CN107697180A - Spherical omnidirectional's wheel mechanism based on Artificial Potential Field - Google Patents
Spherical omnidirectional's wheel mechanism based on Artificial Potential Field Download PDFInfo
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- CN107697180A CN107697180A CN201711012253.0A CN201711012253A CN107697180A CN 107697180 A CN107697180 A CN 107697180A CN 201711012253 A CN201711012253 A CN 201711012253A CN 107697180 A CN107697180 A CN 107697180A
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- spherical shell
- wheel
- electromagnet
- ball
- outer spherical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a kind of spherical omnidirectional's wheel mechanism based on Artificial Potential Field, inside and outside spherical shell and outer spherical shell drive component including the same centre of sphere, outer spherical shell drive component includes three single omni-directional wheels of circumference uniform distribution, single omni-directional wheel is installed on interior spherical shell by wheel carrier, flexible member is provided between each wheel carrier and interior spherical shell, each wheel carrier is provided with the movable motor of the corresponding single omni-directional wheel of driving；Interior spherical shell is installed on magnetic isolation plate bottom, and magnetic isolation plate is provided with drum-shaped frame, and drum-shaped frame is rolled by buphthalmos wheel and outer spherical shell and connected, electromagnet in installation ball at the top of magnetic isolation plate；Outer spherical shell is installed on automobile chassis by vehicle wheel frame, and electromagnet outside the ball aligned with electromagnet in ball is provided with the vehicle wheel frame between the automobile chassis and outer spherical shell, and the outer electromagnet of the ball extreme heteropole relative with electromagnet in ball is attracting.The Artificial Potential Field of the invention as caused by electromagnet system can strengthen gravity potential field, so as to strengthen righting moment, and then make it that built-in system is more stable.
Description
Technical field
The present invention relates to wheeled road walking mechanism, specially a kind of spherical omnidirectional's wheel mechanism based on Artificial Potential Field.
Background technology
Four-wheel automobile is the widely used vehicles of people's daily life, and the support of wheel car body and driving are that it is substantially single
Member.
At present, common wheel can only often turn round around the rotating shaft vertical with wheel plane, therefore automobile generally can not be real
It is existing traversing, the flexibility of this easy restricting vehicle parking storage and quick hedging.
Recently, Britain inventor Ma Xiulidi Ya Des (Matthew Liddiard) devise it is a kind of can be laterally driven it is complete
To wheel mechanism and applied in automotive wheel, referred to as Liddiard wheel.Can be along car during this omnidirectional's wheel movement
The direction that body is advanced laterally rolls, so that automobile can move laterally to the right (left side) from the left side (the right) glibly.Should
The design principle of mechanism is to save the shaft parallel of wheel in wheel plane equipped with the section wheel that can be driven among wheel hub.
At present, the existing physics exemplar of this wheel achieves certain effect on the riding car of experiment.So
And Liddiard wheel driving section wheel needs to be pressed into contact with tire, and both are by rubbing come passing power, and car
Tire then directly contacts with road surface, so because of the muddy water sand and dust in the external world etc. section may be caused to take turns and occur what is skidded between tire
Phenomenon, so as to influence the effect of power transmission；In addition, outer tire layer is in extended state and internal layer is in squeezed state, so
It can repeatedly be stretched when tire laterally rolls, excessive tire fatigue may result in during long-play, so as to reduce using the longevity
Life.
Omnibearing spherical robot is a kind of mechanism that can realize omnibearing movable, can be designed for automotive wheel and provide think of
Road.For example Application No. CN201620109635.X utility model proposes one kind《Driving omni-bearing spherical machine in frictional
Device robot mechanism》, the mechanism is made up of inside and outside two spherical shells, wherein, internal bead is designed and driven equipped with band complete using eccentric
To wheel, omni-directional wheel contacts with outer spherical shell inwall, passes through its omnibearing movable of friction-driven；In addition, interior spherical shell in gravitational potential off field
Keep the stabilization of small angle range.However, when the mechanism works as wheel under high speed, heavy duty, it is former according to relative motion
Reason, because righting moment is limited caused by gravity, the turnover of high speed easily occurs for internal eccentric sphere, so as to cause bead to rock
And system wild effect, therefore it is remained in some problems as wheel application.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are to propose a kind of stable fortune of guarantee system
Capable spherical omnidirectional's wheel mechanism based on Artificial Potential Field.
Spherical omnidirectional's wheel mechanism based on Artificial Potential Field of above-mentioned technical problem is can solve the problem that, its technical scheme includes same
The inside and outside spherical shell of the centre of sphere and the outer spherical shell drive component based on interior spherical shell in outer spherical shell, except that the ectosphere
Shell drive component is included in three single omni-directional wheels of circumference uniform distribution between inside and outside spherical shell bottom, time of three single omni-directional wheels
Turn that the oblique lower section of center line is intersected at a point and the intersection point was on the vertical line of the centre of sphere, each single omni-directional wheel passes through corresponding wheel
Frame is installed on interior spherical shell correspondence position, provided with flexible member is compressed corresponding single omni-directional wheel between each wheel carrier and interior spherical shell pre-
Tightly on the internal valve of outer spherical shell, each wheel carrier is provided with the movable motor of the corresponding single omni-directional wheel of driving；The interior spherical shell installation
In magnetic isolation plate bottom, the magnetic isolation plate is provided with the same centre of sphere drum-shaped frame of arch, and the drum-shaped frame passes through buphthalmos uniform thereon
The upper half internal valve of wheel and outer spherical shell, which rolls, to be connected, and electromagnetism in ball is installed by electromagnet stent at the top of the magnetic isolation plate in drum-shaped frame
Iron；The outer spherical shell is installed on automobile chassis by vehicle wheel frame, is set in the vehicle wheel frame between the automobile chassis and outer spherical shell
There is electromagnet outside the ball aligned with electromagnet in ball, the electromagnet extreme heteropole relative with electromagnet in ball is attracting outside for the ball.
In said structure, the Artificial Potential Field of electromagnet and the outer electromagnet composition of ball can produce equivalent with gravity potential field in ball
Righting moment, play a part of strengthening spherical shell righting moment in gravity potential field and enhancing；When each single omni-directional wheel normal work,
In the presence of righting moment, internal generation turnover phenomenon can be effectively prevented from, so as to ensure the stability of built-in system.
A kind of structure of the vehicle wheel frame includes the cage type support body on top and the annular frame of bottom, the annular frame ring
Be wound at the sphere diameter of outer spherical shell and rolled by the buphthalmos wheel of circumference uniform distribution thereon with outer spherical shell and connected, the cage type support body it is upper
Buphthalmos wheel is provided with by buphthalmos wheel carrier in portion, the buphthalmos wheel of horizontal circumference uniform distribution is rolled with the top of outer spherical shell and connected.
To make in ball, closer to electromagnet outside ball, the drum-shaped frame top offers to be made at the top of electromagnet to reveal in ball electromagnet
The opening gone out.
Conventionally, the buphthalmos wheel on the drum-shaped frame is arranged to three, and the positional symmetry of three buphthalmos wheels is single in three
The position that the internal valve of omni-directional wheel and outer spherical shell contradicts.
Beneficial effects of the present invention：
1st, it is artificial as caused by electromagnet system in the structure of spherical omnidirectional's wheel mechanism of the invention based on Artificial Potential Field
Potential field can strengthen gravity potential field, so as to strengthen righting moment, and then make it that the built-in system of spherical omnidirectional's wheel mechanism is more steady
Fixed (can avoid three single omni-directional wheels that turnover motion occurs with interior spherical shell), it can artificially change the relevant parameter of Artificial Potential Field to increase
Strong righting moment.
2nd, in structure of the present invention, the synthesis barycenter of built-in system composition is located at the bottom of spherical omnidirectional's wheel mechanism, this
The structure and built-in system can be made to keep basicly stable in the presence of righting moment that kind barycenter biases, so as to avoid inside
The adverse effect that turnover phenomenon is brought occurs for system.
3rd, in structure of the present invention, three single omni-directional wheels produce the velocity of three different directions by motor driving,
The velocity of these three different directions can in blended space any direction velocity, so as to realize the comprehensive of outer spherical shell
Motion.
4th, in structure of the present invention, outer spherical shell closes built-in system wherein, so as to prevent external environment to pass inside
Dynamic adverse effect.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the present invention.
Fig. 2 is the structural representation of lower semisphere system in Fig. 1 embodiments.
Fig. 3 is the structural representation of episphere system in Fig. 1 embodiments.
Fig. 4 (a) is A-A sectional views in Fig. 1.
In Fig. 4 (b) Fig. 3 in ball electromagnet assembling schematic diagram.
Figure number identifies：1st, interior spherical shell；2nd, outer spherical shell；3rd, single omni-directional wheel；4th, wheel carrier；5th, flexible member；6th, movable motor；
7th, magnetic isolation plate；8th, electromagnet stent；9th, electromagnet in ball；10th, drum-shaped frame；11st, buphthalmos wheel；12nd, vehicle wheel frame；12-1, cage
Body；12-2 annular frames；13rd, automobile chassis；14th, the outer electromagnet of ball；15th, buphthalmos wheel carrier.
Embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
Spherical omnidirectional's wheel mechanism of the invention based on Artificial Potential Field, its structure include outer spherical shell 2, and the outer spherical shell 2 is logical
Cross vehicle wheel frame 12 and be installed on the bottom of automobile chassis 13, the outer inside of spherical shell 2 is provided with the interior spherical shell 1 with the centre of sphere, set on the interior spherical shell 1
There is the outer spherical shell drive component for driving outer spherical shell 2 to rotate, as shown in Figure 1.
The vehicle wheel frame 12 includes the cage type support body 12-1 (bottom is big and top is small) on the top and annular frame 12- of bottom
2, the annular frame 12-2 are looped around buphthalmos wheel 11 and outer spherical shell 2 at the sphere diameter of outer spherical shell 2 and by circumference uniform distribution thereon
Roll and connect, buphthalmos wheel 11 is provided with by the buphthalmos wheel carrier 15 of lower section in the diagonal in the top of the cage type support body (12-1),
Each 11 horizontal circumference uniform distribution of buphthalmos wheel and being rolled with the top of outer spherical shell 2 is connected, and peace is additionally provided with cage type support body 12-1 top
Loaded on electromagnet 14 outside the ball at the top of cage type support body 12-1,14 times extreme buphthalmos wheels for being in circumference uniform distribution of the outer electromagnet of the ball
Interval is maintained between 11 and with the top of outer spherical shell 2, as shown in Figure 2 and Figure 3.
The outer spherical shell drive component is included in three single omni-directional wheels of circumference uniform distribution between inside and outside spherical shell 1,2 bottoms
3, the oblique lower section of centre of gyration line of three single omni-directional wheels 3 intersects at a point and the intersection point was on the vertical line of the centre of sphere,
Each single omni-directional wheel 3 is installed on the correspondence position of the interior bottom of spherical shell 1 by corresponding wheel carrier 4, between each wheel carrier 4 and interior spherical shell 1
Corresponding single omni-directional wheel 3 is compressed into pretension on the internal valve of outer spherical shell 2 provided with flexible member 5, driving is installed on each wheel carrier 4
The movable motor 6 of corresponding single omni-directional wheel 3；The interior spherical shell 1 is installed on the bottom of magnetic isolation plate 7 in the outer top of spherical shell 2, it is described every
Magnetic sheet 7 is provided with the same centre of sphere drum-shaped frame 10 of arch, and (position is right respectively by three buphthalmos wheels 11 thereon for the drum-shaped frame 10
Claim the position that the internal valve in three single omni-directional wheels 3 and outer spherical shell 2 contradicts) roll and connect with the upper half internal valve of outer spherical shell 2,
Electromagnet 9 in ball is installed in the top of magnetic isolation plate 7 in drum-shaped frame 10 by electromagnet stent 8, and electromagnet 9 is upper extreme in the ball
By the opening at the top of drum-shaped frame 10 extend spherical shell 2 and with electromagnet outside ball 14 it is lower it is extreme with respect to and there is a natural attraction between the sexes, such as
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 (a), Fig. 4 (b).
The present invention operation principle be：
1st, interior ball system (including electromagnet 9 and its related components in interior spherical shell 1, three single omni-directional wheel 3 and ball) is adopted
With eccentric structure, when three single omni-directional wheels 3 do not work, the eccentric and barycenter of spherical omnidirectional's wheel of interior ball system is in same
On one vertical straight line；Interior ball system can also be moved together under the rotary action of three single omni-directional wheels 3, now interior ball system
It is eccentric with the barycenter of spherical omnidirectional's ball wheel just not on a vertical straight line, will so cause built-in system that turnover occurs existing
As.
The Artificial Potential Field as caused by electromagnet system (electromagnet 9 in the outer electromagnet 14 of ball and ball) can strengthen gravity potential field,
So as to strengthen righting moment, and then make it that built-in system is more stable and avoids the phenomenon of built-in system turnover；Wherein electromagnetism
Power can be by changing the electric current in electromagnet hot-wire coil, hot-wire coil the parameter such as the number of turn carry out manual control, and then can people
To control righting moment.
2nd, under idle state, corresponding single omni-directional wheel 3 is also pressed in outer spherical shell 2 by flexible member 5
In shell surface, meanwhile, the single omni-directional wheel 3 of three operatings produces the velocity of three different directions, these three different directions
The velocity of any direction in velocity blended space, so as to realize the omnibearing movable of outer spherical shell 2.
Claims (4)
1. spherical omnidirectional's wheel mechanism based on Artificial Potential Field, including with the inside and outside spherical shell (1,2) of the centre of sphere and based on interior spherical shell
(1) the outer spherical shell drive component in outer spherical shell (2), it is characterised in that：The outer spherical shell drive component is included in inside and outside ball
Three single omni-directional wheels (3) of circumference uniform distribution, the centre of gyration line of three single omni-directional wheels (3) are oblique between shell (1,2) bottom
Lower section is intersected at a point and the intersection point was on the vertical line of the centre of sphere, and each single omni-directional wheel (3) is installed by corresponding wheel carrier (4)
Flexible member (5) is provided with the correspondence position of interior spherical shell (1), between each wheel carrier (4) and interior spherical shell (1) by corresponding single omnidirectional
Wheel (3) compresses pretension on the internal valve of outer spherical shell (2), and each wheel carrier (4) is provided with the walking of the corresponding single omni-directional wheel (3) of driving
Motor (6)；The interior spherical shell (1) is installed on magnetic isolation plate (7) bottom, and the magnetic isolation plate (7) is provided with the same centre of sphere cydariform of arch
Frame (10), the drum-shaped frame (10) are rolled by the upper half internal valve of buphthalmos wheel (11) uniform thereon and outer spherical shell (2) and connected,
Electromagnet (9) in ball is installed by electromagnet stent (8) at the top of magnetic isolation plate (7) in drum-shaped frame (10)；The outer spherical shell (2) is logical
Cross vehicle wheel frame (12) to be installed on automobile chassis (13), the vehicle wheel frame (12) between the automobile chassis (13) and outer spherical shell (2)
It is interior to be provided with and the outer electromagnet (14) of the ball of electromagnet in ball (9) contraposition, the outer electromagnet (14) of the ball and electromagnet in ball (9) phase
To extreme heteropole it is attracting.
2. spherical omnidirectional's wheel mechanism according to claim 1 based on Artificial Potential Field, it is characterised in that：The vehicle wheel frame
(12) the cage type support body (12-1) including top and the annular frame (12-2) of bottom, the annular frame (12-2) are looped around outer
Connection, the cage type support body are rolled at the sphere diameter of spherical shell (2) and by the buphthalmos wheel (11) and outer spherical shell (2) of circumference uniform distribution thereon
Buphthalmos wheel (11), the buphthalmos wheel (11) and ectosphere of horizontal circumference uniform distribution are provided with by buphthalmos wheel carrier (15) in the top of (12-1)
The top of shell (2) rolls connection.
3. spherical omnidirectional's wheel mechanism according to claim 2 based on Artificial Potential Field, it is characterised in that：The drum-shaped frame
(10) top offers the opening for making to expose at the top of electromagnet in ball (9).
4. spherical omnidirectional's wheel mechanism based on Artificial Potential Field according to any one in claims 1 to 3, its feature exist
In：Buphthalmos wheel (11) on the drum-shaped frame (10) is three, and the positional symmetry of three buphthalmos wheels (11) is in three single omnidirectionals
Take turns (3) and the position of the internal valve conflict of outer spherical shell (2).
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| CN201711012253.0A CN107697180B (en) | 2017-10-26 | 2017-10-26 | Spherical omnidirectional wheel mechanism based on artificial potential field |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711012253.0A CN107697180B (en) | 2017-10-26 | 2017-10-26 | Spherical omnidirectional wheel mechanism based on artificial potential field |
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| CN107697180B CN107697180B (en) | 2023-10-17 |
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Cited By (3)
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| CN111902348A (en) * | 2018-03-27 | 2020-11-06 | 奥卡多创新有限公司 | Transport device |
| CN112071160A (en) * | 2020-09-17 | 2020-12-11 | 南京睿辰欣创网络科技股份有限公司 | VR simulation cockpit |
| CN114670202A (en) * | 2022-04-20 | 2022-06-28 | 北京航空航天大学 | Control system of ball balance robot |
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| CN114670202A (en) * | 2022-04-20 | 2022-06-28 | 北京航空航天大学 | Control system of ball balance robot |
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