CN206217993U - Omnidirectional's wheeled platform - Google Patents
Omnidirectional's wheeled platform Download PDFInfo
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- CN206217993U CN206217993U CN201621300550.6U CN201621300550U CN206217993U CN 206217993 U CN206217993 U CN 206217993U CN 201621300550 U CN201621300550 U CN 201621300550U CN 206217993 U CN206217993 U CN 206217993U
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- driving wheel
- vertical axes
- supporting plate
- omnidirectional
- driving
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Abstract
The utility model discloses a kind of omnidirectional's wheeled platform, including supporting plate, the front end of supporting plate is provided with driving wheel mechanism, and rear end is provided with driven pulley mechanism；Driving wheel mechanism include front fork and installed in front fork lower section and have independent power source driving wheel, be fixedly connected in front fork and be provided with vertical axes, vertical axes rotatable engagement installation on the supporting plate；Driven pulley mechanism includes fixed installation fixture on the supporting plate, and the rear fork for being provided with and rotating cooperation is installed on fixture, is installed in rear fork and is provided with driven pulley；Supporting plate is provided with steering mechanism.By setting driving wheel mechanism and driven pulley mechanism, driving wheel mechanism includes at least two driving wheels, it is the purpose for being capable of achieving to drive platform to move using driving wheel, steering mechanism is correspondingly arranged by with driving wheel, driving wheel can be driven to turn to, and then realize that platform movement is turned to, have the advantages that simple structure, practicality are good and control is easy.
Description
Technical field
The utility model belongs to mobile platform technical field, is specifically a kind of omnidirectional's wheeled platform.
Background technology
Full side's mobile platform quickly grows in recent years, with Mecanum wheel, Lun Deng compound wheel types mechanism of Switzerland it is emerging
The development for acting the all-around mobile machinery for driving is more rapid.But, because compound wheel type mechanism is complicated, manufacture difficulty is larger,
It is relatively costly, itself there are problems that wheel rim switches continuity on its structural principle in addition, during having aggravated to travel
Vibrations.Complicated small wheel construction causes that its bearing capacity and field adaptability weaken significantly on wheel rim.It is another extensively
Active rubber wheel type all-around mobile system dynamic source is excessive so that added cost, increased the probability of damage.
The Chinese patent of Publication No. CN204124189U discloses a kind of new Omni-mobile platform, including vehicle body, institute
State and be provided with vehicle body at least three steering spindles, each steering spindle lower end is fixed with one end of transverse axis, the transverse axis other end is provided with
Driving wheel, is respectively provided with independent power source on described each driving wheel, synchronization is provided with described each steering spindle
Steering mechanism.Although the Omni-mobile platform disclosure satisfy that use requirement to a certain extent, following deficiency is still suffered from：
1）All driving wheels are equipped with independent power source, increased cost；
2）Driving wheel is directly installed on transverse axis, when steering spindle rotation driving rotate to when, it is impossible to realize original place rotate turn
To, cause mobile platform turn to when can there are problems that run it is jiggly；
3）Steering spindle is excessive, drives the difficulty that all steering spindles are synchronously turned to increase using synchronous steering mechanism.
The content of the invention
In view of this, the purpose of this utility model is to provide a kind of omnidirectional's wheeled platform, can not only meet to use and want
Ask, and have the advantages that simple structure, practicality are good and control is easy.
To reach above-mentioned purpose, the utility model provides following technical scheme：
A kind of omnidirectional's wheeled platform, including supporting plate, the front end of the supporting plate are provided with driving wheel mechanism, rear end be provided with from
Driving wheel mechanism；
The driving wheel mechanism include front fork and installed in the front fork lower section and with independent power source active
Wheel, is fixedly connected in the front fork and is provided with vertical axes, and the vertical axes rotatable engagement is arranged in the supporting plate；
The driven pulley mechanism includes the fixture being fixedly mounted in the supporting plate, is installed on the fixture and is provided with
The rear fork of cooperation is rotated, is installed in the rear fork and is provided with driven pulley；
The supporting plate is provided with for driving the vertical axes to rotate and then drive the steering machine that the driving wheel is turned to
Structure.
Further, the steering mechanism includes steering motor I, and the output shaft of the steering motor I is described perpendicular with all of
The tape handler or chain-drive mechanism for driving all of vertical axes synchronous axial system are provided between d-axis.
Further, it is provided with all of for driving between the output shaft of the steering motor I and all of vertical axes
The tape handler of the vertical axes synchronous axial system, the tape handler includes being arranged on the output shaft of the steering motor I
On driving pulley, the vertical axes are provided with driven pulley, are covered between the driving pulley and all of driven pulley
It is equiped with transmission belt.
Further, the steering mechanism includes corresponding the steering motor II for setting, the steering with the vertical axes
It is provided between motor II and the corresponding vertical axes for driving the vertical axes to rotate and then driving what the driving wheel was turned to
Gear drive.
Further, also including control system, the control system include master control set in the supporting plate and
The data acquisition device electrically connected with the master control set, the data acquisition device includes the coding for detecting translational speed
Device, the gyroscope for gathering steering angle and the range sensor for whether there is barrier to occur in front of detection motion.
Further, the power supply being provided with for being powered to the steering mechanism and control system is installed in the supporting plate.
Omnidirectional's wheeled platform ambulation control method of the present utility model is as follows, and the driving wheel is set to two, including
1）Straight trip：Steering mechanism is locked, by the rotating of driving wheel, realize straight forward or keep straight on backward；
2）Row：Drive driving wheel to turn to 90 ° using steering mechanism, by the rotating of driving wheel, realize being moved to the left
Or move right；
3）Turn to：
A. all driving wheel rotation set angles are driven using steering mechanism, by the rotating of driving wheel, is realized to the left
Turn to or turn to the right；
B. it is steering mechanism is locked, realize turning to by the differential control of driving wheel, wherein, V1For left driving wheel moves speed
Degree, V2It is right driving wheel movement velocity；
Work as V1-V2When=0, omnidirectional's wheeled platform straight trip；
Work as V1-V2>When 0, omnidirectional's wheeled platform right lateral；
Work as V1-V2<When 0, omnidirectional's wheeled platform left lateral；
C. setting rotary middle point, to be respectively positioned on the pivot of two driving wheels same with the central point as the center of circle
On circular arc, drive two driving wheels to rotate to an angle respectively using steering mechanism, and two driving wheels is located at this respectively
Central point is the tangential direction of the circle in the center of circle, by the rotating of driving wheel, to set the pivot of central point and driving wheel
Distance be radius, realize turn to or pivot turn；
D. using in two driving wheels as driven pulley, another is driving wheel, and steering mechanism drives driving wheel
Rotating, realizes turning to.
The beneficial effects of the utility model are：
Omnidirectional's wheeled platform of the present utility model, by being respectively provided with driving wheel mechanism and driven pulley mechanism, active turbine
Structure include at least two driving wheels, in this way, using driving wheel be capable of achieving drive platform move purpose, by with driving wheel pair
Steering mechanism should be set, driving wheel can be driven to turn to, and then realize that platform movement is turned to, it is good with simple structure, practicality
The easy advantage with control.
Brief description of the drawings
In order that the purpose of this utility model, technical scheme and beneficial effect are clearer, the utility model provides as follows
Accompanying drawing is illustrated：
Fig. 1 is the structural representation of the wheeled platform embodiment 1 of the utility model omnidirectional；
Fig. 2 is state diagram when the present embodiment omnidirectional wheeled platform is turned to；
Fig. 3 is the structural representation of the wheeled platform embodiment 2 of the utility model omnidirectional；
Fig. 4 is state diagram when the present embodiment omnidirectional wheeled platform is turned to.
Specific embodiment
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art
The utility model can be better understood from and can be practiced, but illustrated embodiment is not as to restriction of the present utility model.
Embodiment 1
As shown in figure 1, being the structural representation of the wheeled platform embodiment 1 of the utility model omnidirectional.The omnidirectional of the present embodiment
Wheeled platform, including supporting plate 1, the front end of supporting plate 1 are provided with driving wheel mechanism, and rear end is provided with driven pulley mechanism.The present embodiment
Driving wheel mechanism include front fork 2 and installed in the lower section of front fork 2 and the driving wheel 3 with independent power source, in front fork 2
It is fixedly connected and is provided with vertical axes 4, the rotatable engagement of vertical axes 4 is arranged in supporting plate 1.The driven pulley mechanism of the present embodiment includes solid
Fixture 5 of the Dingan County in supporting plate 1, installs the rear fork 6 for being provided with and rotating cooperation on fixture 5, pacify in rear fork 6
It is equiped with driven pulley 7.Supporting plate 1 is provided with for driving vertical axes 4 to rotate and then drive the steering mechanism that driving wheel 3 is turned to.
The steering mechanism of the present embodiment include steering motor I 8, the output shaft of steering motor I 8 and all of vertical axes 4 it
Between be provided with tape handler or chain-drive mechanism for driving the synchronous axial system of all of vertical axes 4.The steering electricity of the present embodiment
The tape handler for driving the synchronous axial system of all of vertical axes 4 is provided between the output shaft of machine I 8 and all of vertical axes 4,
Tape handler includes the driving pulley being arranged on the output shaft of steering motor I 8, and vertical axes 4 are provided with driven pulley, actively
Set is equiped with transmission belt 9 between belt wheel and all of driven pulley.
Omnidirectional's wheeled platform of the present embodiment also includes control system, and control system includes the master in supporting plate 1
Control device and the data acquisition device electrically connected with master control set, data acquisition device include the coding for detecting translational speed
Device, the gyroscope for gathering steering angle and the range sensor for whether there is barrier to occur in front of detection motion.Branch
The power supply being provided with for being powered to steering mechanism and control system is installed on fagging 1.
The ambulation control method of omnidirectional's wheeled platform of the present utility model is：
The driving wheel of the present embodiment is set to two, including
1）Straight trip：Steering mechanism is locked, by the rotating of driving wheel, realize straight forward or keep straight on backward；
2）Row：Drive driving wheel to turn to 90 ° using steering mechanism, by the rotating of driving wheel, realize being moved to the left
Or move right；
3）Turn to：
A. all driving wheel rotation set angles are driven using steering mechanism, by the rotating of driving wheel, is realized to the left
Turn to or turn to the right；
B. it is steering mechanism is locked, realize turning to by the differential control of driving wheel, wherein, V1For left driving wheel moves speed
Degree, V2It is right driving wheel movement velocity；
Work as V1-V2When=0, omnidirectional's wheeled platform straight trip；
Work as V1-V2>When 0, omnidirectional's wheeled platform right lateral；
Work as V1-V2<When 0, omnidirectional's wheeled platform left lateral；
C. setting rotary middle point, to be respectively positioned on the pivot of two driving wheels same with the central point as the center of circle
On circular arc, drive two driving wheels to rotate to an angle respectively using steering mechanism, and two driving wheels is located at this respectively
Central point is the tangential direction of the circle in the center of circle, by the rotating of driving wheel, to set the pivot of central point and driving wheel
Distance be radius, realize turn to or pivot turn；
D. using in two driving wheels as driven pulley, another is driving wheel, and steering mechanism drives driving wheel
Rotating, realizes turning to.
Omnidirectional's wheeled platform of the present embodiment, by being respectively provided with driving wheel mechanism and driven pulley mechanism, driving wheel mechanism
Including at least one driving wheel, in this way, be to be capable of achieving the purpose that driving platform is moved using driving wheel, by corresponding with driving wheel
Steering mechanism is set, driving wheel can be driven to turn to, and then realize that platform movement is turned to, with simple structure, practicality it is good and
Control easy advantage.
Embodiment 2
As shown in figure 3, being the structural representation of the wheeled platform embodiment 2 of the utility model omnidirectional.The omnidirectional of the present embodiment
Wheeled platform, including supporting plate 1, the front end of supporting plate 1 are provided with driving wheel mechanism, and rear end is provided with driven pulley mechanism.The present embodiment
Driving wheel mechanism include front fork 2 and the driving wheel 3 installed in the lower section of front fork 2, be fixedly connected in front fork 2 and be provided with vertically
Axle 4, the rotatable engagement of vertical axes 4 is arranged in supporting plate 1, and wheel hub motor is provided with driving wheel 3.The driven pulley mechanism of the present embodiment
Including the fixture 5 being fixedly mounted in supporting plate 1, the rear fork 6 for being provided with and rotating cooperation, back vent are installed on fixture 5
Installed on part 6 and be provided with driven pulley 7.Supporting plate 1 is provided with for driving vertical axes 4 to rotate and then driving turning for the steering of driving wheel 3
To mechanism.
The steering mechanism of the present embodiment includes corresponding the steering motor II 10 for setting, steering motor II with vertical axes 4
It is provided between 10 and corresponding vertical axes 4 for driving the vertical axes 4 to rotate and then drive the gear drive machine that driving wheel 3 is turned to
Structure 11.
Omnidirectional's wheeled platform of the present embodiment also includes control system, and control system includes the master in supporting plate 1
Control device and the data acquisition device electrically connected with master control set, data acquisition device include the coding for detecting translational speed
Device, the gyroscope for controlling steering angle and the range sensor for whether there is barrier to occur in front of detection motion.Branch
The power supply being provided with for being powered to steering mechanism and control system is installed on fagging 1.
The ambulation control method of omnidirectional's wheeled platform of the present utility model is：
The driving wheel of the present embodiment is set to two, including
1）Straight trip：Steering mechanism is locked, by the rotating of driving wheel, realize straight forward or keep straight on backward；
2）Row：Drive driving wheel to turn to 90 ° using steering mechanism, by the rotating of driving wheel, realize being moved to the left
Or move right；
3）Turn to：
A. all driving wheel rotation set angles are driven using steering mechanism, by the rotating of driving wheel, is realized to the left
Turn to or turn to the right；
B. it is steering mechanism is locked, realize turning to by the differential control of driving wheel, wherein, V1For left driving wheel moves speed
Degree, V2It is right driving wheel movement velocity；
Work as V1-V2When=0, omnidirectional's wheeled platform straight trip；
Work as V1-V2>When 0, omnidirectional's wheeled platform right lateral；
Work as V1-V2<When 0, omnidirectional's wheeled platform left lateral；
C. setting rotary middle point, to be respectively positioned on the pivot of two driving wheels same with the central point as the center of circle
On circular arc, drive two driving wheels to rotate to an angle respectively using steering mechanism, and two driving wheels is located at this respectively
Central point is the tangential direction of the circle in the center of circle, by the rotating of driving wheel, to set the pivot of central point and driving wheel
Distance be radius, realize turn to or pivot turn；
D. using in two driving wheels as driven pulley, another is driving wheel, and steering mechanism drives driving wheel
Rotating, realizes turning to.
Omnidirectional's wheeled platform of the present embodiment, by being respectively provided with driving wheel mechanism and driven pulley mechanism, driving wheel mechanism
Including at least one driving wheel, in this way, be to be capable of achieving the purpose that driving platform is moved using driving wheel, by corresponding with driving wheel
Steering mechanism is set, driving wheel can be driven to turn to, and then realize that platform movement is turned to, with simple structure, practicality it is good and
Control easy advantage.
The pivot of driving wheel described herein is located on the axis of vertical axes 4.
Embodiment described above is only the preferred embodiment lifted to absolutely prove the utility model, the utility model
Protection domain not limited to this.Equivalent substitute or change that those skilled in the art are made on the basis of the utility model
Change, within protection domain of the present utility model.Protection domain of the present utility model is defined by claims.
Claims (6)
1. a kind of omnidirectional's wheeled platform, it is characterised in that：Including supporting plate, the front end of the supporting plate is provided with driving wheel mechanism,
Rear end is provided with driven pulley mechanism；
The driving wheel mechanism include front fork and installed in the front fork lower section and with independent power source driving wheel, institute
To state be fixedly connected in front fork and be provided with vertical axes, the vertical axes rotatable engagement is arranged in the supporting plate；
The driven pulley mechanism includes the fixture being fixedly mounted in the supporting plate, is installed on the fixture and is provided with and it
The rear fork of rotatable engagement, installs in the rear fork and is provided with driven pulley；
The supporting plate is provided with for driving the vertical axes to rotate and then drive the steering mechanism that the driving wheel is turned to.
2. omnidirectional's wheeled platform according to claim 1, it is characterised in that：The steering mechanism includes steering motor I, institute
State and be provided between the output shaft of steering motor I and all of vertical axes for driving all of vertical axes synchronous axial system
Tape handler or chain-drive mechanism.
3. omnidirectional's wheeled platform according to claim 2, it is characterised in that：The output shaft of the steering motor I with it is all
The vertical axes between be provided with tape handler for driving all of vertical axes synchronous axial system, the V belt translation machine
Structure includes the driving pulley being arranged on the output shaft of the steering motor I, and the vertical axes are provided with driven pulley, the master
Set is equiped with transmission belt between movable belt pulley and all of driven pulley.
4. omnidirectional's wheeled platform according to claim 1, it is characterised in that：The steering mechanism includes and the vertical axes
The steering motor II for setting is corresponded, is provided between the steering motor II and the corresponding vertical axes for driving this to erect
D-axis rotates and then drives the gear drive that the driving wheel is turned to.
5. the omnidirectional's wheeled platform according to claim any one of 1-4, it is characterised in that：Also include control system, it is described
Control system includes the master control set being arranged in the supporting plate and the data acquisition device electrically connected with the master control set,
The data acquisition device is included for detecting the encoder of translational speed, the gyroscope for gathering steering angle and for examining
Survey the range sensor whether motion front has barrier to occur.
6. omnidirectional's wheeled platform according to claim 5, it is characterised in that：Installed in the supporting plate and be provided with for institute
State the power supply that steering mechanism and control system are powered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621300550.6U CN206217993U (en) | 2016-11-30 | 2016-11-30 | Omnidirectional's wheeled platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621300550.6U CN206217993U (en) | 2016-11-30 | 2016-11-30 | Omnidirectional's wheeled platform |
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| Publication Number | Publication Date |
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| CN206217993U true CN206217993U (en) | 2017-06-06 |
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ID=58786648
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621300550.6U Active CN206217993U (en) | 2016-11-30 | 2016-11-30 | Omnidirectional's wheeled platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627743A (en) * | 2016-11-30 | 2017-05-10 | 广州足步医疗科技有限公司 | Omni-directional wheel-type platform and walking control method thereof |
| CN107985444A (en) * | 2017-11-26 | 2018-05-04 | 钟立朋 | A kind of sheet metal component conveying arrangement |
| CN113460195A (en) * | 2021-07-06 | 2021-10-01 | 易思特熵智能物流设备(丹阳)有限公司 | Container loading machine |
-
2016
- 2016-11-30 CN CN201621300550.6U patent/CN206217993U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627743A (en) * | 2016-11-30 | 2017-05-10 | 广州足步医疗科技有限公司 | Omni-directional wheel-type platform and walking control method thereof |
| CN107985444A (en) * | 2017-11-26 | 2018-05-04 | 钟立朋 | A kind of sheet metal component conveying arrangement |
| CN113460195A (en) * | 2021-07-06 | 2021-10-01 | 易思特熵智能物流设备(丹阳)有限公司 | Container loading machine |
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