CN206243331U - Omni-mobile balance car based on Mecanum wheel design - Google Patents
Omni-mobile balance car based on Mecanum wheel design Download PDFInfo
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- CN206243331U CN206243331U CN201621360057.3U CN201621360057U CN206243331U CN 206243331 U CN206243331 U CN 206243331U CN 201621360057 U CN201621360057 U CN 201621360057U CN 206243331 U CN206243331 U CN 206243331U
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Abstract
The utility model two-wheel balance car technical field, more particularly to the Omni-mobile balance car based on Mecanum wheel design.Including vehicle frame, and the revolver and right wheel of the vehicle frame left and right sides are arranged on, revolver and right wheel have independently power-driven mechanism, and two groups of power-driven mechanisms are located in vehicle frame；Revolver is consistent with the structure of right wheel, by two symmetrically Mecanum wheel constitute, four Mecanum wheels are equipped with independently motor, the motion modes such as the forward, traversing of balance car, diagonal, rotation and combinations thereof are realized by the output power and outbound course that change this four motors, the transhipment environment work that space is limited, operation path is narrow is especially suitable for.And, the motor in power-driven mechanism by the way of arranging up and down so that the center of gravity of balance car is always positioned at the center of vehicle frame, improves the handling of balance car.
Description
Technical field
The utility model two-wheel balance car technical field, the more particularly to Omni-mobile based on Mecanum wheel design are put down
Weighing apparatus car.
Background technology
Two-wheel balance car, is called electrodynamic balance car, two-wheel thinking car, two-wheel scooter, body-sensing car, penetrates a car, intelligence sense car
Deng.Its operation principles is mainly built upon one kind and is referred to as the substantially former of " dynamic stability " (Dynamic Stabilization)
In reason, the change of vehicle frame attitude is detected using the gyroscope and acceleration transducer of frame interior, and using SERVO CONTROL system
System, accurately motor is adjusted correspondingly, to keep the balance of system.
Different from traditional trip instrument, balance car be the epoch progress, the product of development in science and technology, this special trip,
The life style of people is changed, very many benefits are more brought.But present balance car mostly only has turns, keeps straight on
With retreat this several forms of motion, forms of motion is single, and handling is not good.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of Omni-mobile based on Mecanum wheel design and puts down
Weighing apparatus car, its handling is more preferably.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：
Based on the Omni-mobile balance car of Mecanum wheel design, including vehicle frame, and it is arranged on the vehicle frame left and right sides
Revolver and right wheel, the revolver and right wheel have independently power-driven mechanism, and power-driven mechanism described in two groups is located at described
In vehicle frame；
The revolver is identical with the structure of right wheel, is constituted by two symmetrical Mecanum wheels, wherein near institute
The Mecanum wheel referred to as Mecanum wheel one of vehicle frame is stated, the Mecanum wheel away from the vehicle frame is referred to as Mecanum wheel two；
The power-driven mechanism includes motor one, motor two and gear-box, and the motor one is located at the motor two
Top, the motor one and the motor two are respectively arranged an encoder；There is pitch wheel in the gear-box
One and gear two, the gear one is located at the top of the gear two；Power transmission shaft one is installed with the motor shaft of the motor one,
The power transmission shaft one is injected in the gear one and is connected with it；Power transmission shaft two, institute are installed with the motor shaft of the motor two
The outside for stating power transmission shaft two is also arranged with a hollow shaft sleeve, and one end of the hollow shaft sleeve is inserted in the Mecanum wheel one
In wheel hub and it is secured to, the other end of the hollow shaft sleeve is inserted in the gear two and is secured to；The power transmission shaft two
It is inserted in the wheel hub of the Mecanum wheel two and is secured to.
The operation logic of power-driven mechanism is as follows：
Motor one is run, and is rotated by the drive gear one of power transmission shaft one, and gear two is engaged and reversely rotated with gear one, empty
Spindle sleeve rotates with gear two, and drives Mecanum wheel one to rotate together；Motor two runs, and is directly driven by power transmission shaft two
Mecanum wheel two rotates.It is because power transmission shaft two is worn and mistake from hollow shaft sleeve and not connected with hollow shaft sleeve, therefore
Mecanum wheel one can only be driven by motor one, and Mecanum wheel two can only be driven by motor two.Two groups of power-driven mechanism energy
Four independent controls of Mecanum wheel in revolver and right wheel are enough realized, output power and output by four motors of change
Direction, realizes the multi-motion form of balance car.
It is further that the power transmission shaft one is connected by first shaft coupling with the motor shaft of the motor one, the biography
Moving axis two is fixed by second shaft coupling with the motor shaft of the motor two.
It is further to be provided with the first ball bearing, the power transmission shaft one at the gear-box correspondence gear one
Passed through from first ball bearing；The second ball bearing, the sky are provided with the gear-box correspondence gear two
Spindle sleeve is passed through from second ball bearing.
It is further that the power transmission shaft two is fixed by first flange disk with the wheel hub of the Mecanum wheel two；Institute
Hollow shaft sleeve is stated to be connected with the gear two by second flange disk；The hollow shaft sleeve passes through the 3rd ring flange and the Mike
The wheel hub of Na Mu wheels one is fixed.
It is further that the 3rd ball bearing is installed in the second flange disk, the power transmission shaft two is from the described 3rd
Passed through in ball bearing.
It is further that the frame includes top board, base plate and a circle side plate, two motors one of the top board correspondence
Encoder at be each provided with one opening；It is also to be each provided with one at two encoders of the motor two of the base plate correspondence
Individual opening.
It is further that the top board is " ten " font with base plate, and four right angles of the side plate have been respectively coated by
One piece of reinforcing plate.
Compared with prior art, balance car disclosed in the utility model has two wheels in left and right, and each wheel is by two
Symmetrically Mecanum wheel is constituted, and four Mecanum wheels are equipped with independently motor, by changing the defeated of this four motors
Go out power and outbound course realizes the motion modes such as the forward, traversing of balance car, diagonal, rotation and combinations thereof, be especially suitable for turning
The fortune environment work that space is limited, operation path is narrow.And, the motor in power-driven mechanism is using the side for arranging up and down
Formula so that the center of gravity of balance car is always positioned at the center of vehicle frame, improves the handling of balance car.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the utility model embodiment, below will be to prior art and embodiment
The accompanying drawing to be used needed for description is briefly described.
Fig. 1 is the structural representation of the Omni-mobile balance car based on Mecanum wheel design disclosed in embodiment one
Figure；
Fig. 2 is the side sectional view of the Omni-mobile balance car based on Mecanum wheel design disclosed in embodiment one
Schematic diagram；
Fig. 3 is the structural representation of the power-driven mechanism disclosed in embodiment one；
Fig. 4 is the side sectional view of the power-driven mechanism disclosed in embodiment one；
Fig. 5 is the distribution schematic diagram of the Mecanum wheel of the left and right wheels disclosed in embodiment one；
Fig. 6 is the distribution schematic diagram of the Mecanum wheel of the left and right wheels disclosed in embodiment two；
Fig. 7 is the force analysis figure of the balance car forward travel disclosed in embodiment one；
Fig. 8 is the force analysis figure of the balance car translational motion to the left disclosed in embodiment one；
Fig. 9 is the force analysis figure of the balance car pivot turn motion clockwise disclosed in embodiment one；
Figure 10 is the force analysis figure of the balance car pivoting movement disclosed in embodiment one.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe.
Embodiment one
Referring to Fig. 1 and 2, a kind of Omni-mobile balance car based on Mecanum wheel design, including vehicle frame 1, and set
In the revolver 2 and right wheel 3 of the vehicle frame left and right sides.Revolver is identical with the structure of right wheel, by two symmetrical Mecanums
Wheel composition.The angle of inclination of trundle is 45 degree in Mecanum wheel, and what trundle was tilted to the left is Mecanum revolver, to the right
Inclined is Mecanum right wheel.By taking revolver as an example, the 2a of Mecanum wheel one is referred to as near the Mecanum right wheel of vehicle frame, away from
The Mecanum revolver of vehicle frame is referred to as the 2b of Mecanum wheel two；Because revolver is identical with the structure of right wheel, therefore, it is close in right wheel
The 3a of Mecanum wheel one of vehicle frame should be Mecanum revolver, and the 3b of Mecanum wheel two away from vehicle frame is Mecanum right wheel.
Revolver and right wheel all have independently power-driven mechanism 4, and this two groups of power-driven mechanisms are located in vehicle frame.Power
Drive mechanism includes the 4a of motor one, the 4b of motor two and gear-box 4c, and motor one is located at the top of motor two, motor one and motor two
It is respectively arranged an encoder 6.There is the 4d of the pitch wheel one and 4e of gear two, gear one is located at gear two in gear-box
Top；The motor shaft of motor one is installed with the 4g of power transmission shaft one by first shaft coupling 4f, in the reeve gear one of power transmission shaft one simultaneously
It is connected with it.The motor shaft of motor two is installed with the 4k of power transmission shaft two by second shaft coupling 4j, and the outside of power transmission shaft two is also arranged
Have a hollow shaft sleeve 4w, one end of hollow shaft sleeve be inserted in the wheel hub of the 2a of Mecanum wheel one and by the 3rd ring flange 4m with
It is fixed, and the other end of hollow shaft sleeve is inserted in gear two and is secured to by second flange disk 4x.Power transmission shaft two is inserted in wheat
It is secured in the wheel hub of Ke Namu wheels two and by first flange disk 4n.
The first ball bearing 5a is provided with gear-box corresponding gear one, power transmission shaft one is passed through from the first ball bearing；
The second ball bearing 5b is provided with gear-box corresponding gear two, hollow shaft sleeve is passed through from the second ball bearing.3rd flange
3rd ball bearing 5c is installed, power transmission shaft two is passed through from the 3rd ball bearing in disk 4m.
Balance car can realize producing in the axial direction when it is critical only that 45 ° of Mecanum wheels rotate and pushing away for Omni-mobile
Power, thrust size is just different when the rotating speed of four omni-directional wheels is inconsistent, then the torque for producing is different, you can realize complete
To movement.Made a concrete analysis of below in conjunction with several forms of motion main to balance car of the force analysis figure in accompanying drawing：
A () is advanced
As shown in Figure 7：Four (two groups of left and right) Mecanum wheel speeds are equal, and direction of rotation is identical, are all rotations counterclockwise
When turning, the power that each Mecanum wheel is produced is respectively F1, F2, F3, F4, component of each power in x, y direction be respectively Fnx,
Fny (n=1,2,3,4).The axial thrust load Fny sizes produced with two Mecanum wheels in group are identical, in opposite direction, so
The axial force F ny of two Mecanum wheels cancels out each other；With the radial component Fnx directions that two Mecanum wheels in group are produced
It is identical, equal in magnitude, so balance car realizes the function of advancing.
B () retreats
As the principle advanced, four (two groups of left and right) Mecanum wheel speeds are equal, rotation for the principle that balance car is retreated
Turn direction identical, be all when turning clockwise；
C () is to left
Referring to Fig. 8, the rotating speed size of four Mecanum wheels is identical, and Mecanum wheel A turns clockwise, and produces to the left
Axial force F 1y and radial load F1x backward；Mecanum wheel B rotate counterclockwises, also produce axial force F 2y to the left and forward
Radial load F2x；Mecanum wheel C turns clockwise, and produces axial force F 3y and radial load F3x backward to the left；Mike receives
Nurse wheel D rotate counterclockwises, also produce axial force F 4y and radial load F4x forward to the left.F1x and F4x produces a couple
M1, F2x and F3x produce couple a M2, M1 and M2 in opposite direction, and size is approximate, M1>M2, but can be by adjusting Mecanum
Take turns the rotating speed calibration of B and Mecanum wheel C so that M1=M2, thus the moment of couple is offset, and only remaining axial force is made a concerted effort Fy, then real
The function that existing balance car is walked to the left.
D () is to right translation
The principle of balance car phase right translation is consistent with the principle to left, simply Mecanum wheel A rotate counterclockwises, wheat
B's Ke Namu wheels turns clockwise, Mecanum wheel C rotate counterclockwises, Mecanum wheel D turn clockwise.
(e) Omni-mobile
Four kinds of move modes of above-mentioned movement can be summarized as following：
1) during forward-reverse, the axial force Fny that makes a concerted effort is zero；
2) during the translation of left and right, the resultant moment that radial load Fnx is produced is zero；
It is achieved thereby that along the movement of rectangular co-ordinate direction of principal axis, if controlling rotating speed and the rotation of Liang Ge omnidirectionals wheel
Direction is capable of achieving the movement on any direction in theory, i.e., when above two condition has one to be unsatisfactory for, so that it may realize omnidirectional
It is mobile.
(f) pivot turn clockwise
As shown in figure 9, the direction of rotation of two groups of left and right Mecanum wheel is different, but rotary speed is the same, due to axial force
Fy makes a concerted effort to be zero, is completely counterbalanced by that left side F1x and F2x forms one group of couple with the right F3x and F4x, realizes balance car original place suitable
Hour hands rotate.
(g) pivot turn counterclockwise
The principle of h () is counterclockwise pivot turn is similar to pivot turn principle clockwise, is not repeated.
I () is pivoted
As shown in Figure 10, two groups of left and right wheel direction of rotation is different, and rotary speed is also different, due to axial force F y
Make a concerted effort to be zero, be completely counterbalanced by, left side F1x and F2x forms two group torques with the right F3x and F4x, and in different size, it will
Concentric circles pivoting movement.
Referring to Fig. 1, frame includes top board 1a, base plate and a circle side plate 1b, top board two codings of the motor one of correspondence
An opening 1c is each provided with device；An opening is also each provided with base plate two encoders of motor two of correspondence.
It is further that top board is " ten " font with base plate, and four right angles of side plate have been respectively coated by one piece of reinforcement
Plate 1d.
Embodiment two
Mecanum wheel in revolver and right wheel also has another arrangement mode (referring to Fig. 6), or by taking revolver as an example, leans on
The 2a ' of Mecanum wheel one of nearly vehicle frame is Mecanum revolver, and the 2b ' of Mecanum wheel two away from vehicle frame is the Mecanum right side
Wheel；Because revolver is identical with the structure of right wheel, therefore, the 3a ' of Mecanum wheel one in right wheel near vehicle frame should be Mecanum
Right wheel, the 3b ' of Mecanum wheel two away from vehicle frame is Mecanum revolver.
Integrated embodiment one and two can show that the Mecanum wheel of left and right wheels has two kinds of combining forms：
The first is from left to right, respectively Mecanum revolver, Mecanum right wheel, Mecanum revolver, Mecanum
Right wheel；
Second from left to right, is respectively Mecanum right wheel, Mecanum revolver, Mecanum right wheel, Mecanum
Revolver.
Four Mecanum wheels are applied on balance car, and independent control each Mecanum wheel, such structure sets
Meter imparts the abundant motor-driven form of balance car, and balance car can be rotated in place with forward-reverse, and left and right translation, tilt translation is non-
Often it is adapted to the transhipment environment work that space is limited, operation path is narrow.Balance car disclosed in the utility model is except as riding instead of walk
The vehicles, are also used as robot chassis (mobile vehicle of such as service robot, the vehicle-mounted chassis of AGV etc.).
Various modifications to these embodiments will be apparent for those skilled in the art, herein
Defined General Principle can be real in other embodiments in the case where spirit or scope of the present utility model are not departed from
It is existing.Therefore, the utility model is not intended to be limited to the embodiments shown herein, and be to fit to it is disclosed herein
Principle and the consistent scope most wide of features of novelty.
Claims (7)
1. the Omni-mobile balance car for being designed based on Mecanum wheel, it is characterised in that including vehicle frame, and it is arranged on a vehicle frame left side
The revolver and right wheel of right both sides, the revolver and right wheel have independently power-driven mechanism, power-driven mechanism described in two groups
In the vehicle frame；
The revolver is identical with the structure of right wheel, is constituted by two symmetrical Mecanum wheels, wherein near the car
The Mecanum wheel of frame is referred to as Mecanum wheel one, and the Mecanum wheel away from the vehicle frame is referred to as Mecanum wheel two；
The power-driven mechanism includes motor one, motor two and gear-box, and the motor one is located at the top of the motor two,
The motor one and the motor two are respectively arranged an encoder；There is pitch wheel one and tooth in the gear-box
Wheel two, the gear one is located at the top of the gear two；Power transmission shaft one, the biography are installed with the motor shaft of the motor one
Moving axis one is injected in the gear one and is connected with it；Power transmission shaft two, the transmission are installed with the motor shaft of the motor two
The outside of axle two is also arranged with a hollow shaft sleeve, and one end of the hollow shaft sleeve is inserted in the wheel hub of the Mecanum wheel one
And be secured to, the other end of the hollow shaft sleeve is inserted in the gear two and is secured to；The power transmission shaft two is inserted in institute
State in the wheel hub of Mecanum wheel two and be secured to.
2. it is according to claim 1 based on Mecanum wheel design Omni-mobile balance car, it is characterised in that the biography
Moving axis one is connected by the motor shaft of first shaft coupling and the motor one, the power transmission shaft two by second shaft coupling with it is described
The motor shaft of motor two is fixed.
3. it is according to claim 1 based on Mecanum wheel design Omni-mobile balance car, it is characterised in that the tooth
The first ball bearing is provided with the roller box correspondence gear one, the power transmission shaft one is passed through from first ball bearing；
The second ball bearing is provided with the gear-box correspondence gear two, the hollow shaft sleeve is from second ball bearing
Pass through.
4. it is according to claim 3 based on Mecanum wheel design Omni-mobile balance car, it is characterised in that the biography
Moving axis two is fixed by first flange disk with the wheel hub of the Mecanum wheel two；The hollow shaft sleeve by second flange disk with
The gear two is connected；The hollow shaft sleeve is fixed by the 3rd ring flange and the wheel hub of the Mecanum wheel one.
5. the Omni-mobile balance car based on Mecanum wheel design according to claim 4, it is characterised in that described the
3rd ball bearing is installed, the power transmission shaft two is passed through from the 3rd ball bearing in three ring flanges.
6. the Omni-mobile balance car based on Mecanum wheel design according to any one in claim 1-5, it is special
Levy and be, the frame includes top board, base plate and a circle side plate, each at two encoders of the motor one of the top board correspondence
It is provided with an opening；It is also to be each provided with an opening at two encoders of the motor two of the base plate correspondence.
7. according to right wants 6 based on Mecanum wheel design Omni-mobile balance car, it is characterised in that the top board
" ten " font is with base plate, four right angles of the side plate have been respectively coated by one piece of reinforcing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621360057.3U CN206243331U (en) | 2016-12-12 | 2016-12-12 | Omni-mobile balance car based on Mecanum wheel design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621360057.3U CN206243331U (en) | 2016-12-12 | 2016-12-12 | Omni-mobile balance car based on Mecanum wheel design |
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| CN206243331U true CN206243331U (en) | 2017-06-13 |
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ID=59006448
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621360057.3U Active CN206243331U (en) | 2016-12-12 | 2016-12-12 | Omni-mobile balance car based on Mecanum wheel design |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600269A (en) * | 2017-09-30 | 2018-01-19 | 桂林电子科技大学 | The traversing wheel side-sway balance car of car body |
| CN107776786A (en) * | 2017-10-13 | 2018-03-09 | 上海七桥机器人有限公司 | Personal mobility vehicle |
| CN108068912A (en) * | 2017-12-12 | 2018-05-25 | 重庆浪尖渝力科技有限公司 | The driving structure of merchandising machine people |
| CN109567442A (en) * | 2019-01-04 | 2019-04-05 | 华北理工大学 | A kind of multi-functional library's tables and chairs device |
| WO2020157465A1 (en) * | 2019-01-30 | 2020-08-06 | The University Of Sheffield | Vehicle |
-
2016
- 2016-12-12 CN CN201621360057.3U patent/CN206243331U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600269A (en) * | 2017-09-30 | 2018-01-19 | 桂林电子科技大学 | The traversing wheel side-sway balance car of car body |
| CN107776786A (en) * | 2017-10-13 | 2018-03-09 | 上海七桥机器人有限公司 | Personal mobility vehicle |
| CN108068912A (en) * | 2017-12-12 | 2018-05-25 | 重庆浪尖渝力科技有限公司 | The driving structure of merchandising machine people |
| CN109567442A (en) * | 2019-01-04 | 2019-04-05 | 华北理工大学 | A kind of multi-functional library's tables and chairs device |
| WO2020157465A1 (en) * | 2019-01-30 | 2020-08-06 | The University Of Sheffield | Vehicle |
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