CN106627122A - Omni-directional differential drive wheel device and AGV - Google Patents
Omni-directional differential drive wheel device and AGV Download PDFInfo
- Publication number
- CN106627122A CN106627122A CN201710115594.4A CN201710115594A CN106627122A CN 106627122 A CN106627122 A CN 106627122A CN 201710115594 A CN201710115594 A CN 201710115594A CN 106627122 A CN106627122 A CN 106627122A
- Authority
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- China
- Prior art keywords
- differential
- omnidirectional
- wheel apparatus
- wheel
- fixed seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
Abstract
The invention relates to the field of logistic haulage equipment, in particular to an omni-directional differential drive wheel device and an AGV using the omni-directional differential drive wheel device. The device comprises a fixing seat, a drive device, a differential mechanism, wheels and a steering device. The differential mechanism is installed on the fixing seat, and the two output ends of the differential mechanism are connected with the wheels through an axle. The drive device is connected with the differential mechanism so as to supply power. The steering device is installed on the fixing seat, meanwhile, the steering device is connected with the AGV, and therefore omni-directional motion of the AGV is achieved. The omni-directional differential drive wheel device has the beneficial effects of being simple in structure, low in cost and low in control difficulty. The AGV comprises the above omni-directional differential drive wheel device and has the omni-directional motion function, and production or storage efficiency can be improved.
Description
Technical field
The present invention relates to logistics haulage equipment field, wheel apparatus are driven and using the dress more particularly, to a kind of omnidirectional's differential
The AGV dollies put.
Background technology
AGV dollies be it is a kind of can be along the guide path of regulation traveling, with safeguard protection and various transfer functions
Transport vehicle, due to its have high degree of automation, safety, it is flexible the features such as, be that the current country realizes material automatic transporting most
One of good solution route.
At present many workshops or warehouse using AGV dollies come conveying articles, with the effect for improving production or store
Rate.Due to being limited by place, AGV dollies need to have the function of Omni-mobile, i.e. pivot stud and towards any direction row
Sail.
Existing Mecanum wheel can realize omnidirectional moving, but relatively costly, heavy burden is low.Spider gear group is with two motors
To drive a train, the steering of train is realized by the different speed of two wheels, its advantage is large carrying capacity, efficiency
Height, has had the disadvantage a motor many, especially in the process of moving adjustment direction when, control difficulty increase.
The content of the invention
It is an object of the invention to provide a kind of omnidirectional's differential drives wheel apparatus, omnidirectional's differential drives the purpose of wheel apparatus
It is to solve the defect that the driving wheel apparatus in prior art in AGV dollies are present.
For achieving the above object, the present invention provides technical scheme below：
A kind of omnidirectional's differential drives wheel apparatus, including：Fixed seat, driving means, differential mechanism, wheel and transfer；
The differential mechanism is arranged in fixed seat, and two output ends of differential mechanism connect the wheel by wheel shaft respectively；
The driving means are connected with the differential mechanism, to provide power；
The transfer is arranged in fixed seat, meanwhile, the transfer is connected with dolly, to realize dolly omnidirectional
Motion.
Further, the fixed seat is rotated with the wheel shaft of wheel by support and is connected.
Further, the transfer includes steer motor, transmission mechanism and connecting seat；
The transmission mechanism is connected with connecting seat；
The steer motor is connected with the transmission mechanism；
The connecting seat is rotatably connected in the fixed seat, the connecting seat also to connect dolly, by turn to
Motor adjusting transmission mechanism is rotated, so that omnidirectional's differential drives, wheel apparatus are relative to be turned to dolly.
Further, the transmission mechanism adopts gear drive, chain drive or bel-drivenn mode.
Further, the transmission mechanism includes the driving gear that is meshed and driven gear, the driving gear with turn
Connect to the output shaft of motor, the driven gear is fixed on the connecting seat.
Further, the driven gear with diameter greater than driving gear diameter.
Further, the connecting seat is rotated with the fixed seat by axle and is connected.
Further, also including angular transducer, the angular transducer is to detect the transfer relative to little
The anglec of rotation of car car body.
Further, the angular transducer is connected with transmission mechanism.
A kind of AGV dollies that the present invention is provided, including omnidirectional's differential as above driving wheel apparatus.
With reference to above technical scheme, omnidirectional's differential that the present invention is provided drives wheel apparatus, with advantages below：
1st, driven jointly by driving means, differential mechanism and transfer, the device is arbitrarily turned with 360 degrees omnidirection
To while the pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts the device bearing capacity；
3rd, transfer can precise control wheel direction, dolly traveling deviation it is little；
4th, a driving means drive two wheels, two motors of control ratio to drive be more prone to respectively simultaneously.
5th, differential mechanism distributes the rotating speed of two-wheeled automatically, more steady during steering, and course changing control is more convenient.
6th, the simple structure of this device, low cost, control difficulty is low.
The AGV dollies of wheel apparatus are driven using above-mentioned omnidirectional's differential, with advantages below：
1st, driven jointly by driving means, differential mechanism and transfer, make AGV dollies any with 360 degrees omnidirection
Turn to, while the pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts AGV dolly bearing capacitys；
3rd, transfer can precise control wheel direction, AGV dollies traveling deviation it is little；
4th, a driving means drive two wheels, two motors of control ratio to drive be more prone to respectively simultaneously.
5th, differential mechanism distributes the rotating speed of two-wheeled automatically, and AGV dollies are more steady when turning to, and course changing control is more convenient.
Description of the drawings
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is the structural representation that omnidirectional's differential that embodiment one is provided drives the visual angle of wheel apparatus first；
Fig. 2 is the structural representation that omnidirectional's differential that embodiment one is provided drives the second visual angle in wheel apparatus；
Fig. 3 is the structural representation that omnidirectional's differential that embodiment one is provided drives the 3rd visual angle in wheel apparatus；
Fig. 4 is that omnidirectional's differential that the embodiment of the present invention one is provided is driven in wheel apparatus, the structural representation of connecting seat.
Reference：
100- fixed seats；101- supports；200- driving means；300- differential mechanisms；400- wheels；500- transfers；
501- steer motors；502- connecting seats；503- driving gears；504- driven gears；600- wheel shafts；700- angular transducers.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described enforcement
Example is a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to description the present invention and simplify description, rather than indicate or imply indication device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment one
Refer to Fig. 1；Present embodiments provide a kind of omnidirectional's differential and drive wheel apparatus, the device can be to any direction row
Sail, using a driving means 200 two wheels 400 are driven simultaneously, utilize two Motor drives one with prior art relatively
For the version of individual train, two motors of this device control ratio drive respectively convenient；And it is automatic by differential mechanism 300
Distribute the rotating speed of two wheels 400, more steady during steering, course changing control is more convenient.
The concrete structure of omnidirectional's differential driving wheel apparatus that the present invention is provided is illustrated below：
Refer to shown in Fig. 1 to Fig. 4；
The device includes：Fixed seat 100, driving means 200, differential mechanism 300, wheel 400 and transfer 500.
The driving means 200 are connected with the differential mechanism 300, are provided to differential mechanism 300 by driving means 200
Power；
The differential mechanism 300 is arranged in fixed seat 100, and two output ends of differential mechanism 300 are connected respectively by wheel shaft 600
The wheel 400；
The transfer 500 is arranged in fixed seat 100, meanwhile, the transfer 500 is connected with dolly, with reality
Existing dolly omnidirectional moving.
Driving means 200 can be using devices such as motor, hydraulic-driven or pneumatic actuations.
Used as an optimal technical scheme of the present invention, above-mentioned driving means 200 adopt motor, driving means 200
It is connected with fixed seat 100, specifically on the bottom surface of fixed seat 100, driving means 200 can adopt what is be fixedly connected
On the bottom surface of mode mounting-fixing base 100；Can also be connected with fixed seat 100 using removably, for example, can be adopted
The mode that bolt is fixed, when driving means 200 produce failure, in order to dismantle to driving means 200.
Used as an optimal technical scheme of the present invention, the two bottom sides of the fixed seat 100 are provided with support 101, Gu
Reservation 100 is rotated with the wheel shaft 600 of wheel 400 by support 101 and is connected.The effect for arranging support 101 is the wheel to wheel 400
Axle 600 provides enough supports, and to guarantee when journey is run over, can provide safeguard enough stability.
Used as an optimal technical scheme of the present invention, support 101 is rotated by bearing with the wheel shaft 600 of wheel 400 and connected
Connect.
Used as an optimal technical scheme of the present invention, differential mechanism 300 can be installing fixation by the way of being fixedly connected
On the bottom surface of seat 100；Can also be connected with fixed seat 100 using removably, for example, can adopt the side that bolt is fixed
Formula, when differential mechanism 300 produces failure, in order to dismantle to differential mechanism 300.
Used as an optimal technical scheme of the present invention, transfer 500 can be using removably and fixed seat 100
It is connected, when transfer 500 produces failure, in order to the corresponding parts in transfer 500 dismounting dimension is carried out
Repair.
Used as an optimal technical scheme of the present invention, the transfer 500 includes steer motor 501, transmission mechanism
With connecting seat 502.
The transmission mechanism is connected with connecting seat 502；
The steer motor 501 is connected with the transmission mechanism；
The connecting seat 502 is rotatably connected in the fixed seat 100, the connecting seat 502 also to connect dolly,
Rotated by the adjusting transmission mechanism of steer motor 501, so that omnidirectional's differential drives, wheel apparatus are relative to be turned to dolly, finally
Be converted to the turning function of dolly.
Used as an optimal technical scheme of the present invention, above-mentioned steer motor 501 is arranged on the bottom surface of fixed seat 100
On, because connecting seat 502 with dolly when being connected, it is contemplated that gap between the two is less, so installing steer motor 501
Space can be used with reasonable utilization on the bottom surface of fixed seat 100, optimize structure.
In addition, the same employing of the steer motor 501 is fixedly connected mode or dismountable connected mode is entered with mounting seat
Row connection.
As an optimal technical scheme of the present invention, the transmission mechanism include the driving gear 503 that is meshed and from
Moving gear 504, driving gear 503 and driven gear 504 are meshed connection；The driving gear 503 is defeated with steer motor 501
Shaft connects, and the driven gear 504 is fixed on the connecting seat 502.
Used as an optimal technical scheme of the present invention, driven gear 504 is set to hollow annular external gear, it is relative with
For ordinary gear, the gear can effectively mitigate weight, reduce load.
Driven gear 504 can be arranged on the outer ring surface of connecting seat 502, together in the fixed or dismountable mode of selection
When, the pivot of driven gear 504 and the pivot of fixed seat 100 and connecting seat 502 coincide setting, whole to ensure
Individual driving wheel apparatus have good steering behaviour.
As the present invention an optimal technical scheme, the driven gear 504 it is straight with diameter greater than driving gear 503
Footpath.During regulation, power is transferred to driven gear 504 by driving gear 503, makes driving gear 503 surround driven gear 504
Motion, realizes that the more precise control to turning to is adjusted.
Used as an optimal technical scheme of the present invention, fixed seat 100 is set to tabular, also, connecting seat 502, solid
Reservation 100, driving gear 503, driven gear 504 are horizontally disposed with, so that the power output of driving means 200 is converted to the device
Rotary motion.
Used as an optimal technical scheme of the present invention, the connecting seat 502 is rotated with the fixed seat 100 by axle and connected
Connect.Bearing can be set on connecting seat 502, and connecting seat 502 is rotated by axle and bearing fit mode with the fixed seat 100
Connection.
It should be noted that the gear that the transmission mechanism of this device is not limited to be made up of driving gear and driven gear is passed
Flowing mode, can also be using V belt translation or the chaindriven kind of drive；During using V belt translation mode, can be in the defeated of motor
On shaft and corresponding belt wheel is respectively mounted on connecting seat, transmission agency is realized using V belt translation mode.Certainly Chain conveyer is adopted
During mode, corresponding sprocket wheel can be respectively mounted on the output shaft of motor and on connecting seat, realize transmission agency.
As an optimal technical scheme of the present invention, also including angular transducer 700.
The angular transducer 700 is to detect the anglec of rotation of the transfer 500 relative to trolley.
Specifically, angular transducer 700 be arranged on fixed seat 100 on, angular transducer 700 by a gear with it is driven
Gear 504 is meshed connection, while driving gear 503 is rotated around driven gear, fixed seat 100 and the same stepping of wheel
Row is rotated, and can in real time drive the corresponding gear of angular transducer 700 to rotate around driven gear, makes angular transducer 700
The anglec of rotation of the device can in real time be obtained.
Omnidirectional's differential that the present invention is provided drives wheel apparatus, has the characteristics that：
1st, driven jointly by driving means, differential mechanism and transfer, the device is arbitrarily turned with 360 degrees omnidirection
To while the pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts the device bearing capacity；
3rd, transfer can precise control wheel direction, dolly traveling deviation it is little；
4th, a driving means drive two wheels, two motors of control ratio to drive be more prone to respectively simultaneously.
5th, differential mechanism distributes the rotating speed of two-wheeled automatically, more steady during steering, and course changing control is more convenient.
6th, the simple structure of this device, low cost, control difficulty is low.
Embodiment two
Fig. 4 is refer to, the purpose of the present embodiment is to provide a kind of AGV dollies, including omnidirectional's differential as above drives
Driving wheel device.
During concrete setting, multiple above-mentioned omnidirectional's differentials can be set in the bottom of AGV dollies and drive wheel apparatus.
The AGV dollies of wheel apparatus are driven using above-mentioned omnidirectional's differential, with advantages below：
1st, driven jointly by driving means, differential mechanism and transfer, the AGV dollies is appointed with 360 degrees omnidirection
Meaning is turned to, while the pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts AGV dolly bearing capacitys；
3rd, steer motor precise control wheel direction, AGV dollies traveling deviation is little；
4th, two wheels of a Motor drive, two motors of control ratio drive be more prone to respectively；
5th, differential mechanism distributes the rotating speed of two-wheeled automatically, and AGV dollies are more steady when turning to, and course changing control is more convenient.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to invention, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are carried out
Equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technical side of appropriate technical solution
The scope of case.
Claims (10)
1. a kind of omnidirectional's differential drives wheel apparatus, it is characterised in that include：Fixed seat, driving means, differential mechanism, wheel and turn
To device；
The differential mechanism is arranged in fixed seat, and two output ends of differential mechanism connect the wheel by wheel shaft respectively；
The driving means are connected with the differential mechanism, to provide power；
The transfer is arranged in fixed seat, meanwhile, the transfer is connected with dolly, to realize that dolly omnidirectional transports
It is dynamic.
2. omnidirectional's differential according to claim 1 drives wheel apparatus, it is characterised in that the fixed seat is by support and car
The wheel shaft of wheel rotates connection.
3. omnidirectional's differential according to claim 1 drives wheel apparatus, it is characterised in that the transfer includes turning to electricity
Machine, transmission mechanism and connecting seat；
The transmission mechanism is connected with connecting seat；
The steer motor is connected with the transmission mechanism；
The connecting seat is rotatably connected in the fixed seat, the connecting seat also to connect dolly, by steer motor
Adjusting transmission mechanism is rotated, so that omnidirectional's differential drives, wheel apparatus are relative to be turned to dolly.
4. omnidirectional's differential according to claim 3 drives wheel apparatus, it is characterised in that the transmission mechanism is passed using gear
Dynamic, chain drive or bel-drivenn mode.
5. omnidirectional's differential according to claim 3 drives wheel apparatus, it is characterised in that the transmission mechanism includes being meshed
Driving gear and driven gear, the driving gear is connected with the output shaft of steer motor, and the driven gear is fixed on institute
State on connecting seat.
6. omnidirectional's differential according to claim 5 drives wheel apparatus, it is characterised in that the driven gear with diameter greater than
Driving gear diameter.
7. omnidirectional's differential according to claim 3 drives wheel apparatus, it is characterised in that the connecting seat by axle with it is described
Fixed seat rotates connection.
8. the omnidirectional's differential according to any one of claim 3-7 drives wheel apparatus, it is characterised in that also including angle sensor
Device, the angular transducer is to detect the anglec of rotation of the transfer relative to trolley.
9. omnidirectional's differential according to claim 8 drives wheel apparatus, it is characterised in that the angular transducer and driver
Structure is connected.
10. a kind of AGV dollies, it is characterised in that include the omnidirectional's differential driving wheel dress as described in any one of claim 1-9
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710115594.4A CN106627122A (en) | 2017-02-28 | 2017-02-28 | Omni-directional differential drive wheel device and AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710115594.4A CN106627122A (en) | 2017-02-28 | 2017-02-28 | Omni-directional differential drive wheel device and AGV |
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| Publication Number | Publication Date |
|---|---|
| CN106627122A true CN106627122A (en) | 2017-05-10 |
Family
ID=58847981
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710115594.4A Pending CN106627122A (en) | 2017-02-28 | 2017-02-28 | Omni-directional differential drive wheel device and AGV |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264304A (en) * | 2017-05-11 | 2017-10-20 | 合肥工业大学 | One kind can collaborative floor truck |
| CN107336774A (en) * | 2017-06-13 | 2017-11-10 | 昆明理工大学 | A kind of balance car base apparatus |
| CN107662667A (en) * | 2017-10-28 | 2018-02-06 | 浙江力邦合信智能制动系统股份有限公司 | Omnidirectional's wheel drive unit and omnidirectional's differential driving dolly |
| CN108100035A (en) * | 2017-12-26 | 2018-06-01 | 大连民族大学 | A kind of reduction truck radius of turn device |
| CN108146496A (en) * | 2017-12-27 | 2018-06-12 | 盐城子渊机电科技有限公司 | It shines grain and collects machine automatically |
| CN108583274A (en) * | 2018-03-22 | 2018-09-28 | 苏州极客嘉智能科技有限公司 | AGV differential drive mechanism with multi-angle moving function |
| CN108819612A (en) * | 2018-07-31 | 2018-11-16 | 宁波舜宇贝尔自动化有限公司 | Omnidirectional driving wheel |
| CN109515585A (en) * | 2018-11-29 | 2019-03-26 | 东北大学 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
| CN109774819A (en) * | 2019-03-14 | 2019-05-21 | 航天通用技术(北京)有限公司 | Automated guided vehicle |
| CN109881928A (en) * | 2019-04-08 | 2019-06-14 | 华强方特（深圳）科技有限公司 | A kind of trackless all-around mobile amusement platform |
| CN110014833A (en) * | 2019-04-08 | 2019-07-16 | 华强方特（深圳）科技有限公司 | A kind of differential drive train device that can be gone up and down and rotate |
| CN110316279A (en) * | 2019-05-24 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of omnidirectional's differential driving steering wheel |
| CN110562350A (en) * | 2019-09-24 | 2019-12-13 | 曹昂 | All-round eight rounds of cross country cars of differential wheel group structure |
| CN111845919A (en) * | 2020-07-03 | 2020-10-30 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
| CN113970441A (en) * | 2020-12-24 | 2022-01-25 | 航天智造（上海）科技有限责任公司 | Double-differential-speed wheel driving unit comprehensive performance detection system |
| CN116047213A (en) * | 2023-04-03 | 2023-05-02 | 滨州汇信和信息技术有限公司 | Electrical equipment testing device |
| CN116080750A (en) * | 2023-04-11 | 2023-05-09 | 济南科亚电子科技有限公司 | Automatic driving electric steering wheel steering device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264304A (en) * | 2017-05-11 | 2017-10-20 | 合肥工业大学 | One kind can collaborative floor truck |
| CN107336774A (en) * | 2017-06-13 | 2017-11-10 | 昆明理工大学 | A kind of balance car base apparatus |
| CN107662667A (en) * | 2017-10-28 | 2018-02-06 | 浙江力邦合信智能制动系统股份有限公司 | Omnidirectional's wheel drive unit and omnidirectional's differential driving dolly |
| CN108100035A (en) * | 2017-12-26 | 2018-06-01 | 大连民族大学 | A kind of reduction truck radius of turn device |
| CN108146496A (en) * | 2017-12-27 | 2018-06-12 | 盐城子渊机电科技有限公司 | It shines grain and collects machine automatically |
| CN108583274B (en) * | 2018-03-22 | 2021-05-11 | 苏州极客嘉智能科技有限公司 | AGV differential drive mechanism with multi-angle moving function |
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| CN108819612A (en) * | 2018-07-31 | 2018-11-16 | 宁波舜宇贝尔自动化有限公司 | Omnidirectional driving wheel |
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| CN109515585B (en) * | 2018-11-29 | 2023-11-10 | 东北大学 | Double-wheel coupling type omnidirectional inverted pendulum balance moving platform |
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| CN113970441A (en) * | 2020-12-24 | 2022-01-25 | 航天智造（上海）科技有限责任公司 | Double-differential-speed wheel driving unit comprehensive performance detection system |
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