CN107747589A - Any centre of gyration based on two-wheeled steering turns to and can be respectively to the method and its realization device of translation - Google Patents
Any centre of gyration based on two-wheeled steering turns to and can be respectively to the method and its realization device of translation Download PDFInfo
- Publication number
- CN107747589A CN107747589A CN201711077284.4A CN201711077284A CN107747589A CN 107747589 A CN107747589 A CN 107747589A CN 201711077284 A CN201711077284 A CN 201711077284A CN 107747589 A CN107747589 A CN 107747589A
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- China
- Prior art keywords
- steering
- translation
- centre
- rotating speed
- corner
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- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C13/00—Rolls, drums, discs, or the like; Bearings or mountings therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering Devices For Bicycles And Motorcycles (AREA)
Abstract
Realize that any centre of gyration turns to and can be respectively to the forward method and its realization device of translation the present invention relates to a kind of.It is made up of vehicle frame, active steering wheel, servo-actuated universal wheel；The active steering wheel only has two, plays driving and steering-effecting, can independent control steering, corner, rotating speed；The servo-actuated universal wheel has zero to multiple, only plays supporting, anti-inclination, no driving, with the steering of telecontrol equipment motion change adjust automatically, corner, rotating speed.By adjusting respective steerings of two active steering wheels, corner, rotating speed, any centre of gyration steering is realized and can be respectively to translation and arbitrary plane movement locus.
Description
Technical field
The present invention relates to the steering of telecontrol equipment and translation method and its implementation, be applicable to various vehicles, wheelchair,
The work head of arbitrary plane movement locus is realized, such as cuts, weld, print, draw.
Background technology
There is no at present only with two deflecting rollers can realize any centre of gyration turn to simultaneously and meanwhile can respectively the method to translation and its
Telecontrol equipment.
Existing telecontrol equipment turns to and translation situation：General vehicle is only capable of limited steering, it is impossible to in addition to fore-and-aft direction
Other direction translationals；Wheelchair, two-wheeled balance car, bicycle, motorcycle can be compared with the more flexible steerings of general vehicle, can not be to except before
Other outside direction translationals of rear；XY worktable respectively to translation but can be unable to optional turning.
The content of the invention
It is an object of the invention to provide it is a kind of realize based on two-wheeled turn to any centre of gyration turn to and can be respectively to translation
Method and its realization device.
Above-mentioned telecontrol equipment is made up of vehicle frame, active steering wheel, servo-actuated universal wheel；The active steering wheel only has two,
Driving and steering-effecting are played, can independent control steering, corner, rotating speed；The servo-actuated universal wheel has zero to multiple, only plays branch
Hold, anti-inclination effect, no driving, with the steering of telecontrol equipment motion change adjust automatically, corner, rotating speed.
Realize that any centre of gyration turns to and, using said apparatus, can pass through two actives of adjustment respectively to the method for translation
The respective steering of deflecting roller, corner, rotating speed, realize that any centre of gyration turns to and respectively can move rail to translation and arbitrary plane
Mark.
Various vehicles, wheelchair, the work head for realizing arbitrary plane movement locus are present invention can be suitably applied to, such as cut, weld,
Printing, drawing etc., method is simply clear, is easy to use.
Brief description of the drawings
Fig. 1 .1 are the forward schematic diagram of telecontrol equipment.
Fig. 1 .2 are that telecontrol equipment single-wheel turns to schematic diagram.
Fig. 1 .3 are the oblique translation of telecontrol equipment or pivot stud schematic diagram.
Fig. 1 .4 are telecontrol equipment transversal translation or pivot stud schematic diagram.
Fig. 1 .5 are that any centre of gyration of telecontrol equipment turns to schematic diagram.
Fig. 2 .1 are telecontrol equipment without servo-actuated universal wheel schematic diagram.
Fig. 2 .2 are that telecontrol equipment contains 2 servo-actuated universal wheel schematic diagrames.
Fig. 2 .3 are that telecontrol equipment contains 2 servo-actuated universal wheel schematic diagrames.
Fig. 2 .4 are that telecontrol equipment contains 2 servo-actuated universal wheel schematic diagrames.
Fig. 2 .5 are that telecontrol equipment contains 4 servo-actuated universal wheel schematic diagrames.
Fig. 2 .6 are that telecontrol equipment contains 2 servo-actuated universal wheel schematic diagrames.
Embodiment
As shown in Fig. 2 .1- Fig. 2 .6, realization device of the invention is made up of vehicle frame, active steering wheel, servo-actuated universal wheel；Institute
State active steering wheel and only have two, play driving and steering-effecting, can independent control steering, corner, rotating speed；It is described servo-actuated universal
Wheel has zero to multiple, only plays supporting, anti-inclination, no driving, with the steering of telecontrol equipment motion change adjust automatically, turn
Angle, rotating speed, it specifically can use universal wheel, omni-directional wheel, Mecanum wheel etc. can be around the wheel of two axis rotations.
Realize that any centre of gyration turns to and, using said apparatus, can pass through two actives of adjustment respectively to the method for translation
The respective steering of deflecting roller, corner, rotating speed, realize that any centre of gyration turns to and respectively can move rail to translation and arbitrary plane
Mark.
Respectively to translation：The steering angles of two active steering wheels is consistent, rotating speed is equal, direction of rotation is identical, realizes that translation is transported
It is dynamic, as shown in Fig. 1 .1, Fig. 1 .3, Fig. 1 .4；
Single-wheel turns to：Only one active steering wheel is turned to, is similar to bicycle, motorcycle, is realized that single-wheel turns to, is such as schemed
It is 1.2 shown；
Pivot stud：The steering angle of two active steering wheels consistent (steering moment is maximum during steering angle=90 degree), rotating speed phase
Deng, direction of rotation on the contrary, pivot stud is realized, as shown in Fig. 1 .3, Fig. 1 .4；
Turned to any centre of gyration：The steering angle of two active steering wheels is inconsistent, two wheel speeds of adjustment, direction of rotation, real
The incumbent meaning centre of gyration turns to and the steering of additional sliding, as shown in Fig. 1 .5.
Servo-actuated universal wheel can be Mecanum wheel, universal wheel, omni-directional wheel, and quantity is zero to multiple, and arrangement has very
It is a variety of, it is not limited to cited by Fig. 2 .1- Fig. 2 .6.The arrangement of active steering wheel also has many kinds, as can also be as shown in Fig. 1 .4
It is coaxially arranged when initial, it is impossible to enumerate.
Explanation specific implementation citing is these are only, right of the present invention is not limited, as long as there are two active steerings
Wheel, and the two-wheeled can control steering, corner, the telecontrol equipment of rotating speed alone, i.e., in the scope of the present invention.
Claims (2)
1. a kind of realize that any centre of gyration turns to and can be respectively to the telecontrol equipment of translation, it is characterised in that：The telecontrol equipment by
Vehicle frame, active steering wheel, servo-actuated universal wheel composition；The active steering wheel only has two, plays driving and steering-effecting, can be only
Vertical control steering, corner, rotating speed；The servo-actuated universal wheel has zero to multiple, only plays supporting, anti-inclination, no driving, with
The steering of telecontrol equipment motion change adjust automatically, corner, rotating speed.
2. a kind of realize that any centre of gyration turns to and can be respectively to the method for translation, it is characterised in that：Using said apparatus, pass through
The respective steering of two active steering wheels, corner, rotating speed are adjusted, realizes arbitrary plane movement locus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077284.4A CN107747589A (en) | 2017-10-26 | 2017-10-26 | Any centre of gyration based on two-wheeled steering turns to and can be respectively to the method and its realization device of translation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077284.4A CN107747589A (en) | 2017-10-26 | 2017-10-26 | Any centre of gyration based on two-wheeled steering turns to and can be respectively to the method and its realization device of translation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107747589A true CN107747589A (en) | 2018-03-02 |
Family
ID=61254406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711077284.4A Pending CN107747589A (en) | 2017-10-26 | 2017-10-26 | Any centre of gyration based on two-wheeled steering turns to and can be respectively to the method and its realization device of translation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107747589A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231816A (en) * | 2018-03-05 | 2019-09-13 | 中南大学 | Control method, apparatus, robot and the storage medium of robot ambulation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB183921A (en) * | 1921-04-29 | 1922-07-31 | Paul Alphonse Hubert Mossay | Improvements in motor propelled cranes |
| CN101761259A (en) * | 2010-01-07 | 2010-06-30 | 金华法 | Omnidirectional automobile carrying device |
| CN102582360A (en) * | 2012-02-29 | 2012-07-18 | 西华大学 | Universal castor with active driving device |
-
2017
- 2017-10-26 CN CN201711077284.4A patent/CN107747589A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB183921A (en) * | 1921-04-29 | 1922-07-31 | Paul Alphonse Hubert Mossay | Improvements in motor propelled cranes |
| CN101761259A (en) * | 2010-01-07 | 2010-06-30 | 金华法 | Omnidirectional automobile carrying device |
| CN102582360A (en) * | 2012-02-29 | 2012-07-18 | 西华大学 | Universal castor with active driving device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231816A (en) * | 2018-03-05 | 2019-09-13 | 中南大学 | Control method, apparatus, robot and the storage medium of robot ambulation |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |