CN111873698A - Omnidirectional vehicle with angle-variable omnidirectional wheels - Google Patents
Omnidirectional vehicle with angle-variable omnidirectional wheels Download PDFInfo
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- CN111873698A CN111873698A CN202010717068.7A CN202010717068A CN111873698A CN 111873698 A CN111873698 A CN 111873698A CN 202010717068 A CN202010717068 A CN 202010717068A CN 111873698 A CN111873698 A CN 111873698A
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- angle
- variable
- omnidirectional
- wheel
- roller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
A variable angle omni wheel, comprising: the device comprises a turntable, a corner adjusting device, a roller unit and a connecting branched chain device; the rotation angle adjusting device includes: the rotary driving part, the connecting rod and the supporting hub are arranged on the support frame; the connecting branch chain device comprises: branch chain, lead screw and nut. The roller unit includes: support frame, revolute pair and roller, wherein: the support frame is arranged at the tail end of the branched chain, and the roller is movably arranged in the support frame through a rotating pair. Omnidirectional vehicle with variable angle omni wheels, comprising: the device comprises a vehicle body and four variable-angle omnidirectional wheels; the invention converts the rotation motion of the central shaft into the rotation motion of a plurality of rollers which are vertical to the axis and are uniformly distributed on the circumference through the rotation angle adjusting device, the rollers can synchronously rotate at any installation angle under the action of the rotation angle adjusting device and are not interfered with each other, the direction of the friction force given to the rollers by the ground can be changed by the change of the installation angle of the rollers, the omnidirectional flexibility is further improved, the omnidirectional motion of the platform can be realized, and the installation compactness and the advancing efficiency under different motion states can be considered at the same time.
Description
Technical Field
The invention relates to a technology in the field of transportation automation, in particular to an omnidirectional vehicle with variable-angle omnidirectional wheels.
Background
The Mecanum wheels, the Omni wheels and the like are widely applied to an omnidirectional moving system, and the axes of the rollers uniformly distributed on the circumference and the center line of the circumference form an angle in a unified manner, so that the platform can move in various poses according to the component force combination of four or more Mecanum wheels and Omni wheels. However, in some motion situations, such as when the platform moves linearly forward, the driving efficiency may be reduced if a fixed component force is still relied upon, and the driving efficiency may be improved if the mounting angle of the rollers can be changed so that the main direction of all the component forces can be as much as possible consistent with the direction of motion during the forward movement.
Besides the common mecanum wheel, the method for realizing the omnidirectional movement of the platform can also be as follows: and a rotation degree of freedom perpendicular to the platform is added between the wheel and the platform, the wheel is called as a driving omni-wheel, the kinematic modeling is simple, and the installation compactness is still improved. In addition, a large ground friction force needs to be overcome to change the installation angle of the whole wheel.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an omnidirectional vehicle with variable-angle omnidirectional wheels, wherein the rotation motion of a central shaft is converted into the rotation motion of a plurality of rollers which are vertical to the axis and are uniformly distributed on the circumference through a rotation angle adjusting device, the rollers can synchronously rotate at any installation angle under the action of the rotation angle adjusting device without interference, the direction of the friction force given to the rollers by the ground can be changed through the change of the installation angle of the rollers, the omnidirectional flexibility is further improved, the omnidirectional motion of a platform can be realized, the installation compactness and the advancing efficiency in different motion states can be considered, the driving dimension of the whole system can be further reduced, and the requirement on a control system is reduced.
The invention is realized by the following technical scheme:
the invention relates to a variable angle omni wheel, comprising: carousel, corner adjusting device, roller unit and connection branch chain device, wherein: the corner adjusting device is arranged on the turntable, the connecting branched chain devices are uniformly arranged on one circle of the periphery of the corner adjusting device, and the roller units are connected with the corner adjusting device through the connecting branched chain devices.
The corner adjusting device comprises: rotatory driving piece, connecting rod and support wheel hub, wherein: the rotary driving part is arranged outside the turntable and in the supporting hub, one end of the connecting rod is uniformly arranged on the circumference of the rotary driving part, and the other end of the connecting rod is connected with the connecting branch chain device.
The connecting branch chain device comprises: branch chain, lead screw and nut, wherein: the lead screw is arranged on the circumference of the supporting hub, the branched chain is arranged in the lead screw and is connected with the roller unit, one end of the nut is connected with the connecting rod, and the other end of the nut vertically penetrates through the branched chain.
The roller unit includes: support frame, revolute pair and roller, wherein: the support frame is arranged at the tail end of the branched chain, and the roller is movably arranged in the support frame through a rotating pair.
The corner adjusting device is provided with an action wheel and an idler wheel, wherein: the action wheel and the idle wheel are sequentially and adjacently arranged on the circumference of the rotary driving part for one circle, one end of the connecting rod is connected with the action wheel, and the other end of the connecting rod is connected with the branched chain connecting device.
The invention relates to an omnidirectional vehicle with the angle-variable omnidirectional wheel, which comprises: the car body and at least three angle-variable omni wheels.
The car body is any one of the following structural combinations:
the method comprises the following steps: first main drive axle, driven shaft, driving gear and driven gear, wherein: the driving gear and the driven gear are respectively arranged at two ends of the first driving shaft and are respectively connected with the driven shaft, and the at least three variable-angle omnidirectional wheels are respectively connected with the driven shaft.
The second step comprises: at least three set up in corner and mutually independent second main drive axle, wherein: the second main driving shaft is respectively connected with the angle-variable omnidirectional wheel.
Technical effects
The invention integrally solves the problem that the driving efficiency of the existing omnidirectional wheel system is difficult to optimize because the direction of the ground-borne force of a single omnidirectional wheel cannot be changed, and the driving dimension of the omnidirectional wheel system is generally more than 3, so that the multi-motor speed control inevitably occurs, and the synchronous precision of the control system is higher.
According to the invention, the stress direction can be controlled by actively controlling the roller installation angle through the variable-angle omnidirectional wheel, so that the driving efficiency is improved, the installation angle of the variable-angle omnidirectional wheel can be actively controlled, so that 4 variables in a kinematic model are increased, the dimension of the driving speed of each wheel is allowed to be reduced to 1, a gear train transmission system is convenient to arrange, the number of driving motors only needs 1, and the control difficulty is greatly reduced.
Compared with the prior art, the invention converts the rotation motion of the central shaft into the rotation motion of a plurality of rollers which are vertical to the axis and are uniformly distributed on the circumference through the rotation angle adjusting device, the rollers can synchronously rotate at any installation angle under the action of the rotation angle adjusting device and are not interfered with each other, the direction of the friction force given to the rollers by the ground is variable due to the change of the installation angle of the rollers, the omnidirectional flexibility is further improved, the omnidirectional motion of the platform can be realized, the installation compactness and the advancing efficiency under different motion states can be considered, the driving dimension of the whole system can be reduced, and the requirement on a control system is reduced.
Drawings
FIG. 1 is a schematic structural view of example 1 of the present invention;
wherein: a is a whole schematic diagram, and b is a partial enlarged schematic diagram;
FIG. 2 is a schematic structural diagram of embodiment 2 of the present invention;
FIG. 3 is a schematic structural diagram according to embodiment 3 of the present invention;
FIG. 4 is a schematic view of a roller unit set of the present invention;
FIG. 5 is a schematic view of a roller element array assembly of the present invention;
wherein: a is a left view, and b is a main view;
FIG. 6 is a schematic view of an embodiment of an angle of installation of the variable-angle omni-wheel and the vehicle body according to the present invention;
wherein: a is a 90-degree installation schematic diagram, and b is 60-degree and 45-degree mixed installation;
fig. 7 shows a single main drive multi-adjustment omnidirectional vehicle according to embodiment 4 of the present invention;
fig. 8 is a multi-main drive multi-adjustment omnidirectional vehicle according to embodiment 5 of the invention;
FIG. 9 is a schematic view of an omnidirectional vehicle stress analysis in accordance with embodiment 6 of the present invention;
FIG. 10 is a schematic view of adjustment of the installation angle of a plurality of rollers according to the present invention;
in the figure: the device comprises a rotary driving part 1, a connecting rod 2, a nut 3, a supporting hub 4, a lead screw 5, a branched chain 6, an action wheel 7, an idler wheel 8, a supporting frame 9, a grounding roller 10, a non-grounding roller 11, a corner adjusting device 12, a variable-angle omnidirectional wheel 13, a roller unit 14, a vehicle body 15, a first driving shaft 16, a driven shaft 17, a driving gear 18, a driven gear 19, a second driving shaft 20, a connecting branched chain device 21, a rotating pair 22 and a rotary table 23.
Detailed Description
Example 1
As shown in fig. 1, the variable angle omni wheel 13 according to the present embodiment includes: carousel 23, corner adjusting device 12, roller unit 14 and connect branching unit 21, wherein: the rotation angle adjusting device 12 is arranged on the rotating disc 23, the connecting branch chain device 21 is uniformly arranged on one circle of the circumference of the rotation angle adjusting device 12, and the roller unit 14 is connected with the rotation angle adjusting device 12 through the connecting branch chain device 21.
The rotation angle adjusting device 12 includes: rotation driving piece 1, connecting rod 2 and support wheel hub 4, wherein: the rotary driving part 1 is arranged outside the turntable 23 and in the supporting hub 4, one end of the connecting rod 2 is uniformly arranged on the circumference of the rotary driving part 1, and the other end is connected with the connecting branch chain device 21.
The connecting branch device 21 comprises: branch chain 6, lead screw 5 and nut 3, wherein: the lead screw 5 is arranged on the circumference of the support hub 4, the branched chain 6 is arranged in the lead screw 5 and is connected with the roller unit 14, one end of the nut 3 is connected with the connecting rod 2, and the other end of the nut vertically penetrates through the branched chain 6.
The roller unit 14 includes: support frame 9, revolute pair 22, ground-contacting roller 10 and non-ground-contacting roller 11, wherein: the supporting frame 9 is arranged at the tail end of the branched chain 6, and the touchdown roller 10 and the non-touchdown roller 11 are movably arranged in the supporting frame 9 through a rotating pair 22.
As shown in fig. 1, R represents a rotary pair, P represents a moving pair, H represents a screw pair, and S represents a spherical pair, the rotation of the rotary driving member 1 is changed into the movement of the nut 3 through a slider-crank mechanism formed by a plane RRRP and is transmitted to the screw pair H, and finally, the movement of the screw 5 in the screw pair H is limited, and the screw pair H herein has no self-locking function, so that the movement of the nut 3 causes the screw 5 to generate pure rotational motion, and the installation angle of the roller (fig. 4) fixedly connected with the tail end of the branched chain 6 is changed.
As shown in fig. 5, the two ends of the driving shaft are arranged on the supporting hubs 4 and are actively driven, the turntable 1 is fixedly connected with the driving shaft, and when the driving shaft is actively driven, the rotation angle adjusting device 12 can be driven to move, so that the installation angle of the roller is changed; the number of sets of the rotation angle adjusting devices is the same as the number of the rollers, so that the installation angles of all the rollers can be synchronously adjusted by only one driving shaft.
Example 2
The present embodiment relates to a variable angle omni wheel 13, the basic structure of which is the same as that of embodiment 1, except that:
as shown in fig. 2, since the space RSSR is not in the same plane as the circular plane, the rotation of the rotary driving member 1 is transmitted to the end of the branched chain 6 through the space RSSR to rotate the same, and the installation angle of the roller (shown in fig. 4) fixedly connected to the end of the branched chain 6 is changed.
As shown in fig. 10, the adjustment of the installation angle RIA of a plurality of rollers is accomplished for example for a spatial RSSR mechanism similar to that of fig. 2. The mechanism has n +1 branched chains, and each branched chain shares one turntable (namely a 'movable platform' in the parallel mechanism). One of the n +1 branched chains is a revolute pair R formed by the frame and the turntable1In addition, the n branched chains (i.e. SSR) have the same structure and are composed of a turntable and a component P1To P4And a roller bracket, wherein the turntable and the P1Between them is a fixed pair, P1And P2Between is S pair, P2And P3Between is S pair, P3And P4Between them is a fixed pair, P4A fixed pair is arranged between the roller bracket and the machine frame, and a revolute pair R is arranged between the roller bracket and the machine frame2. Between the roller (not shown) and the roller carriage is a roller axle about which the roller is free to rotate. When R is1R at the end of n SSR branches after angular displacement2Also produces corresponding angular displacement if n branched chains are completely in phaseAnd the n angular displacements are completely the same, so that linkage is realized. From R1To R2Is in essence a spatial RSSR mechanism.
Example 3
The present embodiment relates to a variable angle omni wheel 13, the basic structure of which is the same as that of embodiment 1, except that: the automobile body include: four set up in corner and mutually independent second main drive axle, wherein: the second main driving shaft is respectively connected with the angle-variable omnidirectional wheel.
As shown in fig. 3, the rotation angle adjusting device includes: rotatory driving part 1, connecting rod 2, support wheel hub 4, action wheel 7 and idler 8, wherein: the rotary driving part 1 is arranged in the supporting hub 4, the action wheel 7 and the idle wheel 8 are sequentially and adjacently arranged on the rotary driving part 1 for a circle, one end of the connecting rod 2 is connected with the action wheel, and the other end of the connecting rod is connected with the branched chain connecting device 21.
The rotary driving part 1 drives the first action wheel 7 to rotate, the action wheel 7 transmits rotary motion through a plurality of idle wheels 8, and the installation angle of a roller (shown in figure 4) fixedly connected with the tail end of the branched chain 6 is changed.
Example 4
As shown in fig. 7, the present embodiment relates to an omni-directional vehicle having the variable-angle omni-directional wheels of the above embodiments 1, 2, and 3, including: a vehicle body 15 and four variable angle omni-wheels 13, wherein: the four variable-angle omni wheels 13 are arranged at four corners of the vehicle body 15.
The vehicle body 15 includes: first main drive shaft 16, driven shaft 17, driving gear 18 and driven gear 19, wherein: the driving gear 18 and the driven gear 19 are respectively arranged at two ends of the first driving shaft 16 and respectively connected with the driven shaft 17, and the four angle-variable omni wheels 13 are respectively connected with the driven shaft 17.
As shown in fig. 7, the only motor inside the vehicle body 15 drives the first driving shaft 16 to rotate, and the driving gear 18 drives the driven gear 19 to rotate, so as to rotate with the driven shaft 17, thereby achieving the effect of single driving. In the driving process, the roller units 14 of the angle-variable omni wheels 13 can be adjusted at any angle, so that the effect of single-main-drive multi-adjustment is comprehensively formed.
Example 5
As shown in fig. 8, the present embodiment relates to an omnidirectional vehicle having the variable-angle omnidirectional wheels of the above embodiments 1, 2 and 3, and the basic structures are the same, except that:
the vehicle body 15 includes: four second main driving shafts 20 arranged at the corners and independent of each other, wherein: the second main driving shafts 20 are respectively connected with the angle-variable omni wheels 13.
As shown in fig. 8, four independent motors inside the vehicle body drive the second main drive shaft 20 to rotate, so as to achieve the effect of multi-main drive. In the driving process, the roller unit groups of all the angle-variable omnidirectional wheels can be adjusted at any angle, and the multi-main-drive multi-adjustment effect is comprehensively formed.
Example 6
The function of the driving speed of the variable-angle omni-directional wheel 13 is [ omega [ ]i]＝f(vx，vy，ω，αi，θiR, R), wherein: omegaiFor the driving speed of the variable-angle omni-wheel 13, alphaiAngle of installation of roller, thetaiR, r is the radius of the variable angle omni wheel 13 and the radius of the roller, v, for the mounting angle between the variable angle omni wheel 13 and the vehicle body 15, respectivelyx，vyω is the speed of movement of the system; r, r is fixed, when theta is constantiIs fixed and alphaiWhen the angle of the wheel is adjustable, the wheel becomes an angle-variable omnidirectional wheel; when given ωiAnd vx，vyAnd ω, then α can be calculatediThereby adjusting the roller installation angle to alpha by the rotation angle adjusting meansi。
In practical experiments, taking the dimensions shown in fig. 6a as an example, R, r is equal to 50 and 2.5, respectively. Experiment 1: the driving speeds of the four angle-variable omnidirectional wheels are respectively omega1＝-ω2＝ω3＝-ω450 and let the desired speed of the system be vx＝v y0 and 20 (i.e. pure rotation), the required roller mounting angles α can be calculated1＝-21.9117、α2＝-66.7054、α3＝66.7054、α421.9117. Under the simulation environment, the driving speeds of the four angle-variable omnidirectional wheels are respectively set to the values, and the roller installation angles of the four angle-variable omnidirectional wheels are setThe degrees are set to the above values, respectively. And finally, arranging a certain 3D contact between the four angle-variable omnidirectional wheels and the ground to simulate friction. Finally, according to the dynamic calculation result, the movement speed of the whole system reaches the expected speed, and the feasibility of a single driving dimension is also proved. Experiment 2: the driving speeds of the four angle-variable omnidirectional wheels are respectively omega1＝-ω2＝ω3＝-ω 420 and let the desired speed of the system be vx＝0，v y10 and ω 0 (i.e. pure vertical displacement), the required roller mounting angles α can be calculated1＝α、α2＝0、α3＝α、α4Where α may be any value. The smaller the alpha is, the more consistent the direction of the friction force borne by the variable-angle omnidirectional wheel is with the motion direction of the system, and the higher the driving efficiency is. In the simulation environment, the drive speeds of the four variable-angle omni wheels are set to the values described above, and the roller mounting angles of the four variable-angle omni wheels are set to values of α 5, 10, and 15, respectively. And finally, arranging a certain 3D contact between the four angle-variable omnidirectional wheels and the ground to simulate friction. Finally, the result of the kinetic calculation indicates that the moving speed of the whole system reaches the desired speed (no matter what is alpha), thereby proving the feasibility of improving the driving efficiency.
Compared with the prior art, the device improves the driving efficiency of the omnidirectional system by utilizing the variable-angle omnidirectional wheel with the variable roller mounting angle, and (2) reduces the driving dimensionality of the omnidirectional system so as to reduce the control difficulty.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (5)
1. A variable angle omni wheel, comprising: carousel, corner adjusting device, roller unit and connection branch chain device, wherein: the corner adjusting device is arranged on the turntable, the connecting branched chain device is uniformly arranged on one circle of the periphery of the corner adjusting device, and the roller unit is connected with the corner adjusting device through the connecting branched chain device;
the corner adjusting device comprises: rotatory driving piece, connecting rod and support wheel hub, wherein: the rotary driving part is arranged outside the turntable and in the supporting hub, one end of the connecting rod is uniformly arranged on the circumference of the rotary driving part, and the other end of the connecting rod is connected with the connecting branch chain device.
2. The variable angle omni wheel according to claim 1, wherein the roller unit comprises: support frame, revolute pair and roller, wherein: the support frame is arranged at the tail end of the branched chain, and the roller is movably arranged in the support frame through a rotating pair.
3. The variable angle omni wheel according to claim 1 or 2, wherein the rotation angle adjusting means is provided with an action wheel and an idle wheel, wherein: the action wheel and the idle wheel are sequentially and adjacently arranged on the circumference of the rotary driving part for one circle, one end of the connecting rod is connected with the action wheel, and the other end of the connecting rod is connected with the branched chain connecting device.
4. The variable angle omni wheel according to claim 1, wherein the connecting branch means comprises: branch chain, lead screw and nut, wherein: the lead screw is arranged on the circumference of the supporting hub, the branched chain is arranged in the lead screw and is connected with the roller unit, one end of the nut is connected with the connecting rod, and the other end of the nut vertically penetrates through the branched chain.
5. An omni-directional vehicle with variable-angle omni wheels according to any one of claims 1 to 4, comprising: the vehicle body is any one of the following structural combinations:
the method comprises the following steps: first main drive axle, driven shaft, driving gear and driven gear, wherein: the driving gear and the driven gear are respectively arranged at two ends of the first driving shaft and are respectively connected with the driven shaft, and at least three variable-angle omnidirectional wheels are respectively connected with the driven shaft;
the second step comprises: at least three set up in corner and mutually independent second main drive axle, wherein: the second main driving shaft is respectively connected with the angle-variable omnidirectional wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010717068.7A CN111873698A (en) | 2020-07-23 | 2020-07-23 | Omnidirectional vehicle with angle-variable omnidirectional wheels |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010717068.7A CN111873698A (en) | 2020-07-23 | 2020-07-23 | Omnidirectional vehicle with angle-variable omnidirectional wheels |
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| CN111873698A true CN111873698A (en) | 2020-11-03 |
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| CN202010717068.7A Pending CN111873698A (en) | 2020-07-23 | 2020-07-23 | Omnidirectional vehicle with angle-variable omnidirectional wheels |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978625A (en) * | 2021-02-04 | 2021-06-18 | 太原科技大学 | Carrier vehicle |
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| WO2018158445A1 (en) * | 2017-03-02 | 2018-09-07 | Universite De Versailles Saint-Quentin-En-Yvelines | Omnidirectional wheel and vehicle implementing said wheel |
| US10518576B1 (en) * | 2016-03-03 | 2019-12-31 | Al Incorporated | Expandable wheel |
| US20200039287A1 (en) * | 2018-07-31 | 2020-02-06 | Sung Eun Youn | Omni wheel including suspension structure |
| CN211032034U (en) * | 2017-04-12 | 2020-07-17 | Ｗｈｉｌｌ株式会社 | Omnidirectional wheel |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110115279A1 (en) * | 2009-11-16 | 2011-05-19 | Honda Motor Co., Ltd. | Frictional drive device and inverted pendulum type vehicle using the same |
| US8944446B1 (en) * | 2012-06-08 | 2015-02-03 | Brent R. Cottingham | Swivel drive system |
| US10518576B1 (en) * | 2016-03-03 | 2019-12-31 | Al Incorporated | Expandable wheel |
| WO2018158445A1 (en) * | 2017-03-02 | 2018-09-07 | Universite De Versailles Saint-Quentin-En-Yvelines | Omnidirectional wheel and vehicle implementing said wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112978625A (en) * | 2021-02-04 | 2021-06-18 | 太原科技大学 | Carrier vehicle |
| CN112978625B (en) * | 2021-02-04 | 2023-03-31 | 太原科技大学 | Carrier vehicle |
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