CN113442646A - Omnidirectional wheel device for rescue robot - Google Patents
Omnidirectional wheel device for rescue robot Download PDFInfo
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- CN113442646A CN113442646A CN202110240416.0A CN202110240416A CN113442646A CN 113442646 A CN113442646 A CN 113442646A CN 202110240416 A CN202110240416 A CN 202110240416A CN 113442646 A CN113442646 A CN 113442646A
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- 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
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an omnidirectional wheel device for a rescue robot, which controls the shape of a wheel carrier in a regular polygon through a first transverse plate, a second transverse plate and a vertical plate, and is divided into a plurality of accommodating spaces, wherein each accommodating space corresponds to a driving part comprising an omnidirectional wheel, and omnidirectional running is realized by the omnidirectional wheel; meanwhile, the connecting piece is arranged on the outer edge of the wheel frame, and the wheel frames can be connected together through the connecting piece, so that a larger movable bearing device is formed, larger support can be realized, and larger bearing capacity can be obtained. When a plurality of wheel brackets are arranged on the bearing body, only a plurality of hexagonal grooves need to be designed to be clamped, the design requirement is simple, and if one set of wheel bracket is damaged, a device which is directly replaced and renewed is clamped. The search and rescue robot has the advantages of achieving the effects of universality, quick replacement and convenient operation, and solving the problems that the existing search and rescue robot can not achieve omnidirectional traveling and can not improve bearing capacity through combination at the same time.
Description
Technical Field
The invention belongs to the technical field of rescue robots, and particularly relates to an omnidirectional wheel device for a rescue robot.
Background
With the continuous improvement of the rapidity requirement of rescue and disaster relief, the rescue robot has great progress in rapidly dealing with the post-disaster rescue in the chemical plant. The best rescue time is within 48 hours of disaster occurrence, so the trapped people need to be rescued at the first moment of the disaster, however, the building structure of the whole disaster area is extremely unstable due to severe explosion, secondary danger can occur at any time, the rescue group personnel enter the disaster area by accident, not only can effective rescue not be carried out in time, but also casualties can be increased, in order to overcome the difficulties, the search and rescue robot is generated at the time, and the rescue role played by the rescue group under various environments is irreplaceable. Adopt rescue robot execution search and rescue task, can avoid the rescue personnel to go deep into dangerous area and the unexpected casualties that leads to, search and rescue robot can go deep into search life sign in the slit, surveys on-the-spot information to timely return data back rescue workgroup, supply the rescue group to carry out environmental modeling and route reference, so both ensured search and rescue personnel's personal safety, improved the probability of rescue success again. However, most of the existing search and rescue robots cannot realize omnidirectional traveling and cannot improve the bearing capacity through combination.
Disclosure of Invention
The invention aims to provide an omnidirectional wheel device for a rescue robot, and solves the problems that most of existing search and rescue robots cannot realize omnidirectional traveling and cannot improve bearing capacity through combination.
In order to solve the problems, the technical scheme of the invention is as follows:
the invention relates to an omnidirectional wheel device for a rescue robot, which comprises: the wheel carrier and at least three driving parts;
the wheel carrier comprises a first transverse plate, a second transverse plate and a plurality of vertical plates;
the first transverse plate and the second transverse plate are oppositely arranged, and a regular polygon space is formed between the first transverse plate and the second transverse plate; the plurality of vertical plates are arranged in the regular polyhedron space, the first transverse plate is connected with the second transverse plate, and the regular polyhedron space is divided into at least three accommodating spaces;
the driving parts are respectively arranged in the corresponding accommodating spaces; the first transverse plate is provided with a plurality of wheel grooves corresponding to the driving parts respectively, and the output ends of the driving parts are arranged in the wheel grooves and used for driving the wheel carrier to move;
the driving part comprises an omnidirectional wheel, a driving unit and a control unit; the omnidirectional wheels are rotatably connected in the wheel grooves, and the rotating shafts of the omnidirectional wheels in each wheel groove are not parallel; the driving unit is arranged in the accommodating space, and the output end of the driving unit is in transmission connection with the omnidirectional wheel and is used for driving the omnidirectional wheel to rotate; the control unit is arranged in the accommodating space, is in signal connection with the driving unit, and is used for receiving an external signal and outputting a control signal to the driving unit;
the accommodating space is also internally provided with a fire extinguishing unit for protecting the driving part;
and the outer edge of the wheel frame is provided with a connecting piece for connecting the adjacent wheel frames.
The invention discloses an omnidirectional wheel device for a rescue robot, wherein a fire extinguishing unit comprises a clamping seat and a fire-proof ball; the clamping seat is arranged on the first transverse plate or the second transverse plate or the vertical plate in the corresponding accommodating space; the fire-proof ball is clamped in the clamping seat, and the fire-proof ball contains superfine dry powder extinguishing agent.
The invention relates to an omnidirectional wheel device for a rescue robot, which comprises a male pin shaft, a female pin shaft, a spring rod, a transmission part and a plurality of rollers;
the male pin shaft and the female pin shaft are coaxial and are connected through a bolt; the transmission part is arranged on one side of the male pin shaft or one side of the female pin shaft, has the same axis and is used for being in transmission connection with the output end of the driving unit;
a plurality of accommodating grooves are formed in the outer ring edges of the male pin shaft and the female pin shaft, and the accommodating grooves of the male pin shaft and the accommodating grooves of the female pin shaft are arranged in a staggered mode; the spring rods are arranged in the accommodating grooves, the idler wheels are sleeved on the corresponding spring rods respectively, and the rotating direction of the idler wheels is perpendicular to that of the omnidirectional wheels.
According to the omnidirectional wheel device for the rescue robot, the male pin shaft or the female pin shaft is provided with a threaded hole, and the male pin shaft and the female pin shaft are connected with the threaded hole through screws.
According to the omnidirectional wheel device for the rescue robot, the idler wheel is made of chloroprene.
The invention discloses an omnidirectional wheel device for a rescue robot, which is characterized in that a spring rod comprises a sleeve, a push rod and a return spring; the sleeve is fixed in the accommodating groove, the push rod is connected in the sleeve in a sliding manner, and a limiting block for preventing the push rod from being separated is arranged in the sleeve; the first end of the reset spring is connected with the push rod, and the second end of the reset spring is connected with the sleeve or the accommodating groove and used for pushing the push rod out of the sleeve.
The invention discloses an omnidirectional wheel device for a rescue robot, which comprises a driving unit, a driving unit and a control unit, wherein the driving unit comprises a motor, a first gear, a second gear, a transmission belt and a fixed shaft;
the motor is arranged on the second transverse plate, and the first gear is arranged on an output shaft of the motor;
the fixed shaft is fixed on the vertical plate;
the second gear is sleeved and rotationally connected with the fixed shaft and is meshed with the first gear; a first belt wheel and a second belt wheel are respectively arranged on the second gear and the omnidirectional wheel; the transmission belt is respectively sleeved on the first belt wheel and the second belt wheel and realizes belt transmission.
The invention relates to an omnidirectional wheel device for a rescue robot, wherein a control unit comprises an electric control driver, a control chip and a remote controller receiver; the remote controller receiver is in signal connection with the control chip and is used for receiving external signals and transmitting the external signals to the control chip; the control chip is in signal connection with the electric control driver; the electric control driver is in signal connection with the driving unit.
According to the omnidirectional wheel device for the rescue robot, the first transverse plate and the second transverse plate are both regular hexagons, and the regular polygon space is a regular hexagon.
The invention relates to an omnidirectional wheel device for a rescue robot.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
1. according to the embodiment of the invention, the shape of the wheel carrier is controlled to be a regular polygon through the first transverse plate, the second transverse plate and the vertical plate, and meanwhile, the wheel carrier is divided into a plurality of accommodating spaces, each accommodating space corresponds to one driving part comprising an omnidirectional wheel, and omnidirectional driving is realized through the omnidirectional wheel; meanwhile, the connecting piece is arranged on the outer edge of the wheel frame, and the wheel frames can be connected together through the connecting piece, so that a larger movable bearing device is formed, larger support can be realized, and larger bearing capacity can be obtained. When a plurality of wheel brackets are arranged on the bearing body, only a plurality of hexagonal grooves need to be designed to be clamped, the design requirement is simple, and if one set of wheel bracket is damaged, a device which is directly replaced and renewed is clamped. The search and rescue robot has the advantages of achieving the effects of universality, quick replacement and convenient operation, and solving the problems that the existing search and rescue robot can not achieve omnidirectional traveling and can not improve bearing capacity through combination at the same time.
2. According to the embodiment of the invention, the fire extinguishing unit is arranged, and specifically comprises the clamping seat and the fire-releasing ball containing the superfine dry powder fire extinguishing agent, when the outer surface of the fire-preventing ball is burnt by fire, the fire-preventing ball is broken to spray dry powder, a fire-extinguishing protection motor and other mechanisms are started, and the superfine dry powder material is used, so that the full-submerged fire extinguishing can be realized. Because the granularity of the dry powder becomes smaller after being ultrafined, the brownian motion capability of the particles is obviously enhanced, the suspension time in the air is greatly increased, the particles can be diffused to any part of a protection space, the cost is reduced, and the fire extinguishing efficiency is improved. The protection of the control chip, the battery and the like is realized, and the secondary explosion generated by combustion is prevented.
3. The invention has the advantages that the distance between the omni wheel and other accessories can be enlarged far away, more extension space is provided, the omni wheel can be prevented from being rubbed and bumped beyond the limit in the movement of the wheel device, and the reserved space of other special devices is increased for the improvement later.
4. According to one embodiment of the invention, the reset spring is placed in the sleeve, the push rod is sleeved with the sleeve and bounced by the reset spring, and meanwhile, the push rod is clamped by the limiting block on the left side of the sleeve to prevent the push rod from bounced. And have the card on the sleeve, play the restriction gyro wheel range of movement, reduce the consumption of power to can use the instrument to dismantle the gyro wheel fast, when needing to change, can realize quick replacement. The spring rod is also very convenient during installation, and only one side of the push rod needs to be pressed, the length of the spring rod is shortened, the spring rod is placed to be coaxial with the fixed spring rod hole on the pin shaft, then the spring rod is released, and the push rod is pushed back by the reset spring to realize fixing of the roller.
5. In one embodiment of the invention, the roller is made of chloroprene serving as a main raw material through homopolymerization or copolymerization of a small amount of other monomers, has strong flame resistance and excellent flame retardance, has high chemical stability and good water resistance, and can keep normal work in a complex rescue environment.
Drawings
Fig. 1 is a schematic view of an omni-directional wheel device for a rescue robot according to the present invention;
fig. 2 is a schematic view of an omni-wheel device for a rescue robot according to the present invention;
fig. 3 is a schematic view of a combination state of an omni-directional wheel device for a rescue robot according to the present invention
Fig. 4 is a diagram of a mobile platform coordinate system and a mechanical structure of the omnidirectional wheel device for the rescue robot according to the invention;
fig. 5 is a speed direction projection view of an omni-directional wheel device for a rescue robot according to the present invention;
fig. 6 is a schematic view of a clamping seat of the omni-directional wheel device for the rescue robot according to the present invention.
Description of reference numerals: 1: a wheel carrier; 2: a transmission belt; 3: a second gear; 4: a fixed shaft; 5: a first gear; 6: a motor; 7: a male pin shaft; 8: a female pin shaft; 9: a roller; 10: a wheel shaft; 11: a fire extinguishing unit; 12: a spring lever; 13: a screw; 14: a first pulley; 15: a card seat.
Detailed Description
The omnidirectional wheel device for the rescue robot provided by the invention is further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims.
Referring to fig. 1, in one embodiment, an omni-directional wheel apparatus for a rescue robot includes: wheel carrier 1, at least three drive division.
The wheel carrier 1 comprises a first transverse plate, a second transverse plate and a plurality of vertical plates.
The first transverse plate and the second transverse plate are oppositely arranged, and a regular polygon space is formed between the first transverse plate and the second transverse plate. The vertical plates are arranged in the regular polyhedron space, the first transverse plate is connected with the second transverse plate, and the regular polyhedron space is divided into at least three accommodating spaces.
The driving parts are respectively arranged in the corresponding accommodating spaces. The first transverse plate is provided with a plurality of wheel grooves corresponding to the driving part respectively, and the output end of the driving part is arranged in the wheel grooves and used for driving the wheel carrier 1 to move.
The driving part comprises an omnidirectional wheel, a driving unit and a control unit. The omni-directional wheels are rotatably connected in the wheel grooves, and the rotating shafts of the omni-directional wheels in each wheel groove are not parallel. The driving unit is arranged in the accommodating space, and the output end of the driving unit is in transmission connection with the omnidirectional wheel and is used for driving the omnidirectional wheel to rotate. The control unit is arranged in the accommodating space, is in signal connection with the driving unit, and is used for receiving an external signal and outputting a control signal to the driving unit.
Further, a fire extinguishing unit 11 is further arranged in the accommodating space and used for protecting the driving part. The outer edge of the wheel frame 1 can be provided with a connecting piece for connecting the adjacent wheel frames 1.
In the embodiment, the shape of the wheel frame 1 is controlled to be a regular polygon through the first transverse plate, the second transverse plate and the vertical plate, and meanwhile, the wheel frame is divided into a plurality of accommodating spaces, each accommodating space corresponds to one driving part comprising an omnidirectional wheel, and omnidirectional driving is realized through the omnidirectional wheel; meanwhile, the connecting piece is arranged on the outer edge of the wheel frame 1, and the wheel frames 1 can be connected together through the connecting piece, so that a larger moving bearing device is formed, larger support can be realized, and larger bearing capacity can be obtained. When a plurality of wheel brackets are arranged on the bearing body, only a plurality of regular polygon grooves need to be designed to be clamped, the design requirement is simple, and if one set of wheel bracket is damaged, a device which is directly replaced and renewed is clamped. The search and rescue robot has the advantages of achieving the effects of universality, quick replacement and convenient operation, and solving the problems that the existing search and rescue robot can not achieve omnidirectional traveling and can not improve bearing capacity through combination at the same time.
The following further describes a specific structure of the omnidirectional wheel device for the rescue robot in this embodiment, taking a regular polygon space as a regular hexagon and three accommodating spaces as an example:
in this embodiment, an inwardly extending extension piece may be disposed at the wheel groove, a wheel axle 10 for rotation may be disposed on the eye-catching piece, and the omni wheel may be sleeved on the wheel axle 10.
Referring to fig. 7, in the present embodiment, the fire extinguishing unit 11 includes a cartridge 15 and a fireball. The clamping seat 15 is arranged on the first transverse plate or the second transverse plate or the vertical plate in the corresponding accommodating space. The fire-proof ball is clamped in the clamping seat 15, and the superfine dry powder extinguishing agent is contained in the fire-proof ball. Through setting up the unit 11 of putting out a fire, specifically including the fire ball of putting out fire of cassette 15 and holding superfine dry powder extinguishing agent, when the fire ball surface is burnt out by fire, the fire ball breaks blowout dry powder, plays protection motor 6 and other mechanisms put out a fire, and the superfine dry powder material of use can realize submerging entirely and put out a fire. Because the granularity of the dry powder becomes smaller after being ultrafined, the brownian motion capability of the particles is obviously enhanced, the suspension time in the air is greatly increased, the particles can be diffused to any part of a protection space, the cost is reduced, and the fire extinguishing efficiency is improved. The protection of the control chip, the battery and the like is realized, and the secondary explosion generated by combustion is prevented. The superfine dry powder extinguishing agent mainly comprises the following substances capable of playing a role in extinguishing fire: ammonium K-phosphate, sodium bicarbonate, sodium chloride, potassium chloride, and the like. Firstly, the volatile decomposition products of inorganic salt in the dry powder and free radicals or active groups generated by fuel in the combustion process have chemical inhibition and negative catalysis effects, so that the combustion chain reaction is interrupted to extinguish the fire; secondly, the powder of the dry powder falls outside the surface of the combustible substance to generate chemical reaction and form a layer of glassy covering layer under the action of high temperature, thereby isolating oxygen and further extinguishing fire by suffocation. In addition, there is some dilution of oxygen and cooling.
Referring to fig. 2 and 3, in the present embodiment, the omni wheel includes a pin shaft 7, a pin shaft 8, a spring rod 12, a transmission member, and a plurality of rollers 9.
Wherein, the male pin shaft 7 and the female pin shaft 8 are coaxial and connected through a bolt. The transmission part is arranged on one side of the male pin shaft 7 or one side of the female pin shaft 8, has the same axis and is used for being in transmission connection with the output end of the driving unit. The outer ring edges of the male pin shaft 7 and the female pin shaft 8 are respectively provided with a plurality of accommodating grooves, and the accommodating grooves of the male pin shaft 7 and the accommodating grooves of the female pin shaft 8 are arranged in a staggered manner. The accommodating grooves are internally provided with spring rods 12, the idler wheels 9 are respectively sleeved on the corresponding spring rods 12, and the rotating direction of the idler wheels 9 is vertical to that of the omnidirectional wheels.
Furthermore, a threaded hole is formed in the male pin shaft 7 or the female pin shaft 8, and the male pin shaft 7 and the female pin shaft 8 are connected with the threaded hole through a screw 13. Meanwhile, on the premise of ensuring the structural strength, a plurality of lightening holes can be formed in the male pin shaft 7 and the female pin shaft 8 so as to reduce the self weight of the omni wheel.
Furthermore, the roller 9 is made of chloroprene serving as a main raw material through homopolymerization or copolymerization of a small amount of other monomers, has strong flame resistance and excellent flame retardance, is high in chemical stability and good in water resistance, and can normally work in a complex rescue environment.
Specifically, the spring lever 12 includes a sleeve, a push rod, and a return spring. The sleeve is fixed in the accommodating groove, the push rod is connected in the sleeve in a sliding mode, and a limiting block used for preventing the push rod from being separated from the sleeve is arranged in the sleeve. The first end of the reset spring is connected with the push rod, and the second end of the reset spring is connected with the sleeve or the accommodating groove and used for pushing the push rod out of the sleeve. This embodiment puts reset spring in the sleeve, and the push rod overlaps mutually with the sleeve, is bounced by reset spring, is blocked by the left stopper of sleeve simultaneously, prevents to pop out. And have the card on the sleeve, play restriction gyro wheel 9 moving range, reduce the consumption of power to can use the instrument to dismantle gyro wheel 9 fast, when needing to change, can realize quick replacement. The spring rod 12 is also convenient to install, only one side of the push rod needs to be pressed, the length of the push rod is shortened, the push rod is placed to be coaxial with the hole of the fixed spring rod 12 on the pin shaft, then the spring rod is released, and the push rod is pushed back by the reset spring to fix the roller 9.
In the present embodiment, the driving unit includes a motor 6, a first gear 5, a second gear 3, a belt 2, and a fixed shaft 4.
Wherein, motor 6 installs on the second diaphragm, specifically can be brushless DC motor 6, and first gear 5 installs on the output shaft of motor 6. The fixed shaft 4 is fixed on the vertical plate. The second gear 3 is sleeved and rotatably connected to the fixed shaft 4 and meshed with the first gear 5. The second gear 3 and the omni-wheel are respectively provided with a first belt pulley 14 and a second belt pulley. The transmission belt 2 is respectively sleeved on the first belt wheel 14 and the second belt wheel and realizes belt transmission. Each omnidirectional wheel is driven by a single motor 6, so that the complementary interference of each omnidirectional wheel can be ensured, the omnidirectional wheels can be independently used, and when one omnidirectional wheel is damaged, the other omnidirectional wheels can work.
The design of belt transmission is adopted, so that the transmission effect can be realized, the weight is lighter, the gravity required to be born by the omnidirectional wheel is reduced, a belt is used instead of a gear, and the design has the advantages that the distance between the omnidirectional wheel and other accessories can be increased far, more extension spaces are provided, the friction and the collision beyond the limit generated in the movement of the wheel device are prevented, and the reserved space of other special devices is increased for the later improvement.
Wherein, motor 6 accessible four screw fixation on the second diaphragm, there is the screw hole second diaphragm bottom for fixed motor 6 has reduced the use of nut like this, easy to assemble and dismantlement.
In the embodiment, the three motors 6 are adopted to respectively control the forward direction, the reverse direction and the speed of the three omnidirectional wheels, so that differential steering and running are realized, and when a corner is required, differential control is required to be performed on the left and the right parallel wheels, so that left turning and right turning are realized. When the driving direction is not consistent with the rotating direction of the omnidirectional wheels, the roller 9 on each omnidirectional wheel can overcome the force in the direction, the mutual drag between the omnidirectional wheels is prevented, the friction force in the driving process can be reduced, and the omnidirectional angle conversion is realized.
In this embodiment, the control unit includes an electrically controlled driver, a control chip, and a remote controller receiver. The remote controller receiver is in signal connection with the control chip and used for receiving external signals and transmitting the external signals to the control chip. The control chip is in signal connection with the electric control driver. The electric control driver is in signal connection with the driving unit. Each motor 6 is controlled individually by one electrically controlled driver, and each control chip controls individually. One control chip controls one motor 6, so that the interference among the motors 6 can be reduced, the workload of the control chip can be reduced, and the control is convenient. Meanwhile, the maintenance is convenient, and only the corresponding related electronic devices are required to be replaced. The remote end utilizes the computer to adjust and calculate the required rotational speed of three omniwheel respectively, then sends command signal through signal generator, and the remote control sensor receives the signal, transmits for control chip, and control chip receives the instruction and carries out data interchange with automatically controlled driver, receives rotational speed, moment etc. instruction that control chip sent and controls motor 6 motion, and automatically controlled driver gives again through control current, PWM signal etc. to DC motor 6 realizes the control of rotational speed, direction.
In this embodiment, the first horizontal plate and the second horizontal plate are both regular hexagons, and the regular polygon space is a regular hexagon.
Referring to fig. 4, in this embodiment, the connecting member is a magnetic member, i.e. a magnet is disposed on the circumferential side of the wheel frame 1, and a plurality of omni-directional wheel devices can be combined by the magnetic member, so that a larger support can be realized when the load is larger.
The moving principle of the three omni wheels is further explained as follows:
the three wheel shafts are mutually spaced by 120 degrees, and the relationship between the coordinate system of the mobile platform and the mechanical structure is established as shown in figure 5:
wherein: positive direction of y-axisThe axis of a No. 3 omnidirectional wheel is coincident with the y axis for the front side of the robot, and the velocity vectors of three omnidirectional wheels are v1、v2And v3The positive direction of velocity is shown in the figure, and the radius of the tangent circle between the omni-wheels isxAnd vySpeed v resolved to omni wheel 1 and omni wheel 2, respectively1And v2Direction, v'x、v′yIs v isx、vyProjection in the direction of the speed of the omni wheel 1, v ″)x、v″yIs v isx、vyThe projection in the direction of the speed of the omni wheel 2 is shown in figure 6.
The velocity of the omni-wheel 1 from the above figure is represented by the moving platform coordinate system velocity as:
v1＝v′x+v′y+ωr (1)
and because of
Substituting equation (1) yields:
equation (4) is the velocity of omni wheel 1, expressed by the velocity of the left frame of the platform, and similarly the velocity equation for omni wheel 2 can be obtained:
the following can be obtained in a simultaneous manner: v. of2＝-vx cos60°+vy cos30°+ωr
Since the speed direction of the omni-directional wheel 3 is always in the positive direction of the x-axis of the coordinate system of the mobile platform, it is obvious that: v. of3＝vx+ωr
The moving angular velocity of the mobile platform is the same as the angular velocity omega of a platform coordinate system, and finally, a velocity transformation matrix can be obtained by combining velocity formulas of three omnidirectional wheels:
the embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (10)
1. An omni-directional wheel device for a rescue robot, comprising: the wheel carrier and at least three driving parts;
the wheel carrier comprises a first transverse plate, a second transverse plate and a plurality of vertical plates;
the first transverse plate and the second transverse plate are oppositely arranged, and a regular polygon space is formed between the first transverse plate and the second transverse plate; the plurality of vertical plates are arranged in the regular polyhedron space, the first transverse plate is connected with the second transverse plate, and the regular polyhedron space is divided into at least three accommodating spaces;
the driving parts are respectively arranged in the corresponding accommodating spaces; the first transverse plate is provided with a plurality of wheel grooves corresponding to the driving parts respectively, and the output ends of the driving parts are arranged in the wheel grooves and used for driving the wheel carrier to move;
the driving part comprises an omnidirectional wheel, a driving unit and a control unit; the omnidirectional wheels are rotatably connected in the wheel grooves, and the rotating shafts of the omnidirectional wheels in each wheel groove are not parallel; the driving unit is arranged in the accommodating space, and the output end of the driving unit is in transmission connection with the omnidirectional wheel and is used for driving the omnidirectional wheel to rotate; the control unit is arranged in the accommodating space, is in signal connection with the driving unit, and is used for receiving an external signal and outputting a control signal to the driving unit;
the accommodating space is also internally provided with a fire extinguishing unit for protecting the driving part;
and the outer edge of the wheel frame is provided with a connecting piece for connecting the adjacent wheel frames.
2. The omni-directional wheel apparatus for the rescue robot according to claim 1, wherein the fire extinguishing unit includes a cartridge and a fire prevention ball; the clamping seat is arranged on the first transverse plate or the second transverse plate or the vertical plate in the corresponding accommodating space; the fire-proof ball is clamped in the clamping seat, and the fire-proof ball contains superfine dry powder extinguishing agent.
3. The omni-directional wheel device for the rescue robot according to claim 1, wherein the omni-directional wheel comprises a male pin shaft, a female pin shaft, a spring rod, a transmission member, a plurality of rollers;
the male pin shaft and the female pin shaft are coaxial and are connected through a bolt; the transmission part is arranged on one side of the male pin shaft or one side of the female pin shaft, has the same axis and is used for being in transmission connection with the output end of the driving unit;
a plurality of accommodating grooves are formed in the outer ring edges of the male pin shaft and the female pin shaft, and the accommodating grooves of the male pin shaft and the accommodating grooves of the female pin shaft are arranged in a staggered mode; the spring rods are arranged in the accommodating grooves, the idler wheels are sleeved on the corresponding spring rods respectively, and the rotating direction of the idler wheels is perpendicular to that of the omnidirectional wheels.
4. The omni-directional wheel device for the rescue robot as claimed in claim 3, wherein a threaded hole is formed on the male pin shaft or the female pin shaft, and the male pin shaft and the female pin shaft are connected with the threaded hole through screws.
5. The omni-directional wheel device for the rescue robot as claimed in claim 3, wherein the roller is made of chloroprene.
6. The omni-directional wheel device for the rescue robot as claimed in claim 3, wherein the spring bar comprises a sleeve, a push rod and a return spring; the sleeve is fixed in the accommodating groove, the push rod is connected in the sleeve in a sliding manner, and a limiting block for preventing the push rod from being separated is arranged in the sleeve; the first end of the reset spring is connected with the push rod, and the second end of the reset spring is connected with the sleeve or the accommodating groove and used for pushing the push rod out of the sleeve.
7. The omni-directional wheel apparatus for a rescue robot according to claim 1, wherein the driving unit includes a motor, a first gear, a second gear, a driving belt, a fixed shaft;
the motor is arranged on the second transverse plate, and the first gear is arranged on an output shaft of the motor;
the fixed shaft is fixed on the vertical plate;
the second gear is sleeved and rotationally connected with the fixed shaft and is meshed with the first gear; a first belt wheel and a second belt wheel are respectively arranged on the second gear and the omnidirectional wheel; the transmission belt is respectively sleeved on the first belt wheel and the second belt wheel and realizes belt transmission.
8. The omni-directional wheel device for the rescue robot as claimed in claim 1, wherein the control unit includes an electrically controlled driver, a control chip, a remote controller receiver; the remote controller receiver is in signal connection with the control chip and is used for receiving external signals and transmitting the external signals to the control chip; the control chip is in signal connection with the electric control driver; the electric control driver is in signal connection with the driving unit.
9. The omni-directional wheel device for the rescue robot as claimed in claim 1, wherein the first and second transverse plates are both regular hexagons, and the regular polygonal space is a regular hexagon.
10. The omni-directional wheel device for the rescue robot as claimed in claim 1, wherein the connecting member is a magnetic member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110240416.0A CN113442646A (en) | 2021-03-04 | 2021-03-04 | Omnidirectional wheel device for rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110240416.0A CN113442646A (en) | 2021-03-04 | 2021-03-04 | Omnidirectional wheel device for rescue robot |
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| Publication Number | Publication Date |
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| CN113442646A true CN113442646A (en) | 2021-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110240416.0A Pending CN113442646A (en) | 2021-03-04 | 2021-03-04 | Omnidirectional wheel device for rescue robot |
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| CN108438095A (en) * | 2018-03-19 | 2018-08-24 | 合肥工业大学 | A kind of omnidirectional's nursing mobile robot platform |
| CN109124498A (en) * | 2018-10-17 | 2019-01-04 | 芜湖市越泽机器人科技有限公司 | A kind of crash-proof sweeping robot |
| CN110127275A (en) * | 2019-06-26 | 2019-08-16 | 安阳工学院 | A kind of universal conveyer belt apparatus of assembly type |
| CN110370300A (en) * | 2019-08-19 | 2019-10-25 | 上海应用技术大学 | A kind of throwing rescue robot based on electromagnetic launch |
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2021
- 2021-03-04 CN CN202110240416.0A patent/CN113442646A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438095A (en) * | 2018-03-19 | 2018-08-24 | 合肥工业大学 | A kind of omnidirectional's nursing mobile robot platform |
| CN109124498A (en) * | 2018-10-17 | 2019-01-04 | 芜湖市越泽机器人科技有限公司 | A kind of crash-proof sweeping robot |
| CN110127275A (en) * | 2019-06-26 | 2019-08-16 | 安阳工学院 | A kind of universal conveyer belt apparatus of assembly type |
| CN110370300A (en) * | 2019-08-19 | 2019-10-25 | 上海应用技术大学 | A kind of throwing rescue robot based on electromagnetic launch |
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Application publication date: 20210928 |
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