CN106143679A - A kind of mobile platform - Google Patents
A kind of mobile platform Download PDFInfo
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- CN106143679A CN106143679A CN201510206369.2A CN201510206369A CN106143679A CN 106143679 A CN106143679 A CN 106143679A CN 201510206369 A CN201510206369 A CN 201510206369A CN 106143679 A CN106143679 A CN 106143679A
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Abstract
The invention belongs to the technical field of mobile device, particularly to a kind of mobile platform.Including platform base, wheel, Motor execution unit and motion control unit, wherein motion control unit is arranged at the top of platform base, the lower section of described platform base is provided with four wheels by four Motor execution unit, each Motor execution unit is all connected with motion control unit, the tire tread of described wheel includes tread surface and inclined-plane, described tread surface be respectively provided on two sides with to wheel axis tilt inclined-plane, described tread surface and inclined-plane are equipped with the twill tilted in the same direction.The present invention can reduce cost, meet small size and require, reduce the feature such as applied environment requirement and simple in construction, and owing to having the spiral tire of obstacle crossing function, being greatly increased can the scope of realizing of Omni-mobile platform application.
Description
Technical field
The invention belongs to the technical field of mobile device, particularly to a kind of mobile platform.
Technical background
Omni-mobile platform refers to move along XY two direction, and can realize the platform rotated in place, tool
Turn to space little, the advantage of the directionally independent motion of XY, industry, toy, machine can be widely used in
People etc. relate to the mobile platform of in-wheel driving.The existing Omni-mobile flat-bed format bag realized based on tire
Including Mecanum wheels mode and omni-directional wheel mode, both tire constructions are similar, are all by wheel hub actively
Multiple passive rollers the most equally distributed with wheel hub outer rim form, and both are realizing omnidirectional certainly
Time mobile, tire distribution on platform is different, and respectively run-in index is installed and orthogonal formula is installed.But,
Two class tires have certain defect, owing to forming the complexity of structure, the reliability causing system is low,
Cost is high, and big for undersized manufacture difficulty, rotates wheel, for preventing dust additionally, due to existing more
Block and rotate, therefore environment is wanted height.Disadvantages described above, result in two class tires and in many circumstances can not
Applied.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of mobile platform.This mobile platform can
Reduce cost, meet small size requirement, the reduction feature such as applied environment requirement and simple in construction, and by
In having the spiral tire of obstacle crossing function, being greatly increased can the range of application of Omni-mobile platform.
To achieve these goals, the present invention is by the following technical solutions:
A kind of mobile platform, this mobile platform includes platform base, wheel, Motor execution unit and motion
Control unit, wherein motion control unit is arranged at the top of platform base, the lower section of described platform base
Being provided with four wheels by four Motor execution unit, each Motor execution unit is all and motion control unit
Connecting, the tire tread of described wheel includes tread surface and inclined-plane, being respectively provided on two sides with of described tread surface
The inclined-plane tilted to wheel axis, described tread surface and inclined-plane are equipped with the twill tilted in the same direction.
Described twill is made up of multiple skewed slots and multiple skewback, and described skewed slot and skewback interval are arranged alternately.
Described skewed slot and skewback are parallel to each other, the angle between described skewed slot and skewback and wheel axis be acute angle or
Obtuse angle.
The plurality of skewed slot joins end to end the most successively, and the plurality of skewback head and the tail the most successively are relatively
Should or be connected.The plurality of skewback joins end to end the most successively and connects, and forms the screw thread axially extended
Line.Described threaded line is wall scroll or a plurality of.Described tread surface forms a spheroid knot with the inclined-plane of both sides
Structure.
Twill on the tire tread of two wheels of described mobile platform homonymy is oppositely oriented.Described movement
Twill on the tire tread of two wheels in platform front is oppositely oriented.
Described Motor execution unit includes motor, decelerator and wheel hub adpting flange, and wherein motor is arranged on
The lower section of platform base output shaft and decelerator, the output shaft of described decelerator is connected by wheel hub
Flange is provided with a wheel, and described motor electrically connects with motion control unit.
Advantages of the present invention and providing the benefit that:
1. the present invention can reduce cost, meet small size requirement, reduction applied environment requirement and structure letter
The feature such as single, and owing to having the spiral tire of obstacle crossing function, being greatly increased can Omni-mobile platform
Range of application.
2. the wheel of the present invention uses the structure of ellipsoid formula so that mobile platform can cross over certain size
Barrier, adds the scope of application of mobile platform.
3. the present invention has Omni-mobile function, it is possible to walk flexibly in narrow and small region；Pivot stud makes
Obtain radius of turn minimum, therefore, it is possible to carry out the exploration of narrow regions, or in earthquake, carry out life spy
Survey and rescue.
4. the screw type tire design of the present invention, increases the adhesive force of tire and ground so that mobile flat
Platform reliably can travel on smooth earth.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of tire in the present invention；
Fig. 3 is the principle schematic that two tires of the present invention produce translation；
Fig. 4 is the obstacle detouring principle schematic of the present invention；
Fig. 5 is the principle schematic that the present invention moves forward；
Fig. 6 is the principle schematic that the present invention is moved rearwards by；
Fig. 7 is the principle schematic that the present invention is moved to the left；
Fig. 8 is the principle schematic that the present invention moves right；
Fig. 9 is the principle schematic that the present invention turns clockwise；
Figure 10 is the principle schematic that the present invention rotates counterclockwise.
Wherein: 1 is platform base, 2 is wheel, and 201 is wheel I, and 202 is wheel II, and 203 is car
Wheel III, 204 is wheel IV, and 3 is Motor execution unit, and 4 is motion control unit, and 5 is motor, and 6 are
Decelerator, 7 is wheel hub adpting flange, and 8 is skewed slot, and 9 is skewback, and 10 is wheel axis, and F is thrust,
F1The thrust produced for wheel I, F2The thrust produced for wheel II, F3The thrust produced for wheel III, F4
The thrust produced for wheel IV, FCloseFor making a concerted effort, M is tread surface, and N is inclined-plane, and A is ground, B obstacle
Thing.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the present invention include platform base 1, wheel 2, Motor execution unit 3 and
Motion control unit 4, wherein motion control unit 4 is arranged at the top of platform base 1, at the bottom of described platform
The lower section of seat 1 is provided with four wheels 2 by four Motor execution unit 3, and each Motor execution unit 3 is equal
It is connected with motion control unit 4.The tire tread of described wheel 2 includes tread surface M and inclined-plane N, described
The inclined-plane N, described tread surface M tilted to wheel axis 10 that be respectively provided on two sides with of tread surface M is cylinder
Face, the inclined-plane N of described tread surface M both sides is half ellipsoidal surface structure.On described tread surface M and inclined-plane N
(i.e. the outer surface of spheroid) is equipped with the twill tilted in the same direction.
Described Motor execution unit 3 includes motor 5, decelerator 6 and wheel hub adpting flange 7, wherein motor
5 lower sections being arranged on platform base 1 output shaft and decelerator 6, on the output shaft of described decelerator 6
Being provided with a wheel 2 by wheel hub adpting flange 7, described motor 5 electrically connects with motion control unit 4.
Described kinematic driving unit 4 is responsible for the control to platform motion, and platform base 1 can be arbitrary form, uses
It is installed on the load above platform in carrying.
Twill on described wheel 2 tire tread is made up of multiple skewed slots 8 and multiple skewback 9, described tiltedly
Groove 8 and skewback 9 interval are arranged alternately, and are parallel to each other, described skewed slot 8 and skewback 9 and wheel axis
Angle between 10 is acute angle or obtuse angle.
The plurality of skewed slot 8 joins end to end the most successively, the plurality of skewback 9 head and the tail the most successively
Corresponding or be connected, when the plurality of skewback 9 joins end to end the most successively and connects, formed vertically
The threaded line extended, described threaded line is wall scroll or a plurality of.When described wheel 2 rotates, produce with ground
Friction, provides for wheel 2 and has thrust F of certain angle with wheel axis 10, this thrust F not with car
Wheel axis 10 is vertical.
As shown in Figure 2, Figure 4 shows, in actual motion, the wheel end of the present invention is apart from smooth ground A
Having certain distance h, if barrier B's is smaller in size than or close to h, then wheel can easily surmount obstacles
Thing.When running into barrier, the end of wheel first contacts with barrier B, then relies on spiral climbing more
Cross barrier B, thus realize obstacle crossing function.
Four wheels 2 of described mobile platform reasonable installation, particularly as follows: two cars of described mobile platform homonymy
Threaded line on the tire tread of wheel 2 is oppositely oriented, the tire of two wheels 2 in described mobile platform front
Threaded line on tyre surface is oppositely oriented, and the threaded line on the tire tread of two wheels 2 in rear is oppositely oriented.
As it is shown on figure 3, be parallelly mounted to two wheel 2 (the i.e. axis of two wheels of platform base 1 homonymy
Parallel), the helix on two wheel 2 tires is oppositely oriented.When two wheels 2 rotate to different directions respectively,
Two wheels are made to produce the most not parallel thrust being also not orthogonal to wheel axis 10 direction respectively.Two wheels 2
Rotating speed is identical, and curve symmetric is contrary, produces two equal-sized thrusts F, and the F that makes a concerted effort of two thrusts FClose
Along the middle subangle direction (tire axle direction) of two thrusts F, so that the left and right movement of platform.
The tire of described wheel 2 on the one hand can be as the motion provided as conventional tyre forward, separately
On the one hand, can be provided toward lateral motion by reasonably control and installation, it is possible to realize platform
All-around mobile.It addition, by the envelope shape of designing tyre so that the tire of this design can have
There is obstacle climbing ability.
The operation principle of the present invention is:
The present invention passes through four wheels 2 of reasonable installation, and the threaded line on two of which wheel 2 tire tread is
Left-handed, the threaded line on two other wheel 2 tire tread is dextrorotation, by controlling four wheels 2 respectively
Turn to and rotating speed, it is achieved move before and after mobile platform, move left and right, rotate in place and there is movement
The rotation of radius of curvature.
The specific works process of the present invention is:
Collocation method as shown in Figure 5, wherein wheel I201, wheel III203 are dextrorotation, wheel II202,
Wheel IV204 is left-handed.When four spiral tires rotate forward simultaneously, and the when that rotating speed being equal, its
Indicate on the stress sketch such as figure of each tire, according to the composition principle of power, resultant direction forward, this
Time individual, mobile platform will travel forward.Do not change the configuration mode of spiral tire, only change it respective
Turn to, just can realize the motion of multi-form.Specifically, when four spiral tires rotate backward simultaneously,
And rotating speed equal when, according to the composition principle of power, resultant direction backward, move flat by this time
Platform is by rearward movement, as shown in Figure 6；When wheel I201, wheel III203 rotate backward simultaneously, wheel
II202, wheel IV204 rotate forward simultaneously, and the when that rotating speed being equal, according to the composition principle of power,
To the left, mobile platform will be to left movement, as shown in Figure 7 this time for resultant direction；When wheel I201,
Wheel III203 rotates forward simultaneously, and wheel II202, wheel IV204 rotate backward simultaneously, and rotating speed
The when of equal, according to the composition principle of power, to the right, this time, mobile platform will to the right for resultant direction
Motion, as shown in Figure 8；When wheel I201, wheel IV204 rotate forward simultaneously, wheel II202, car
Wheel III203 rotates backward simultaneously, and the when that rotating speed being equal, according to the composition principle of power, will produce one
Individual clockwise moment of couple T, this moment of couple will be ordered about mobile platform and be turned clockwise, such as Fig. 9 institute
Show；When wheel I201, wheel IV204 rotate backward simultaneously, wheel II202, wheel III203 simultaneously to
Front rotation, and the when that rotating speed being equal, according to the composition principle of power, a counter clockwise direction will be produced
Moment of couple T, this moment of couple will be ordered about mobile platform and be rotated counterclockwise, as shown in Figure 10.
Claims (10)
1. a mobile platform, it is characterised in that this mobile platform include platform base (1), wheel (2),
Motor execution unit (3) and motion control unit (4), wherein motion control unit (4) is arranged at flat
The top of platform base (1), four Motor execution unit (3) are passed through in the lower section of described platform base (1)
Being provided with four wheels (2), each Motor execution unit (3) is all connected with motion control unit (4),
The tire tread of described wheel (2) includes tread surface (M) and inclined-plane (N), described tread surface (M)
It is respectively provided on two sides with to the inclined-plane (N) that wheel axis (10) tilts, described tread surface (M) and inclined-plane (N)
On be equipped with the twill tilted in the same direction.
2. the mobile platform as described in claim 1, it is characterised in that described twill is by multiple skewed slots (8)
Forming with multiple skewbacks (9), described skewed slot (8) and skewback (9) interval are arranged alternately.
3. the mobile platform as described in claim 2, it is characterised in that described skewed slot (8) and skewback (9)
Being parallel to each other, the angle between described skewed slot (8) and skewback (9) and wheel axis (203) is acute angle
Or obtuse angle.
4. the mobile platform as described in claim 3, it is characterised in that the plurality of skewed slot (8) is along axle
To joining end to end successively, head and the tail are corresponding the most successively or are connected for the plurality of skewback (9).
5. the mobile platform as described in claim 4, it is characterised in that the plurality of skewback (9) is along axle
Connect to joining end to end successively, form the threaded line axially extended.
6. the mobile platform as described in claim 5, it is characterised in that described threaded line is wall scroll or many
Bar.
7. the mobile platform as according to any one of claim 1-6, it is characterised in that described tread surface
(M) being the face of cylinder, the inclined-plane (N) of described tread surface (M) both sides is half ellipsoidal surface structure.
8. the mobile platform as described in claim 7, it is characterised in that the two of described mobile platform homonymy
Twill on the tire tread of individual wheel (2) is oppositely oriented.
9. the mobile platform as described in claim 8, it is characterised in that two, described mobile platform front
Twill on the tire tread of wheel (2) is oppositely oriented.
10. the mobile platform as described in claim 1, it is characterised in that described Motor execution unit (3)
Including motor (5), decelerator (6) and wheel hub adpting flange (7), wherein motor (5) is arranged on flat
The lower section of platform base (1) output shaft and decelerator (6), on the output shaft of described decelerator (6)
By wheel hub adpting flange (7), a wheel (2), described motor (5) and motor control list are installed
Unit (4) electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510206369.2A CN106143679A (en) | 2015-04-27 | 2015-04-27 | A kind of mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510206369.2A CN106143679A (en) | 2015-04-27 | 2015-04-27 | A kind of mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106143679A true CN106143679A (en) | 2016-11-23 |
Family
ID=57347336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510206369.2A Pending CN106143679A (en) | 2015-04-27 | 2015-04-27 | A kind of mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106143679A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2229974A (en) * | 1989-03-04 | 1990-10-10 | Uniroyal Englebert Gmbh | Tyre treads |
| CN102310712A (en) * | 2011-06-03 | 2012-01-11 | 南京航空航天大学 | Heavy-duty self-driven omnidirectional wheel and design method thereof |
| CN103192899A (en) * | 2013-02-28 | 2013-07-10 | 河北工业大学 | Reconfigurable wheel stud running system |
| CN103569230A (en) * | 2012-07-25 | 2014-02-12 | 成都联腾动力控制技术有限公司 | Omni-directionally moving platform |
| WO2014052236A1 (en) * | 2012-09-28 | 2014-04-03 | Compagnie Generale Des Etablissements Michelin | Tire having diagonal ribs with trailing edge siping |
| CN204587079U (en) * | 2015-04-27 | 2015-08-26 | 中国科学院沈阳自动化研究所 | Mobile platform |
-
2015
- 2015-04-27 CN CN201510206369.2A patent/CN106143679A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2229974A (en) * | 1989-03-04 | 1990-10-10 | Uniroyal Englebert Gmbh | Tyre treads |
| CN102310712A (en) * | 2011-06-03 | 2012-01-11 | 南京航空航天大学 | Heavy-duty self-driven omnidirectional wheel and design method thereof |
| CN103569230A (en) * | 2012-07-25 | 2014-02-12 | 成都联腾动力控制技术有限公司 | Omni-directionally moving platform |
| WO2014052236A1 (en) * | 2012-09-28 | 2014-04-03 | Compagnie Generale Des Etablissements Michelin | Tire having diagonal ribs with trailing edge siping |
| CN103192899A (en) * | 2013-02-28 | 2013-07-10 | 河北工业大学 | Reconfigurable wheel stud running system |
| CN204587079U (en) * | 2015-04-27 | 2015-08-26 | 中国科学院沈阳自动化研究所 | Mobile platform |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161123 |