CN202641909U - Omni-directional mobile platform - Google Patents
Omni-directional mobile platform Download PDFInfo
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- CN202641909U CN202641909U CN 201220362396 CN201220362396U CN202641909U CN 202641909 U CN202641909 U CN 202641909U CN 201220362396 CN201220362396 CN 201220362396 CN 201220362396 U CN201220362396 U CN 201220362396U CN 202641909 U CN202641909 U CN 202641909U
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- wheel
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- mobile platform
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Abstract
The utility model discloses an omni-directional mobile platform which comprises a platform frame body which is a cuboid, wherein four permanent magnet synchronous motors are arranged on the platform frame body. Output shafts of the permanent magnet synchronous motors are connected with reducers, and omni-directional mobile wheels are connected with the reducers. A rotating shaft of each omni-directional mobile wheel is fixed on the platform support body through a support bearing seat. Battery sets and a motor controller are further arranged on the platform frame body, and the battery sets are connected with the permanent magnet synchronous motors. By controlling the rotating direction and the rotating speed of each permanent magnet synchronous motor, the omni-directional mobile platform can achieve arbitrary mobile tracks in a plane. The omni-directional mobile platform has the advantages of being high in flexibility, good in position accessibility and limitless in usage occasion, being used in a narrow-small space and complicated conditions, greatly reducing working space, and basically meeting usage requirements of various situations.
Description
Technical field
The utility model relates to a kind of mobile platform, specifically refers to a kind of Omni-mobile platform.
Background technology
The tradition mobile platform generally is divided into wheel moving platform, guide rail type movable platform, crawler-type mobile platform according to move mode.Wheel moving platform and crawler-type mobile platform turn radius when work is large, therefore all requires to have larger space, and use occasion is limited.The guide rail type movable platform only is suitable for the relatively-stationary occasion of operating path because the restriction of the guide rail that is subject to laying can only be moved according to fixing route.
The travel mechanism of wheel moving platform is comprised of drive wheel (two-wheeled or four-wheel) and wheel flutter substantially, drive wheel is used for providing power to the movement of platform, the moving direction of wheel flutter control platform, according to platform wheelspan and wheelbase, platform has different turn radiuss.Move more flexible.
The travel mechanism of guide rail type movable platform is comprised of drive wheel and support wheel, drive wheel provides power to platform movement, and support wheel supports whole platform, and rotates with the rotation of drive wheel, drive wheel and support wheel all rotate at the track of laying in advance, and the moving direction of platform is determined by track.
Travel mechanism's driving wheel driving of crawler-type mobile platform, bearing wheed, inducer, carrier wheel, crawler belt form, and crawler belt is driven by driving wheel.The crawler-type mobile platform turns to the friction speed by two crawler belts to realize, the contact surface on crawler belt and ground has larger cliding friction, and is very serious to the wearing and tearing of crawler belt.Driving efficiency is not high simultaneously.
The utility model content
The purpose of this utility model is to provide a kind of Omni-mobile platform, solve in the existing mobile platform working process and require mobile space larger, mobile dumb, the position accessibility is relatively poor, use occasion is limited, the problem that can not use under narrow space, complex environment.
The purpose of this utility model is achieved through the following technical solutions:
A kind of Omni-mobile platform, comprise the stand body, the stand body is cuboid, at described stand body four permagnetic synchronous motors are installed, the output shaft of permagnetic synchronous motor is connected with retarder, is connected with the Omni-mobile wheel on the retarder, the turning cylinder of each Omni-mobile wheel all is fixed on the stand body by supporting bearing base, on described stand body battery pack is installed also, battery pack is connected with permagnetic synchronous motor, on described stand body electric machine controller is installed also.The stand body is as main body, its structure is cuboid, four permagnetic synchronous motors are installed above it, the output shaft of permagnetic synchronous motor is connected with retarder, the axis of retarder is parallel to each other, mouth at retarder is equipped with the Omni-mobile wheel, the Omni-mobile wheel provides power by permagnetic synchronous motor, at the stand body battery pack is installed, battery pack provides electric power to permagnetic synchronous motor, the electric machine controller that also comprises four permagnetic synchronous motor actions of control, four Omni-mobile wheels are driven by four permagnetic synchronous motors respectively, and the output of permagnetic synchronous motor is through retarder, pass to the Omni-mobile wheel after the supporting bearing base; Battery pack is as the energy of permagnetic synchronous motor work, hand of rotation and the rotating speed of motor controller controls four permanent magnet synchronous motors, use permagnetic synchronous motor respectively each Omni-mobile wheel to be driven, by hand of rotation and the rotating speed of controlling every permanent magnet synchronous motors, can realize any motion track in the plane, has very high alerting ability, the position accessibility is better, use occasion is unrestricted, can under narrow space, complex environment, use, working space requires greatly to reduce, and substantially can satisfy the operating needs of various occasions.
Described Omni-mobile wheel comprises wheel body, at the circumference of wheel body a plurality of trundles that diagonally distribute is installed, and the outer contour of trundle overlaps with the theoretical circumference of wheel body, the axis shape angle at 45 ° of the axis of trundle and wheel body.The Omni-mobile wheel is the critical component of omni-directional moving platform, wheel body circumference a plurality of trundles that diagonally distributing, the theoretical circumference of the profile of these trundles and wheel body coincides, and trundle can rotate freely along self axis, the axis of trundle and the axis of wheel body angle at 45 °, trundle has 3 degree of freedom: when rotating, self axis can rotate around the wheel body axis again, and can also be around trundle and the rotation of ground contact point.This is so that Omni-mobile wheel has also possessed 3 degree of freedom: around the rotation of wheel shaft, along the translation of roller axis vertical line direction with around the rotation of roller and ground contact point.So, when the Omni-mobile wheel has the active drive ability in one direction, also has the characteristic that moves freely on the another one direction.When four wheel individual drive, under the combined action of friction force and propulsive effort, platform can be realized all-around mobile.The corresponding relation of typical platform sense of motion and each wheel drive direction, the rotating speed by each Omni-mobile wheel of accurate control and turning to, but with regard to the all-around mobile of implementation platform.
The trundle in described each wheel body outside is 7, and 7 trundles are evenly distributed on the wheel body outside.
The utility model compared with prior art has following advantage and beneficial effect:
A kind of Omni-mobile platform of 1 the utility model, by hand of rotation and the rotating speed of controlling every permanent magnet synchronous motors, can realize any motion track in the plane, has very high alerting ability, the position accessibility is better, and use occasion is unrestricted, can use under narrow space, complex environment, working space requires greatly to reduce, and substantially can satisfy the operating needs of various occasions;
A kind of Omni-mobile platform of 2 the utility model, wheel body circumference a plurality of trundles that diagonally distributing, the theoretical circumference of the profile of these trundles and wheel body coincides, and trundle can rotate freely along self axis, the axis of trundle and the axis of wheel body angle at 45 °, trundle has 3 degree of freedom: can rotate around the wheel body axis again when self axis rotates, can also rotate around trundle and ground contact point, this is so that the Omni-mobile wheel has also possessed 3 degree of freedom: around the rotation of wheel shaft, along the translation of roller axis vertical line direction with around the rotation of roller and ground contact point, so, when the Omni-mobile wheel has the active drive ability in one direction, also has the characteristic that moves freely on the another one direction, when four wheel individual drive, under the combined action of friction force and propulsive effort, platform can be realized all-around mobile, the corresponding relation of typical platform sense of motion and each wheel drive direction, rotating speed by each Omni-mobile of accurate control wheel and turning to, but the all-around mobile of implementation platform just.
Description of drawings
Fig. 1 is the utility model structural representation.
Mark and corresponding parts title in the accompanying drawing:
1-Omni-mobile wheel, 2-supporting bearing base, 3-retarder, 4-permagnetic synchronous motor, 5-stand body, 6-battery pack, 7-electric machine controller, 8-wheel body, 9-trundle.
The specific embodiment
The utility model is described in further detail below in conjunction with embodiment, but embodiment of the present utility model is not limited to this.
Embodiment
As shown in Figure 1, a kind of Omni-mobile platform of the utility model, comprise stand body 5, stand body 5 is cuboid, at stand body 5 four permagnetic synchronous motors 4 are installed, the output shaft of permagnetic synchronous motor 4 is connected with retarder 3, be connected with Omni-mobile wheel 1 on the retarder 3, the turning cylinder of each Omni-mobile wheel 1 all is fixed on the stand body 5 by supporting bearing base 2, the Omni-mobile wheel comprises wheel body 8, circumference at wheel body 8 is equipped with 7 oblique well-distributed trundles 9, the outer contour of trundle 9 overlaps with the theoretical circumference of wheel body 8, and the axis shape angle at 45 ° of the axis of trundle 9 and wheel body 8 also is equipped with battery pack 6 on stand body 5, battery pack 6 is connected with permagnetic synchronous motor 4, and electric machine controller 7 also is installed on stand body 5.
The above; it only is preferred embodiment of the present utility model; be not that the utility model is done any pro forma restriction, any simple modification, the equivalent variations on every foundation technical spirit of the present utility model above embodiment done all fall within the protection domain of the present utility model.
Claims (3)
1. Omni-mobile platform, comprise stand body (5), stand body (5) is cuboid, it is characterized in that: at described stand body (5) four permagnetic synchronous motors (4) are installed, the output shaft of permagnetic synchronous motor (4) is connected with retarder (3), be connected with Omni-mobile wheel (1) on the retarder (3), the turning cylinder of each Omni-mobile wheel (1) all is fixed on the stand body (5) by supporting bearing base (2), battery pack (6) also is installed on described stand body (5), battery pack (6) is connected with permagnetic synchronous motor (4), and electric machine controller (7) also is installed on described stand body (5).
2. a kind of Omni-mobile platform according to claim 1, it is characterized in that: described Omni-mobile wheel (1) comprises wheel body (8), circumference at wheel body (8) is equipped with a plurality of trundles that diagonally distribute (9), the outer contour of trundle (9) overlaps with the theoretical circumference of wheel body (8), the axis shape angle at 45 ° of the axis of trundle (9) and wheel body (8).
3. a kind of Omni-mobile platform according to claim 2 is characterized in that: the trundle (9) in described each wheel body (8) outside is 7, and 7 trundles (9) are evenly distributed on wheel body (8) outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220362396 CN202641909U (en) | 2012-07-25 | 2012-07-25 | Omni-directional mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220362396 CN202641909U (en) | 2012-07-25 | 2012-07-25 | Omni-directional mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202641909U true CN202641909U (en) | 2013-01-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220362396 Expired - Fee Related CN202641909U (en) | 2012-07-25 | 2012-07-25 | Omni-directional mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202641909U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640496A (en) * | 2013-07-01 | 2014-03-19 | 常熟理工学院 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
| CN107902003A (en) * | 2017-10-31 | 2018-04-13 | 苏州工艺美术职业技术学院 | A kind of unmanned rescue ball |
| CN109808309A (en) * | 2019-03-10 | 2019-05-28 | 东北大学 | A kind of mobile digital paint spraying machine |
-
2012
- 2012-07-25 CN CN 201220362396 patent/CN202641909U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640496A (en) * | 2013-07-01 | 2014-03-19 | 常熟理工学院 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
| CN107902003A (en) * | 2017-10-31 | 2018-04-13 | 苏州工艺美术职业技术学院 | A kind of unmanned rescue ball |
| CN109808309A (en) * | 2019-03-10 | 2019-05-28 | 东北大学 | A kind of mobile digital paint spraying machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130102 Termination date: 20210725 |