CN107697180B - Spherical omnidirectional wheel mechanism based on artificial potential field - Google Patents
Spherical omnidirectional wheel mechanism based on artificial potential field Download PDFInfo
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- CN107697180B CN107697180B CN201711012253.0A CN201711012253A CN107697180B CN 107697180 B CN107697180 B CN 107697180B CN 201711012253 A CN201711012253 A CN 201711012253A CN 107697180 B CN107697180 B CN 107697180B
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- spherical shell
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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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Abstract
The utility model discloses a spherical omnidirectional wheel mechanism based on an artificial potential field, which comprises an inner spherical shell, an outer spherical shell and an outer spherical shell driving assembly, wherein the inner spherical shell is concentric with the outer spherical shell, the outer spherical shell driving assembly comprises three single-row omnidirectional wheels uniformly distributed on the circumference, the single-row omnidirectional wheels are arranged on the inner spherical shell through wheel frames, elastic elements are arranged between each wheel frame and the inner spherical shell, and each wheel frame is provided with a walking motor for driving the corresponding single-row omnidirectional wheel; the inner spherical shell is arranged at the bottom of the magnetic isolation plate, a drum-shaped frame is arranged on the magnetic isolation plate, the drum-shaped frame is in rolling connection with the outer spherical shell through a bull's eye wheel, and an inner spherical electromagnet is arranged at the top of the magnetic isolation plate; the outer spherical shell is arranged on the automobile chassis through a wheel frame, and an outer spherical electromagnet aligned with the inner spherical electromagnet is arranged in the wheel frame between the automobile chassis and the outer spherical shell and attracted with the opposite extreme opposite poles of the inner spherical electromagnet. The artificial potential field generated by the electromagnet system can strengthen the gravity potential field, so that the restoring moment is enhanced, and the internal system is more stable.
Description
Technical Field
The utility model relates to a wheel type road travelling mechanism, in particular to a spherical omnidirectional wheel mechanism based on an artificial potential field.
Background
Four-wheel automobiles are vehicles widely used in daily life, and wheel body support and driving are basic units.
At present, the common wheels can only rotate around the rotating shaft perpendicular to the plane of the wheels, so that the automobile cannot transversely move, and the flexibility of parking and warehousing and rapid risk avoidance of the automobile is easily limited.
Recently, the british inventor majoram lydiead (Matthew lidard) designed a laterally drivable omni wheel mechanism and applied it to automotive wheels, known as lidard wheel. Such omni-directional wheel movement may roll laterally in the direction of travel of the vehicle body, thereby enabling the vehicle to move smoothly laterally from left (right) to right (left). The design principle of the mechanism is that a driven knuckle wheel is arranged in the middle of a hub, and the rotating shaft of the knuckle wheel is parallel to the plane of the wheel.
At present, the existing physical sample of the wheel is arranged on a tested passenger car, and a certain effect is achieved. However, the driving joint wheel of Liddiard wire is in pressing contact with the tire, and the driving joint wheel and the tire transmit power through friction, and the tire is in direct contact with the road surface, so that the phenomenon of slipping between the joint wheel and the tire can be caused by external muddy water, sand dust and the like, and the power transmission effect is influenced; in addition, the outer layer of the tire is in a stretched state and the inner layer is in an extruded state, so that the tire is repeatedly stretched when the tire rolls transversely, and excessive fatigue of the tire may be caused when the tire is operated for a long time, thereby reducing the service life.
The omnidirectional spherical robot is a mechanism capable of realizing omnidirectional movement and can provide thought for the design of automobile wheels. For example, the utility model with the application number of CN201620565635. X provides a friction type internal driving omnibearing spherical robot mechanism, which consists of an inner spherical shell and an outer spherical shell, wherein an internal small ball is eccentrically designed and is provided with an omni-wheel with driving, the omni-wheel is contacted with the inner wall of the outer spherical shell, and the omni-wheel is driven to move in all directions through friction; in addition, the inner spherical shell keeps stable in a small angle range under the gravitational potential field. However, when the mechanism is used as a wheel to work under high speed and heavy load, according to the relative motion principle, due to the limited restoring moment generated by gravity, the internal eccentric small ball is easy to turn over at high speed, so that the small ball shakes and the system is unstable, and therefore, the mechanism has some problems in the application as a wheel.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model aims to solve the technical problem of providing a spherical omnidirectional wheel mechanism based on an artificial potential field, which ensures the stable operation of a system.
The spherical omni-wheel mechanism based on the artificial potential field comprises an inner spherical shell, an outer spherical shell and an outer spherical shell driving assembly, wherein the inner spherical shell and the outer spherical shell are concentric, the outer spherical shell driving assembly is arranged in the outer spherical shell, the outer spherical shell driving assembly comprises three single-row omni-wheels uniformly distributed on the circumference between the lower parts of the inner spherical shell and the outer spherical shell, the rotation center lines of the three single-row omni-wheels are obliquely intersected downwards at one point and are positioned on a vertical line passing through the spherical center, each single-row omni-wheel is arranged on the corresponding position of the inner spherical shell through a corresponding wheel frame, an elastic element is arranged between each wheel frame and the inner spherical shell to push and pre-press the corresponding single-row omni-wheel on the inner shell, and a walking motor for driving the corresponding single-row omni-wheel is arranged on each wheel frame; the inner spherical shell is arranged at the bottom of the magnetic isolation plate, the magnetic isolation plate is provided with an upper arch concentric drum-shaped frame, the drum-shaped frame is in rolling connection with the upper half inner shell surface of the outer spherical shell through bull's eye wheels uniformly distributed on the drum-shaped frame, and the top of the magnetic isolation plate in the drum-shaped frame is provided with an inner spherical electromagnet through an electromagnet bracket; the outer ball shell is arranged on the automobile chassis through a wheel frame, an outer ball electromagnet aligned with the inner ball electromagnet is arranged in the wheel frame between the automobile chassis and the outer ball shell, and the outer ball electromagnet attracts with the opposite extreme opposite poles of the inner ball electromagnet.
In the structure, the artificial potential field formed by the electromagnet in the ball and the electromagnet outside the ball can generate a restoring moment equivalent to the gravity potential field, and plays roles of strengthening the gravity potential field and enhancing the restoring moment of the inner ball shell; when each single-row omni-wheel normally works, the phenomenon of turnover inside can be effectively avoided under the action of restoring moment, so that the stability of an internal system is ensured.
The structure of the wheel frame comprises a cage-shaped frame body on the upper part and an annular frame body on the lower part, wherein the annular frame body surrounds the spherical diameter of the outer spherical shell and is in rolling connection with the outer spherical shell through bullnose wheels uniformly distributed on the upper circumference of the annular frame body, the bullnose wheels are installed in the upper part of the cage-shaped frame body through bullnose wheel frames, and the bullnose wheels uniformly distributed on the horizontal circumference of the annular frame body are in rolling connection with the upper part of the outer spherical shell.
In order to enable the electromagnet in the ball to be closer to the electromagnet outside the ball, an opening exposing the top of the electromagnet in the ball is formed in the top of the drum-shaped frame.
Conventionally, three bullnose wheels on the drum-shaped frame are arranged, and the positions of the three bullnose wheels are symmetrical to the positions of the three single-row omni-directional wheels which are in collision with the inner shell surface of the outer spherical shell.
The utility model has the beneficial effects that:
1. in the structure of the spherical omni-wheel mechanism based on the artificial potential field, the artificial potential field generated by the electromagnet system can strengthen the gravity potential field, so that the restoring moment is enhanced, the internal system of the spherical omni-wheel mechanism is more stable (the phenomenon that three single-row omni-wheels are in turnover movement along with the inner spherical shell can be avoided), and the related parameters of the artificial potential field can be artificially changed to enhance the restoring moment.
2. In the structure of the utility model, the mass center of the complex formed by the internal system is positioned at the lower part of the spherical omnidirectional wheel mechanism, and the mass center offset structure can keep the internal system basically stable under the action of the restoring moment, thereby avoiding the adverse effect caused by the turnover phenomenon of the internal system.
3. In the structure of the utility model, three single-row omni-directional wheels are driven by a motor to generate three speed vectors in different directions, and the three speed vectors in different directions can be combined into a speed vector in any direction in space, thereby realizing the omnibearing motion of the outer spherical shell.
4. In the structure of the utility model, the outer spherical shell seals the internal system therein, thereby preventing the adverse effect of the external environment on the internal transmission.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present utility model.
Fig. 2 is a schematic diagram of the lower hemisphere system in the embodiment of fig. 1.
Fig. 3 is a schematic diagram of the upper hemisphere system in the embodiment of fig. 1.
Fig. 4 (a) is a sectional view a-a in fig. 1.
Fig. 4 (b) is a schematic diagram of the assembly of the electromagnet in the ball of fig. 3.
Drawing number identification: 1. an inner spherical shell; 2. an outer spherical shell; 3. a single row of omni wheels; 4. a wheel carrier; 5. an elastic element; 6. a walking motor; 7. a magnetism isolating plate; 8. an electromagnet bracket; 9. an electromagnet in the ball; 10. a drum rack; 11. a bullseye wheel; 12. wheel frame; 12-1, cage-shaped frame; 12-2 annular frame body; 13. an automobile chassis; 14. an outer ball electromagnet; 15. a bullnose wheel frame.
Detailed Description
The technical scheme of the utility model is further described below with reference to the embodiment shown in the drawings.
The utility model discloses a spherical omnidirectional wheel mechanism based on an artificial potential field, which structurally comprises an outer spherical shell 2, wherein the outer spherical shell 2 is arranged at the bottom of an automobile chassis 13 through a wheel frame 12, an inner spherical shell 1 with the same spherical center is arranged in the outer spherical shell 2, and an outer spherical shell driving assembly for driving the outer spherical shell 2 to rotate is arranged on the inner spherical shell 1, as shown in figure 1.
The wheel frame 12 comprises an upper cage-shaped frame body 12-1 (the lower part is big and the upper part is small) and a lower annular frame body 12-2, the annular frame body 12-2 surrounds the spherical diameter of the outer spherical shell 2 and is in rolling connection with the outer spherical shell 2 through bullnose wheels 11 uniformly distributed on the upper circumference of the annular frame body, the bullnose wheels 11 are installed in the upper part of the cage-shaped frame body (12-1) through bullnose wheel frames 15 obliquely inwards and downwards, the horizontal circumferences of the bullnose wheels 11 are uniformly distributed and are in rolling connection with the upper part of the outer spherical shell 2, an outer spherical electromagnet 14 installed at the top of the cage-shaped frame body 12-1 is further arranged in the upper part of the cage-shaped frame body 12-1, and the lower extreme of the outer spherical electromagnet 14 is located between the bullnose wheels 11 uniformly distributed on the circumference and keeps a gap with the top of the outer spherical shell 2, as shown in fig. 2 and 3.
The outer spherical shell driving assembly comprises three single-row omni-wheels 3 which are circumferentially and uniformly distributed between the lower parts of the inner spherical shell 1 and the outer spherical shell 2, the rotation center lines of the three single-row omni-wheels 3 are obliquely intersected downwards at a point, the intersection points are positioned on a vertical line passing through the spherical center, each single-row omni-wheel 3 is arranged on a corresponding position of the lower part of the inner spherical shell 1 through a corresponding wheel frame 4, an elastic element 5 is arranged between each wheel frame 4 and the inner spherical shell 1 to press and pre-tighten the corresponding single-row omni-wheel 3 on the inner shell surface of the outer spherical shell 2, and a walking motor 6 for driving the corresponding single-row omni-wheel 3 is arranged on each wheel frame 4; the inner spherical shell 1 is arranged at the bottom of the magnetic isolation plate 7 in the upper part of the outer spherical shell 2, the magnetic isolation plate 7 is provided with an upper arch concentric drum-shaped frame 10, the drum-shaped frame 10 is in rolling connection with the upper half inner shell surface of the outer spherical shell 2 through three bull's eye wheels 11 (the positions of the bull's eye wheels are respectively symmetrical to the positions of the three single-row omni wheels 3 which are abutted against the inner shell surface of the outer spherical shell 2), the top of the magnetic isolation plate 7 in the drum-shaped frame 10 is provided with an inner spherical electromagnet 9 through an electromagnet bracket 8, and the upper extreme end of the inner spherical electromagnet 9 extends out of the outer spherical shell 2 through an opening at the top of the drum-shaped frame 10 and is opposite to and opposite to the lower extreme of the outer spherical electromagnet 14, as shown in figures 1, 2, 3, 4 (a) and 4 (b).
The working principle of the utility model is as follows:
1. the inner ball system (comprising an inner ball shell 1, three single-row omnidirectional wheels 3, an inner ball electromagnet 9 and related parts thereof) adopts an eccentric structure, and when the three single-row omnidirectional wheels 3 do not work, the eccentric of the inner ball system and the mass center of the spherical omnidirectional wheels are positioned on the same plumb straight line; the inner ball system moves together under the rotation action of the three single-row omnidirectional wheels 3, and at the moment, the eccentricity of the inner ball system and the mass center of the spherical omnidirectional wheels are not on the same plumb vertical line, so that the turnover phenomenon of the inner system can be caused.
The artificial potential field generated by the electromagnet system (the electromagnet 14 outside the ball and the electromagnet 9 inside the ball) can strengthen the gravity potential field, so that the restoring moment is enhanced, the internal system is more stable, and the phenomenon of turnover of the internal system is avoided; the electromagnetic force can be controlled manually by changing parameters such as current in the electrified coil of the electromagnet, the number of turns of the electrified coil and the like, so that the restoring moment can be controlled manually.
2. Even in the non-working state, the elastic element 5 presses the corresponding single-row omni-wheel 3 on the inner shell surface of the outer spherical shell 2, and meanwhile, the three running single-row omni-wheels 3 generate three speed vectors in different directions, and the speed vectors in the three different directions combine with the speed vectors in any direction in the space, so that the omnibearing motion of the outer spherical shell 2 is realized.
Claims (4)
1. Spherical omnidirectional wheel mechanism based on artifical potential field, including interior spherical shell (1) and outer spherical shell (2) of homocenter and locate outer spherical shell drive assembly in outer spherical shell (2) based on interior spherical shell (1), its characterized in that:
the outer spherical shell driving assembly comprises three single-row omnidirectional wheels (3) which are circumferentially and uniformly distributed between the inner spherical shell (1) and the lower part of the outer spherical shell (2), the rotation center lines of the three single-row omnidirectional wheels (3) are obliquely and downwards intersected at one point and are positioned on the vertical line passing through the spherical center, each single-row omnidirectional wheel (3) is arranged at the corresponding position of the inner spherical shell (1) through a corresponding wheel frame (4), an elastic element (5) is arranged between each wheel frame (4) and the inner spherical shell (1) to press and pre-tighten the corresponding single-row omnidirectional wheel (3) on the inner shell surface of the outer spherical shell (2), and a walking motor (6) for driving the corresponding single-row omnidirectional wheel (3) is arranged on each wheel frame (4);
the inner spherical shell (1) is arranged at the bottom of the magnetic isolation plate (7), the magnetic isolation plate (7) is provided with an upper arch concentric drum-shaped frame (10), the drum-shaped frame (10) is in rolling connection with the upper half inner shell surface of the outer spherical shell (2) through bull's eye wheels (11) uniformly distributed on the drum-shaped frame, and the top of the magnetic isolation plate (7) in the drum-shaped frame (10) is provided with an inner spherical electromagnet (9) through an electromagnet bracket (8);
the outer spherical shell (2) is arranged on an automobile chassis (13) through a wheel frame (12), an outer spherical electromagnet (14) aligned with the inner spherical electromagnet (9) is arranged in the wheel frame (12) between the automobile chassis (13) and the outer spherical shell (2), and the outer spherical electromagnet (14) is attracted with an extreme opposite pole opposite to the inner spherical electromagnet (9);
the inner ball system comprises an inner ball shell (1), three single-row omnidirectional wheels (3) and an inner ball electromagnet (9), and adopts an eccentric structure, and when the three single-row omnidirectional wheels (3) do not work, the eccentric of the inner ball system and the mass center of the spherical omnidirectional wheels are positioned on the same plumb straight line.
2. The spherical omni wheel mechanism based on artificial potential field according to claim 1, wherein: the wheel frame (12) comprises a cage-shaped frame body (12-1) on the upper portion and an annular frame body (12-2) on the lower portion, the annular frame body (12-2) surrounds the spherical diameter of the outer spherical shell (2) and is in rolling connection with the outer spherical shell (2) through bullnose wheels (11) uniformly distributed on the upper circumference of the annular frame body, the bullnose wheels (11) are installed in the upper portion of the cage-shaped frame body (12-1) through a bullnose wheel frame (15), and the bullnose wheels (11) uniformly distributed on the horizontal circumference are in rolling connection with the upper portion of the outer spherical shell (2).
3. The spherical omni wheel mechanism based on artificial potential field according to claim 2, wherein: an opening exposing the top of the electromagnet (9) in the ball is arranged at the top of the drum-shaped frame (10).
4. A spherical omni wheel mechanism based on artificial potential field according to any of claims 1-3, characterized in that: the number of the bull's eye wheels (11) on the drum-shaped frame (10) is three, and the positions of the three bull's eye wheels (11) are symmetrical to the positions of the three single-row omni wheels (3) which are in contact with the inner shell surface of the 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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| CN201711012253.0A CN107697180B (en) | 2017-10-26 | 2017-10-26 | Spherical omnidirectional wheel mechanism based on artificial potential field |
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| CN107697180B true CN107697180B (en) | 2023-10-17 |
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| GB201804867D0 (en) * | 2018-03-27 | 2018-05-09 | Ocado Innovation Ltd | A transporting 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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