position of disk 1, first to one end of third round axle 24 to 26 connects first, second driving wheel 21,22 respectively
And omni-directional wheel 23, the one end of the other end respectively with the first to the 3rd motor cabinet 34 to 36 are fixed, the first to the 3rd shaft coupling 27 to
29 respectively on the first to the 3rd motor cabinet 34 to 36, one end of the described first to the 3rd shaft coupling 27 to 29 respectively with it is described
First, first to threeth shaft coupling 27 connected to third round axle 24 to 26 of first, second driving wheel 21,22 and omni-directional wheel 23
Output shaft of the other end respectively with the first to the 3rd motor 31 to 33 to 29 is connected.
The controller 43 is used to control first and second described steering-engine 51,52 to carry out positive and negative rotation respectively, to divide
Do not drive the first motor cabinet 34 and the second motor cabinet 35 to carry out positive and negative rotation, the controller 43 be additionally operable to control described first to
3rd motor 31 to 33 is rotate in same direction, to drive first and second described driving wheel 21,22, the rolling of omni-directional wheel 23 respectively
Part is rotate in same direction.In the present embodiment, first and second described steering-engine 51,52 is consolidated by the mounting hole of chassis 1 respectively
On junction of the Dingan County loaded on the Y shaped bracket 11 and the frame, they are respectively positioned at first and second described motor cabinet
34th, on 35, its rotary shaft supports the pin connection of reel 55 with first and second respectively.It should be understood that in other embodiments
In, the device such as the controller 43, driving interface 41, power unit 42, steering-engine can also be set in the form of control cabinet
In on the chassis 1, i.e., they are become one, in this way, control section can be made more succinct.
In order that the more preferable pivot stud of mobile device, with first driving wheel 21, the second driving wheel 22 and
The center line of omni-directional wheel 23 altogether justify by tangent line, makes first driving wheel 21, the second driving wheel 22 and omni-directional wheel 23 tangent line together
The distance of circle central point is equal.A central point is set as O points, using radius as R, around center strokes and dots, together the heart is justified, and first, second
Driving wheel 21,22 and omni-directional wheel 23 be installed in radius be R concentric circles on, and first, second driving wheel 21,22 and
Omni-directional wheel 23 is equal with the distance of central point O points.To ensure the front and rear straight trip of omnidirectional mobile device and laterally left and right straight trip
The location point B of the uniformity of operation, the location point A of optimum choice omni-directional wheel 23 and the first driving wheel 21 axial angle ∠ AOB
Equal to omni-directional wheel 23 location point A and the second driving wheel 22 location point C axial angle ∠ AOC, and ∠ AOB=∠ AOC
=135 degree, make the axial angle ∠ BOC=90 degree of the first driving wheel 21 and the second driving wheel 22.
In the present embodiment, the omnidirectional mobile device controls first respectively by first and second vertical rotation axis controlling organization
And second driving wheel 21,22 rotated in the horizontal direction by the angle of setting and spacing, such as make the first driving wheel 21 and
It is after second driving wheel 22 rotates and oblique spacing, to allow omnidirectional mobile device to be rotated in situ, in another example making the
One and second driving wheel 21,22 rotate respectively after carry out vertical 90 degree it is spacing, it is front and rear to allow omnidirectional mobile device to carry out
Mobile (such as Fig. 5 a), in another example making first and second driving wheel 21,22 be put down after rotating respectively to positioning, to cause Omni-mobile to fill
Putting can be moved left and right (such as Fig. 5 b), and the present embodiment carries out the movement on different directions by three wheels, can be made complete
Facilitate to mobile device, be simple, being rapidly performed by moving.
In the present embodiment, first and second described vertical rotation axis controlling organization includes first and second steering-engine respectively
51st, 52, first and second angular stop means；First and second described steering-engine 51,52, which is respectively perpendicular, is connected to the first drive
On the motor cabinet support reel 55 of the motor cabinet support driving wheel 22 of reel 55 and second of driving wheel 21, for controlling described first
The motor cabinet 35 of motor cabinet 34 and second centered on the rotary shaft of the first steering-engine 51 and the second steering-engine 52 respectively to carry out
Opposite direction rotates and reverse；The first angle stopping means be located at the motor cabinet 34 of chassis 1 and first between with
Control rotating forward or the reverse angle of first motor cabinet 34, the second angle stopping means is located at the chassis 1 and the
To control the reversion of second motor cabinet 35 or positive gyration between two motor cabinets 35.Wherein：
The first above-mentioned motor cabinet 34 and the second motor cabinet 35 carry out rotating and reverse for opposite direction and referred to：When described
When one motor cabinet 34 is inverted, then the second motor cabinet 35 is then rotated forward；When the first motor cabinet 34 is rotated forward, second
Motor cabinet 35 is inverted.I.e. when the first motor cabinet 34 rotates clockwise, the second motor cabinet 35 then rotates counterclockwise.When first
After after the motor cabinet 35 of motor cabinet 34 and second rotates clockwise and anticlockwise respectively and suitable Oblique 45 Degree angle is spacing, i.e., by Fig. 5 b shapes
State is changed into Fig. 5 c states, then can be turned in situ with 31 to 33 driving vertical rotation axis formula omnidirectional mobile devices of the first to the 3rd motor
To.
The first angle stopping means includes one first positioning hole piece 531 and one first elasticity determines pearl bayonet lock 532, institute
State the first positioning hole piece 531 and be fixedly arranged on the chassis 1 time and on first motor cabinet 34, in first positioning hole
The first positioning hole (not shown) of multiple fixed angles is offered on piece 531, first elasticity determines pearl bayonet lock 532 and is located at institute
State on the first motor cabinet 34, determine for the lower surface frictional fit with the first positioning hole piece 531 and with described first
Position hole carries out spacing cooperation, so that the rotary shaft on first motor cabinet 34 carries out the steering positioning on different angle direction.
The second angle stopping means includes one second positioning hole piece 541 and one second elasticity determines pearl bayonet lock 542, and described second is fixed
Position hole piece 541 is fixedly arranged on second motor cabinet 35, provided with multiple fixed angles on the second positioning hole piece 541
Second positioning hole 543, second elasticity determine pearl bayonet lock 542 on the inside of second motor cabinet 35, for described second
The lower surface frictional fit of positioning hole piece 541 and spacing cooperation is carried out with second positioning hole 543, so that second electricity
Rotary shaft on support 35 carries out the steering positioning on different angle direction.
In this example, first and second positioning hole piece 541 is in the sector structure that radian is 90 degree, first and second positioning hole
543 be respectively three, and the radian between three positioning holes after line is 90 degree, the spacing phase between every two neighboring positioning hole
The rotational angle of first and second motor cabinet 34,35 is determined Deng, the Position Design of three positioning holes, in this example, first and
The rotational angle of two motor cabinets 34,35 is respectively 0 degree, 45 degree, 90 degree, even if first and second wheel shaft 24,25 is in horizontal cross
Shape, 45 degree of angle lappings are ramp-like and an angle of 90 degrees vertical configuration.When first and second wheel shaft 24,25 is in horizontal cross shape, first and
Two driving wheels 21,22 are in vertical vertical shape, can be moved forward and backward；When first and second wheel shaft 24,25 is ramp-like in 45 degree of angle lappings,
First driving wheel 21, the second driving wheel 22 and omni-directional wheel 23 can realize the original of vertical rotation axis formula omnidirectional mobile device when rotating in same direction
Ground turns to；When first and second described wheel shaft 24,25 is in 90 degree of vertical configurations, first and second driving wheel 21,22 is in level
Horizontal shape, it can move left and right.
In this example, the upper end that first elasticity determines pearl bayonet lock 532 is in the hemispherical to arch upward upwards, and it has in the vertical
Elasticity, when first steering-engine 51 drives first motor cabinet 34 to be rotated, it is described first elasticity determine pearl block
Pin 532 is to be rotated along the arc side of the first positioning hole piece 531.Determine pearl bayonet lock 532 when the described first elasticity and turn to wherein one
After in individual first positioning hole, first elasticity determines pearl bayonet lock 532 and pops up positioning, if the first steering-engine 51 is still driving
Move first motor cabinet 34 to be rotated, first elasticity is determined pearl bayonet lock 532 and then slipped from above-mentioned first positioning hole internal pressure
Go out, advance according to stroke directions to next first positioning hole, determining pearl bayonet lock 532 when the described first elasticity turns to next first
After in positioning hole, first elasticity determines pearl bayonet lock 532 and ejects positioning again up, if first steering-engine 51 stops driving
It is dynamic, then, first elasticity is determined pearl bayonet lock 532 and is then just limited in first positioning hole, to be carried out to the first wheel shaft 24
It is spacing after steering.In the present embodiment, if when the first elasticity determines pearl bayonet lock 532 and plays first the first positioning hole limit from left to right
When position coordinates, for the first wheel shaft 24 in putting down to (i.e. horizontal cross) positioning, that first driving wheel 21 is in be hung down with first wheel shaft 24
Straight longitudinal register (see Fig. 5 a)；When the first elasticity determine pearl and the spacing cooperation of second the first positioning hole, even if Fig. 5 a states
Under the first wheel shaft 24 on horizontal level 45 degree of angles of rotate counterclockwise, and then to followed by the first wheel shaft 24 inverse for the first driving wheel 21
Hour hands rotate 45 degree of angles (see Fig. 5 c)；When the first elasticity determine pearl and the spacing cooperation of the 3rd the first positioning hole, even if Fig. 5 c shapes
The first wheel shaft 24 under state 45 degree of angles of rotate counterclockwise again, it is in longitudinal register finally to make first wheel shaft 24, and first drives
Driving wheel 21 is then put down to positioning (see Fig. 5 b) in vertical with first wheel shaft 24.
The structure of second spacer and first spacer is same or similar.Second elasticity determines pearl bayonet lock
542 determine with the first elasticity pearl bayonet lock 532 structure it is same or similar, also in the hemispherical that arches upward upwards, it is with longitudinal direction
On elasticity.When second steering-engine 52 drives second motor cabinet 35 to be rotated, second elasticity determines pearl
Bayonet lock 542 is to be rotated along the arc side of the second positioning hole piece 541, and determining pearl bayonet lock 542 when the described second elasticity turns to wherein
After in one the second positioning hole 543, second elasticity determines pearl bayonet lock 542 and pops up positioning, if the second steering-engine 52 is still
So second motor cabinet 35 is being driven to be rotated, second elasticity determines pearl bayonet lock 542 then from above-mentioned second positioning hole 543
Internal pressure is sliding out, and is advanced according to stroke directions to next second positioning hole 543, and determining pearl bayonet lock 542 when the described second elasticity rotates
After into next second positioning hole 543, second elasticity determines pearl bayonet lock 542 and ejects positioning again up, if described second
Steering-engine 52 stops driving, then, second elasticity is determined pearl bayonet lock 542 and is then just limited in second positioning hole 543,
With spacing after being turned to the second wheel shaft 25.In the present embodiment, if when the second elasticity determines pearl bayonet lock 542 with rising from right to left
During first the second 543 spacing cooperation of positioning hole, in putting down to positioning, that second driving wheel 22 is in and described second the second wheel shaft 25
The vertical longitudinal register of wheel shaft 25 (see Fig. 5 a)；When the second elasticity determines pearl with second the second 543 spacing cooperation of positioning hole, i.e.,
The positive hour hands on horizontal level of the second wheel shaft 25 under Fig. 5 a states are made to rotate 45 degree of angles, and the second driving wheel 22 then followed by the
Great wheel arbor 25 rotates 45 degree of angles counterclockwise (see Fig. 5 c)；When the second elasticity determines pearl and the 3rd 543 spacing cooperation of the second positioning hole
When, even if positive hour hands rotate 45 degree of angles to the second wheel shaft 25 under Fig. 5 c states again, finally make second wheel shaft 25 in longitudinal direction
Positioning, and the second driving wheel 22 is then put down to positioning (see Fig. 5 b) in vertical with second wheel shaft 25.
In this example, first and second described vertical rotation axis controlling organization respectively further comprise first and second support reel 55,
First and second thrust bearing 56, first and second rolling bearing (not shown), first and is additionally provided with the chassis 1
Two mounting holes (not shown)；First and second described support reel 55 is respectively positioned at first and second described motor cabinet 34,35
On, first and second described support reel 55 is inserted in first and second thrust bearing 56 and first and second rolling bearing respectively
Interference is installed in first and second described mounting hole respectively afterwards.The rotary shaft of first and second steering-engine 51,52 point
The pin connection of reel 55 is not supported with first and second.
In the present embodiment, the omnidirectional mobile device also includes the first to the 3rd motor cabinet 34 to 36, first to the 3rd
Axle device 27 to 29, the described first to the 3rd motor 31 to 33 are respectively arranged on the described first to the 3rd motor cabinet 34 to 36, and point
It is not connected by the first to the 3rd shaft coupling 27 to 29 with described first to third round axle 24 to 26；First and second described elasticity
Determine the inner side that pearl bayonet lock 542 is respectively arranged on first and second motor cabinet 34,35, first and second described support reel 55 divides
Not She Yu first and second motor cabinet 34,35 upper surface.
In this example, because first and second motor cabinet 34,35 is determined positioned at described first and second respectively just in this example
The underface of position hole piece 541, therefore, first and second above-mentioned elasticity determine pearl bayonet lock 542 and are respectively arranged on first and second described electricity
The inner side of support 34,35.Using this structure, first and second described steering-engine 51,52 can be caused easily to control
First and second described motor cabinet 34,35 of system is rotated anyway respectively.
Embodiment of the present invention, the one side of controller 43 to control the first to the 3rd motor 31 to 33 carry out same direction
Rotation, such as simultaneously make the first to the 3rd motor 31 to 33 rotate forward or reversion so that first, second driving wheel 21,22
And the rolling portion of omni-directional wheel 23 carries out same direction rotation, so drive whole mobile device toward same direction it is mobile or
Rotation；The another aspect of controller 43 is to control steering-engine to carry out the control of opposite direction, to control first and second wheel shaft
24th, 25 associations for carrying out opposite direction respectively in the horizontal direction rotate, if the first wheel shaft 24 turns clockwise, the second wheel shaft
25 rotate counterclockwises, if during the first 24 rotate counterclockwise of wheel shaft, the second wheel shaft 25 then turns clockwise.
First angle stopping means and second angle stopping means are used to control the first motor cabinet 34 and the second motor respectively
It is carried out after the rotation of seat 35 spacing, such as the first stopping means and the second stopping means be respectively used to make the first wheel shaft 24 and the
It is spacing that great wheel arbor 25 tilts 45 degree of angles in horizontal direction while in longitudinal direction while towards relative direction simultaneously.Filled when needing movement
Put when being moved left and right, then make the wheel shaft 25 of the first wheel shaft 24 and second longitudinally disposed, thus first and second driving wheel
21st, 22 set in horizontal direction, controller 43 controls the first to the 3rd motor 31 to 33 to carry out just or reverse turn, finally making the again
First, the second driving wheel 21,22 and omni-directional wheel 23 drive chassis 1 to the left or moved right.Before needing mobile device to carry out
After when moving, then the first wheel shaft 24 and the second wheel shaft 25 is laterally set, thus first and second driving wheel 21,22 it is perpendicular in
Wheel shaft it is longitudinally disposed, controller 43 controls the first to the 3rd motor 31 to 33 to carry out forward or reverse again, finally makes first, the
Two driving wheels 21,22 drive chassis 1 forward or are moved rearwards, and omni-directional wheel 23 then makees micro- turn of stepping or so, realizes to direction
Regulation, to ensure movable directionality.When needing mobile device to rotate in situ, then make the first wheel shaft 24 and the second wheel
Axle 25 tilts the settings of 45 degree angles in relative direction, and controller 43 controls the first to the 3rd motor 31 to 33 to be rotated forward or instead again
Turn, finally make first, second driving wheel 21,22 and omni-directional wheel 23 drive chassis 1 to rotate forward or invert in situ.When needing to move
Dynamic device then first controls the chassis 1 to rotate to an angle before and after being carried out again after rotating to an angle or when moving left and right
After stop, then first and second steering-engine 51,52 is made first and second wheel shaft 24,25 respectively in horizontal direction or vertically
Direction state, and then make first and second driving wheel 21,22 be in vertical direction or horizontal direction state, then pass through controller 43
The first to the 3rd motor 31 to 33 of control drives first, second driving wheel 21,22 and omni-directional wheel 23 to move respectively.
Embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize the present invention
The equivalent structure or equivalent flow conversion that specification and accompanying drawing content are made, or directly or indirectly it is used in other related technologies
Field, it is included within the scope of the present invention.
Claims (6)
1. a kind of vertical rotation axis formula omnidirectional mobile device, including chassis, first and second driving wheel, an omni-directional wheel, first to
Three motors, first and second vertical rotation axis controlling organization and controller；
First, second driving wheel and omni-directional wheel are located under the chassis, one triangle of line formation between them, and first
It is connected respectively with first, second driving wheel and omni-directional wheel to the 3rd motor, drives first, second driving wheel and omnidirectional respectively
The rolling portion of wheel is rotated；
First and second vertical rotation axis controlling organization be connected respectively with first and second described driving wheel with control respectively first and
Second driving wheel is turned to by set angle；
Described first to the 3rd motor, first and second vertical rotation axis controlling organization are also connected with the controller simultaneously；
First and second described vertical rotation axis controlling organization includes first and second steering-engine respectively, first and second angle limits
Position device；
First and second described steering-engine is located on the motor cabinet of the first motor and the second motor with being respectively perpendicular, for controlling
The motor cabinet of first motor and the second motor is made respectively using the rotary shaft of the first steering-engine and the second steering-engine in
The heart carries out rotating and reverse for opposite direction；
The first angle stopping means is located between the chassis and the first motor cabinet to control first motor cabinet just
Turn or reverse angle, the second angle stopping means are located between the chassis and the second motor cabinet to control described second
The reversion of motor cabinet or positive gyration；
The first angle stopping means includes one first positioning hole piece and one first elasticity determines pearl bayonet lock, first positioning
Hole piece is fixedly arranged under the chassis and on first motor cabinet, offered on the first positioning hole piece multiple solid
Determine the first positioning hole of angle, first elasticity determine pearl bayonet lock and is located on first motor cabinet, for described first
The lower surface frictional fit of positioning hole piece and spacing cooperation is carried out with first positioning hole, so as to pass through the first wheel shaft and institute
State the steering positioning on the first driving wheel progress different angle direction of one end connection of the first motor cabinet；
The second angle stopping means includes one second positioning hole piece and one second elasticity determines pearl bayonet lock, second positioning
Hole piece is fixedly arranged on second motor cabinet, the second positioning provided with multiple fixed angles on the second positioning hole piece
Hole, second elasticity determines pearl bayonet lock on the inside of second motor cabinet, for the lower surface with the second positioning hole piece
Frictional fit and spacing cooperation is carried out with second positioning hole, so as to pass through the one of the second wheel shaft and second motor cabinet
Second driving wheel of end connection carries out the steering positioning on different angle direction.
2. vertical rotation axis formula omnidirectional mobile device as claimed in claim 1, it is characterised in that：Described first and second vertical turn
Axle controlling organization respectively further comprises first and second support reel, first and second thrust bearing, first and second rolling bearing,
First and second mounting hole is additionally provided with the chassis；
Respectively on first and second described motor cabinet, described first and second supports first and second described support reel
Reel be inserted in respectively after first and second thrust bearing and first and second rolling bearing interference respectively be installed on described first and
In second mounting hole.
3. vertical rotation axis formula omnidirectional mobile device as claimed in claim 1 or 2, it is characterised in that：With first driving wheel,
The center line of second driving wheel and omni-directional wheel altogether justify by tangent line, and first driving wheel, the second driving wheel and omni-directional wheel are together
The distance of tangent line circle central point is equal.
4. vertical rotation axis formula omnidirectional mobile device as claimed in claim 3, it is characterised in that：The chassis includes rectangular shaped rim
And the Y shaped bracket in the rectangular shaped rim, the rectangular shaped rim is isolated into three abdominal cavities by the Y shaped bracket, described
First driving wheel, the second driving wheel and omni-directional wheel are respectively positioned at the connection of three terminations of the Y shaped bracket and the chassis
The lower section at place.
5. vertical rotation axis formula omnidirectional mobile device as claimed in claim 4, it is characterised in that：The controller, first and
Two steering-engines are respectively arranged on the upper surface of the Y shaped bracket, and the controller passes through a driving interface and described first to the
Three motor connections, it is connected with first and second steering-engine；The controller is used to control first and second described steering-engine
Positive and negative rotation is carried out respectively, and to drive the first motor cabinet and the second motor cabinet to carry out positive and negative rotation respectively, the controller is also used
In controlling first to the 3rd motor to be rotate in same direction, to drive first and second described driving wheel, omni-directional wheel respectively
Rolling portion is rotate in same direction.
6. vertical rotation axis formula omnidirectional mobile device as claimed in claim 4, it is characterised in that：The Y shape of first driving wheel is installed
Angle between carriage center line and the Y shaped bracket center line for installing omni-directional wheel is equal in the Y shaped bracket of the second driving wheel of installation
Angle between heart line and the Y shaped bracket center line for installing omni-directional wheel, and equal to 135 degree, the Y shaped bracket of the first driving wheel is installed
The angle of center line and the Y shaped bracket center line of the second driving wheel of the installation is equal to 90 degree.
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| CN201510784422.7A CN105329334B (en) | 2015-11-16 | 2015-11-16 | Vertical rotation axis formula omnidirectional mobile device |
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| CN201510784422.7A CN105329334B (en) | 2015-11-16 | 2015-11-16 | Vertical rotation axis formula omnidirectional mobile device |
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| CN105329334B true CN105329334B (en) | 2018-01-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107985364A (en) * | 2017-12-26 | 2018-05-04 | 上海制驰智能科技有限公司 | A kind of steer-drive of omnidirectional running mobile platform |
| CN109747735A (en) * | 2019-02-28 | 2019-05-14 | 赋之科技(深圳)有限公司 | A kind of mobile device |
| CN110103208B (en) * | 2019-06-25 | 2022-06-21 | 湖北文理学院 | Robot base |
| CN110466634A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of omni-directional wheel and three wheel robot chassis of rubber tire combined type |
| CN111084976B (en) * | 2019-12-26 | 2021-09-28 | 哈尔滨工业大学（深圳） | Movement device of omnidirectional sliding plate chassis and control method thereof |
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