CN208248335U - A kind of Omni-mobile chassis - Google Patents
A kind of Omni-mobile chassis Download PDFInfo
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- CN208248335U CN208248335U CN201820327590.2U CN201820327590U CN208248335U CN 208248335 U CN208248335 U CN 208248335U CN 201820327590 U CN201820327590 U CN 201820327590U CN 208248335 U CN208248335 U CN 208248335U
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- omni
- mobile chassis
- wheel
- directional wheel
- motors
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Abstract
A kind of Omni-mobile chassis, belongs to mechano-electronic field.It is made of mobile chassis, motor, omni-directional wheel, control module, drive module and power supply system.Novel Omni-mobile chassis has special structure and control module, i.e. control module possesses two different control models, the control model of real-time selection control module as needed, mobile chassis is controlled by drive module to be moved forward and backward, transverse shifting, any direction is mobile and rotates in place movement, realize the omnidirectional moving of mobile chassis, substantially increase the mobile flexibility in chassis, and complicated algorithm is not needed, the speed of X-axis exercise group and Y-axis exercise group need to only be changed, or change the control model of control module, just it is readily available different chassis movement speeds.
Description
Technical field
The utility model relates to a kind of Omni-mobile chassis, specifically use the mobile chassis of special construction, belong to
In mechano-electronic field.
Background technique
With the development of science and technology, various smart machines and intelligence system more and more come into people's lives and
In work, according to production and living demand, people constantly put forward new requirements intelligent machine, with regard to the movement of electromechanical equipment
For, most of mobile chassis is parallel four wheel construction at present, and equipment is only capable of front and back traveling, and turning radius is big, and movement is not
It is enough flexible, and the omni-directional mobile robots of some three-wheels or four-wheel mostly use the forms of more wheel linkages that chassis is made to carry out omnidirectional's shifting
Dynamic, algorithm is complex, is difficult to control.
Summary of the invention
In view of the above-mentioned deficiencies, the utility model provides a kind of Omni-mobile chassis, is a kind of with special construction
Omni-mobile chassis has control simple, moves the features such as flexible.
The utility model is achieved through the following technical solutions:
A kind of Omni-mobile chassis is by mobile chassis, motor, omni-directional wheel, control module, drive module and power supply system
Composition, the motor is fixed on the mobile chassis, and the omni-directional wheel includes omni-directional wheel wheel disc and omni-directional wheel rolling
Axis, the omni-directional wheel pass through the output axis connection of shaft coupling and the motor, the control module and the driving
Module is fixed to the appropriate position of the mobile chassis, and the power supply system provides electric power for Omni-mobile chassis.
There are four the motors, is symmetrically fixed on the mobile chassis, the output shaft of two opposite motors
Axis is located on the same line, and the axis of the output shaft of two adjacent motors is mutually perpendicular to.
There are two types of the control module tools control model, the respectively independent control model of four-wheel and grouping control model,
The grouping control model is that opposite two motor is divided into one group, and four motors are divided into two groups, respectively X-axis
Exercise group and Y-axis exercise group can pass through the drive module when control module control model independent for four-wheel
Four motor independently movings are driven, when the control module is grouping control model, the drive module can be passed through
Driving one group of motor (two opposite motors), which is realized, to be rotated synchronously, and can two groups of motors be realized with independent driving.
The omni-directional wheel is that double-wheel-disc or multiple-disc are coaxially disposed, and guarantee that at least there are two on omni-directional wheel wheel disc
The interlaced distribution of omni-directional wheel roller bearing.
A kind of control method on Omni-mobile chassis, particular content are as follows:
A. it is moved forward and backward:
Grouping control model is set by control module, drives two motors of Y-axis exercise group synchronous by drive module
Rotation, that is, realize the back-and-forth motion of mobile chassis, and movement velocity is that two motors of Y-axis exercise group drive omni-directional wheel rotation
Speed；
B. transverse shifting:
Grouping control model is set by control module, drives two motors of X-axis exercise group synchronous by drive module
Rotation, that is, realize the transverse shifting of mobile chassis, and movement velocity is that two motors of X-axis exercise group drive omni-directional wheel rotation
Speed；
C. any direction is mobile:
Grouping control model is set by control module, X-axis exercise group is respectively driven by drive module and Y axis moves
Two motors of group rotate synchronously, by changing the speed of X-axis exercise group and Y-axis exercise group, according to speed synthesising theorem,
To obtain the chassis movement speed of different directions and size, that is, any direction for realizing mobile chassis is mobile, movement velocity
For two motors drive omni-directional wheel rotation of speed and Y-axis exercise group that two motors of X-axis exercise group drive omni-directional wheel to rotate
Speed synthesis；
D. it rotates in place:
The independent control model of four-wheel is set by control module, four motors are respectively driven by drive module while being carried out
Rotation clockwise or counter-clockwise, and guarantee that the revolving speed of four motors is identical, that is, rotating in place for mobile chassis is realized,
Movement velocity drives the speed of omni-directional wheel rotation identical with four motors.
The usefulness of the utility model is that novel Omni-mobile chassis has special structure and control module, i.e.,
Control module possesses two different control models, in the case where being grouped control model, by by motor by it is a kind of it is unique in a manner of consolidate
It is fixed, and be reasonably grouped, it controls X-axis exercise group respectively by driver and Y-axis exercise group motor rotates synchronously, realize that omnidirectional moves
The back-and-forth motion on dynamic chassis, the movement of transverse shifting and any direction are led to when control module is in the independent control model of four-wheel
Module of overdriving controls four motors simultaneously along rotating clockwise or counterclockwise, and just realizes the original place rotation on Omni-mobile chassis
Turn, i.e., the Omni-mobile on chassis may be implemented by the switching of control model and the reasonable grouping of motor, substantially increase chassis
Mobile flexibility, and complicated algorithm is not needed, it need to only change the speed of X-axis exercise group and Y-axis exercise group, can easily obtain
Obtain different chassis movement speeds.
Detailed description of the invention
Attached drawing 1 is the structural schematic diagram of the utility model；
Attached drawing 2 is the top view of the utility model；
Attached drawing 3 is the structural schematic diagram of omni-directional wheel；
Control schematic diagram when attached drawing 4 moves forward and backward for the utility model；
Control schematic diagram when attached drawing 5 is the utility model transverse movement；
Attached drawing 6 is control schematic diagram when the utility model any direction moves；
Control schematic diagram when attached drawing 7 rotates in place for the utility model.
In figure, 1, mobile chassis, 2, omni-directional wheel, 2.1, omni-directional wheel wheel disc, 2.2, omni-directional wheel roller bearing, 3, motor, 4, control
Module, 5, power supply system, 6, drive module.
Specific embodiment
A kind of Omni-mobile chassis is by mobile chassis 1, motor 3, omni-directional wheel 2, control module 4, drive module 6 and to supply
What electric system 5 formed, the motor 3 is fixed on the mobile chassis 1, and the omni-directional wheel 2 includes omni-directional wheel wheel disc
2.1 and omni-directional wheel roller bearing 2.2, output axis connection of the omni-directional wheel 2 by shaft coupling and the motor 3, the control
Molding block 4 and the drive module 6 are fixed to the appropriate position of the mobile chassis 1, and the power supply system 5 is complete
Electric power is provided to mobile chassis.
There are four the motors 3, is symmetrically fixed on the mobile chassis 1, the output of two opposite motors 3
The axis of axis is located on the same line, and the axis of the output shaft of two adjacent motors 3 is mutually perpendicular to.
There are two types of the tools of control module 4 control model, the respectively independent control model of four-wheel and grouping control model,
The grouping control model is that divide opposite two motor 3 be one group, and four motors 3 are divided to for two groups, respectively X
Axis exercise group and Y-axis exercise group can pass through the driving when the control module 4 control model independent for four-wheel
Module 6 drives four motors 3 to move alone, and when the control module 4 is grouping control model, can pass through the drive
Dynamic model block 6 drives one group of motor 3 (two opposite motors 3) to realize and rotates synchronously, and can realize to two groups of motors 3
Independent driving.
The omni-directional wheel 2 is that double-wheel-disc or multiple-disc are coaxially disposed, and guarantee that at least there are two omni-directional wheel wheel discs 2.1
On the interlaced distribution of omni-directional wheel roller bearing 2.2.
A kind of control method on Omni-mobile chassis, particular content are as follows:
A. it is moved forward and backward:
As shown in figure 4, driving Y-axis exercise group by drive module 6 when setting grouping control model for control module 4
Two motors 3 rotate synchronously, that is, realize the back-and-forth motion of mobile chassis 1, movement velocity is two electricity of Y-axis exercise group
The speed that machine 3 drives omni-directional wheel 2 to rotate, that is, meet following relationship:
Vy=Va=Vc；
In formula, Vy is the back-and-forth motion speed on Omni-mobile chassis, and Va, Vc are respectively the speed of omni-directional wheel A and omni-directional wheel C
Degree；
B. transverse shifting:
As shown in figure 5, setting grouping control model for control module 4, X axis exercise group is driven by drive module 6
Two motors 3 rotate synchronously, that is, realize the transverse shifting of mobile chassis 1, and movement velocity is two motors of X-axis exercise group
3 speed for driving omni-directional wheel 2 to rotate, that is, meet following relationship:
Vx=Vb=Vd；
In formula, Vx is the transverse shifting speed on Omni-mobile chassis, and Vb, Vd are respectively the speed of omni-directional wheel B and omni-directional wheel D
Degree；
C. any direction is mobile:
As shown in fig. 6, setting grouping control model for control module 4, X-axis movement is respectively driven by drive module 6
Two motors 3 of group and Y-axis exercise group rotate synchronously, by changing the speed of X-axis exercise group and Y axis exercise group, according to speed
Theorem is synthesized, the chassis movement speed of different directions and size can be obtained, that is, any direction for realizing mobile chassis 1 moves
Dynamic, movement velocity is two motors of speed and Y-axis exercise group that two motors 3 of X-axis exercise group drive omni-directional wheel 2 to rotate
The synthesis of 3 speed for driving omni-directional wheel 2 to rotate, that is, meet following relationship:
Vx=Vb=Vd；
Vy=Va=Vc；
Vr 2=Vx 2+Vy 2；
In formula, Vx is the transverse shifting speed on Omni-mobile chassis, and Vy is the back-and-forth motion speed on Omni-mobile chassis,
Va, Vc are respectively the speed of omni-directional wheel A and omni-directional wheel C, and Vb, Vd are respectively the speed of omni-directional wheel B and omni-directional wheel D, and Vr is omnidirectional
Take turns any direction movement speed of mobile chassis；
D. it rotates in place:
As shown in fig. 7, setting the independent control model of four-wheel for control module 4, four are respectively driven by drive module 6
Motor 3 carries out rotation clockwise or counter-clockwise simultaneously, and guarantees that the revolving speed of four motors is identical, that is, realizes mobile chassis
1 rotates in place, and movement velocity is identical as the speed that four motors 3 drive omni-directional wheels 2 to rotate, that is, meets following relationship:
Vs=Va=Vb=Vc=Vd；
In formula, Va, Vc are respectively the speed of omni-directional wheel A and omni-directional wheel C, and Vb, Vd are respectively omni-directional wheel B and omni-directional wheel D
Speed, Vs rotate in place speed for omni-directional wheel mobile chassis.
In practical application, the control model of real-time selection control module 4 as needed, passes through drive module 6 and controls shifting
Dynamic chassis 1 is moved forward and backward, transverse shifting, any direction are mobile and rotate in place movement, that is, realizes the complete of mobile chassis 1
To movement.
For the ordinary skill in the art, introduction according to the present utility model is not departing from the utility model
Principle and spirit in the case where, the changes, modifications that are carried out to embodiment, replacement and variant still fall within the utility model
Within protection scope.
Claims (4)
1. a kind of Omni-mobile chassis is by mobile chassis, motor, omni-directional wheel, control module, drive module and power supply system group
At, the motor is fixed on the mobile chassis, which is characterized in that the omni-directional wheel include omni-directional wheel wheel disc and
Omni-directional wheel roller bearing, the omni-directional wheel pass through the output axis connection of shaft coupling and the motor, the control module and institute
The drive module stated is fixed to the appropriate position of the mobile chassis, and the power supply system provides for Omni-mobile chassis
Electric power.
2. a kind of Omni-mobile chassis as described in claim 1, which is characterized in that there are four the motors, symmetrical fixed
On the mobile chassis, the axis of the output shaft of two opposite motors is located on the same line, two adjacent electricity
The axis of the output shaft of machine is mutually perpendicular to.
3. a kind of Omni-mobile chassis as described in claim 1, which is characterized in that there are two types of controls for the control module tool
The independent control model of mode, respectively four-wheel and grouping control model, the grouping control model is will be described opposite
Two motors are divided into one group, and four motors are divided into two groups, respectively X-axis exercise group and Y-axis exercise group, when the control module
When control model independent for four-wheel, four motor independently movings can be driven by the drive module, when the control
When module is grouping control model, one group of motor can be driven to realize by the drive module and rotated synchronously, and
Two groups of motors can be realized with independent driving.
4. a kind of Omni-mobile chassis as described in claim 1, which is characterized in that the omni-directional wheel is double-wheel-disc or more
Wheel disc coaxial arrangement, and guarantee that at least there are two the interlaced distributions of omni-directional wheel roller bearing on omni-directional wheel wheel disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820327590.2U CN208248335U (en) | 2018-03-10 | 2018-03-10 | A kind of Omni-mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820327590.2U CN208248335U (en) | 2018-03-10 | 2018-03-10 | A kind of Omni-mobile chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208248335U true CN208248335U (en) | 2018-12-18 |
Family
ID=64608494
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820327590.2U Expired - Fee Related CN208248335U (en) | 2018-03-10 | 2018-03-10 | A kind of Omni-mobile chassis |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338709A (en) * | 2019-06-25 | 2019-10-18 | 广东博智林机器人有限公司 | The traveling method of running gear, clean robot and clean robot |
| CN110525392A (en) * | 2019-10-09 | 2019-12-03 | 达闼科技（北京）有限公司 | A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system |
-
2018
- 2018-03-10 CN CN201820327590.2U patent/CN208248335U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338709A (en) * | 2019-06-25 | 2019-10-18 | 广东博智林机器人有限公司 | The traveling method of running gear, clean robot and clean robot |
| CN110525392A (en) * | 2019-10-09 | 2019-12-03 | 达闼科技（北京）有限公司 | A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system |
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| 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: 20181218 Termination date: 20210310 |