CN207015152U - A kind of omnidirectional driving wheel - Google Patents
A kind of omnidirectional driving wheel Download PDFInfo
- Publication number
- CN207015152U CN207015152U CN201720340541.8U CN201720340541U CN207015152U CN 207015152 U CN207015152 U CN 207015152U CN 201720340541 U CN201720340541 U CN 201720340541U CN 207015152 U CN207015152 U CN 207015152U
- Authority
- CN
- China
- Prior art keywords
- wheel
- motor
- turn
- linear drive
- flange
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of omnidirectional driving wheel, including turn to motor, turn to driving decelerator, flange, wheel, linear drive motor, brake and vehicle frame；Turn to motor and fixed with turning to driving decelerator by screw, turn to driving decelerator and be screwed by flange on car body, while flange is fixedly connected also by screw with link.Brake and wheel is connected with linear drive motor and linear drives are fixedly mounted on vehicle frame.The omnidirectional driving wheel includes two motors, moves along a straight line and is controlled by linear drive motor, and divertical motion is controlled by steering motor, and both drive independently of each other, and wheel can be made to realize advance, retrogressing, steering, oblique movement etc..The axis of motor is turned to perpendicular through wheel axis of pitch and the position of intersecting point of longitudinal direction axial direction, only the i.e. controllable wheel of motor is turned to by one and realizes cast.The omnidirectional driving wheel can be equally combined according to demand, different configuration of wheeled mobile robot is realized cast.
Description
Technical field
The utility model patent is related to a kind of driving wheel available for wheeled mobile robot, and specifically a kind of omnidirectional drives
Driving wheel, belong to wheels of mobile robot technical field.
Background technology
At present, the common steering mode of wheeled mobile robot has three kinds：One kind is by servos control divertical motion one
Kind is the velocity interpolation divertical motion by controlling both sides wheel, and also one kind is to realize to turn to fortune by mechanical steering device
It is dynamic.Servos control and mechanical steering device cause the mechanical structure of wheeled mobile robot to become complicated, and steering angle
It is restricted the steering space, it is necessary to larger；And the control accuracy of differential driving is relatively low, and stability is not high, easily causes car
Body vibrates.Therefore need a kind of mechanical structure is simple, turn to flexibly and steering precision is high, angle range is big, original place can be achieved to return
The omnidirectional driving wheel turned, so as to mobile robot can be worked in small space and applied to more areas complete it is complicated,
Highly difficult task.
The content of the invention
A kind of the problem of the utility model exists for existing wheeled mobile robot wheel technology, there is provided mechanical structure letter
It is single, turn to flexibly, angle range is big, can independently drive and the omnidirectional driving wheel of cast.
Omnidirectional driving wheel of the present utility model is realized using following technical scheme：
Omnidirectional driving wheel of the present utility model includes：Turn to motor (1), turn to driving decelerator (2), flange (3),
Wheel (4), linear drive motor (5), brake (6), link (7), it is characterised in that：Motor (1) is turned to drive with turning to
Dynamic decelerator (2) is connected by screw, and is turned to driving decelerator (2) and is screwed further through flange (3) on car body,
Flange (3) is fixed by screw and link (7) simultaneously.Wheel (4) is connected with brake (6) with linear drive motor (5), simultaneously
Linear drive motor (5) is fixedly connected on link (7) by screw.
A kind of above-mentioned omnidirectional driving wheel, it is necessary to have two motors to realize control, the linear motion of wheel (4) by
Linear drive motor (5) is controlled, and the divertical motion of wheel (4) is controlled by steering motor (1), and both drive independently of each other.
A kind of above-mentioned omnidirectional driving wheel, the divertical motion of wheel (4) are only controlled by steering motor (1), rather than
Realized by differential control or mechanical steering device, the axis for turning to motor (1) passes perpendicularly through the lateral shaft of wheel (4)
The position of intersecting point of line and longitudinal axis, it is possible to achieve the cast of wheel (4).
A kind of above-mentioned omnidirectional driving wheel, it is turning initially to motor (1) control wheel (4) and turns over certain angle, then
Linear drive motor (5) control wheel (4) advances or retreated, and wheel (4) can be made to realize the linear motion of different angle, i.e., tiltedly
To motion.
A kind of above-mentioned omnidirectional driving wheel,, can be with by being combined to the omnidirectional driving wheel as a kind of component
Different configuration of wheeled mobile robot is set to realize cast.
Mechanical structure of the present utility model is simple, and dismounting is easy to maintenance；Turning to motor control wheel can realize not
Rotary motion and cast with angle, angle range is big, turns to flexible；Linear drive motor control wheel can be realized
Move forward and backward motion；Turn to motor and linear drive motor cooperates and controls wheel to realize oblique movement；
The utility model can carry out independent assortment, realize that the original place of different configuration of wheeled mobile robot is returned as a kind of component
Turn.
Brief description of the drawings
Fig. 1 is a kind of appearance schematic diagram of omnidirectional driving wheel of the utility model.
Fig. 2 is the cast schematic diagram that the utility model is configured to wheelbarrow.
Fig. 3 is the cast schematic diagram that the utility model is configured to two-wheel drive mobile robot.
Fig. 4 is the cast schematic diagram that the utility model is configured to three-wheel drive mobile robot.
In figure, 1. steering motors, 2. steering driving decelerators, 3. flanges, 4. wheels, 5. linear drive motors, 6.
Brake, 7. links.
Embodiment
Motor (1) is turned to as shown in Figure 1 to be fixedly connected by screw with turning to driving decelerator (2), is turned to simultaneously
Driving decelerator (2) is screwed further through flange (3) to be connected on link (7), and programming Control turns to motor
(1).When turning to motor (1) rotation, torque can be run by flange (3) and link (7) band motor car wheel (4), be led to
Cross high-precision control of the feedback information realization of encoder to wheel (4) steering angle.
Wheel (4) and brake (6) are connected with linear drive motor (5), and linear drive motor (5) is screwed connection
On link (7), programming Control linear drive motor (5), by the feedback information of encoder realize to wheel (4) operation away from
From high-precision control.
Turn to motor (1) and linear drive motor (5) drives independently of each other, when different motors receives control
After system instruction, wheel (4) advance, retrogressing, turning operation etc. can control；Control instruction is connected to first when turning to motor (1),
Control wheel (4) turns over certain angle, and then linear drive motor (5) receives control instruction, control wheel (4) advance or after
Move back, so being cooperated by the priority for turning to motor (1) and linear drive motor (5), wheel (4) can be made to realize not
With the linear motion of angle, i.e. oblique movement.
As shown in Fig. 2 the axis for turning to motor (1) passes perpendicularly through the axis of pitch and longitudinal axis of wheel (4)
Position of intersecting point, when turning to motor (1) rotation, torque can be moved by flange (3) and link (7) band motor car wheel (4),
So only pass through a cast for turning to motor (5) and controlling wheel (4) that wheelbarrow can be achieved.
As shown in figure 3, when omnidirectional driving wheel is configured to two-wheel drive mobile robot, as long as control two turns to driving
When the equidirectional same rotating speed of motor (1) is run, you can realize that two-wheel drive mobile robot rotates in place along car body center.Relatively
Drive and turn in two wheel guide robot, configuration control is easily realized and control accuracy is high.
As shown in figure 4, when omnidirectional driving wheel is configured to three-wheel drive mobile robot, as long as control three turns to driving
When the equidirectional same rotating speed of motor (1) is run, you can realize that three-wheel drive mobile robot rotates in place along car body center.Equally
The omnidirectional driving wheel may also be configured to other types wheeled mobile robot, realize the motion of different directions.
Claims (3)
1. a kind of omnidirectional driving wheel, including：Turn to motor (1), turn to driving decelerator (2), flange (3), wheel (4),
Linear drive motor (5), brake (6), link (7), it is characterised in that：Motor (1) is turned to drive with turning to by screw
Dynamic decelerator (2) is fixed, turns to driving decelerator (2) and is screwed further through flange (3) on car body, while flange
(3) it is fixedly connected on also by screw on link (7), wheel (4) is connected with brake (6) with linear drive motor (5), together
When linear drive motor (5) be fixedly connected on by screw on link (7).
2. a kind of omnidirectional driving wheel according to claim 1, it is characterised in that it is straight to realize to need two motors
Line and divertical motion, the linear motion of wheel (4) are controlled by linear drive motor (5), and the divertical motion of wheel (4) is driven by turning to
Dynamic motor (1) control, both drive independently of each other.
3. a kind of omnidirectional driving wheel according to claim 1, it is characterised in that the divertical motion of wheel (4) is merely by turning to
Motor (1) controls, and is realized by differential control or mechanical steering device；Turn to the axis of motor (1)
The axis of pitch of wheel (4) and the position of intersecting point of longitudinal axis are passed perpendicularly through, wheel (4) can be made to realize cast.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720340541.8U CN207015152U (en) | 2017-04-01 | 2017-04-01 | A kind of omnidirectional driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720340541.8U CN207015152U (en) | 2017-04-01 | 2017-04-01 | A kind of omnidirectional driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207015152U true CN207015152U (en) | 2018-02-16 |
Family
ID=61459726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720340541.8U Expired - Fee Related CN207015152U (en) | 2017-04-01 | 2017-04-01 | A kind of omnidirectional driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207015152U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828077A (en) * | 2017-04-01 | 2017-06-13 | 江南大学 | A kind of omnidirectional driving wheel |
| CN111906796A (en) * | 2020-08-07 | 2020-11-10 | 广东电科院能源技术有限责任公司 | Transformer substation inspection robot |
-
2017
- 2017-04-01 CN CN201720340541.8U patent/CN207015152U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828077A (en) * | 2017-04-01 | 2017-06-13 | 江南大学 | A kind of omnidirectional driving wheel |
| CN111906796A (en) * | 2020-08-07 | 2020-11-10 | 广东电科院能源技术有限责任公司 | Transformer substation inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106828077A (en) | A kind of omnidirectional driving wheel | |
| KR101004957B1 (en) | Robot system for 4 wheel driving and 4 wheel steering using motor | |
| CN100480116C (en) | Steer control mechanism for nobody-driven car | |
| CN205383949U (en) | Linkage structure of airvane and jet vane | |
| WO2006113510A3 (en) | Steer control system for an industrial vehicle | |
| CN102874304A (en) | Four-wheel independent wire control steering system with multiple steering modes | |
| CN108340965A (en) | The electronic automobile-used unmanned steering-by-wire mechanism of one kind and rotating direction control method | |
| KR102080215B1 (en) | Motorized wheel and disc type omnidirectional power steering system | |
| CN109606506A (en) | A kind of control method that diagonal driving turns to | |
| CN207015152U (en) | A kind of omnidirectional driving wheel | |
| CN107364281A (en) | Spherical tire drive system, method and the spherical tire automobile with the system | |
| CN108297933A (en) | The unmanned electronic racing car line traffic control steering of one kind and its control method | |
| CN108556616A (en) | A kind of mobile forward method of four-wheel robot and four-wheel robot | |
| JP6837910B2 (en) | Omni-directional moving vehicle | |
| CN102530061A (en) | Carrier-and-stacker with electric power steering | |
| CN101830247A (en) | Steering mechanism of movable platform | |
| CN101973311B (en) | Integral active electric power-assisted steering mechanical structure | |
| US20030178243A1 (en) | Steering-shaft train | |
| CN107776654A (en) | A kind of low-height electric steerable drive wheel | |
| CN203064022U (en) | Steering control device of motor vehicle | |
| CN1263038A (en) | Steering component for transportation equipment | |
| CN110525506A (en) | It is a kind of for automatic driving vehicle can reduction line traffic control steering wheel | |
| CN105599805B (en) | Bidirectional steering vehicle turning steerable system | |
| CN212290074U (en) | Wall all-directional moving mechanism | |
| CN210454945U (en) | Robot pivot steering system and robot moving platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180216 Termination date: 20190401 |