CN110525392A - A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system - Google Patents
A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system Download PDFInfo
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- CN110525392A CN110525392A CN201910955393.4A CN201910955393A CN110525392A CN 110525392 A CN110525392 A CN 110525392A CN 201910955393 A CN201910955393 A CN 201910955393A CN 110525392 A CN110525392 A CN 110525392A
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- wheel group
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- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 230000005484 gravity Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 description 12
- 230000006870 function Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
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- 238000012856 packing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The present embodiments relate to robot architecture fields, disclose a kind of chassis of Omni-mobile, the chassis system of Omni-mobile and robot system.The chassis of Omni-mobile includes: carrier frame, the first driving wheel group and the second driving wheel group in the present invention, and the first driving wheel group and the second driving wheel group are arranged at below carrier frame；First driving wheel group is arranged along first direction, and the driving direction of the first driving wheel group is consistent with second direction, wherein the central axes of the first driving wheel group and the central axes of the second driving wheel group form the direction T-shaped, second direction is advanced for carrier frame；Second driving wheel group is arranged in a second direction, and the driving direction of the second driving wheel group is consistent with first direction.Present embodiment moves chassis quickly and accurately, improves the precision of the movement on Omni-mobile chassis.
Description
Technical field
The present embodiments relate to robot architecture field, in particular to a kind of chassis of Omni-mobile, Omni-mobile
Chassis system and robot system.
Background technique
There are huge demand and potentiality by robot market.By taking electricity changing robot as an example, with new-energy automobile market
It is continuously increased, the also sustainable growth of new energy vehicle electrical energy demands, pure electric automobile ownership reaches 2,210,000 within 2018, it is contemplated that arrives
The end of the year 2025 were up to 0.35 hundred million, the year two thousand twenty electric car year electricity consumption will be up to 40,000,000,000 kWh, it is contemplated that it is electronic by 2025
The year electricity consumption of automobile will be more than 280,000,000,000 kWh, this will bring about 170,000,000,000 yuan of market scale.Certainly as solution electric car
Move the Core equipment of electricity, the application prospect of electricity changing robot has a high potential.
There are the mobile control on chassis essences for the robot including electricity changing robot of inventor's discovery in the related technology
Spend the problems such as poor, drive control algorithm is complicated.
Summary of the invention
A kind of chassis for being designed to provide Omni-mobile of embodiment of the present invention, Omni-mobile chassis system and machine
Device people's system, moves chassis quickly and accurately, improves the precision of the movement on Omni-mobile chassis.
In order to solve the above technical problems, embodiments of the present invention provide a kind of chassis of Omni-mobile, comprising: chassis
Frame, the first driving wheel group and the second driving wheel group, the first driving wheel group and the second driving wheel group are arranged under carrier frame
Side；First driving wheel group is arranged along first direction, and the driving direction of the first driving wheel group is consistent with second direction, wherein the
One direction is vertical with second direction, and second direction is the direction that carrier frame advances；Second driving wheel group is arranged in a second direction,
And second driving wheel group driving direction it is consistent with first direction；Wherein, the central axes of the first driving wheel group and the second driving wheel
The central axes of group form T-shaped.
Embodiments of the present invention additionally provide a kind of chassis system of Omni-mobile, comprising: operating terminal and above-mentioned
The chassis of Omni-mobile；The chassis of operating terminal and Omni-mobile communication connection, for sending movement instruction；The bottom of Omni-mobile
Packing is moved according to movement instruction.
Embodiments of the present invention additionally provide a kind of robot system, comprising: robot body；And above-mentioned omnidirectional
Mobile chassis.
The first driving wheel group is arranged in terms of existing technologies, along first direction in embodiment of the present invention, along second party
To the second driving wheel group of setting, and first direction and second direction are vertical, the direction that second direction is advanced for carrier frame, and first
The driving direction of driving wheel group is consistent with second direction, and the driving direction of the second driving wheel group is consistent with first direction, and the
The central axes of one driving wheel group and the central axes of the second driving wheel group form T-shaped.By the way that two movements are individually arranged
The driving wheel group in direction can be moved in a second direction by individually controlling the first driving wheel group, or individually control second is driven
Driving wheel group is moved along first direction.The chassis is allowed due to generating active force simultaneously without the first driving wheel group and the second driving wheel group
Frame moves in a second direction, realizes the decoupling of first direction and second direction movement, simplifies the chassis of the Omni-mobile
Corresponding driving algorithm, improves the speed of the bobbin movement of the Omni-mobile and the speed of motor imagination；In addition, due to each
Driving wheel is driven by respective driving motor, and revolving speed and rotation to respective corresponding driving wheel may be implemented in each driving motor
The control in direction so as to realize that the accuracy of motion control of the chassis in all directions is promoted, and then improves the omnidirectional
The positioning accuracy on mobile chassis.
In addition, the first driving wheel group includes: two the first driving wheels, and it is respectively used to two the first driving wheels of driving
The output shaft of two the first driving motors, each first driving wheel and corresponding first driving motor is rigidly connected, each
First driving motor is communicated to connect with control module, controls each first driving motor by control module；Wherein, each first
Driving wheel and corresponding first driving motor are arranged below carrier frame along first direction.Due to the first driving wheel
Group includes two the first driving wheels and drives electricity with one-to-one first driving motor of each first driving wheel, each first
Machine can control corresponding first driving wheel rotation, and the first driving motor and control module communicate to connect, so that control
Module drives the rotation of the first driving wheel, when two the first driving wheels are synchronized in the same direction, realize second party by control driving motor
To movement, realize turning function in two the first driving wheel differentials, control is simple, flexibly.
In addition, the chassis of Omni-mobile further include: the first driven wheel group being made of the first driven wheel and the second driven wheel；
First driven wheel and the second driven wheel are arranged below carrier frame along first direction, and the first driven wheel and one first drive
Driving wheel is symmetrical arranged, and the second driven wheel and another first driving wheel are symmetrical arranged；The central axes of first driven wheel group, first drive
The central axes of driving wheel group and the central axes of the second driving wheel group form I-shaped shape.By being symmetrical arranged the first driven wheel and the
Two driven wheels, and the central axes of the central axes of the first driven wheel group, the central axes of the first driving wheel group and the second driving wheel group
I-shaped shape is formed, increased first driven wheel group makes the movement of carrier frame more stable, improves the Omni-mobile bottom
The stability of disk and the speed for improving movement save driving force.
In addition, the second driving wheel group includes: two the second driving wheels, and it is respectively used to two the second driving wheels of driving
The output shaft of two the second driving motors, each second driving wheel and corresponding second driving motor is rigidly connected, each
Second driving motor is communicated to connect with control module, controls each second driving motor by control module；Wherein, each second
Driving wheel and corresponding second driving motor are arranged in below carrier frame in a second direction.Due to the second driving wheel
Group includes two the second driving wheels and drives electricity with one-to-one second driving motor of each second driving wheel, each second
Machine can control corresponding second driving wheel rotation, and the second driving motor and control module communicate to connect, so that control
Module drives the rotation of the second driving wheel, when two the second driving wheels are synchronized in the same direction, realize first party by control driving motor
To movement, realize turning function in two the second driving wheel differentials, control is simple, flexibly.
In addition, the central axes of two the second driving wheels pass through the center of gravity of carrier frame.The company that two the second driving wheels are formed
Line passes through the center of gravity on chassis, it is ensured that in the work of the second driving wheel group, which can guarantee to balance, it is ensured that
Stability in the Omni-mobile chassis moving process.
In addition, the shape of carrier frame includes any of the following: round and polygon；Setting below carrier frame
Multiple grooves, multiple grooves are respectively used to the first driving wheel group of installation and the second driving wheel group.There are many shapes of carrier frame,
Improve the applicability on the Omni-mobile chassis；In addition multiple grooves are set below the carrier frame, driven for installing first
Driving wheel group and the second driving wheel group, allow to reduce the center of gravity on the chassis of the Omni-mobile, further increase the Omni-mobile
Chassis stability.
In addition, the driving wheel in the first driving wheel group and the second driving wheel group includes omni-directional wheel.It is arranged using omni-directional wheel,
The resistance in different directions moving process can be reduced, the mobile speed in the Omni-mobile chassis is improved, saves driving force.
In addition, it includes: the first reserved area and the second reserved area that carrier frame lower section, which includes: below carrier frame,；The
One reserved area and the second reserved area using the center line of carrier frame as symmetry axis, be symmetricly set below carrier frame two
End, centerline parallel is in first direction；First driving wheel group and the second driving wheel group are set to the first reserved area and second in advance
It stays in region.First reserved area and the second reserved area are for being arranged the first driving wheel group and the second driving wheel group, and first
Reserved area and the second reserved area using the center line of carrier frame as symmetry axis, be symmetricly set below carrier frame two
End, since trough only takes up the both ends of carrier frame, the first driving wheel group and the second driving wheel group are set to two troughs
Driving wheel group can be effectively reduced in domain to the occupancy of borderline region each below carrier frame, improved to carrier frame lower space
Reasonable utilization, solve the problems, such as carrier frame side without reserved space, driving wheel can not be installed.
In addition, Omni-mobile chassis further includes the control module being set on carrier frame, control module distinguishes communication link
Connect the first driving wheel group and the second driving wheel group；Control module is specifically used for: receiving the movement instruction that operating terminal is sent；It will
Movement instruction conversion is driving instruction；The driving instruction is sent to the first driving wheel group and/or the second driving wheel group, is controlled
First driving wheel group and/or the second driving wheel group.Control module can receive the movement instruction of operating terminal transmission, and then control
First driving wheel group and the second driving wheel group.
In addition, two the first driving wheel differentials of the first driving wheel group rotate so that the chassis of Omni-mobile is turned；First
Two the first driving wheels are rotate in same direction at the same speed so that the chassis of Omni-mobile moves in a second direction in driving wheel group.
In addition, two the second driving wheel differential rotations are so that the chassis of Omni-mobile is turned in the second driving wheel group；Second
Two the second driving wheels in driving wheel group rotate in same direction at the same speed, so that the chassis of Omni-mobile is moved along first direction.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of specific structure signal on the chassis for the Omni-mobile mentioned in first embodiment according to the present invention
Figure；
Fig. 2 is that chassis frame structure shows in a kind of chassis for the Omni-mobile mentioned in first embodiment according to the present invention
It is intended to；
Fig. 3 is a kind of side view on the chassis for the Omni-mobile mentioned in first embodiment according to the present invention；
Fig. 4 is carrier frame signal in a kind of chassis for the Omni-mobile mentioned in second embodiment according to the present invention
Figure；
Fig. 5 is a kind of block diagram of the chassis system for the Omni-mobile mentioned in third embodiment according to the present invention；
Fig. 6 is the block diagram for the robot system mentioned in the 4th embodiment according to the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, the application technical solution claimed also may be implemented.
The division of each embodiment is for convenience, should not to constitute to specific implementation of the invention any below
It limits, each embodiment can be combined with each other mutual reference under the premise of reconcilable.
The chassis of the robot of the prior art is commonly installed three 120 degree of omni-directional wheel, and the chassis of this structure needs same
When drive three omni-directional wheels, can just make chassis move according to specified direction, the drive control algorithm on chassis is extremely complex,
It could be determined jointly since direction needs to control three wheels, if deviation has occurred in the direction of one of wheel, will lead to this
There are many direction of bobbin movement and anticipated orientation deviation, so as to cause the problem of positioning accuracy difference.
The first embodiment of the present invention is related to a kind of chassis of Omni-mobile.The chassis of the Omni-mobile can be used for pacifying
Machine human body, such as the body part of electricity changing robot.The specific structure on the chassis 1 of the Omni-mobile is as shown in Figure 1, packet
It includes: carrier frame 10, the first driving wheel group 30 and the second driving wheel group 40.
First driving wheel group 30 and the second driving wheel group 40 are arranged at below carrier frame, can be with below the carrier frame
For close to the one side on ground.The shape of carrier frame 10 can round, polygon, for example, triangle, square, regular hexagon
Deng.Carrier frame is illustrated by taking the most common square as an example in present embodiment.
First driving wheel group 30 is arranged along first direction, and the driving direction of the first driving wheel group is consistent with second direction,
Wherein, first direction is vertical with second direction.Second driving wheel group 40 is arranged in a second direction, and the drive of the second driving wheel group 40
Dynamic direction is consistent with first direction.Wherein, the central axes of the first driving wheel group 30 and the central axes of the second driving wheel group 40 form T
Word shape.In one embodiment, first direction can be horizontal X-direction, and second direction can be the Y vertical with X-axis
Direction.
It include: the first reserved area 101-1 and the second reserved area 101-2 below carrier frame；First reserved area
101-1 and the second reserved area 101-2 are symmetricly set below carrier frame using the center line of carrier frame 10 as symmetry axis
Both ends, centerline parallel is in first direction；First driving wheel group 30 and the second driving wheel group 40 are arranged in the first reserved area
In 101-1 and the second reserved area 101-2.As shown in Figure 1, carrier frame 10 can be complete cubic stereochemical structure, the bottom
For close to the one side on ground, carrier frame top is the one side opposite with below carrier frame, the chassis frame below disk frame
Holding tank 102 can be set above frame, for placing body part corresponding with chassis, for example, the body part of robot；It should
The shape of holding tank 102 is corresponding with body part, so as to seamless receiving body part.
For the ease of the first driving wheel group 30 and the second driving wheel group 40 are arranged below carrier frame, reduce to chassis frame
The occupancy in the space below frame can divide the first reserved area 101-1 and the second reserved area 101-2 in advance, this is first pre-
It stays region 101-1 and the second reserved area 101-2 using the center line of carrier frame 10 as symmetry axis, is symmetricly set on carrier frame
The both ends of lower section, centerline parallel is in first direction.For example, the flat shape of the vertical view of the carrier frame 10 is as shown in Figure 1
Rectangle, can will be close to carrier frame front (for example, using with the consistent face in front of robot body as carrier frame just
Face) side as the first reserved area 101-1, the second reserved area 101-2 and the first reserved area 101-1 be symmetrical arranged.It will
First driving wheel group 30 and the second driving wheel group 40 are arranged in the first reserved area 101-1 and the second reserved area 101-2, by
The both ends of carrier frame are only taken up in reserved area, the first driving wheel group 30 and the setting of the second driving wheel group 40 is reserved at two
The region of the first driving wheel group 30 and the installation of the second driving wheel group 40 is defined in region, so as to improve under carrier frame
The reasonable utilization of side space, so solve the problems, such as carrier frame side without reserved space, driving wheel can not be installed.With
For electricity changing robot, two second sides can be installed by guide rail in Fig. 1, simultaneously because two sides are without installing the first driving wheel
Group and the second driving wheel group, thus save installation space.
In one embodiment, the chassis 1 of Omni-mobile can also include that control module 20 (due to blocking, is not shown in Fig. 1
Out), and control module can be set inside carrier frame 10, communicate to connect the first driving wheel group 30 and the second driving respectively
Wheel group 40, for controlling the first driving wheel group 30 and the second driving wheel group 40.
Specifically, carrier frame 10 can be three-dimensional structure, and control module can be arranged in carrier frame 10
Inside, avoid it is exposed damage outside, which is not shown in Fig. 1.The control module 20 can be micro- place
Manage device such as, micro-control unit (Microcontroller Unit, referred to as " MCU ").The control module 20 and the first driving wheel group
30 can be connected with the second driving wheel group 40 by the way of being wirelessly connected, and can also be realized and be communicated by wired connection mode
Connection.Control module can store the driving instruction for controlling the first driving wheel group 30 and the second driving wheel group 40；It can also be with
The movement instruction that operating terminal is sent is received, is driving instruction by movement instruction conversion, driving instruction is sent to the first driving
Wheel group 30 and/or the second driving wheel group 40, to control the first driving wheel group 30 and/or the second driving wheel group 40.Operating terminal can
Think the device except the chassis of the Omni-mobile, which is wirelessly connected with the control module or wired connection, behaviour
Make terminal and movement instruction is sent to control module, which is driving instruction by movement instruction conversion, thus control the
One driving wheel group and the second driving wheel group.
First driving wheel group 30 as shown in Figure 1 is arranged along first direction, and the driving direction of the first driving wheel group 30 and the
Two directions are consistent, wherein first direction is vertical with second direction, and second direction is the direction that carrier frame advances；Second driving
Wheel group 40 is arranged in a second direction, and the driving direction of the second driving wheel group 40 is consistent with first direction, the first driving wheel group
Central axes and the central axes of the second driving wheel group form T-shaped.In order to make it easy to understand, being discussed in detail below with reference to Fig. 1 and Fig. 2
The setting of first driving wheel group 30 and the second driving wheel group 40.Fig. 2 is the structural schematic diagram below carrier frame.
In one concrete implementation, the first driving wheel group 30 include: two the first driving wheels (301-1 in such as Fig. 2 and
301-2), it and is respectively used to drive two the first driving motors (302-1 and 302- in such as Fig. 2 of two the first driving wheels
2), the output shaft of each first driving wheel and corresponding first driving motor is rigidly connected, and each first driving motor is equal
It is communicated to connect with control module, the first driving motor 302-1 and the first driving motor 302-2 is controlled by control module；Wherein, often
The driving of a first driving wheel 301-1 and the first driving motor 301-2 and corresponding first driving motor 302-1 and first
Motor 302-2 is arranged in the second reserved area 101-2 below carrier frame along first direction.In one embodiment,
Control module is arranged in carrier frame.
It, can be by the first driving wheel 301-1 and another in order to keep the balance of the carrier frame 10 in moving process
First driving wheel 301-2 is arranged in the second reserved area 101-2 below the carrier frame 10, setting as shown in Figure 2.The
The rigid connection of the output shaft of one driving wheel 301-1 and the first driving motor 302-1, thus the second driving motor 302-1 and first
Driving wheel 301-1's is disposed adjacent.Wherein, the first driving wheel group 30 two the first driving wheels (i.e. the first driving wheel 301-1 and
Another first driving wheel 301-2) differential rotation so that the chassis of Omni-mobile is turned；Two first in first driving wheel group 30
Driving wheel (i.e. the first driving wheel 301-1 and another first driving wheel 301-2) rotates in same direction the bottom so that Omni-mobile at the same speed
Disk moves in a second direction.
In order to make it easy to understand, the direction of the X-axis in first direction such as Fig. 2, second direction is the Y direction in Fig. 2.
The working principle of the first driving wheel group 30 is described below, the first driving motor 302-1 is according to the driving received
Order-driven the first driving wheel 301-1 rotation, another the first driving motor 302-2 drive the according to the driving instruction that receives
One driving wheel 301-2 rotation.Driving instruction is from control module.In the first driving wheel 301-1 and another first driving wheel
When 301-2 is rotated at the same speed in the same direction, two the first driving wheels of the first driving wheel group 30 move in a second direction；When the first driving
When taking turns 301-1 and the rotation of another the first driving wheel 301-2 differential, turning motion is may be implemented in the chassis 1 of Omni-mobile；When
When one driving wheel 301-1 and another first driving wheel 301-2 are rotated backward, the chassis 1 of Omni-mobile, which is realized, rotates in place fortune
It is dynamic.
Second driving wheel group 40 includes: two the second driving wheels (401-1 and 401-2 in such as Fig. 2), and is respectively used to
Drive two the second driving wheels two the second driving motors (being not shown in Fig. 1 and Fig. 2), each second driving wheel and respectively
The output shaft of corresponding second driving motor is rigidly connected, and each second driving motor is communicated to connect with control module, control
Module controls each second driving motor；Wherein, each second driving wheel and corresponding second driving motor are along
Two directions are arranged below carrier frame.In one embodiment, control module is arranged in carrier frame.
Specifically, in order to keep the balance of the carrier frame 10 in moving process, two the second driving wheel 401-1 and
The central axes of 401-2 pass through the center of gravity of carrier frame, dotted line centroidal O as shown in Figure 2；As shown in Fig. 2, the second driving wheel
401-1 can be set in the first reserved area 101-1, another the second driving wheel 401-2 is arranged in the second reserved area 101-2
It is interior.Each second driving wheel is rigidly connected with the output shaft of corresponding second driving motor, thus each second driving motor
With being disposed adjacent for corresponding second driving wheel.Two the second driving wheel (i.e. the second driving wheel 401-1 in second driving wheel group 40
It rotates with another the second driving wheel 401-2) differential so that the chassis of Omni-mobile is turned；Two in second driving wheel group 40
Second driving wheel (i.e. the second driving wheel 401-1 and another second driving wheel 401-2) rotates in same direction at the same speed, so that Omni-mobile
Chassis moved along first direction.
The working principle of second driving wheel group 40 is similar with the principle that the first driving wheel group 30 works, the second driving motor
(Fig. 1 and Fig. 2 are not shown) drives the second driving wheel 401-1 rotation according to the driving instruction received, another the second driving electricity
Machine drives the second driving wheel 401-2 rotation according to the driving instruction received.Driving instruction is from control module.It is driven second
When driving wheel 401-1 and another second driving wheel 401-2 are rotated at the same speed in the same direction, two second drivings of the second driving wheel group 40
Wheel is moved along first direction；When second driving wheel 401-1 and another the second driving wheel 401-2 differential rotate, Omni-mobile
The function of turning may be implemented in chassis 1；When the second driving wheel 401-1 and another second driving wheel 401-2 are rotated backward, entirely
The function of rotating in place may be implemented to mobile chassis 1.
First driving wheel group 301 and the second driving wheel group 401 can also be driven simultaneously, for example, the first driving wheel group 301
In the first driving wheel 301-1 and the first driving wheel 301-1 along Y-axis positive direction (Y direction as shown in Figure 2) at the same speed turn
It is dynamic, while the second driving wheel 401-1 in the second driving wheel group 401 and the second driving wheel 401-2 are along X-axis positive direction (such as Fig. 2
Shown in X-direction) synchronized rotation, then the chassis 1 of the Omni-mobile will be realized along moving with the inclined direction of X-axis, be tilted
Angle can angle between the direction of motion and X-axis positive direction, the first driving in angular dimension and the first driving wheel group 30
The velocity of rotation of wheel is related to rotation direction, while the angular dimension also rotation with the second driving wheel in the second driving wheel group 40
Speed is related to rotation direction.
It should be noted that saving driving force, the first driving to reduce the resistance in the bobbin movement of the Omni-mobile
Driving wheel in wheel group 30 and the second driving wheel group 40 includes omni-directional wheel；For example, the first driving wheel in the first driving wheel group
Main driving direction is second direction (i.e. Y direction in Fig. 2), and the main driving direction of the second driving wheel is in the second driving wheel group
First direction (i.e. X-direction in Fig. 2).Caused by Mecanum wheel-drive mode control coupling in compared with the prior art
Control method it is more complicated, be easy to appear skidding, the problems such as positioning accuracy is lower, omni-directional wheel, control are used in present embodiment
Mode processed is simple, further simplifies driving algorithm corresponding to the chassis of the Omni-mobile, and be also not easy to have skidded shows
As can be improved positioning accuracy.
Multiple grooves (groove 501-504 i.e. shown in Fig. 2) can be set below carrier frame, multiple grooves are used respectively
In installing the first driving wheel group and the second driving wheel group, specific structure is as shown in Figure 2, to install the first driving wheel 301-1's
For groove 501,501 plan view shape of groove is as shown in Figure 2, can be rectangular to match with driving wheel 301-1 diameter
Shape, the size of the groove 501 and the first driving wheel are adapted, so that first driving wheel 301-1 can be set in the groove 501
It is interior.For installing the groove 503 of the second driving wheel 401-1, the size of the groove 503 and the second driving wheel 401-1 are adapted,
So that second driving wheel 401-1 can be set in the groove 503.In addition, the first driving motor and the second driving motor
To be mounted in closed groove, to protect motor.
Fig. 3 shows a kind of side view on the chassis for the Omni-mobile mentioned in first embodiment according to the present invention.In Fig. 3
It can see the second driving wheel 401-2, the first driving wheel 301-1 and the first driving wheel 301-2, it can be seen that recessed by being arranged
Slot, reduces the center of gravity on entire chassis, so that after body part corresponding to the chassis of the Omni-mobile is installed, entire robot
Center of gravity reduce, be conducive to robot is kept in moving process balance.
The first driving wheel group is arranged in terms of existing technologies, along first direction in embodiment of the present invention, along second party
To the second driving wheel group of setting, and first direction and second direction are vertical, the direction that second direction is advanced for carrier frame, and first
The driving direction of driving wheel group is consistent with second direction, and the driving direction of the second driving wheel group is consistent with first direction, and the
The central axes of one driving wheel group and the central axes of the second driving wheel group form T-shaped.By the way that two movements are individually arranged
The driving wheel group in direction can be moved in a second direction by individually controlling the first driving wheel group, or individually control second is driven
Driving wheel group is moved along first direction.The chassis is allowed due to generating active force simultaneously without the first driving wheel group and the second driving wheel group
Frame moves in a second direction, realizes the decoupling of first direction and second direction movement, simplifies the chassis of the Omni-mobile
Corresponding driving algorithm, improves the speed of the bobbin movement of the Omni-mobile and the speed of motor imagination；In addition, due to each
Driving wheel is driven by respective driving motor, and revolving speed and rotation to respective corresponding driving wheel may be implemented in each driving motor
The control in direction so as to realize that the accuracy of motion control of the chassis in all directions is promoted, and then improves the omnidirectional
The positioning accuracy on mobile chassis.
Second embodiment of the present invention is related to a kind of chassis of Omni-mobile.In second embodiment of the invention, entirely
To mobile chassis further include: the first driven wheel group being made of the first driven wheel 303 and the second driven wheel 304；First is driven
Wheel 303 and the second driven wheel 304 are arranged on carrier frame along first direction, and the first driven wheel 303 and one first drive
Driving wheel 301-1 is symmetrical arranged using being parallel to the carrier frame center line of first direction as symmetry axis, the second driven wheel 304 with it is another
One the first driving wheel 301-2 is symmetrical arranged using the carrier frame center line for being parallel to first direction as symmetry axis；First is driven
The central axes of the central axes of wheel group, the central axes of the first driving wheel group 30 and the second driving wheel group 40 form I-shaped shape.It should
The specific structure of the carrier frame on the chassis of Omni-mobile is as shown in Figure 4.
Specifically, as shown in figure 4, first driven wheel 303 and the second driven wheel 304 are arranged at the first reserved area
In 101-1, and the first driven wheel 303 and the first driving wheel 301-1 are pair with the carrier frame center line for being parallel to first direction
Claim axis, be symmetrical arranged, the second driven wheel 304 is parallel to the carrier frame of first direction with another the first driving wheel 301-2
Center line is symmetry axis, is symmetrical arranged, and the central axes of the first driven wheel group, the central axes of the first driving wheel group 30 and second drive
The central axes of driving wheel group 40 form I-shaped shape.It is understood that the first driven wheel 303 and the second driven wheel 304 are also provided with
In the groove below carrier frame, in Fig. 4, the first driven wheel 303 is arranged in groove 505, the setting of the second driven wheel 304
In groove 506.
The chassis for the Omni-mobile that present embodiment provides improves the Omni-mobile bottom by being symmetrical arranged driven wheel
The stability of disk and the speed for improving movement, save driving force.
Third embodiment of the invention is related to a kind of chassis system of Omni-mobile, the tool of the chassis system of the Omni-mobile
Body structure is as shown in Figure 5, comprising: operating terminal 2 and such as bottom of first embodiment or the Omni-mobile in second embodiment
Disk 1.The chassis 1 of operating terminal 2 and Omni-mobile communicates to connect, for sending movement instruction；The chassis 1 of Omni-mobile is according to fortune
Dynamic instruction movement.
Specifically, operating terminal can be the electronic equipment with processing function, communication function, which can be with
It is communicated to connect with control module, wherein control module can be set can also be arranged on entirely in the chassis of the Omni-mobile 1
To the outside of mobile chassis 1.The movement instruction of the available user's input of operating terminal, can also be raw according to extraneous environment
At movement instruction.Operating terminal can independently of the Omni-mobile chassis 1 or be mounted on the Omni-mobile chassis institute it is right
In the body part answered.Control module in the chassis 1 of Omni-mobile receives the movement instruction, and is by the movement instruction conversion
Driving instruction drives the driving motor in the first driving wheel group and the second driving wheel group by driving instruction, so that this is complete
It is moved to mobile chassis 1 according to the movement instruction that operating terminal issues.
It is not difficult to find that present embodiment is system embodiment corresponding with first embodiment, present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
It wherein, include: memory and processor in control module in the chassis of operating terminal 2 and Omni-mobile, this is deposited
Reservoir is connected with processor using bus mode, and bus may include the bus and bridge of any number of interconnection, and bus is by one
Or the various circuits of multiple processors and memory link together.Bus can also will such as peripheral equipment, voltage-stablizer and function
Various other circuits of rate management circuit or the like link together, and these are all it is known in the art, therefore, herein no longer
It is described further.Bus interface provides interface between bus and transceiver.Transceiver can be an element,
It can be multiple element, such as multiple receivers and transmitter, provide for being communicated over a transmission medium with various other devices
Unit.The data handled through processor are transmitted on the radio medium by antenna, and further, antenna also receives data simultaneously
Transfer data to processor.
Processor is responsible for managing bus and common processing, can also provide various functions, including periodically, peripheral interface,
Voltage adjusting, power management and other control functions.And memory can be used for storage processor and execute operation when institute
The data used.
Four embodiment of the invention is related to a kind of robot system, and the structure of the robot system is as shown in fig. 6, include
Robot body 3；And such as first embodiment or the chassis 1 of the Omni-mobile in second embodiment.
It should be noted that robot body 3 can be electricity changing robot ontology, guest-greeting machine human body etc., the machine
It may include operating terminal in human body 3；Robot body 3 is placed in the holding tank 102 on the chassis 1 of Omni-mobile.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that one
A equipment (can be single-chip microcontroller, chip etc.) or processor (processor) execute each embodiment the method for the application
All or part of the steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (13)
1. a kind of chassis of Omni-mobile characterized by comprising carrier frame, the first driving wheel group and the second driving wheel group,
The first driving wheel group and the second driving wheel group are arranged at below the carrier frame；
The first driving wheel group is arranged along first direction, and the driving direction of the first driving wheel group and second direction one
It causes, wherein the first direction is vertical with the second direction；
The second driving wheel group is arranged along the second direction, and the driving direction of the second driving wheel group and described first
Direction is consistent；
Wherein, the central axes of the first driving wheel group and the central axes of the second driving wheel group are formed T-shaped.
2. the chassis of Omni-mobile according to claim 1, which is characterized in that the first driving wheel group includes: two
First driving wheel, and it is respectively used to drive two the first driving motors of described two first driving wheels, each described first
The output shaft of driving wheel and corresponding first driving motor is rigidly connected, each first driving motor with control
The communication connection of molding block, the control module control each first driving motor；
Wherein, each first driving wheel and corresponding first driving motor are arranged along the first direction
Below the carrier frame.
3. the chassis of Omni-mobile according to claim 2, which is characterized in that the chassis of the Omni-mobile further include:
The first driven wheel group being made of the first driven wheel and the second driven wheel；
First driven wheel and second driven wheel are arranged below the carrier frame along the first direction, and institute
It states the first driven wheel and first driving wheel is symmetrical arranged, second driven wheel and another described first driving wheel
It is symmetrical arranged；
In the central axes of the first driven wheel group, the central axes of the first driving wheel group and the second driving wheel group
Axis forms I-shaped shape.
4. the chassis of Omni-mobile according to claim 1, which is characterized in that the second driving wheel group includes: two
Second driving wheel, and it is respectively used to drive two the second driving motors of described two second driving wheels, each described second
The output shaft of driving wheel and corresponding second driving motor is rigidly connected, each second driving motor with control mould
Block communication connection, the control module control each second driving motor；
Wherein, each second driving wheel and corresponding second driving motor are arranged along the second direction
Below the carrier frame.
5. the chassis of Omni-mobile according to claim 4, which is characterized in that the central axes of described two second driving wheels
Across the center of gravity of the carrier frame.
6. the chassis of Omni-mobile according to any one of claim 1 to 5, which is characterized in that the carrier frame
Shape includes any of the following: round and polygon；
Multiple grooves are set below the carrier frame, and the multiple groove is respectively used to install the first driving wheel group and institute
State the second driving wheel group.
7. the chassis of Omni-mobile according to any one of claim 1 to 5, which is characterized in that first driving wheel
Driving wheel in group and the second driving wheel group includes omni-directional wheel.
8. the chassis of Omni-mobile according to any one of claim 1 to 5, which is characterized in that under the carrier frame
Side includes: the first reserved area and the second reserved area；
First reserved area and second reserved area are symmetrical arranged using the center line of the carrier frame as symmetry axis
Both ends below the carrier frame, the centerline parallel is in the first direction；
The first driving wheel group and the second driving wheel group are set to first reserved area and second trough
In domain.
9. the chassis of Omni-mobile according to claim 2 or 4, which is characterized in that the Omni-mobile chassis further includes
The control module being set on the carrier frame, the control module communicate to connect the first driving wheel group and described respectively
Second driving wheel group, the control module are used for:
Receive the movement instruction that operating terminal is sent；
It is driving instruction by the movement instruction conversion；
The driving instruction is sent to the first driving wheel group and/or the second driving wheel group, described first is controlled and drives
Driving wheel and/or second driving wheel movement.
10. the chassis of Omni-mobile according to claim 2, which is characterized in that two institutes of the first driving wheel group
The rotation of the first driving wheel differential is stated so that the chassis of Omni-mobile is turned；
Two first driving wheels rotate in same direction at the same speed in the first driving wheel group, so that the chassis edge of the Omni-mobile
Second direction movement.
11. the chassis of Omni-mobile according to claim 4, which is characterized in that two institutes in the second driving wheel group
The rotation of the second driving wheel differential is stated so that the chassis of Omni-mobile is turned；Two described second in the second driving wheel group are driven
Driving wheel rotates in same direction at the same speed, so that the chassis of the Omni-mobile is moved along first direction.
12. a kind of chassis system of Omni-mobile, comprising: operating terminal and complete as described in any one of claims 1 to 11
To mobile chassis；
The chassis of the operating terminal and the Omni-mobile communicates to connect, for sending movement instruction；
The chassis of the Omni-mobile is moved according to the movement instruction.
13. a kind of robot system, comprising:
Robot body；And
The chassis of Omni-mobile as described in any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910955393.4A CN110525392A (en) | 2019-10-09 | 2019-10-09 | A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910955393.4A CN110525392A (en) | 2019-10-09 | 2019-10-09 | A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system |
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| CN110525392A true CN110525392A (en) | 2019-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910955393.4A Pending CN110525392A (en) | 2019-10-09 | 2019-10-09 | A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112647684A (en) * | 2020-12-23 | 2021-04-13 | 重庆科技学院 | Positioning and moving system of wall plastering machine |
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