CN204124189U

CN204124189U - A kind of novel Omni-mobile platform

Info

Publication number: CN204124189U
Application number: CN201420500569.XU
Authority: CN
Inventors: 陆志国; 龚佳乐
Original assignee: Northeastern University China
Current assignee: Northeastern University China
Priority date: 2014-08-29
Filing date: 2014-08-29
Publication date: 2015-01-28
Anticipated expiration: 2024-08-29

Abstract

A new type of omnidirectional mobile platform belongs to the field of robot technology, including a vehicle body, at least three steering shafts are arranged on the body, one end of a horizontal shaft is fixed at the lower end of each steering shaft, and a driving wheel is provided at the other end of the horizontal shaft. Each driving wheel is provided with an independent power source, and each steering shaft is provided with a synchronous steering mechanism. The utility model has a simple and reliable structure, saves the steering power source of the traditional active rubber wheel type all-round mobile chassis vehicle, but has better direction control performance and strong adaptability to different road surfaces.

Description

A kind of novel Omni-mobile platform

Technical field:

The utility model belongs to robotics, is specifically related to a kind of novel Omni-mobile platform.

Background technology:

Omnibearing movable system was developing rapidly in the last few years, and the development of the all-around mobile machinery driven with the rise of Mecanum wheel, Lun Deng compound wheel type mechanism of Switzerland is comparatively rapid, was widely used in the machineries such as scientific research, automation of industry production and game contest.But because compound wheel type mechanism is complicated, manufacture difficulty is comparatively large, and cost is higher, namely its structural principle itself exists wheel rim in addition and switch the problems such as continuity is bad, increased the weight of the vibrations in driving process.Little wheel construction complicated on wheel rim makes its load-carrying capacity and field adaptive capacity greatly weaken.The active rubber wheel type all-around mobile system dynamic source of another kind of widespread use is too much, makes added cost, adds the probability of damage.

Utility model content:

For solving prior art Problems existing, the high cost especially brought because structure is too complicated and the problem of low stability, the utility model proposes the novel Omni-mobile platform that a kind of structure is simple, cost is low, easy to control and adaptable.

For realizing above object, the utility model is by the following technical solutions: a kind of novel Omni-mobile platform, comprise vehicle body, vehicle body is provided with at least three steering shafts, each steering shaft lower end is fixed with one end of transverse axis, the transverse axis other end is provided with drive wheel, and described each drive wheel is provided with independently propulsion source respectively, and described each steering shaft is provided with synchronous steering mechanism.

Described steering shaft, transverse axis and drive wheel are even number.

Described steering shaft, transverse axis and drive wheel are four.

The initial condition of described transverse axis is: in the inner part and its axes coincide, in the outer part and its axes coincide, the transverse axis of each front portion is all parallel with the transverse axis at rear portion for two transverse axis at rear portion for two anterior transverse axis.

Described synchronous steering mechanism comprises belt and belt pulley, and described belt pulley is separately fixed on the steering shaft of each drive wheel, and described belt wrap realizes synchronously turning to of each steering shaft on each belt pulley.

Described vehicle body is divided into front body and rear two parts, and front body is connected by adapter shaft with rear, and adapter shaft is hinged respectively with in the middle part of front body and rear.

The beneficial effects of the utility model: simple and reliable for structure, handling good, adaptable, cost is low, system dynamic source is few and run orientation easily control.

Accompanying drawing illustrates:

Fig. 1 is the structural representation of an embodiment of the present utility model;

Fig. 2 is the birds-eye view of Fig. 1;

Fig. 3 is the straight running condition schematic diagram of Fig. 1;

Fig. 4 is the curve motion view of Fig. 1;

Wherein: 1-front body, 2-rear, 3-steering shaft, 4-transverse axis, 5-drive wheel, 6-belt pulley, 7-belt, 8-adapter shaft, 9-electrical motor.

Detailed description of the invention:

Below in conjunction with drawings and Examples, the utility model is described further: as shown in Fig. 1 ~ Fig. 2, a kind of novel Omni-mobile platform, comprise vehicle body, vehicle body is divided into front body 1 and rear 2 two parts, the middle part of front body 1 and rear 2 is hinged on the two ends of adapter shaft 8 respectively, this structure is in order to landing of ensureing the novel Omni-mobile platform of the present embodiment all drive wheels 5 can be stable in traveling process, vehicle body is provided with four steering shafts 3 by bearing, each steering shaft 3 lower end is fixed with one end of transverse axis 4, transverse axis 4 other end is provided with drive wheel 5, described four drive wheels 5 are provided with respectively the independent electrical motor 9 controlled, described each steering shaft 3 is all fixed with belt pulley 6, belt 7 is set with outside four belt pulleys 6, synchronous to ensure that four drive wheels 5 turn to, the quantity of drive wheel 5 also can be other quantity, but must be over two, preferred even number drive wheel 5, and be symmetrical arranged, to ensure the balance of vehicle body.

The initial condition of described transverse axis 4 is: two anterior transverse axis are in the inner part and in straight line, two transverse axis at rear portion are in the outer part and in straight line, the transverse axis of each front portion is all parallel with the transverse axis at rear portion, and such initial condition is a kind of operation state comparatively efficiently.

The novel Omni-mobile platform of the present embodiment can realize following several running state when running:

The linear running that pose is constant, as shown in Figure 3, four drive wheel 5 running velocitys are identical can be realized.

The curve motion that pose is constant, circular curve as shown in Figure 4 runs, the electrical motor of the drive wheel of left back and the drive wheel of right front needs to provide the propulsive force larger than other two drive wheels, all clws moment can be produced to corresponding steering shaft like this by the transverse axis of left back and right front, because all drive wheels 5 synchronously turn to, thus all drive wheels 5 can be made all to advance in the process rotated clockwise, thus form the route of a circular curve advance, but vehicle body is not subject to the moment from outside, thus the pose of vehicle body can not change.The run curve of other types also can be realized by different modes.

Claims

1. A novel omnidirectional mobile platform, characterized in that: it comprises a vehicle body, said vehicle body is provided with at least three steering shafts, each steering shaft lower end is fixed with an end of a horizontal shaft, and the other end of the horizontal shaft is provided with a drive wheel, Each of the drive wheels is provided with an independent power source, and each of the steering shafts is provided with a synchronous steering mechanism.

2. The novel omnidirectional mobile platform according to claim 1, characterized in that: the number of the steering shaft, the horizontal shaft and the driving wheels is even.

3. The novel omnidirectional mobile platform according to claim 2, characterized in that: there are four steering shafts, transverse shafts and driving wheels.

4. The novel omnidirectional mobile platform according to claim 3, characterized in that: the initial state of the horizontal axis is: the two horizontal axes at the front are on the inside and their axes coincide, and the two horizontal axes at the rear Outboard and with their axes coincident, the transverse axis of each front is parallel to the transverse axis of the rear.

5. The novel omnidirectional mobile platform according to claim 1, characterized in that: the synchronous steering mechanism comprises a belt and a pulley, the pulleys are respectively fixed on the steering shaft of each drive wheel, and the belt is wound around each The synchronous steering of each steering shaft is realized on the pulley.

6. The novel omnidirectional mobile platform according to claim 1, characterized in that: the vehicle body is divided into two parts, a front body and a rear body, the front body and the rear body are connected by a connecting shaft, and the connecting shaft is connected to the front body and the rear body respectively. The middle part of the rear body is hinged.