CN206086872U - Multi -track formula omnidirectional movement platform - Google Patents
Multi -track formula omnidirectional movement platform Download PDFInfo
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- CN206086872U CN206086872U CN201620634869.6U CN201620634869U CN206086872U CN 206086872 U CN206086872 U CN 206086872U CN 201620634869 U CN201620634869 U CN 201620634869U CN 206086872 U CN206086872 U CN 206086872U
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Abstract
The utility model discloses a multi -track formula omnidirectional movement platform, including four two sub - moving platform of track and top structure. Wherein every sub - moving platform includes the track structure of a sub - platform bearing structure and two symmetries, and every track structure includes a track, a crawler driving tumbler and three track supporting wheel, every drive wheel is by fixing the gear motor drive that just has the speed measuring coder on sub - platform bearing structure, the supporting wheel passes through the fixed axle and connects on sub - platform bearing structure. The top structure contains battery, controller and four angular surveying potentiometres. The top structure is fixed on four sub - moving platform through four angular contact bearing. Sub - moving platform can record through angle measuring potential ware for the rotation angle of top structure. Qxcomm technology's motion of overall structure is realized to the controller through the motion of controlling every sub - moving platform. This platform is applicable to the motion that needs equipment under the omnidirectional movement environment. It is big to have the load, motion stationary, characteristics such as reliability height.
Description
Technical field
The invention belongs to Omni-mobile platform technology field, and in particular to a kind of multi-track formula Omni-mobile platform.
Background technology
The motor system and steering that traditional wheel moving platform is made up of common wheel is constituted, and is had in space
In the case that limit, service aisle are narrow, the shortcomings of radius of turn is big, low space utilization, kinematic dexterity are poor is there is.
Omni-mobile mechanism be countries in the world develop focus, Omni-mobile refer to travel mechanism on two dimensional surface from work as
The ability that front position is moved to any direction, the characteristics of Omni-mobile mechanism is because of its zero radius of gyration, can be crowded narrow
The shortcoming of Conventional drum mobile platform in place, can be overcome, the fields such as industrial manufacture, mobile robot are widely used in.Its
The omnidirectional moving of three degree of freedom can be produced on two dimensional surface.
Most of Omni-mobile platforms realize omnidirectional moving using structures such as Mecanum wheel, Switzerland's wheel, orthogonal wheels now,
But generally existing carrying capacity is low, motor process there are problems that vibration and.
The content of the invention
For above-mentioned the deficiencies in the prior art, the invention provides a kind of multi-track formula Omni-mobile platform, solves existing
With the presence of Omni-mobile platform carrying capacity it is low, motor process there are problems that vibration and.
For achieving the above object, the technical solution used in the present invention is：
A kind of multi-track formula Omni-mobile platform, including four double sub- mobile platforms of crawler belt and be separately fixed at the son and move
Top structure on platform, wherein include sub-platform supporting construction and two symmetrical caterpillar belt structures per individual sub- mobile platform, son
Platform superstructure centre bit is equipped with output shaft, and the output shaft can be rotated around angular contact bearing with sub- mobile platform, each
Caterpillar belt structure includes a crawler belt, a crawler driving whell and three crawler belt support wheels；Each crawler driving whell is by being fixed on son
Reducing motor in platform structure and with speed measuring coder drives；Crawler belt support wheel is connected to sub-platform by fixing axle
In supporting construction；
Top structure includes controller and the four angular surveying current potentials being connected with controller that battery and battery connect
Device, controller realize overall omnidirectional moving by controlling the motion per individual sub- mobile platform, pass through per individual sub- mobile platform
Independent motion is realized in the differential operating of two crawler belts.
The controller passes through movement instruction and controls per individual sub- mobile platform independence per individual sub- mobile platform current state
Motion, sub- mobile platform current state include the speed of service and the direction of its two crawler belts, sub- mobile platform opposite crests structure
The anglec of rotation.
The top structure is fixed on four sub- mobile platforms by four angular contact bearings, and four fixing points are being fixed
Plane is rectangular, and between fixing point, distance meets four double sub- mobile platforms of crawler belt and revolves around the angular contact bearing of each self-retaining at which
Without interfering when turning, the angle that can be rotated around the angular contact bearing of respective fixation per individual sub- mobile platform is 180 degree, sub
Mobile platform can be measured by angular surveying potentiometer relative to the anglec of rotation of top structure.
The invention has the advantages that：
1. lifting capacity is strong：The schemes such as Mecanum wheel that general Omni-mobile platform is adopted, Switzerland's wheel, orthogonal wheel by
In little with contact area of ground, it is impossible to realize larger lifting capacity；And the multi-track formula Omni-mobile platform that the present invention is adopted
It is using caterpillar belt structure, big with contact area of ground, the omnidirectional moving being capable of achieving under heavy－duty；
2. operate steadily：The schemes such as Switzerland's wheel that general Omni-mobile platform is adopted, orthogonal wheel due to ground non-thread
Property contact, running can produce vibration and jolt；And the multi-track formula Omni-mobile platform that the present invention is adopted is tied using crawler belt
Structure, it is possible to achieve the even running of Omni-mobile platform；
3. reliability is high：General Omni-mobile platform is in running due to there are the feelings that follower is contacted with ground
Condition, so the reliability of moving process is not high, is easily subject to environmental disturbances to change running status；And the multi-track that the present invention is adopted
Formula Omni-mobile platform adopts caterpillar belt structure, and with ground active exposure in running, little interference by environment, reliability are high；
4. road surface strong adaptability：The present invention adopts track structure, big with contact area of ground, than general wheeled omnidirectional
The road surface strong adaptability of mobile platform, can be operated in the poor environment in road surface.
Description of the drawings
Fig. 1 is multi-track formula Omni-mobile platform global design schematic diagram；
Fig. 2 is multi-track formula Omni-mobile platform neutron mobile platform design diagram；
Fig. 3 is operation schematic diagram before and after multi-track formula Omni-mobile platform；
The oblique operation schematic diagram of Fig. 4 multi-track formula Omni-mobile platforms；
Fig. 5 is the horizontal operation schematic diagram of multi-track formula Omni-mobile platform；
Fig. 6 multi-track formula Omni-mobile platform circular arc operation schematic diagrams；
Fig. 7 is multi-track formula Omni-mobile platform around Platform center rotating operation schematic diagram；
In figure：1. the 4th son of the first 2. second sub- the 3rd sub- mobile platform 4. of mobile platform 3. of sub- mobile platform is mobile
9. top structure of platform 5. controller, 6. battery, 7. potentiometer fixed support, 8. angular surveying potentiometer, 10. son is mobile
13. reducing motor of platform output shaft 11. angular contact bearing, 12. crawler belt, 14. speed measuring coder, 15. sub- mobile platform support
16. crawler belt support wheel, 17. 18. first sub- mobile platform left track movement locus of crawler driving whell, 19. first son is mobile
20. second sub- mobile platform left track movement locus of platform dextral caterpillar drive track, 21. second sub- mobile platform is right
The 3rd sub- the 3rd sub- mobile platform right side track of mobile platform left track movement locus 23. of side caterpillar drive track 22.
The 4th sub- the 4th sub- mobile platform right side track movement locus of mobile platform left track movement locus 25. of movement locus 24.
A, B, C, D, E, F, G, H, I, J are Omni-mobile platform moving direction；
O, M are the central points that Omni-mobile platform does circular motion；
A1, b1, c1, d1, a2, b2, c2, d2, a3, b3, c3, d3, a4, b4, c4, d4 are that sub- mobile platform is poor by crawler belt
The angle that speed motion is rotated around fixing bearing.
Specific embodiment
The present invention is described in further details below with reference to accompanying drawing and specific implementation process：
Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 for Fig. 1 top view.Middle left and right direction of the present invention, clockwise, counterclockwise
Description with the top view of Fig. 1（That is Fig. 3）It is defined, Omni-mobile platform is with the A directions in Fig. 3 as direction of forward movement.
The multi-track formula Omni-mobile platform of the present invention, by the first sub- mobile platform 1 of double crawler belts, the second sub- mobile platform
2nd, the 3rd sub- mobile platform 3 and the 4th sub- mobile platform 4 and it is separately fixed at per the top structure 9 on individual sub- mobile platform.Its
In include a sub- mobile platform support 15 and two symmetrical caterpillar belt structures, sub- mobile platform support 15 per individual sub- mobile platform
Upper center position is provided with the output shaft 10 that can be rotated around angular contact bearing with sub- mobile platform, and each caterpillar belt structure includes one
Crawler belt 12, a crawler driving whell 17 and three crawler belt support wheels 16；Each crawler driving whell 17 is supported by sub-platform is fixed on
In structure and the reducing motor 13 with speed measuring coder 14 drives；Support wheel 16 is connected to sub- mobile platform by fixing axle
On frame 15.
Top structure 9 includes battery 6, controller 5 and four angular surveying potentiometers 8.Top structure passes through four corner connections
It is mobile that contact bearing 11 is separately fixed at the first sub- mobile platform 1, the second sub- mobile platform 2, the 3rd sub- mobile platform 3 and the 4th son
On platform 4, four fixing points are rectangular in fixed pan, and fixing point distance meets four double sub- mobile platforms of crawler belt at which around each
From the angular contact bearing 11 of fixation rotate when without interfering.First sub- mobile platform 1, the second sub- mobile platform the 2, the 3rd are sub
The angle that mobile platform 3 and the 4th sub- mobile platform 4 can be rotated around the angular contact bearing 11 of respective fixation is 180 degree, the
One sub- mobile platform 1, the second sub- mobile platform 2, the 3rd sub- mobile platform 3 and the 4th sub- mobile platform 4 are in such as Fig. 3 Omni-mobiles
Angular contact bearing 22 before and after platform in running status rotating around stator mobile platform is rotated both clockwise and counterclockwise 90 degree.Son
Mobile platform can be measured by angular surveying potentiometer 8 relative to the anglec of rotation of top structure.Angular surveying potentiometer 8 is pacified
It is mounted on the potentiometer fixed support 7 of top structure.
Controller 5 is by controlling the first sub- mobile platform 1, the second sub- mobile platform 2, the 3rd sub- mobile platform 3 and the 4th
The motion of sub- mobile platform 4 realizing integrally-built omnidirectional moving, the first sub- mobile platform 1, the second sub- mobile platform 2,
Three sub- mobile platforms 3 and the 4th sub- mobile platform 4 can realize independent motion by the operating of the differential of two articles of crawler belts 12.Control
Device 5 passes through movement instruction and the first sub- mobile platform 1, the second sub- mobile platform 2, the 3, the 4th son of the 3rd sub- mobile platform are mobile flat
4 current state of platform is controlled per individual sub- mobile platform self-movement, and sub- mobile platform current state includes the fortune of its two crawler belts 12
Scanning frequency degree and direction, the anglec of rotation of sub- mobile platform opposite crests structure.Omni-mobile is controlled by different control methods
Platform is moved in different conditions.
In figure 3, the first sub- mobile platform 1, the second sub- mobile platform 2, the 3rd sub- mobile platform 3 and the 4th son are mobile flat
Two crawler belts 12 of platform 4 are moved simultaneously, and its speed is identical with direction.When the first sub- mobile platform 1, the second sub- mobile platform 2,
When three sub- mobile platforms 3 are identical with movement velocity with two articles of 12 directions of motion of crawler belt of the 4th sub- mobile platform 4, sub- mobile platform
Will not rotate around respective fixing bearing, but while drive whole top structure to move to same direction, define movement
Platform is overall movable on A and B directions.The left track motion path of its neutron mobile platform 1 is 18, right side track
Motion path is 19；The left track motion path of sub- mobile platform 2 is 20, and right side track motion path is 21；Son is mobile flat
The left track motion path of platform 3 is 22, and right side track motion path is 23；The left track motion path of sub- mobile platform 4
For 24, right side track motion path is 25.
In the diagram, the first sub- mobile platform 1, the second sub- mobile platform 2, the 3rd sub- mobile platform 3 and the 4th son are mobile flat
Two crawler belts in platform 4 simultaneously carry out the direction of motion first conversely, the motion of speed identical, when the first sub- mobile platform 1, second
Sub- mobile platform 2, the 3rd sub- mobile platform 3 are identical with two articles of caterpillar drive speed in opposite in the 4th sub- mobile platform 4
When, sub- mobile platform can be rotated around respective fixing bearing, define angle a1 of the sub- mobile platform relative to top structure,
b1,c1,d1.After the angle of each mobile platform and top structure reaches expected angle, two of four sub- mobile platforms
Crawler belt carry out speed and direction identical motion, when two caterpillar drive directions per individual sub- mobile platform it is identical with movement velocity
When, sub- mobile platform will not be rotated around respective fixing bearing, but while drives whole top structure to transport to same direction
It is dynamic, define oblique movement of the mobile platform on C and D directions.The left track motion path of its neutron mobile platform 1 is
18, right side track motion path is 19；The left track motion path of sub- mobile platform 2 is 20, and right side track motion path is
21；The left track motion path of sub- mobile platform 3 is 22, and right side track motion path is 23；The left side of sub- mobile platform 4 is carried out
Band motion path is 24, and right side track motion path is 25.
In Figure 5, the first sub- mobile platform 1, the second sub- mobile platform 2, the 3rd sub- mobile platform 3 and the 4th son are mobile flat
Two crawler belts in platform 4 simultaneously carry out the direction of motion first conversely, the motion of speed identical, when the first sub- mobile platform 1, second
Sub- mobile platform 2, the 3rd sub- mobile platform 3 are identical with two articles of caterpillar drive speed in opposite in the 4th sub- mobile platform 4
When, sub- mobile platform can be rotated around respective fixing bearing, define angle a2 of the sub- mobile platform relative to top structure,
b2,c2,d2.When each mobile platform is reached after 90 degree with the angle of top structure, two crawler belts of four sub- mobile platforms
Speed and the motion of direction identical are carried out, when two caterpillar drive directions per individual sub- mobile platform are identical with movement velocity,
Sub- mobile platform will not be rotated around respective fixing bearing, but while drive whole top structure to move to same direction,
Define transverse shifting of the mobile platform on E and F directions.The left track motion path of its neutron mobile platform 1 is 18, right
Side caterpillar drive path is 19；The left track motion path of sub- mobile platform 2 is 20, and right side track motion path is 21；Son
The left track motion path of mobile platform 3 is 22, and right side track motion path is 23；The left track fortune of sub- mobile platform 4
Dynamic path is 24, and right side track motion path is 25.
In figure 6, the first sub- mobile platform 1, the second sub- mobile platform 2, the 3rd sub- mobile platform 3 and the 4th son are mobile flat
Two crawler belts in platform 4 carry out the direction of motion simultaneously first conversely, the motion of speed identical, two in group mobile platform shoe
When the contrary speed of tape motion direction is identical, sub- mobile platform can be rotated around respective fixing bearing, define sub- mobile platform
Relative to angle a3 of top structure, b3, c3, d3.When the angle of each mobile platform and top structure reach expected angle it
Afterwards, two crawler belt travel direction identical motions of four sub- mobile platforms, its left and right crawler track speeds and angle a3, b3, c3, d3
It is relevant.When two caterpillar drive directions per individual sub- mobile platform are identical, when movement velocity is different, sub- mobile platform will not be around
Respective fixing bearing rotation, but while drive whole top structure that the circular arc fortune on G or H directions is done around O points in space
It is dynamic, define mobile platform the circular motion on G or H directions is done around O points in space.The left side of its neutron mobile platform 1 is carried out
Band motion path is 18, and right side track motion path is 19；The left track motion path of sub- mobile platform 2 is 20, and right side is carried out
Band motion path is 21；The left track motion path of sub- mobile platform 3 is 22, and right side track motion path is 23；Son is mobile
The left track motion path of platform 4 is 24, and right side track motion path is 25.
In the figure 7, the first sub- mobile platform 1, the second sub- mobile platform 2, the 3rd sub- mobile platform 3 and the 4th son are mobile flat
Two crawler belts in platform 4 carry out the direction of motion simultaneously first conversely, the motion of speed identical, two in group mobile platform shoe
When the contrary speed of tape motion direction is identical, sub- mobile platform can be rotated around respective fixing bearing, define sub- mobile platform
Relative to angle a4 of top structure, b4, c4, d4.When the angle of each mobile platform and top structure reach set angle it
Afterwards, two crawler belt travel direction identical motions of four sub- mobile platforms, its velocity magnitude is setting value, when every height is moved
When two caterpillar drive directions of platform and movement velocity are differed, sub- mobile platform will not be revolved around respective fixing bearing
Turn, but while drive whole top structure to move in a circle to a direction, define mobile platform and exist around Platform center M points
Circular motion on I and J directions.The left track motion path of its neutron mobile platform 1 is 18, and right side track motion path is
19；The left track motion path of sub- mobile platform 2 is 20, and right side track motion path is 21；The left side of sub- mobile platform 3 is carried out
Band motion path is 22, and right side track motion path is 23；The left track motion path of sub- mobile platform 4 is 24, and right side is carried out
Band motion path is 25.
Before and after multi-track formula Omni-mobile platform is described above, oblique, laterally, circular motion is revolved around Platform center
Turn, 5 kinds of motion modes, by the combination of this 5 kinds of motion modes, the present invention can realize the Omni-mobile of mobile platform.
Claims (4)
1. a kind of multi-track formula Omni-mobile platform, is characterized in that：Including four double sub- mobile platforms of crawler belt and it is separately fixed at
Top structure on the sub- mobile platform, wherein including sub-platform supporting construction and two symmetrical crawler belts per individual sub- mobile platform
Structure, sub-platform supporting construction upper center position have output shaft, and the output shaft can be revolved around angular contact bearing with sub- mobile platform
Turn, each caterpillar belt structure includes crawler belt, crawler driving whell and crawler belt support wheel；Crawler driving whell supports knot by sub-platform is fixed on
Reducing motor on structure and with speed measuring coder drives；Crawler belt support wheel is connected to sub-platform supporting construction by fixing axle
On；
Top structure includes controller and the angular surveying potentiometer being connected with controller that battery and battery connect, controller
Overall omnidirectional moving is realized by controlling the motion per individual sub- mobile platform, per differential of the individual sub- mobile platform by crawler belt
Independent motion is realized in operating.
2. multi-track formula Omni-mobile platform according to claim 1, is characterized in that：The controller passes through movement instruction
With control per individual sub- mobile platform self-movement per individual sub- mobile platform current state, sub- mobile platform current state include its two
The speed of service of bar crawler belt and direction, the anglec of rotation of sub- mobile platform opposite crests structure.
3. multi-track formula Omni-mobile platform according to claim 1, is characterized in that：The top structure passes through angular contact
Bearing is separately fixed on sub- mobile platform, and fixing point is rectangular in fixed pan, and between fixing point, distance meets double crawler belt
Mobile platform is when which is rotated around the angular contact bearing of each self-retaining without interfering.
4. multi-track formula Omni-mobile platform according to claim 1, is characterized in that：The sub- mobile platform is rotating around each
From the angle of angular contact bearing rotation of fixation be 180 degree, sub- mobile platform passes through relative to the anglec of rotation of top structure
Angular surveying potentiometer is measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620634869.6U CN206086872U (en) | 2016-06-24 | 2016-06-24 | Multi -track formula omnidirectional movement platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620634869.6U CN206086872U (en) | 2016-06-24 | 2016-06-24 | Multi -track formula omnidirectional movement platform |
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| CN206086872U true CN206086872U (en) | 2017-04-12 |
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| CN201620634869.6U Expired - Fee Related CN206086872U (en) | 2016-06-24 | 2016-06-24 | Multi -track formula omnidirectional movement platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043427A (en) * | 2016-06-24 | 2016-10-26 | 伍锡如 | Multi-caterpillar-band type all-directional mobile platform |
| CN114474002A (en) * | 2022-02-22 | 2022-05-13 | 浙江大学 | Biped crawler-type detection robot |
-
2016
- 2016-06-24 CN CN201620634869.6U patent/CN206086872U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043427A (en) * | 2016-06-24 | 2016-10-26 | 伍锡如 | Multi-caterpillar-band type all-directional mobile platform |
| CN114474002A (en) * | 2022-02-22 | 2022-05-13 | 浙江大学 | Biped crawler-type detection robot |
| CN114474002B (en) * | 2022-02-22 | 2024-06-18 | 浙江大学 | A bipedal crawler inspection robot |
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Granted publication date: 20170412 Termination date: 20170624 |