CN103569230A - Omni-directionally moving platform - Google Patents
Omni-directionally moving platform Download PDFInfo
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- CN103569230A CN103569230A CN201210259235.3A CN201210259235A CN103569230A CN 103569230 A CN103569230 A CN 103569230A CN 201210259235 A CN201210259235 A CN 201210259235A CN 103569230 A CN103569230 A CN 103569230A
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Abstract
The invention discloses an omni-directionally moving platform. The omni-directionally moving platform comprises a platform frame body which is in a cuboid structure; four permanent magnet synchronous motors are installed on the platform frame body; speed reducers are connected to output shafts of the permanent magnet synchronous motors; omni-directionally moving wheels are connected to the speed reducers; a rotating shaft of every omni-directionally moving wheel is fixed on the platform frame body through a supporting bearing seat; a battery pack is arranged on the platform frame body; the battery pack is connected with the permanent magnet synchronous motors; a motor controller is installed on the platform frame body. The omni-directionally moving platform has the advantages of achieving random movement inside a plane due to control of the rotating direction and the rotating speed of every permanent magnet synchronous motor, being high in flexibility, good in position reachability, not confined to use occasions and applicable to a complex environment with narrow space, greatly reducing requirements for working space and basically satisfying use requirements in various occasions.
Description
Technical field
The present invention relates to a kind of mobile platform, specifically refer to a kind of Omni-mobile platform.
Background technology
Tradition mobile platform is generally divided into wheel moving platform, guide rail type movable platform, crawler-type mobile platform according to move mode.Wheel moving platform and crawler-type mobile platform turn radius when work is large, therefore all requires to have larger space, and use occasion is limited.Guide rail type movable platform, owing to being subject to the restriction of laid guide rail, can only move according to fixing route, only the applicable relatively-stationary occasion of operating path.
The travel mechanism of wheel moving platform is comprised of drive wheel (two-wheeled or four-wheel) and wheel flutter substantially, drive wheel is used for providing power to the movement of platform, wheel flutter is controlled the moving direction of platform, and according to platform wheelspan and wheelbase, platform has different turn radiuss.Move more flexible.
The travel mechanism of guide rail type movable platform is comprised of drive wheel and support wheel, drive wheel provides power to platform movement, and support wheel supports whole platform, and rotates with the rotation of drive wheel, drive wheel and support wheel all rotate on the track of laying in advance, and the moving direction of platform is determined by track.
Travel mechanism's driving wheel driving of crawler-type mobile platform, bearing wheed, inducer, carrier wheel, crawler belt form, and crawler belt is driven by driving wheel.Crawler-type mobile platform turns to the friction speed by two crawler belts to realize, and the contact surface on crawler belt and ground has larger cliding friction, very serious to the wearing and tearing of crawler belt.Driving efficiency is not high simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of Omni-mobile platform, solve in existing mobile platform working process and require mobile space larger, mobile dumb, position accessibility is poor, use occasion is limited, the problem that can not use under narrow space, complex environment.
Object of the present invention is achieved through the following technical solutions:
A kind of Omni-mobile platform, comprise stand body, stand body is cuboid, four permagnetic synchronous motors are installed on described stand body, and the output shaft of permagnetic synchronous motor is connected with retarder, is connected with Omni-mobile wheel on retarder, the turning cylinder of each Omni-mobile wheel is all fixed on stand body by supporting bearing base, on described stand body, battery pack is also installed, battery pack is connected with permagnetic synchronous motor, on described stand body, electric machine controller is also installed.Stand body is as main body, its structure is cuboid, four permagnetic synchronous motors are installed above it, the output shaft of permagnetic synchronous motor is connected with retarder, the axis of retarder is parallel to each other, Omni-mobile wheel is installed on the mouth of retarder, Omni-mobile wheel provides power by permagnetic synchronous motor, on stand body, battery pack is installed, battery pack provides electric power to permagnetic synchronous motor, also comprise the electric machine controller of controlling four permagnetic synchronous motor actions, four Omni-mobile wheels are driven by four permagnetic synchronous motors respectively, the output of permagnetic synchronous motor is through retarder, after supporting bearing base, pass to Omni-mobile wheel, battery pack is as the energy of permagnetic synchronous motor work, hand of rotation and the rotating speed of motor controller controls four permanent magnet synchronous motors, use permagnetic synchronous motor respectively each Omni-mobile wheel to be driven, by controlling hand of rotation and the rotating speed of every permanent magnet synchronous motors, can realize any motion track in plane, there is very high alerting ability, position accessibility is better, use occasion is unrestricted, can under narrow space, complex environment, use, working space requires greatly to reduce, and substantially can meet the operating needs of various occasions.
Described Omni-mobile wheel comprises wheel body, and a plurality of trundles that diagonally distribute are installed on the circumference of wheel body, and the outer contour of trundle overlaps with the theoretical circumference of wheel body, the axis shape angle at 45 ° of the axis of trundle and wheel body.Omni-mobile wheel is the critical component of omni-directional moving platform, wheel body circumference a plurality of trundles that diagonally distributing, the theoretical circumference of the profile of these trundles and wheel body coincides, and trundle can rotate freely along self axis, the axis of trundle and the axis of wheel body angle at 45 °, trundle has 3 degree of freedom: when rotating, self axis can rotate around wheel body axis again, and can also be around trundle and the rotation of ground contact point.This makes Omni-mobile wheel also possess 3 degree of freedom: around the rotation of wheel shaft, along the translation of roller axis vertical line direction with around the rotation of roller and ground contact point.So, when Omni-mobile wheel has active drive ability in one direction, in another one direction, also there is the characteristic moving freely.When four wheel individual drive, under the combined action of friction force and propulsive effort, platform can be realized all-around mobile.The corresponding relation of typical platform sense of motion and each wheel drive direction, the rotating speed by each Omni-mobile wheel of accurate control with turn to, all-around mobile that just can implementation platform.
The trundle in described each wheel body outside is 7, and 7 trundles are evenly distributed on wheel body outside.
The present invention compared with prior art, has following advantage and beneficial effect:
A kind of Omni-mobile platform of 1 the present invention, by controlling hand of rotation and the rotating speed of every permanent magnet synchronous motors, can realize any motion track in plane, there is very high alerting ability, position accessibility is better, and use occasion is unrestricted, can under narrow space, complex environment, use, working space requires greatly to reduce, and substantially can meet the operating needs of various occasions;
A kind of Omni-mobile platform of 2 the present invention, wheel body circumference a plurality of trundles that diagonally distributing, the theoretical circumference of the profile of these trundles and wheel body coincides, and trundle can rotate freely along self axis, the axis of trundle and the axis of wheel body angle at 45 °, trundle has 3 degree of freedom: when self axis rotates, can rotate around wheel body axis again, can also rotate around trundle and ground contact point, this makes Omni-mobile wheel also possess 3 degree of freedom: around the rotation of wheel shaft, along the translation of roller axis vertical line direction with around the rotation of roller and ground contact point, so, when Omni-mobile wheel has active drive ability in one direction, in another one direction, also there is the characteristic moving freely, when four wheel individual drive, under the combined action of friction force and propulsive effort, platform can be realized all-around mobile, the corresponding relation of typical platform sense of motion and each wheel drive direction, rotating speed by each Omni-mobile of accurate control wheel and turning to, all-around mobile that just can implementation platform.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Mark and corresponding parts title in accompanying drawing:
1-Omni-mobile wheel, 2-supporting bearing base, 3-retarder, 4-permagnetic synchronous motor, 5-stand body, 6-battery pack, 7-electric machine controller, 8-wheel body, 9-trundle.
The specific embodiment
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
As shown in Figure 1, a kind of Omni-mobile platform of the present invention, comprise stand body 5, stand body 5 is cuboid, four permagnetic synchronous motors 4 are installed on stand body 5, the output shaft of permagnetic synchronous motor 4 is connected with retarder 3, on retarder 3, be connected with Omni-mobile wheel 1, the turning cylinder of each Omni-mobile wheel 1 is all fixed on stand body 5 by supporting bearing base 2, Omni-mobile wheel comprises wheel body 8, 7 oblique well-distributed trundles 9 are installed on the circumference of wheel body 8, the outer contour of trundle 9 overlaps with the theoretical circumference of wheel body 8, the axis shape angle at 45 ° of the axis of trundle 9 and wheel body 8, battery pack 6 is also installed on stand body 5, battery pack 6 is connected with permagnetic synchronous motor 4, electric machine controller 7 is also installed on stand body 5.
The above, be only preferred embodiment of the present invention, not the present invention done to any pro forma restriction, and any simple modification, the equivalent variations in every foundation technical spirit of the present invention, above embodiment done, within all falling into protection scope of the present invention.
Claims (3)
1. an Omni-mobile platform, comprise stand body (5), stand body (5) is cuboid, it is characterized in that: four permagnetic synchronous motors (4) are installed on described stand body (5), the output shaft of permagnetic synchronous motor (4) is connected with retarder (3), on retarder (3), be connected with Omni-mobile wheel (1), the turning cylinder of each Omni-mobile wheel (1) is all fixed on stand body (5) by supporting bearing base (2), battery pack (6) is also installed on described stand body (5), battery pack (6) is connected with permagnetic synchronous motor (4), electric machine controller (7) is also installed on described stand body (5).
2. a kind of Omni-mobile platform according to claim 1, it is characterized in that: described Omni-mobile wheel (1) comprises wheel body (8), a plurality of trundles that diagonally distribute (9) are installed on the circumference of wheel body (8), the outer contour of trundle (9) overlaps with the theoretical circumference of wheel body (8), the axis shape angle at 45 ° of the axis of trundle (9) and wheel body (8).
3. a kind of Omni-mobile platform according to claim 2, is characterized in that: the trundle (9) in described each wheel body (8) outside is 7, and 7 trundles (9) are evenly distributed on wheel body (8) outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210259235.3A CN103569230A (en) | 2012-07-25 | 2012-07-25 | Omni-directionally moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210259235.3A CN103569230A (en) | 2012-07-25 | 2012-07-25 | Omni-directionally moving platform |
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| Publication Number | Publication Date |
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| CN103569230A true CN103569230A (en) | 2014-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210259235.3A Pending CN103569230A (en) | 2012-07-25 | 2012-07-25 | Omni-directionally moving platform |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105731297A (en) * | 2016-04-20 | 2016-07-06 | 深圳市劲拓自动化设备股份有限公司 | Airplane loading ramp mounting vehicle |
| CN106143680A (en) * | 2015-04-27 | 2016-11-23 | 中国科学院沈阳自动化研究所 | A kind of Omni-mobile platform |
| CN106143679A (en) * | 2015-04-27 | 2016-11-23 | 中国科学院沈阳自动化研究所 | A kind of mobile platform |
| CN107215801A (en) * | 2017-07-16 | 2017-09-29 | 华东交通大学 | A kind of electronic removable lift system |
| WO2018113395A1 (en) * | 2016-12-22 | 2018-06-28 | 北京京东尚科信息技术有限公司 | Vehicle wheel and transport vehicle |
| CN109126024A (en) * | 2018-08-14 | 2019-01-04 | 王子峣 | Receipts formula human body omnibearing moving platform in one kind |
| WO2019085477A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市工匠社科技有限公司 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
| CN111459032A (en) * | 2020-04-26 | 2020-07-28 | 上海阜有海洋科技有限公司 | Lifting synchronous self-adaptive control method and system for lifting type pile leg platform |
| CN112722115A (en) * | 2020-12-19 | 2021-04-30 | 浙江夏厦精密制造股份有限公司 | Logistics robot with walking speed reducer |
-
2012
- 2012-07-25 CN CN201210259235.3A patent/CN103569230A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143680A (en) * | 2015-04-27 | 2016-11-23 | 中国科学院沈阳自动化研究所 | A kind of Omni-mobile platform |
| CN106143679A (en) * | 2015-04-27 | 2016-11-23 | 中国科学院沈阳自动化研究所 | A kind of mobile platform |
| CN105731297A (en) * | 2016-04-20 | 2016-07-06 | 深圳市劲拓自动化设备股份有限公司 | Airplane loading ramp mounting vehicle |
| WO2018113395A1 (en) * | 2016-12-22 | 2018-06-28 | 北京京东尚科信息技术有限公司 | Vehicle wheel and transport vehicle |
| CN107215801A (en) * | 2017-07-16 | 2017-09-29 | 华东交通大学 | A kind of electronic removable lift system |
| WO2019085477A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市工匠社科技有限公司 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
| CN109126024A (en) * | 2018-08-14 | 2019-01-04 | 王子峣 | Receipts formula human body omnibearing moving platform in one kind |
| CN109126024B (en) * | 2018-08-14 | 2020-04-03 | 王子峣 | Adduction type human body omnidirectional motion platform |
| CN111459032A (en) * | 2020-04-26 | 2020-07-28 | 上海阜有海洋科技有限公司 | Lifting synchronous self-adaptive control method and system for lifting type pile leg platform |
| CN112722115A (en) * | 2020-12-19 | 2021-04-30 | 浙江夏厦精密制造股份有限公司 | Logistics robot with walking speed reducer |
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Application publication date: 20140212 |