CN101659288B - Mecanum wheel all-directional moving vehicle and driving method thereof - Google Patents
Mecanum wheel all-directional moving vehicle and driving method thereof Download PDFInfo
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- CN101659288B CN101659288B CN2009100351882A CN200910035188A CN101659288B CN 101659288 B CN101659288 B CN 101659288B CN 2009100351882 A CN2009100351882 A CN 2009100351882A CN 200910035188 A CN200910035188 A CN 200910035188A CN 101659288 B CN101659288 B CN 101659288B
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Abstract
The invention relates to a Mecanum wheel all-directional moving vehicle which comprises a vehicle frame, a rotary power source, a first reverser, a second reverser, a third reverser, a fourth reverser and a controller, wherein the vehicle frame is provided with a first Mecanum wheel, a second Mecanum wheel, a third Mecanum wheel and a fourth Mecanum wheel; the rotary power source is used for simultaneously driving the four Mecanum wheels; and the first reverser is arranged between the rotary power source and the first Mecanum wheel, the second reverser is arranged between the rotary power source and the second Mecanum wheel, the third reverser is arranged between the rotary power source and the third Mecanum wheel, and the fourth reverser is arranged between the rotary power source and the fourth Mecanum wheel. The driving method comprises the following steps: driving power output by one rotary power source is simultaneously transmitted to the first reverser, the second reverser, the third reverser and the fourth reverser through a driving mechanism, and then, the first reverser, the second reverser, the third reverser and the fourth reverser respectively transmit the obtained driving power to the first Mecanum wheel, the second Mecanum wheel, the third Mecanum wheel and the fourth Mecanum wheel of the Mecanum wheel all-directional moving vehicle according to the output direction determined by the controller.
Description
Technical field
The invention belongs to the Vehicle Engineering field, a kind of specifically Mecanum wheel all-directional moving vehicle and driving method thereof.
Background technology
Mecanum wheel (Mecanum Wheel) is a kind of comprehensive mobile wheel, and 1973 by Swiss Bengt Lion invention, thus also make Lion take turns, and he works in Mecanum AB company.These characteristics of taking turns are on the basis of conventional wheel, and again along with axis direction at 45 some small rollers that can rotate freely being installed, when wheel rolling, small roller will produce radio direction finding like this on wheel rim.By being used in combination and controlling of Mecanum wheel, any direction that car body is produced in the plane of movement moves and rotates.
1975, Lion obtains the US Patent (patent No. 3,746,112, directly stablize self-driving vehicle, " Directionally Stable Self Propelled Vehicle "), United States Navy in 1980 buy the march thing application and development of going forward side by side of this patent, after this patent lost efficacy in 1996, the numerous universities in the U.S. and the world, research institution and company carried out application and development and invention again, and application relates to comprehensive mobile fork truck, transport trolley, wheelchair, ammunition truck, mobile robot etc.
After adopting comprehensive mobile technology, can significantly improve handling efficiency and alerting ability, reduce goods storage space 20%～30%, especially for the small space mobile object, have the effect of not replacing.At present, successful example application has the comprehensive mobile fork truck of Sidewinder, the comprehensive mobile lift of COBRA, the comprehensive carrying trailer of MP2, the comprehensive ammunition elevating conveyor of U.S. AirTrix company; Products such as the all-directional mobile wheel chair of the comprehensive robot of Carnegie Mellon University, U.S. Ominx company, the comprehensive movable support bracket of jet engine.The numerous universities in the world that comprise China have also carried out the application and the control research of Mecanum wheel, but focus mostly on applied research aspect the mobile robot, form product seldom.
The patent that relates to the Mecanum omni-directional moving mechanism at present has:
1, the US Patent of Switzerland Lion " is directly stablized self-driving vehicle " (U.S.Pat.No.3746112,, " Directionally Stable SelfPropelled Vehicle "), has at first invented the Mai Kenamu wheel.
2, the US Patent of U.S. AirTrix company " low vibration directional wheel " (U.S.Pat.No.6340065, with 6547340, " Low Vibration Omni-Directional Wheel "), US Patent " low vibration directional wheel method of designing " (U.S.Pat.No.6394203, " Method for designing low-vibrationOmni-Directional Wheels "), US Patent " the comprehensive self-driving vehicle of ground handling equipment " (U.S.Pat.No.5701966, " Omni-Directional self-propelled vehicle for ground handling ofequipment ") on the basis of Lion, under loading, Yin Maikenamu wheel roller and contact area of ground change and cause elastic deformation inhomogeneous, the car body up-down vibration that causes, invented low noise directional wheel and method of designing thereof, and this technology has been applied to the ground handling trolley design.
3, US Patent " comprehensive weapon loading vehicle " (US Pat.No.6668950, " Omni-directionalmunitions handling vehicle "), US Patent " aircraft maintenance device and service procedure " (US Pat.No.6477730, " Aircraft maintenance apparatus and method of maintaining aircraft "), the US Patent of applying for " advanced weaponry filler " (US Pat.App.No.EP20050472003, " Advanced weapons loader "), all be the invention that the Mai Kenamu wheel is applied to all kinds of mobile carrying equipments.
4, the patent that domestic all-directional wheel is relevant has:
The honor of Harbin Institute of Technology Yan state; Zhang Haibing " a kind of directional wheel " (01209535.4), the cold spring great waves of Shanghai Communications University; Cao Qixin; Wang Meiling; Liu Weihao, " directional wheel " (200610024277.3) and the Hai Dan of the National University of Defense Technology; Liu Yupeng; Zheng Zhiqiang; Osiery; The season Xiucai; " omnidirectional's wheel " (200520052595.1) of Liu Fei all are a kind of variations to vertical small roller omnidirectional wheel, are not Mecanum wheels.
At present, international omni-directional moving mechanism based on Mecanum wheel all adopts four motor-driven and carries out the rotating speed accuracy control, drives four wheels then respectively and rotate after slowing down, and realizes the comprehensive mobile of car body.Owing to adopt four motors to drive respectively, change motor speed by electronic speed regulation, thereby change the running velocity of car body, the driving torque in the time of can not improving low speed.Will change the driving torque of drive wheel by speed change as common centralized driving vehicle, thereby improve climbing, the acceleration capacity of car body, then physical construction is complicated unusually, is difficult to realize.Simultaneously,, need accurately feed back each motor speed and measure and control because four motor speeds need accuracy control, coordination, circuit and algorithm more complicated, reliability reduces, cost improves.Owing to adopt drive of motor control, when high-power engineering was used, motor and battery cost, weight significantly improved in addition.Complex engineering working environment, an urgent demand can adopt combustion engine and other power operated comprehensive vehicle movement technology, and the present invention promptly is for this purpose and design-calculated.
Summary of the invention
The invention provides a kind of the driving and Mecanum wheel all-directional moving vehicle and driving method thereof that control structure simply also can make the restriction to propulsion source be reduced.
The present invention adopts following technical scheme:
A kind of Mecanum wheel all-directional moving vehicle of the present invention comprises: vehicle frame is provided with at vehicle frame:
First Mecanum wheel, second Mecanum wheel, the 3rd Mecanum wheel, the 4th Mecanum wheel;
One by transmission device and be used for driving simultaneously the rotary motive power source of first Mecanum wheel, second Mecanum wheel, the 3rd Mecanum wheel and the 4th Mecanum wheel;
First commutator, second commutator, the 3rd commutator, the 4th commutator, described first commutator is located between the rotary motive power source and first Mecanum wheel, is used for the rotation direction of conversion first Mecanum wheel; Second commutator is located between the rotary motive power source and second Mecanum wheel, is used for the rotation direction of conversion second Mecanum wheel; The 3rd commutator is located between rotary motive power source and the 3rd Mecanum wheel, is used for the rotation direction of conversion the 3rd Mecanum wheel; The 4th commutator is located between rotary motive power source and the 4th Mecanum wheel, is used for the rotation direction of conversion the 4th Mecanum wheel; And,
Be used to control the controller of first commutator, second commutator, the 3rd commutator and the commutation of the 4th commutator.
The driving method of a kind of Mecanum wheel all-directional moving vehicle of the present invention is: the driving power of a rotary motive power source output, drive power and pass to first commutator, second commutator, the 3rd commutator, the 4th commutator simultaneously through driver train, the output that first commutator, second commutator, the 3rd commutator, the 4th commutator are determined according to controller turns to first Mecanum wheel, second Mecanum wheel, the 3rd Mecanum wheel, the 4th Mecanum wheel of respectively the driving transmission of power that is obtained being given Mecanum wheel all-directional moving vehicle.
The present invention is directed to existing based on Mecanum wheel all directionally movable robot drive configuration and control system complexity, motor-driven can only be used and the workmanship ability of drive motor can not be effectively utilized, can not use problems such as efficient propulsion source such as combustion engine, design a kind of comprehensive Trolley that utilizes commutator and Mecanum wheel to form, rotation direction by external control signal control commutator output shaft, the input shaft unmodified is rotatablely moved, increase moment of torsion through the change speed gear box deceleration, again according to the omnibearing movable requirement, distribute to each Mecanum wheel by controlled commutator, make each Mecanum wheel by predetermined direction rotation, realize advancing of car body, retreat, left, to the right, left front 45 °, left back 45 °, right front 45 °, right back 45 °, the original place cw returns, the motion in ten orientation such as original place turning anticlockwise; And can finish moving in the predetermined plane by the combination of these motions.
Compared with prior art, the present invention has following advantage:
Fig. 5 is the typical structure that adopts Mecanum wheel all-directional moving vehicle at present in the world, servomotor 61,65,69,73 drives Mecanum wheel 64,68,72,76 by retarder 62,66,70,74 respectively and rotates, for guaranteeing the accurate of four Mecanum wheel kinematic velocity size and Orientations, each servomotor also is furnished with speed sensor 63,67,71,75 respectively, and by controller 77, four Mecanum wheel velocities of rotation of accuracy control and hand of rotation are to satisfy comprehensive mobile requirement.Because four motors provide power simultaneously, and will coordinate rotating speed and rotation direction, if satisfy needs such as climbing, heavy duty, set up change-speed box, then need four change-speed boxs to work simultaneously, structure and control very complexity.Because of adopting four propulsions source, rotating speed and direction accuracy control can't be accomplished in non-servo power such as combustion engine source again, therefore can only use complex structure, expensive servomotor.
Compare with above-mentioned comprehensive moving structure based on Mecanum wheel, the comprehensive Trolley that commutator of the present invention and Mecanum wheel are formed, can concentrate and adopt a drive power source, under situation about only each Mecanum wheel rotation direction being controlled, do not need the rotating speed of each wheel is carried out accuracy control comprehensive moving in the plane that needing can realize.Therefore, can simplify the control system of comprehensive moving body, and can adopt traditional various efficient rotational power source, as combustion engine, various motor, fluid drives rotary machine etc., improve greatly comprehensive vehicle reliability, reduce it and make maintenance cost, the restriction of propulsion source is also decreased.
Description of drawings
Fig. 1 realizes comprehensive mobile method and transmission control for the present invention with coaxial reversing device and Mecanum wheel.
Fig. 2 realizes comprehensive mobile method and transmission control for the present invention with vertical axis commutator and Mecanum wheel.
Fig. 3 is finishing bevel gear cuter coaxial output reverse drive train among the present invention.
Fig. 4 is a finishing bevel gear cuter vertical output reverse drive train of the present invention.
Fig. 5 is the existing in the world Mecanum wheel all-directional moving vehicle structural principle of the present invention.
In the accompanying drawing 1
1-rotary motive power source, 2-change-speed box 3-duplicate sprocket 4,5-driving chain 6,7- sprocket wheel 8,9,10,11- coaxial reversing device 12,13,14,15-Mecanum wheel 16-steering controller
In the accompanying drawing 2
41-rotary motive power source, 42-change-speed box 43-duplicate sprocket 44,45-driving chain 46,47- sprocket wheel 48,49,50,51- vertical axis commutator 52,53,54,55-Mecanum wheel 56-steering controller
In the accompanying drawing 3
21-input finishing bevel gear cuter 22-transition finishing bevel gear cuter 23-counter-rotating finishing bevel gear cuter 24-friction disc 25-feather key 26-poke rod 27-straight line effector
In the accompanying drawing 4
The right finishing bevel gear cuter 32-output of 31-finishing bevel gear cuter 33-left angular wheel 34-friction disc 35-feather key 36-poke rod 37-straight line effector
In the accompanying drawing 5
61,65,69,73--- servomotor 62,66,70,74---retarder 63,67,71,75--- tachogen 64,68,72,76---Mecanum wheel 77---controllers
The specific embodiment
Embodiment 1
A kind of Mecanum wheel all-directional moving vehicle comprises: vehicle frame is provided with at vehicle frame:
First Mecanum wheel 12, second Mecanum wheel 13, the 3rd Mecanum wheel 14, the 4th Mecanum wheel 15;
One by transmission device and be used for driving simultaneously the rotary motive power source 1 of first Mecanum wheel 12, second Mecanum wheel 13, the 3rd Mecanum wheel 14 and the 4th Mecanum wheel 15;
Be used to control the controller 16 of first commutator 8, second commutator 9, the 3rd commutator 10 and 11 commutations of the 4th commutator.
In the present embodiment,
Described transmission device can adopt the belt wheel transmission device, also can adopt chain wheel driving mechanism.Present embodiment adopts chain wheel driving mechanism, described transmission device is a chain wheel driving mechanism, this chain wheel driving mechanism comprises: with rotary motive power source 1 mouth bonded assembly duplicate sprocket 3, with first commutator 8 and second commutator 9 bonded assemblys, first sprocket wheel 6 and with the 3rd commutator 10 and the 4th commutator 11 bonded assemblys second sprocket wheel 7, duplicate sprocket 3 is connected with first sprocket wheel 6 and second sprocket wheel 7 by first driving chain 4 and second driving chain 5 respectively.
One of scheme: first commutator 8, second commutator 9, the 3rd commutator 10 or the 4th commutator 11 comprise: input shaft I, transition axis II and output shaft III, input shaft I is coaxial with output shaft III, on input shaft I, be provided with input finishing bevel gear cuter 21, on transition axis II, be provided with transition finishing bevel gear cuter 22, on output shaft III, be set with counter-rotating finishing bevel gear cuter 23, on output shaft III, be in axial sliding connection first friction disc 24, on first friction disc 24, be connected with the first straight line steering controller 27 that is used to stir first friction disc 24.
Two: the first commutators 8, second commutator 9, the 3rd commutator 10 or the 4th commutator 11 of scheme comprise: orthogonal input shaft I of axis and output shaft III, on input shaft I, be set with left angular wheel 33 and right finishing bevel gear cuter 31, on input shaft I, slidely connect second friction disc 34 by feather key 35, on output shaft III, be provided with output finishing bevel gear cuter 32, output finishing bevel gear cuter 32 meshes with left angular wheel 33 and right finishing bevel gear cuter 31 respectively, is connected with the second straight line steering controller 37 that is used to stir second friction disc 34 on second friction disc 34.
A kind of driving method of Mecanum wheel all-directional moving vehicle:
The driving power of rotary motive power source 1 output, driving power passes to the outputs that first commutator 8, second commutator 9, the 3rd commutator 10, the 4th commutator 11, the first commutators 8, second commutator 9, the 3rd commutator 10, the 4th commutator 11 determine according to controller 16 simultaneously through driver train and turns to first Mecanum wheel 12, second Mecanum wheel 13, the 3rd Mecanum wheel 14, the 4th Mecanum wheel 15 of respectively the driving transmission of power that is obtained being given Mecanum wheel all-directional moving vehicle.
Described commutator, driver train can adopt embodiment 1 described concrete mode, and motor specifically can be adopted in rotary motive power source 1.
With reference to Fig. 1, the system architecture diagram the when input and output shaft of commutator is coaxial.The rotation that rotary motive power source 1 produces behind change-speed box 2 rev downs, drives duplicate sprocket 3 and rotates; Duplicate sprocket 3 drives sprocket wheel 6 and sprocket wheel 7 equidirectional rotations by chain 4 and chain 5 respectively.Because sprocket wheel 6 is identical with the number of teeth of sprocket wheel 7, their velocity of rotation size and Orientation is also identical.
Because the gear ratio value of four coaxial reversing devices is identical, the rotating speed size of sprocket wheel 6 and sprocket wheel 7 is all identical with rotation direction, so the velocity of rotation size of Mecanum wheel 8, Mecanum wheel 9, Mecanum wheel 10 and Mecanum wheel 11 is identical, the rotation direction of each Mecanum wheel requires co-operative control by controller 16 according to motion.
With reference to Fig. 2, the system architecture diagram the when input and output shaft of commutator is orthogonal.The rotation that rotary motive power source 41 produces behind change-speed box 42 rev downs, drives duplicate sprocket 43 and rotates; Duplicate sprocket 43 drives sprocket wheel 46 and sprocket wheel 47 equidirectional rotations by chain 44 and chain 45 respectively.Because sprocket wheel 46 is identical with the number of teeth of sprocket wheel 47, their velocity of rotation size and Orientation is also identical.
Sprocket wheel 46 drives this two commutator work as the common input end of vertical axis commutator 48 and vertical axis commutator 50; The mouth of vertical axis commutator 48 drives Mecanum wheel 52, and the mouth of vertical axis commutator 50 drives Mecanum wheel 54.
Because the gear ratio value of four vertical axis commutators is identical, the rotating speed size of sprocket wheel 6 and sprocket wheel 7 is all identical with rotation direction, so the velocity of rotation size of Mecanum wheel 52, Mecanum wheel 53, Mecanum wheel 54 and Mecanum wheel 55 is identical, the rotation direction of each Mecanum wheel requires co-operative control by controller 16 according to motion.
For driving and the control structure that can simplify the omnibearing movable car, the present invention utilizes and adopts single power source to drive four Mecanum wheels, between propulsion source and each Mecanum wheel, respectively set up the commutator that to control the output shaft rotation direction, four Mecanum wheels are installed in respectively on each commutator output shaft, utilize four commutators can need to change the hand of rotation of each Mecanum wheel like this, realize comprehensive moving by motion.
The component part of the comprehensive Trolley that commutator and Mecanum wheel are formed comprises: rotary motive power source 1, change-speed box 2, duplicate sprocket 3, chain 4,5, sprocket wheel 6,7, tumbler 8,9,10,11, Mecanum wheel 12,13,14,15 and controller 16.The rotation output in rotary motive power source 1 after change-speed box 2 decelerations, is passed through chain 4,5 respectively by duplicate sprocket 3 and is driven sprocket wheels 6,7; Sprocket wheel 6 drives Mecanum wheel 12,13 respectively through driven gear commutator 8,9, and sprocket wheel 7 drives Mecanum wheel 14,15 respectively through tumbler 10,11; The output rotation direction of each tumbler 8,9,10,11, the coordination and the control of independent controlled device 16 separately.Can also between propulsion source and change-speed box, increase drive clutch according to operating needs.
Rotary motive power source 1 can be various electrical motors or explosive motor, and change-speed box 2 can also can be electrodeless variable-speed for step change, can also can be hydraulic transmission for gear transmission.Chain 4 has identical pitch with chain 5, and sprocket wheel 6 has the identical number of teeth with sprocket wheel 7, and two teeth number of sprocket on the duplicate sprocket 3 are identical.
The output input gear ratio value of four tumblers 8,9,10,11 is identical, and the output rotation direction of each tumbler can be controlled separately by controller 16, can clockwise rotate, and also can rotate counterclockwise; And cw is identical with the output input gear ratio value that the conter clockwise both direction rotates.
Commutator among the present invention has two kinds of inputs, output shaft arrangement structure, and a kind of is that input shaft and output shaft are coaxial, and another kind is that input shaft is vertical with output shaft.At these two kinds of commutator input and output axle construction, the driving system of comprehensive Trolley of the present invention is arranged also inequality, and Fig. 1 is the driving system arrangement structure that adopts the coaxial reversing device, and Fig. 2 is the drive system structure that adopts the vertical axis commutator.
Fig. 3 is the fundamental diagram of coaxial reversing device, and I is an input shaft, and II is a transition axis, and III is an output shaft, the same axle mounting of I and III.The gyroscopic movement of input passes to counter-rotating finishing bevel gear cuter 23 through input finishing bevel gear cuter 21, transition finishing bevel gear cuter 22.The velocity of rotation of counter-rotating finishing bevel gear cuter 23 is identical with input finishing bevel gear cuter 21, but direction of rotation.Friction disc 24 is connected with feather key 25 with output shaft III, and when straight line steering controller 27 promotion poke rods 26 made friction disc 24 engage with input finishing bevel gear cuter 21, output shaft III promptly can rotate synchronously with input finishing bevel gear cuter 21; Otherwise when straight line steering controller 27 pulling poke rods 26 made friction disc 24 engage with counter-rotating finishing bevel gear cuter 23, output shaft III promptly can rotate synchronously with counter-rotating finishing bevel gear cuter 23.Because input finishing bevel gear cuter 21 and identical, the switched in opposite of counter-rotating finishing bevel gear cuter 23 rotating speed sizes, like this, the rotation direction of output shaft III can change under the control of straight line steering controller 27, and the velocity of rotation size is constant.
Fig. 4 is the fundamental diagram of vertical commutator, and I is an input shaft, and III is an output shaft, I and III axis normal.Left angular wheel 33 and right finishing bevel gear cuter 31 skies are enclosed within on the input shaft I, and friction disc 34 is by feather key 35 and input shaft I sliding block joint, and rotation synchronously.When straight line steering controller 37 promotion poke rods 36 made friction disc 34 engage with right finishing bevel gear cuter 31, output shaft III promptly can rotate under right finishing bevel gear cuter 31 drives; Otherwise when straight line steering controller 37 pulling poke rods 36 made friction disc 34 engage with left angular wheel 33, output shaft III promptly can rotate under left angular wheel 33 drives.Because left angular wheel 33 is all identical with right finishing bevel gear cuter 31 rotating speed size and Orientations, according to the finishing bevel gear cuter theory of engagement, the rotation direction of output shaft III can change under the control of straight line steering controller 37, and the velocity of rotation size is constant.
Claims (5)
1. Mecanum wheel all-directional moving vehicle comprises: vehicle frame, it is characterized in that, and be provided with at vehicle frame:
First Mecanum wheel (12), second Mecanum wheel (13), the 3rd Mecanum wheel (14), the 4th Mecanum wheel (15);
One by transmission device and be used for driving simultaneously the rotary motive power source (1) of first Mecanum wheel (12), second Mecanum wheel (13), the 3rd Mecanum wheel (14) and the 4th Mecanum wheel (15);
First commutator (8), second commutator (9), the 3rd commutator (10), the 4th commutator (11), described first commutator (8) is located between rotary motive power source (1) and first Mecanum wheel (12), is used for the rotation direction of conversion first Mecanum wheel (12); Second commutator (9) is located between rotary motive power source (1) and second Mecanum wheel (13), is used for the rotation direction of conversion second Mecanum wheel (13); The 3rd commutator (10) is located between rotary motive power source (1) and the 3rd Mecanum wheel (14), is used for the rotation direction of conversion the 3rd Mecanum wheel (14); The 4th commutator (11) is located between rotary motive power source (1) and the 4th Mecanum wheel (15), is used for the rotation direction of conversion the 4th Mecanum wheel (15); And,
Be used to control the controller (16) of first commutator (8), second commutator (9), the 3rd commutator (10) and the 4th commutator (11) commutation.
2. Mecanum wheel all-directional moving vehicle according to claim 1, it is characterized in that described transmission device is a chain wheel driving mechanism, this chain wheel driving mechanism comprises: with rotary motive power source (1) mouth bonded assembly duplicate sprocket (3), with first commutator (8) and second commutator (9) bonded assembly first sprocket wheel (6) and with the 3rd commutator (10) and the 4th commutator (11) bonded assembly second sprocket wheel (7), duplicate sprocket (3) is connected with first sprocket wheel (6) and second sprocket wheel (7) by first driving chain (4) and second driving chain (5) respectively.
3. Mecanum wheel all-directional moving vehicle according to claim 1 and 2, it is characterized in that first commutator (8), second commutator (9), the 3rd commutator (10) or the 4th commutator (11) comprising: input shaft (I), transition axis (II) and output shaft (III), input shaft (I) is coaxial with output shaft (III), on input shaft (I), be provided with input finishing bevel gear cuter (21), on transition axis (II), be provided with transition finishing bevel gear cuter (22), on output shaft (III), be set with counter-rotating finishing bevel gear cuter (23), on output shaft (III), be in axial sliding connection first friction disc (24), on first friction disc (24), be connected with the first straight line steering controller (27) that is used to stir first friction disc (24).
4. Mecanum wheel all-directional moving vehicle according to claim 1 and 2, it is characterized in that first commutator (8), second commutator (9), the 3rd commutator (10) or the 4th commutator (11) comprising: orthogonal input shaft of axis (I) and output shaft (III), on input shaft (I), be set with left angular wheel (33) and right finishing bevel gear cuter (31), upward slidely connect second friction disc (34) at input shaft (I) by feather key (35), on output shaft (III), be provided with output finishing bevel gear cuter (32), output finishing bevel gear cuter (32) meshes with left angular wheel (33) and right finishing bevel gear cuter (31) respectively, is connected with the second straight line steering controller (37) that is used to stir second friction disc (34) on second friction disc (34).
5. the driving method of the described Mecanum wheel all-directional moving vehicle of claim 1 is characterized in that:
The driving power of a rotary motive power source (1) output, drive power and pass to first commutator (8) simultaneously through driver train, second commutator (9), the 3rd commutator (10), the 4th commutator (11), first commutator (8), second commutator (9), the 3rd commutator (10), the output that the 4th commutator (11) is determined according to controller (16) turns to first Mecanum wheel (12) of respectively the driving transmission of power that is obtained being given Mecanum wheel all-directional moving vehicle, second Mecanum wheel (13), the 3rd Mecanum wheel (14), the 4th Mecanum wheel (15).
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| CN114074723A (en) * | 2020-08-19 | 2022-02-22 | 中南大学 | Wheel-track type mobile robot based on Mecanum wheels |
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