CN106828077A - A kind of omnidirectional driving wheel - Google Patents
A kind of omnidirectional driving wheel Download PDFInfo
- Publication number
- CN106828077A CN106828077A CN201710213081.7A CN201710213081A CN106828077A CN 106828077 A CN106828077 A CN 106828077A CN 201710213081 A CN201710213081 A CN 201710213081A CN 106828077 A CN106828077 A CN 106828077A
- Authority
- CN
- China
- Prior art keywords
- wheel
- motor
- turn
- driving wheel
- linear drive
- 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.)
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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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
- B62D5/0418—Electric motor acting on road wheel carriers
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of omnidirectional driving wheel, including turn to motor, turn to driving decelerator, flange, wheel, linear drive motor, brake and vehicle frame；Turn to motor and fixed by screw with driving decelerator is turned to, turn to and drive decelerator to be screwed on car body by flange, while flange is fixedly connected also by screw with link.Brake and wheel is connected with linear drive motor and linear drives are fixedly mounted on vehicle frame.The omnidirectional driving wheel includes two motors, moves along a straight line by linear drive motor control, and divertical motion is controlled by steering motor, both separate drivings, and wheel can be made to realize advance, retrogressing, steering, oblique movement etc..The axis of motor is turned to perpendicular through wheel axis of pitch and the position of intersecting point of longitudinal direction axial direction, it is that controllable wheel realizes cast only to turn to motor by one.The omnidirectional driving wheel can be equally combined according to demand, different configuration of wheeled mobile robot is realized cast.
Description
Technical field
Patent of the present invention be related to it is a kind of can be used for the driving wheel of wheeled mobile robot, specifically a kind of omnidirectional drives
Wheel, belongs to wheels of mobile robot technical field.
Background technology
At present, the common steering mode of wheeled mobile robot has three kinds：One kind is by servos control divertical motion, one
Kind is the velocity interpolation divertical motion by controlling both sides wheel, and also one kind is to realize turning to fortune by mechanical steering device
It is dynamic.Servos control and mechanical steering device cause that the mechanical structure of wheeled mobile robot becomes complicated, and steering angle
It is restricted the steering space, it is necessary to larger；And the control accuracy of differential driving is relatively low, and stability is not high, easily causes car
Body vibrates.Therefore need that a kind of mechanical structure is simple, turn to flexibly and turn to that high precision, angle range are big, be capable of achieving original place returns
The omnidirectional driving wheel for turning, so as to mobile robot can work in small space and be applied to more areas complete it is complicated,
Highly difficult task.
The content of the invention
The problem that the present invention exists for existing wheeled mobile robot wheel technology, there is provided a kind of mechanical structure is simple,
Turn to flexibly, angle range is big, can independently drive and cast omnidirectional driving wheel.
Omnidirectional driving wheel of the invention is realized using following technical scheme：
Omnidirectional driving wheel of the invention includes：Turn to motor (1), turn to driving decelerator (2), flange (3), wheel
(4), linear drive motor (5), brake (6), link (7), it is characterised in that：Turn to motor (1) and subtract with driving is turned to
Fast device (2) is connected by screw, and turns to and drives decelerator (2) to be screwed on car body further through flange (3), while
Flange (3) is fixed by screw and link (7).Wheel (4) is connected with brake (6) with linear drive motor (5), while straight line
Motor (5) is fixedly connected on link (7) by screw.
Above-mentioned a kind of omnidirectional driving wheel, it is desirable to have two motors realize control, the linear motion of wheel (4) by
Linear drive motor (5) is controlled, and the divertical motion of wheel (4) is controlled by steering motor (1), both separate drivings.
A kind of above-mentioned omnidirectional driving wheel, the divertical motion of wheel (4) is only controlled by steering motor (1), rather than
Realized by differential control or mechanical steering device, the axis for turning to motor (1) passes perpendicularly through the lateral shaft of wheel (4)
The position of intersecting point of line and longitudinal axis, it is possible to achieve the cast of wheel (4).
A kind of above-mentioned omnidirectional driving wheel, is turning initially to motor (1) and controls wheel (4) to turn over certain angle, then
Linear drive motor (5) controls wheel (4) to advance or retreat, and wheel (4) can be made to realize the linear motion of different angles, i.e., tiltedly
To motion.
A kind of above-mentioned omnidirectional driving wheel, as a kind of component, is combined by the omnidirectional driving wheel, can be with
Different configuration of wheeled mobile robot is set to realize cast.
Mechanical structure of the invention is simple, dismounts easy to maintenance；Turning to motor control wheel can realize different angles
The rotary motion of degree and cast, angle range are big, turn to flexible；Linear drive motor control wheel can be realized advancing
And setback；Turning to motor and linear drive motor mutual cooperation control wheel can also realize oblique movement；This hair
It is bright to carry out independent assortment as a kind of component, realize the cast of different configuration of wheeled mobile robot.
Brief description of the drawings
Fig. 1 is a kind of appearance schematic diagram of omnidirectional driving wheel of the invention.
Fig. 2 is the cast schematic diagram that the present invention is configured to wheelbarrow.
Fig. 3 is the cast schematic diagram that the present invention is configured to two-wheel drive mobile robot.
Fig. 4 is the cast schematic diagram that the present invention is configured to three-wheel drive mobile robot.
In figure, motor is 1. turned to, 2. turn to and drive decelerator, 3. flange, 4. wheel, 5. linear drive motor, 6.
Brake, 7. link.
Specific embodiment
Turn to motor (1) as shown in Figure 1 to be fixedly connected by screw with driving decelerator (2) is turned to, while turning to
Drive decelerator (2) to be screwed further through flange (3) to be connected on link (7), programming Control turns to motor
(1).When motor (1) rotation is turned to, torque can be run by flange (3) and link (7) band motor car wheel (4), logical
Cross high-precision control of the feedback information realization of encoder to wheel (4) steering angle.
Wheel (4) and brake (6) are connected with linear drive motor (5), and linear drive motor (5) is screwed connection
On link (7), programming Control linear drive motor (5), by the feedback information of encoder realize running wheel (4) away from
From high-precision control.
Motor (1) and linear drive motor (5) separate driving is turned to, when different motors receives control
After system instruction, wheel (4) advance, retrogressing, turning operation etc. are can control；Control instruction is connected to first when motor (1) is turned to,
Control wheel (4) turns over certain angle, and then linear drive motor (5) receives control instruction, control wheel (4) advance or after
Move back, so being cooperated by turning to the priority of motor (1) and linear drive motor (5), wheel (4) can be made to realize not
With the linear motion of angle, i.e. oblique movement.
As shown in Fig. 2 the axis for turning to motor (1) passes perpendicularly through the axis of pitch and longitudinal axis of wheel (4)
Position of intersecting point, when motor (1) rotation is turned to, torque can be moved by flange (3) and link (7) band motor car wheel (4),
So only turning to the cast that motor (5) controls wheel (4) to be achievable wheelbarrow by one.
As shown in figure 3, when omnidirectional driving wheel is configured to two-wheel drive mobile robot, as long as control two is turned to driving
When the equidirectional same rotating speed of motor (1) runs, you can realize that two-wheel drive mobile robot is rotated in place along car body center.Relatively
Driven in two wheel guide robot and turned to, configuration control is easily realized and control accuracy is high.
As shown in figure 4, when omnidirectional driving wheel is configured to three-wheel drive mobile robot, as long as control three is turned to driving
When the equidirectional same rotating speed of motor (1) runs, you can realize that three-wheel drive mobile robot is rotated in place along car body center.Equally
The omnidirectional driving wheel may also be configured to other types wheeled mobile robot, realize the motion of different directions.
Claims (4)
1. a kind of omnidirectional driving wheel, including：Turn to motor (1), turn to drive decelerator (2), flange (3), wheel (4),
Linear drive motor (5), brake (6), link (7), it is characterised in that：Motor (1) is turned to be driven with steering by screw
Dynamic decelerator (2) is fixed, turns to and drives decelerator (2) to be screwed on car body further through flange (3), while flange
(3) it is fixedly connected on link (7) also by screw.Wheel (4) is connected with brake (6) with linear drive motor (5), together
When linear drive motor (5) be fixedly connected on link (7) by screw.
2. a kind of omnidirectional driving wheel according to claims 1, it is characterised in that：Two motors are needed to realize
Straight line and divertical motion, the linear motion of wheel (4) are controlled by linear drive motor (5), and the divertical motion of wheel (4) is by turning to
Motor (1) is controlled, both separate drivings.
3. a kind of omnidirectional driving wheel according to claims 1, it is characterised in that：The divertical motion of wheel (4) it is simple by
Motor (1) control is turned to, is realized by differential control or mechanical steering device；Turn to motor (1)
Axis passes perpendicularly through the axis of pitch of wheel (4) and the position of intersecting point of longitudinal axis, and wheel (4) can be made to realize cast.
4. a kind of omnidirectional driving wheel according to claims 1, it is characterised in that：Omnidirectional driving wheel can be as a kind of group
Part carries out independent assortment, is configured to different wheeled mobile robots, such as wheelbarrow, two-wheel drive mobile robot, three wheel drivings
Dynamic mobile robot etc., realizes the cast of wheeled mobile robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710213081.7A CN106828077A (en) | 2017-04-01 | 2017-04-01 | A kind of omnidirectional driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710213081.7A CN106828077A (en) | 2017-04-01 | 2017-04-01 | A kind of omnidirectional driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106828077A true CN106828077A (en) | 2017-06-13 |
Family
ID=59141949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710213081.7A Withdrawn CN106828077A (en) | 2017-04-01 | 2017-04-01 | A kind of omnidirectional driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828077A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600172A (en) * | 2017-09-28 | 2018-01-19 | 杭州国辰机器人科技有限公司 | A kind of four motorized wheels mobile robot with shockproof function |
| CN108327473A (en) * | 2018-01-05 | 2018-07-27 | 南京理工大学 | Mobile robot chassis is driven entirely by a kind of omnidirectional with independent suspension |
| CN108394267A (en) * | 2018-03-23 | 2018-08-14 | 上海制驰智能科技有限公司 | Omnidirectional running mobile platform steering driving mechanism and driving and steering system |
| CN109278539A (en) * | 2018-11-05 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of wheeled robot Omni-mobile chassis |
| CN109435678A (en) * | 2018-12-10 | 2019-03-08 | 宁波华运智能科技有限公司 | Driving wheel group and its operating method, transfer robot |
| CN109747735A (en) * | 2019-02-28 | 2019-05-14 | 赋之科技(深圳)有限公司 | A kind of mobile device |
| CN109909973A (en) * | 2018-06-29 | 2019-06-21 | 北京工业大学 | A kind of independent steering driving wheel based on hub motor |
| CN110065553A (en) * | 2018-01-24 | 2019-07-30 | 北京京东尚科信息技术有限公司 | A kind of chassis and automated guided vehicle |
| CN110182254A (en) * | 2019-04-29 | 2019-08-30 | 江苏开璇智能科技有限公司 | A kind of AGV carriage walking steering composite joint |
| CN110231816A (en) * | 2018-03-05 | 2019-09-13 | 中南大学 | Control method, apparatus, robot and the storage medium of robot ambulation |
| CN110254209A (en) * | 2019-06-24 | 2019-09-20 | 北方工业大学 | Omnidirectional driving wheel for mobile robot |
| CN111469950A (en) * | 2020-05-18 | 2020-07-31 | 北京益康生活智能科技有限公司 | Intelligent mobile device |
| CN109747735B (en) * | 2019-02-28 | 2024-06-25 | 赋之科技(深圳)有限公司 | Mobile device |
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|---|---|---|---|---|
| DE102004006722A1 (en) * | 2004-02-11 | 2005-09-01 | Zf Friedrichshafen Ag | Steering and wheel drive for industrial truck has drive motor, steering motor and steering transmission installed co-axially with one another and in series one behind other |
| US20110024219A1 (en) * | 2007-05-10 | 2011-02-03 | Aarhus Universitet | Omni rotational driving and steering wheel |
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN205168167U (en) * | 2015-10-30 | 2016-04-20 | 亿嘉和科技股份有限公司 | Turn to wheel system of robot entirely |
| CN106394153A (en) * | 2016-11-25 | 2017-02-15 | 山东大学 | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system |
| CN207015152U (en) * | 2017-04-01 | 2018-02-16 | 江南大学 | A kind of omnidirectional driving wheel |
-
2017
- 2017-04-01 CN CN201710213081.7A patent/CN106828077A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102004006722A1 (en) * | 2004-02-11 | 2005-09-01 | Zf Friedrichshafen Ag | Steering and wheel drive for industrial truck has drive motor, steering motor and steering transmission installed co-axially with one another and in series one behind other |
| US20110024219A1 (en) * | 2007-05-10 | 2011-02-03 | Aarhus Universitet | Omni rotational driving and steering wheel |
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN205168167U (en) * | 2015-10-30 | 2016-04-20 | 亿嘉和科技股份有限公司 | Turn to wheel system of robot entirely |
| CN106394153A (en) * | 2016-11-25 | 2017-02-15 | 山东大学 | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system |
| CN207015152U (en) * | 2017-04-01 | 2018-02-16 | 江南大学 | A kind of omnidirectional driving wheel |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600172A (en) * | 2017-09-28 | 2018-01-19 | 杭州国辰机器人科技有限公司 | A kind of four motorized wheels mobile robot with shockproof function |
| CN108327473A (en) * | 2018-01-05 | 2018-07-27 | 南京理工大学 | Mobile robot chassis is driven entirely by a kind of omnidirectional with independent suspension |
| CN110065553A (en) * | 2018-01-24 | 2019-07-30 | 北京京东尚科信息技术有限公司 | A kind of chassis and automated guided vehicle |
| CN110231816A (en) * | 2018-03-05 | 2019-09-13 | 中南大学 | Control method, apparatus, robot and the storage medium of robot ambulation |
| CN108394267A (en) * | 2018-03-23 | 2018-08-14 | 上海制驰智能科技有限公司 | Omnidirectional running mobile platform steering driving mechanism and driving and steering system |
| CN109909973A (en) * | 2018-06-29 | 2019-06-21 | 北京工业大学 | A kind of independent steering driving wheel based on hub motor |
| CN109909973B (en) * | 2018-06-29 | 2020-09-25 | 北京工业大学 | Independent steering driving wheel based on hub motor |
| CN109278539A (en) * | 2018-11-05 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of wheeled robot Omni-mobile chassis |
| CN109435678A (en) * | 2018-12-10 | 2019-03-08 | 宁波华运智能科技有限公司 | Driving wheel group and its operating method, transfer robot |
| CN109747735A (en) * | 2019-02-28 | 2019-05-14 | 赋之科技(深圳)有限公司 | A kind of mobile device |
| CN109747735B (en) * | 2019-02-28 | 2024-06-25 | 赋之科技(深圳)有限公司 | Mobile device |
| CN110182254A (en) * | 2019-04-29 | 2019-08-30 | 江苏开璇智能科技有限公司 | A kind of AGV carriage walking steering composite joint |
| CN110254209A (en) * | 2019-06-24 | 2019-09-20 | 北方工业大学 | Omnidirectional driving wheel for mobile robot |
| CN111469950A (en) * | 2020-05-18 | 2020-07-31 | 北京益康生活智能科技有限公司 | Intelligent mobile device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170613 |
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| WW01 | Invention patent application withdrawn after publication |