CN105080149B - Active power castor assembly, Omni-mobile platform and control method thereof - Google Patents
Active power castor assembly, Omni-mobile platform and control method thereof Download PDFInfo
- Publication number
- CN105080149B CN105080149B CN201510332303.8A CN201510332303A CN105080149B CN 105080149 B CN105080149 B CN 105080149B CN 201510332303 A CN201510332303 A CN 201510332303A CN 105080149 B CN105080149 B CN 105080149B
- Authority
- CN
- China
- Prior art keywords
- gear
- omni
- active power
- roller
- castor
- 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.)
- Active
Links
Landscapes
- Retarders (AREA)
Abstract
The invention provides a kind of active power castor assembly, Omni-mobile platform and control method thereof.This active power castor assembly, including roller, wheel shaft and wheel carrier, active power castor assembly also includes driving means, transfer and differential gear, and driving means includes driving motor and drive gear set, drives driven by motor drive gear set to rotate and controls roller rolling；Transfer includes steer motor and tooth sector group, and steer motor drives tooth sector group to rotate control roller steering；Differential gear includes epicyclic train, epicyclic train includes the first gear, the second gear, planet carrier and assist tooth wheels, first gear is arranged on the output shaft driving motor, second gear is arranged on the output shaft of steer motor, one end of planet carrier is connected with drive gear set, and the other end of planet carrier is connected with assist tooth wheels, and the first gear, the second gear engage with assist tooth wheels respectively, make roller be difficult to that skidding occurs, improve transmission efficiency.
Description
Technical field
The present invention relates to mobile robot technology field, particularly relate to a kind of active power castor assembly, containing above-mentioned
The Omni-mobile platform of active power castor assembly, and the control method of above-mentioned Omni-mobile platform.
Background technology
Along with developing rapidly of robotics, mobile robot have been widely used for machine-building, electricity business's logistics,
The every field such as service, military affairs.Needs based on industry-by-industry, a lot of occasions are desirable that mobile robot has motion and quickly rings
Should be able to power, the motility of motion and the ability entered at various narrow region concurrence.This needs exist for one and possesses omnidirectional's shifting
The platform of kinetic force helps mobile robot to realize this function, thus the design of this Omni-mobile platform just becomes mobile
The emphasis of Robot Design work.
For design omnidirectional wheel moving platform, the wheel of three types typically can be considered: seen by daily, be applied to car
Common wheel on；The Mecanum wheel that mobile robot is widely used at present；Global wheel.But these three wheel
Form has respective weak point.Ordinary wheel simple in construction, but it is relatively difficult to realize the complete of mobile robot's needs
To movement；Mecanum wheel can realize Omni-mobile, but its is inefficient, and use Mike receive female wheel Omni-mobile put down
Platform, is connected with it because each Mike receives female wheel only one of which motor, therefore can only be controlled the motion of one degree of freedom,
The skidding of Omni-mobile platform, divertical motion are to realize by adjusting the rotating speed of each wheel and turning to, thus move in omnidirectional
Moving platform skidding, turn to etc. is discontinuous when moving, and easily produces and skids and generation noise；Global wheel can regard special wheat as
Ke Namu takes turns, and equally exists the inefficient and shortcoming of running noise, and common wheel, Mecanum wheel and global wheel exist
Control inaccurate during motion, easily skid.
Summary of the invention
Based on this, it is necessary to skidding low for roller running efficiency, easy and the big problem of noise, it is provided that one can improve
Roller running efficiency, the active power castor assembly of minimizing skidding, the omnidirectional containing above-mentioned active power castor assembly moves
Moving platform, and the control method of above-mentioned Omni-mobile platform.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of active power castor assembly, including roller, wheel shaft and wheel carrier, described wheel shaft is arranged on institute through described roller
Stating on wheel carrier, and described wheel shaft drives described roller to roll, described active power castor assembly also includes driving means, turns to dress
Putting and differential gear, described driving means, described differential gear and described transfer are separately mounted on described wheel carrier；
Described driving means includes driving motor and drive gear set, and drive gear set described in described driving driven by motor turns
The described roller of dynamic control rolls；
Described transfer includes steer motor and tooth sector group, and described steer motor drives described tooth sector group to turn
The described roller steering of dynamic control；
Described differential gear includes that epicyclic train, described epicyclic train include the first gear, the second gear, planet carrier
With assist tooth wheels, described first gear is arranged on the output shaft of described driving motor, and described second gear is arranged on described
On the output shaft of steer motor, one end of described planet carrier is connected with described drive gear set, the other end of described planet carrier with
Described assist tooth wheels connect, and described first gear, described second gear engage with described assist tooth wheels respectively.
Wherein in an embodiment, described assist tooth wheels include the 3rd gear and the 4th gear, described 3rd gear
Engage with described first gear, described second gear respectively, described 4th gear the most respectively with described first gear, described second
Gear engages, and described 3rd gear and described 4th gear are separately mounted on described planet carrier.
Wherein in an embodiment, described tooth sector group includes the 5th gear, the 6th gear, the 7th gear and the 8th
Gear, described 5th gear is arranged on the wheel hub of described second gear by connector, and described steer motor drives described the
Two gears rotate with described 5th gear synchronous, and described 7th gear is fixedly mounted on described wheel carrier by described connector,
Described 6th gear is arranged on the wheel hub of described 7th gear by described connector, and described eighth gear is by described connection
Part and clutch shaft bearing are arranged on described wheel carrier.
Wherein in an embodiment, between vertical straight radial line and the vertical straight radial line of described eighth gear of described roller
There is predeterminable range.
Wherein in an embodiment, described active power castor assembly also includes the first power transmission shaft and second driving shaft,
Described first power transmission shaft and described second driving shaft are installed on described wheel carrier by clutch shaft bearing respectively.
Wherein in an embodiment, described drive gear set include the 9th gear, the tenth gear, the 11st gear,
12 gears, the 13rd gear, the 14th gear and the 15th gear, described 9th gear set is at the wheel of described first gear
On hub, the first gear described in described driving driven by motor rotates with described 5th gear synchronous, and described tenth gear passes through two
Second bearing is arranged in the endoporus of described eighth gear, and described 11st gear is arranged on the described tenth by described connector
On the wheel hub of gear, described 12nd gear is arranged on described first power transmission shaft, and described 13rd gear is arranged on described
On one power transmission shaft, described 12nd gear rotates with described 13rd gear synchronous, and described 14th gear is arranged on described the
On two power transmission shafts, described 15th gear is arranged on described wheel shaft.
Wherein in an embodiment, described first gear, described second gear, described 3rd gear, described 4th tooth
Wheel, described 7th gear, described eighth gear, described 9th gear, described tenth gear, described 11st gear and described the
12 gears are bevel gear, described 5th gear, described 6th gear, described 13rd gear, described 14th gear with
Described 15th gear is roller gear.
Wherein in an embodiment, described clutch shaft bearing is deep groove ball bearing, and described second bearing is angular contact ball axle
Hold.
Wherein in an embodiment, described active power castor assembly also includes driving decelerator and speed reducing steering system,
Described driving decelerator is arranged on the output shaft of described driving motor, and described speed reducing steering system is arranged on described steer motor
On output shaft.
Further relate to a kind of Omni-mobile platform, including the active power castor group described in vehicle frame and any of the above-described technical characteristic
Part, described active power castor assembly is arranged on described vehicle frame.
Wherein in an embodiment, the wheel carrier of described active power castor assembly includes upper frame and lower frame, described
Upper frame and described lower frame are rotationally connected, and described roller is arranged on described lower frame.
Wherein in an embodiment, described Omni-mobile platform also includes the first suspension frame structure, and each described active is moved
First suspension frame structure described in power castor assembly correspondence at least two, described upper frame is pacified by the most described first suspension frame structure
It is contained on described vehicle frame；
Wherein, described first suspension frame structure includes the first screw rod, the first nut and the first compression spring, described first compression
Spring is nested with on described first screw rod, and described first compression spring is placed between described upper frame and described vehicle frame, and described
One nut coordinates with described first screw rod.
Wherein in an embodiment, described Omni-mobile platform also includes that guider, described guider include pin
Axle, sliding bearing sleeve and the 3rd nut, described bearing pin is multidiameter, and described bearing pin includes first paragraph axle and second segment axle, described
Arranging pin shaft hole on vehicle frame, the diameter of described pin hole is more than the diameter of described first paragraph axle, and the diameter of described pin shaft hole is less than
The diameter of described second segment axle, described first paragraph axle runs through described pin hole, described first paragraph axle and described 3rd nut screw connection,
Described bearing pin is fixed on described vehicle frame, described upper frame is provided with described in described second segment axle is guided
Sliding bearing sleeve, described second segment axle is placed in described sliding bearing sleeve.
Wherein in an embodiment, described Omni-mobile platform also includes that at least one passively assists castor, described extremely
A few passive auxiliary castor is arranged on described lower frame.
Wherein in an embodiment, at least one passive auxiliary castor described is universal caster wheel.
Wherein in an embodiment, described Omni-mobile platform also includes the second suspension frame structure, described second suspension knot
The quantity of structure passes through the most described second suspension frame structure equal to the quantity of described passive auxiliary castor, described passive auxiliary castor
It is arranged on described vehicle frame；
Described second suspension frame structure includes mounting seat, the second screw rod, the second compression spring and the second nut, described mounting seat
Being fixed on described vehicle frame, described mounting seat is ladder shaft-like, is provided with shoulder hole in described mounting seat, and described second screw rod runs through
Described shoulder hole, described second compression spring is nested with on described second screw rod, and the bottom of described second screw rod is provided with use
In the flange spacing to described second compression spring, described second compression spring is placed between described mounting seat and described flange,
The bottom of described second screw rod and the vertical pivot threaded engagement of described passive auxiliary castor, the upper end of described second screw rod is with described
Second nut screw connection.
Wherein in an embodiment, described active power castor assembly is two with the quantity of described passive auxiliary castor
Individual, and described active power castor assembly is symmetrical arranged in diagonal respectively with described passive auxiliary castor.
Wherein in an embodiment, described Omni-mobile platform also include control device, described control device respectively with
Described steer motor and the electrical connection of described driving motor；
Wherein, described control device includes controller, amplifier and encoder, and described controller is used for motion control arithmetic
Calculating, described controller electrically connects with described amplifier and described encoder respectively, and described controller can pass through interconnecting module
Receive the value of described encoder, and send control instruction for described amplifier；Described amplifier is used for reading control signal
And drive described steer motor and the operating of described driving motor；Described encoder is used for reading described steer motor and described
The actual position value driving motor calculates for motion control arithmetic.
Wherein in an embodiment, described Omni-mobile platform be additionally provided with for connect laser range finder, gyroscope,
The interface of at least one in sonac and vision sensor.
Wherein in an embodiment, described vehicle frame uses polyformaldehyde material to make.
Further relating to the control method of a kind of Omni-mobile platform, described Omni-mobile platform is described in above-mentioned technical characteristic
Omni-mobile platform, comprises the following steps:
Joint space drive motor, the turning velocity of steer motor and rolling speed and work space length velocity relation by with
Lower inverse kinematics formula obtains
Wherein vcxIt is Omni-mobile platform speed on work space x direction, wherein vcyIt is that Omni-mobile platform is in work
Making the speed on y direction, space, w is the angular velocity that Omni-mobile platform rotates at work space,It it is the motion of steer motor
Speed,Being the speed driving motor, β is the coordinate system angle with global coordinate system of Omni-mobile platform, and b is the inclined of roller
Moving distance, h is the Omni-mobile Platform center distance to roller, and r is the radius of roller；
Industrial computer is by calculating the work space speed v of Omni-mobile platformx, vy, w is mapped to the speed of joint space,Eventually through giving the velocity space instruction controlling device transmission joint space, it is achieved Omni-mobile platform
Task-oriented coordinates controls.
The invention has the beneficial effects as follows:
The active power castor assembly of the present invention, structure design advantages of simple, driving means controls roller and rolls, turns to dress
Put control roller steering, and between driving means and transfer, increase the rolling movement of differential gear pair roller and turn to fortune
Move and decouple, prevent transfer from controlling driving means pair roller during roller steering and produce extra rolling output, make roller
Rolling steadily, be difficult to skidding occur, the running part simultaneously driving device and transfer is passed by gear drive, raising
Efficiency of movement.
The Omni-mobile platform of the present invention and control method thereof, Omni-mobile platform is provided with active power castor group
Part, its roller making full use of active power castor assembly has two freedoms of motion, and it controls simple advantage, logical
The motor control crossing two motors to active power castor assembly realizes the linkage of two freedoms of motion to perform whole shifting
The Omni-mobile of moving platform, it is ensured that the motion when carrying out skidding, the action such as turning to of the Omni-mobile platform and power export all
It is continuous print, makes roller roll steadily, be difficult to that skidding occurs, go for indoor and outdoor working environment simultaneously.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the active power castor assembly of one embodiment of the invention；
Fig. 2 is the front view of the active power castor assembly shown in Fig. 1；
Fig. 3 is the top view of the active power castor assembly shown in Fig. 1；
Fig. 4 is the right view of the active power castor assembly shown in Fig. 1；
Fig. 5 is that the active power castor assembly shown in Fig. 1 removes protective cover, decelerator, driving motor and reducing motor
Right view；
Fig. 6 is the sectional view at the E-E shown in Fig. 5；
Fig. 7 is the sectional view at the D-D shown in Fig. 3；
Fig. 8 is the schematic diagram of the active power castor assembly shown in Fig. 1；
Fig. 9 be the active power castor assembly shown in Fig. 8 schematic diagram in the right side of position between the 11st gear and roller
View；
Figure 10 is the axonometric chart of Omni-mobile platform one embodiment of the present invention；
Figure 11 is the front view of Omni-mobile platform shown in Figure 10；
Figure 12 is the left view of Omni-mobile platform shown in Figure 10；
Figure 13 is the upward view of Omni-mobile platform shown in Figure 10；
Figure 14 be in Figure 13 A-A to cross-sectional schematic；
Figure 15 be in Figure 13 B-B to cross-sectional schematic；
Figure 16 be in Figure 13 C-C to cross-sectional schematic；
Figure 17 is the schematic perspective view after the coaming plate of vehicle frame removed by Omni-mobile platform shown in Figure 10；
Wherein:
100-active power castor assembly；
110-roller；
120-wheel shaft；
130-wheel carrier；
140-differential gear；
141-the first gear；142-the second gear；143-the 3rd gear；144-the 4th gear；145-planet carrier；
150-transfer；
151-steer motor；
152-tooth sector group；
1521-the 5th gear；1522-the 6th gear；1523-the 7th gear；1524-eighth gear；
160-driving means；
161-drives motor；
162-drive gear set；
1621-the 9th gear；1622-the tenth gear；1623-the 11st gear；1624-the 12nd gear；1625-the tenth
Three gears；1626-the 14th gear；1627-the 15th gear；
170-the first power transmission shaft；
180-second driving shaft；
200-passively assists castor；
300-vehicle frame；
400-the first suspension frame structure；
401-the first screw rod；402-the first nut；403-the first compression spring；
500-guider；
501-bearing pin；502-sliding bearing sleeve；503-the 3rd nut；
600-the second suspension frame structure；
601-mounting seat；602-the second screw rod；603-the second compression spring；604-the second nut；605-flange.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, by the following examples, and combine attached
Figure, is further elaborated to active power castor assembly, Omni-mobile platform and the control method thereof of the present invention.Should
Understanding, specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
See Fig. 1 to Fig. 8, the active power castor assembly 100 of one embodiment of the invention, including roller 110, wheel shaft 120,
Wheel carrier 130, driving means 160, transfer 150 and differential gear 140, wheel shaft 120 is arranged on wheel carrier 130 through roller 110
On, and wheel shaft 120 drives roller 110 to roll, driving means 160 and transfer 150 are separately mounted on wheel carrier 130, differential
Device 140 is arranged between driving means 160 and transfer 150, and driving means 160 includes driving motor 161 and driving tooth
Wheels 162, drive motor 161 to drive drive gear set 162 to rotate control roller 110 and roll, and transfer 150 includes turning to electricity
Machine 151 and tooth sector group 152, steer motor 151 drives tooth sector group 152 to rotate control roller 110 and turns to.Drive gear
Group 162 and tooth sector group 152 are arranged on wheel carrier 130, drive the outfan of motor 161 to pass through supports support at wheel carrier
On 130, drive the outfan of motor 161 to extend in wheel carrier 130 and be connected with drive gear set 162；In like manner, steer motor 151
Outfan by supports support on wheel carrier 130, the outfan of steer motor 151 extend in wheel carrier 130 and turn to tooth
Wheels 152 connect.
Active power castor assembly 100 in the present invention includes the driving means 160 with two degree of freedom and turns to dress
Putting 150, driving means 160 controls roller 110 and rolls, and transfer 150 controls roller 110 and turns to, and driving means 160 He
Increase differential gear 140 between transfer 150, make the divertical motion of roller 110 and rolling movement mutual by differential gear 140
Do not interfere.Due to the motion of roller 110 turn to rolling movement by differential gear 140 decoupling make the control of roller 110 with
And the control of whole mobile platform is all greatly simplified.From the point of view of the drive system within active power castor assembly 100,
It comprises two pieces: the first is that roller 110 rolls the driving-chain advanced, and second is the driving-chain that roller 110 turns to traveling.Turn to electricity
Tooth sector group 152 transmission that moves across of machine 151 output makes roller 110 produce divertical motion, yet with roller 110 is
Being arranged on wheel carrier 130, so can cause the movement output that roller 110 is extra, this phenomenon is referred to as coupling of moving.In order to make
Divertical motion and rolling movement precise control, the present invention uses mechanically decoupled mode to eliminate divertical motion and the rolling of roller 110
Coupling between dynamic motion, increases a differential gear 140 between driving means 160 and transfer 150, prevents from turning to dress
Put driving means 160 pair roller 110 when 150 control rollers 110 turn to and produce extra rolling output, make roller 110 roll flat
Surely, it is difficult to that skidding occurs.By choosing suitable kinematics parameters, defeated by divertical motion produced by steer motor 151
Go out and eventually offset extra rolling movement caused when being turned to by roller 110.So, we are obtained with mechanically decoupled
Turn to and rolling movement.Therefore, what whole active power castor assembly 100 produced the i.e. roller 110 of two movement outputs turns to fortune
Move and rolling movement, simultaneously drive the device 160 running part with transfer 150 by gear drive, raising transmission efficiency.
The motion transmission of the active power castor assembly 100 of the present invention is all completed by gear drive, and gear-driven transmission efficiency is high,
Avoid V belt translation need regular tensioning shortcoming, and have employed modular unit be designed as assembling and maintenance bring greatly
Convenience.
Further, active power castor assembly 100 also includes driving decelerator and speed reducing steering system, drives decelerator peace
Being contained on the output shaft driving motor 161, speed reducing steering system is arranged on the output shaft of steer motor 151, drives decelerator
Output shaft is connected with drive gear set 162, and the output shaft of speed reducing steering system is connected with tooth sector group 152.
As a kind of embodiment, differential gear 140 includes that epicyclic train, epicyclic train include the first gear
141, the second gear 142, planet carrier 145 and and assist tooth wheels, the first gear 141 is arranged on driving motor by connector
On the output shaft of 161, the second gear 142 is arranged on the output shaft of steer motor 151 by connector, the one of planet carrier 145
End is connected with drive gear set 162, and the other end of planet carrier 145 is connected with assist tooth wheels, first gear the 141, second gear
142 engage with assist tooth wheels respectively.Assist tooth wheels include the 3rd gear 143 and the 4th gear 144, the 3rd gear 143 points
Not engaging with first gear the 141, second gear 142, the 4th gear 144 is nibbled with first gear the 141, second gear 142 the most respectively
Closing, the 3rd gear 143 and the 4th gear 144 are separately mounted on planet carrier 145.
Further, the axes intersect of first gear the 141, second gear the 142, the 3rd gear 143 and the 4th gear 144 in
A bit.Further, drive motor 161 to drive the first gear 141 to rotate, the first gear 141 respectively with the 3rd gear 143 and the
Four gears 144 engage, and the first gear 141 drives the 3rd gear 143 and the 4th gear 144 to rotate respectively, and steer motor 151 drives
Second gear 142 rotates, and the second gear 142 engages with the 3rd gear 143 and the 4th gear 144 respectively, and the second gear 142 is respectively
The 3rd gear 143 and the 4th gear 144 is driven to rotate.In the present invention, differential gear 140 is a planetary gear unit, this
Planting planetary unit identical with the differential format used on current vehicle, it has two degree of freedom, can accept to carry out low damage
The motion input of motor 151 and driving motor 161, prevents transfer 150 from controlling roller 110 by differential gear 140 and turns to
Time driving means 160 pair roller 110 produce extra rolling output, make roller 110 roll steadily, be difficult to that skidding occurs.
In the present embodiment, the first gear 141 is arranged on by connector on the output shaft driving decelerator.Second gear
142 are arranged on the output shaft of speed reducing steering system by connector, and the wheel hub of the second gear 142 is by two clutch shaft bearings
It is arranged on wheel carrier 130 and is provided with inner spacing collar between the inner ring of two clutch shaft bearings, prevent clutch shaft bearing along the second gear 142
Axis direction play.The wheel hub of the 3rd gear 143 is arranged on bearing block by clutch shaft bearing, and bearing block is pacified by connector
It is contained on the wheel hub of the first gear 141, between the gear teeth and the inner ring of clutch shaft bearing of the 3rd gear 143, is provided with inner spacing collar,
The other end at clutch shaft bearing is provided with two locking nuts, and two locking nuts lock the inner ring and first of clutch shaft bearing respectively
The outer ring of bearing, prevents clutch shaft bearing along the axis direction play of the 3rd gear 143 by inner spacing collar and two locking nuts.The
The wheel hub of four gears 144 is arranged on bearing block by clutch shaft bearing, and bearing block is arranged on the first gear 141 by connector
On wheel hub, between the gear teeth and the inner ring of clutch shaft bearing of the 4th gear 144, it is provided with inner spacing collar, at the other end of clutch shaft bearing
Being provided with two locking nuts, two locking nuts lock the inner ring of clutch shaft bearing and the outer ring of clutch shaft bearing, respectively by interior
Spacer and two locking nuts prevent clutch shaft bearing along the axis direction play of the 4th gear 144.
As a kind of embodiment, tooth sector group 152 includes the 5th gear the 1521, the 6th gear the 1522, the 7th tooth
Wheel 1523 and eighth gear 1524, the 5th gear 1521 is arranged on the wheel hub of the second gear 142 by connector, steer motor
151 drive the second gear 142 and the 5th gear 1521 synchronous axial system, and the 7th gear 1523 is fixedly mounted on wheel carrier by connector
On 130, the 6th gear 1522 is arranged on the wheel hub of the 7th gear 1523 by connector, and eighth gear 1524 passes through connector
It is arranged on wheel carrier 130.Further, the 7th gear 1523 and the axes intersect of eighth gear 1524 are in a bit.Further,
Steer motor 151 drives the 4th gear 144 to rotate, and the 4th gear 144 drives the 5th gear 1521 to rotate, the 5th gear 1521 with
6th gear 1522 is meshed, and the 5th gear 1521 drives the 6th gear 1522 to rotate, and the 6th gear 1522 drives the 7th gear
1523 rotate, and the 7th gear 1523 is meshed with eighth gear 1524, and the 7th gear 1523 drives eighth gear 1524 to rotate, the
Octadentate is taken turns 1524 rotational band driving wheel framves 130 and is turned to, and wheel carrier 130 drives wheel shaft 120 to turn to, and wheel shaft 120 drives roller 110 to turn to.
In the present embodiment, the 5th gear 1521 is arranged on the wheel hub of the second gear 142 by connector, and the 5th tooth
Wheel 1521 is between two clutch shaft bearings, and speed reducing steering system motion drives the second gear 142 to rotate, and the second gear 142 passes through
Connector drives the 5th gear 1521 to rotate.7th gear 1523 is installed on wheel carrier 130 by two clutch shaft bearings, the 6th tooth
Wheel 1522 is installed on the wheel hub of the 7th gear 1523 by connector, and the 6th gear 1522 is positioned at two clutch shaft bearings and the 7th
Between the gear teeth of gear 1523, it is provided with two locking nuts in one end of two clutch shaft bearings, prevents the inner ring of clutch shaft bearing
With the outer ring of clutch shaft bearing along the axis direction play of the 7th gear 1523.Eighth gear 1524 is by clutch shaft bearing and connector
It is arranged on wheel carrier 130.Further, active power castor assembly 100 also includes gland and base, and gland is solid by connector
On the end face of the wheel hub being scheduled on eighth gear 1524, base is fixed on wheel carrier 130 and gland by connector.
As a kind of embodiment, active power castor assembly 100 also includes the first power transmission shaft 170 and second driving shaft
180, the first power transmission shaft 170 and second driving shaft 180 are installed on wheel carrier 130 by clutch shaft bearing respectively, by the first transmission
Rolling movement is passed to roller 110 by axle 170 and second driving shaft 180.
As a kind of embodiment, drive gear set 162 includes the 9th gear the 1621, the tenth gear the 1622, the 11st
Gear the 1623, the 12nd gear the 1624, the 13rd gear the 1625, the 14th gear the 1626 and the 15th gear 1627.9th tooth
Wheel 1621 is sleeved on the wheel hub of the first gear 141, and planet carrier 145 is arranged on the end face of the 9th gear 1621 by connector
On, drive motor 161 to drive the first gear 141 and the 5th gear 1521 synchronous axial system, the tenth gear 1622 is by two second
Bearing is arranged in the endoporus of eighth gear 1524, and the 11st gear 1623 is arranged on the wheel of the tenth gear 1622 by connector
On hub, the 12nd gear 1624 is arranged on the first power transmission shaft 170, and the 13rd gear 1625 is arranged on the first power transmission shaft 170,
12nd gear the 1624 and the 13rd gear 1625 synchronous axial system, the 14th gear 1626 is arranged on second driving shaft 180, the
15 gears 1627 are arranged on wheel shaft 120.Power transmission shaft between tenth gear the 1622 and the 11st gear 1623 runs through the 8th
The centre bore of gear 1524, the power transmission shaft between the tenth gear the 1622 and the 11st gear 1623 freely can turn in centre bore
Dynamic.Further, the axes intersect of the 9th gear 1621 and the tenth gear 1622 in a bit, the 11st gear 1623 and the 12nd
The axes intersect of gear 1624 is in a bit.Further, motor 161 is driven to drive the first gear 141 to rotate, the first gear 141
Driving the 9th gear 1621 to rotate, the 9th gear 1621 is meshed with the tenth gear 1622, and the 9th gear 1621 drives the tenth tooth
Wheel 1622 rotation, the tenth gear 1622 drives the 11st gear 1623 to rotate, the 11st gear the 1623 and the 12nd gear 1624
Being meshed, the 11st gear 1623 drives the 12nd gear 1624 to rotate, and the 12nd gear 1624 drives the 13rd gear 1625
Rotating, the 13rd gear 1625 is meshed with the 14th gear 1626, and the 13rd gear 1625 drives the 14th gear 1626 turns
Dynamic, the 14th gear 1626 is meshed with the 15th gear 1627, and the 14th gear 1626 drives the 15th gear 1627 to rotate,
15th gear 1627 drives wheel shaft 120 to rotate, and wheel shaft 120 drives roller 110 to roll.
In the present embodiment, the 9th gear 1621 is arranged on the wheel hub of the first gear 141 by two the second bearings,
The two ends of two the second bearings are respectively arranged with inner spacing collar, are provided with outer separator, at clutch shaft bearing between two the second bearings
The one end driving decelerator is provided with gland, and gland is arranged on the end face of the wheel hub of the 9th gear 1621 by connector
On, prevent the second bearing along the axis direction play of the first gear 141 by gland and inner spacing collar, outer separator.At the 9th gear
Being provided with two the second bearings on the wheel hub of 1621, the inner ring of two the second bearings is sleeved on the wheel hub of the 9th gear 1621,
The outer ring of the second bearing is arranged on bearing block, and bearing block is arranged on wheel carrier 130 by connector.The wheel of the tenth gear 1622
Being provided with two the second bearings on hub, the inner ring of the second bearing is sleeved on the wheel hub of the tenth gear 1622, outside the second bearing
Circle is installed in the endoporus of eighth gear 1524, is respectively arranged with inner spacing collar at the two ends of two the second bearings, at two second
It is provided with outer separator between bearing, and by being fixed on the gland in eighth gear 1524 and inner spacing collar, outer separator, prevents second
Bearing is along the axis direction play of the tenth gear 1622.The wheel hub of the tenth bearing is through being fixed on the gland in eighth gear 1524
Stretch out with the base being fixed on gland, on the external part of the wheel hub that the 11st bearing is arranged on the tenth bearing by connector,
The lower section of the 11st gear 1623 is the first power transmission shaft 170, and the first power transmission shaft 170 is installed the 12nd gear 1624 and the 13rd
Gear 1625, installs the 14th gear 1626 on second driving shaft 180, installs the 15th gear 1627 on wheel shaft 120, and
On one end of the first power transmission shaft 170, on one end of the first power transmission shaft 170, it is respectively mounted locking screw on one end of wheel shaft 120
Mother, prevents the 13rd gear the 1625, the 14th gear the 1626 and the 15th gear 1627 axle 120 to play.
In the present embodiment, first gear the 141, second gear the 142, the 3rd gear the 143, the 4th gear the 144, the 7th gear
1523, eighth gear the 1524, the 9th gear the 1621, the tenth gear the 1622, the 11st gear 1623 is equal with the 12nd gear 1624
For bevel gear, the 5th gear the 1521, the 6th gear the 1522, the 13rd gear the 1625, the 14th gear the 1626 and the 15th gear
1627 are roller gear.Further, the second bearing is angular contact ball bearing, and clutch shaft bearing is deep groove ball bearing.Connector
For connecting key.
Further, divertical motion output gear be eighth gear 1524, the vertical straight radial line of eighth gear 1524 with
The vertical straight radial line of the 11st gear 1623 overlaps, the vertical straight radial line of roller 110 and the vertical straight radial line of eighth gear 1524
Between there is predeterminable range, say, that between vertical straight radial line and the vertical straight radial line of the 11st gear 1623 of roller 110
There is also predeterminable range, there is biasing in roller 110 in the horizontal direction.As it is shown in figure 9, predeterminable range is h, by this preset away from
From ensureing that wheel carrier 130 turns to the divertical motion process driving roller 110 to turn to steady.
Further, active power castor assembly 100 also includes protective cover, and protective cover connects wheel shaft 120 and wheel carrier 130,
13rd gear the 1625, the 14th gear the 1626 and the 15th gear 1627 can also be enclosed in wheel carrier 130 by protective cover simultaneously
With in the space of protective cover composition, reduce the 13rd gear the 1625, the 14th gear the 1626 and the 15th gear 1627 in operating
During the danger that brings.
Wherein, the first gear 141 and the second gear 142 are sun gear, and the 3rd gear 143 and the 4th gear 144 are planet
Wheel, takes turns centered by the 9th gear 1621, and the 3rd gear 143 and the 4th gear 144 are installed to the 9th gear 1621 by planet carrier
Wheel hub on, the 9th gear 1621 rotates and drives the 3rd gear 143 and the 4th gear 144 together to rotate, the 3rd gear 143 simultaneously
With the 4th gear 144 also around the axis rotation of himself.One end (right-hand member in Fig. 8) of planet carrier connects the 3rd gear 143 and
Four gears 144, the other end (left end in Fig. 8) of planet carrier connects the 9th gear 1621, the 3rd gear 143 and the 4th gear 144
It is respectively positioned between the first gear 141 with the second gear 142 and engages two-by-two with first gear the 141, second gear 142 respectively.
The output shaft driving motor 161 is sequentially connected with the 9th gear 1621 and the second gear 141, passes through drive gear set
162 engaged transmission, drive gear set 162 connects the wheel shaft 120 of roller 110, drives motor 161 to be carried by drive gear set 162
Dynamic roller 110 rolls.The output shaft of steer motor 151 is sequentially connected with tooth sector group 152 and the first gear 141, tooth sector
Group 152 connection lower frame, steer motor 151 drives tooth sector group 152 to rotate, and tooth sector group 152 drives lower frame to rotate,
Lower frame drives roller 110 to turn to.Thus can produce divertical motion and the rolling movement, i.e. steer motor of a decoupling
151 produce a pure divertical motion output, drive 161, motor to produce a pure roller 110 and roll output.
Active power castor assembly 100 in the present embodiment has two degree of freedom, drives motor 161 and steer motor
151 horizontal positioned, active power castor assembly 100 has two outputs: one is the rolling movement of roller 110, and one is roller
The divertical motion of 110.Drive motor 161 output by the 9th gear the 1621, the tenth gear the 1622, the 11st gear 1623,
12nd gear the 1624, the 13rd gear the 1625, the 14th gear the 1626 and the 15th gear 1627 passes to roller 110.Turn
Driving whole framework to turn to and then drive roller 110 to turn to the output of motor 151, steer motor 151 is to driving gear simultaneously
Group 162 one input of generation is offset owing to turning to caused roller 110 to roll.Therefore, the output of steer motor 151 is divided
Solving is two parts, and a part is produced by the 5th gear the 1521, the 6th gear the 1522, the 7th gear 1523 and eighth gear 1524
The divertical motion of roller 110；The output of this part is passed to and the 4th by another part by the second gear the 142, the 3rd gear 143
Gear 144 and the first gear 141 are combined into differential gear 140 and offset and caused additionally roll output owing to turning to.So
Just can produce divertical motion and the rolling movement of a decoupling, i.e. one pure divertical motion of steer motor 151 generation defeated
Go out, drive 161, motor to produce a pure roller 110 and roll output.
The motion analysis of above-mentioned active power castor assembly 100 is as follows:
Driving motor 161 and steer motor 151 in the present invention are DC servo motor.In the present embodiment, direct current
The rated power of servomotor is 0.2KW, and the nominal torque of DC servo motor is 0.64Nm, the specified electricity of DC servo motor
Pressure is 48V, and the rated speed of DC servo motor is 3000Rpm.
If the rotating speed driving motor 161 is nq, the rotating speed of steer motor 151 is ns, roller 110 output speed nr, framework turns
To time drive roller 110 rotating speed be nos, roller 110 caused when turning to additionally transfer n tosr, steer motor 151 is produced
Raw roller 110 rotating speed is nosr.Thus can obtain:
And according to nsr=nosrSeeking Decoupling Conditions, Decoupling Conditions is as follows:
The i.e. differential gear of the active power castor assembly 100 of the present invention
140 should meet above-mentioned condition.
As shown in Fig. 7, Figure 10 to Figure 13, Figure 17, the Omni-mobile platform of one embodiment of the invention, including vehicle frame 300 He
At least one active power castor assembly 100, active power castor assembly 100 is arranged on vehicle frame 300, active power castor group
The rolling of part 100 can drive vehicle frame 300 together to move with turning to, it is achieved the motion of Omni-mobile platform all directions.Actively
Powered casters assembly 100 can be widely used in the various automation equipments such as Omni-mobile formula robot, electric wheelchair.Enter one
Step ground, the wheel carrier 130 of active power castor assembly 100 includes that upper frame and lower frame, upper frame and lower frame are rotationally connected, rolling
Wheel 110 is arranged on lower frame.Upper frame and lower frame are rotationally connected by bearing, upper frame and lower frame be rotationally connected place
It is positioned at the bearing on the downside of eighth gear 1524.Eighth gear 1524 drives lower frame to turn to so that lower frame drives roller 110
Turn to.Certainly, tooth sector group 152 also can take the mode of the turbine and worm commonly used, or uses turbine and worm combination gear
Mode, the most also can realize turning to of roller 110.Tenth gear 1622 is placed in upper frame, and the 11st gear 1623 is placed in down
In support body, the 14th gear 1626 is packed on lower frame by second driving shaft 180.
As a kind of embodiment, as shown in Figure 10, Figure 13 and Figure 14, Omni-mobile platform also includes the first suspension knot
Structure 400, corresponding at least two the first suspension frame structure 400 of each active power castor assembly 100, upper frame passes through corresponding first
Suspension frame structure 400 is arranged on vehicle frame 300, say, that each active power castor assembly 100 is by plural first
Suspension frame structure 400 is fixed on vehicle frame 300.First suspension frame structure 400 includes the first screw rod the 401, first nut 402 and the first pressure
Contracting spring 403.First compression spring 403 is nested with on the first screw rod 401, the first compression spring 403 be placed in described upper frame with
Between vehicle frame 300, the first nut 402 coordinates with the first screw rod 401.In the present invention, the quantity of the first suspension frame structure 400 is two
More than individual.In Figure 13 of the present embodiment, the quantity of corresponding first suspension frame structure 400 of each active power castor assembly 100 is four
Individual, that is the upper frame of each active power castor assembly 100 is arranged on vehicle frame 300 by four the first suspension frame structures 400.
The top of upper frame is arranged on vehicle frame 300 by the first suspension frame structure 400.
Preferably, as shown in Figure 10, Figure 13 and Figure 15, Omni-mobile platform also includes guider 500, guider
500 include bearing pin 501, sliding bearing sleeve 502 and the 3rd nut 503, and bearing pin 501 is multidiameter, and bearing pin 501 includes first paragraph axle
With second segment axle, vehicle frame 300 arranging pin shaft hole, the diameter of pin shaft hole is more than the diameter of first paragraph axle, and the diameter of pin shaft hole is little
In the diameter of second segment axle, first paragraph axle runs through pin hole, first paragraph axle and the 3rd nut 503 and coordinates so that bearing pin 501 is consolidated
Being scheduled on vehicle frame 300, upper frame is provided with the sliding bearing sleeve 502 guiding second segment axle, second segment axle is placed in cunning
In moving axis bearing sleeve 502.In the present invention, the quantity of guider 500 is two or more.Each active in Figure 13 of the present embodiment
Corresponding two guiders 500 of the upper frame of powered casters assembly 100.Guider 500 is set, when Omni-mobile platform moves
More steady.
As a kind of embodiment, as shown in Figure 10, Figure 13 and Figure 16, Omni-mobile platform also includes at least one quilt
Dynamic auxiliary castor 200, at least one passively assists castor 200 to be arranged on lower frame, and at least one passively assists castor 200
Auxiliary supporting role, by active power castor assembly 100 and the common effect of passive auxiliary castor 200, it is achieved Omni-mobile
The moving and turning to of platform.Further, at least one passively assists castor 200 to be universal caster wheel, active power castor group
Part 100 is when turning to and roll, and the passive auxiliary castor 200 for universal wheel can follow active power castor assembly 100 together
Motion.
Further, Omni-mobile platform also includes the second suspension frame structure 600, and passive auxiliary castor 200 passes through second
Suspension frame structure 600 is arranged on vehicle frame 300.Second suspension frame structure 600 includes that mounting seat the 601, second screw rod 602, second compresses
Spring 603 and the second nut 604.Mounting seat 601 is fixed on vehicle frame 300, and mounting seat 601 is ladder shaft-like, in mounting seat 601
It is provided with shoulder hole.Second screw rod 602 runs through shoulder hole, and the second compression spring 603 is nested with on the second screw rod 602, the second screw rod
The bottom of 602 is provided with for the flange 605 spacing to the second compression spring 603, and the second compression spring 603 is placed in mounting seat
Between 601 and flange 605.The bottom of the second screw rod 602 and the passive vertical pivot threaded engagement assisting castor 200, the second screw rod
The upper end of 602 coordinates with the second nut 604.Corresponding second suspension frame structure 600 of each passive auxiliary castor 200, the most each
Passive auxiliary castor 200 is arranged on vehicle frame 300 by second suspension frame structure 600.
In the present embodiment, active power castor assembly 100 is two with the quantity of passive auxiliary castor 200, and main
Dynamic powered casters assembly 100 is symmetrical arranged in diagonal respectively with passive auxiliary castor 200.Two active power castor assemblies
100 are arranged on vehicle frame 300 with a pair linea angulata；Two passive auxiliary castors 200 are arranged on vehicle frame 300 with another diagonal, and
Two passive auxiliary castors 200 are universal caster wheel.
Preferably, vehicle frame 300 uses polyformaldehyde (English name polyformaldehyde is called for short POM) material to make.Vehicle frame
Body frame uses polyformaldehyde (POM) material so that the weight of this Omni-mobile platform alleviates significantly, can also keep enough simultaneously
Strength support move the main body of robot.The base plate of vehicle frame 300 is preferably polygonized structure or circular configuration, vehicle frame 300
When base plate is polygon, its limit number is even number.
Omni-mobile platform is additionally provided with for connecting laser range finder, gyroscope, sonac and vision sensor
In at least one interface so that this all kinds of Interface Expanding of Omni-mobile platform is strong, is highly suitable for all kinds of needing omnidirectional to move
The dynamic guest-meeting robot of function, crusing robot, service robot etc..
As a kind of embodiment, Omni-mobile platform also includes controlling device, control device respectively with steer motor
Electrically connect with driving motor.Wherein, controlling device and include controller, amplifier and encoder, controller is calculated for motor control
Method calculates and uses industrial PC to realize, and controller electrically connects with amplifier and encoder respectively, and controller can be by turning
Connection module receives the value of encoder, and sends control instruction for amplifier；Amplifier is used for reading control signal and driving
Dynamic steer motor and the operating of driving motor；Encoder is for reading steer motor and driving the actual position value of motor for transporting
Dynamic control algolithm calculates.
The present invention also provides for the control method of a kind of above-mentioned Omni-mobile platform, comprises the following steps:
Joint space drive motor, the turning velocity of steer motor and rolling speed and work space length velocity relation by
Following inverse kinematics formula obtains
Wherein vcxIt is Omni-mobile platform speed on work space x direction, wherein vcyIt is that Omni-mobile platform is in work
Making the speed on y direction, space, w is the angular velocity that Omni-mobile platform rotates at work space.It it is the motion of steer motor
Speed,Being the speed driving motor, β is the coordinate system angle with global coordinate system of Omni-mobile platform, and b is the inclined of roller
Moving distance, h is the Omni-mobile Platform center distance to roller, and r is the radius of roller.
Industrial computer is by calculating the work space speed v of Omni-mobile platformx, vy, w is mapped to the speed of joint space,Eventually through giving the velocity space instruction controlling device transmission joint space, it is achieved Omni-mobile platform
Task-oriented coordinates controls.
The Omni-mobile platform of above example and control method thereof, Omni-mobile platform uses active power castor assembly
With passively assist castor, and active power castor assembly and passive castor are, and the pattern that is arranged symmetrically with of diagonal is as mobile flat
The walking mechanism of platform, its roller making full use of active power castor assembly has two freedoms of motion, and it controls letter
Single advantage is come by the motor control of the two of active power castor assembly motors realizes the linkage of two freedoms of motion
Perform the Omni-mobile of whole mobile platform, it is ensured that the motion when carrying out skidding, the action such as turning to of the Omni-mobile platform and
Power output is all continuous print.Arranging differential mechanism, rolling movement and the divertical motion of pair roller decouple, and prevent transfer
Control the rolling output that driving means pair roller generation during roller steering is extra, make roller roll steadily, be difficult to occur that skidding is existing
As, simultaneously drive the device running part with transfer by gear drive, raising transmission efficiency.Upper frame hangs by first
Shelf structure is arranged on vehicle frame, and passive auxiliary castor is arranged on vehicle frame by the second suspension frame structure, it is ensured that Omni-mobile is put down
Various road conditions can be made corresponding Automatic adjusument in running by platform, it is ensured that four-wheel lands the most simultaneously, and can reduce
Vibration and noise, go for indoor and outdoor working environment simultaneously.Guider is set, improves Omni-mobile platform
Stationarity.Vehicle frame uses polyformaldehyde (POM) material so that the weight of this Omni-mobile platform alleviates significantly, can also protect simultaneously
Hold enough strength support and move the main body of robot.This Omni-mobile platform can be widely applied to need Omni-mobile function
All kinds of mobile robots, AGV dolly, the equipment such as electri forklift, by linking to the motor on two actively castor assemblies
Control just to realize platform moving along any direction on the premise of not changing self posture.It is its simple in construction, reliable,
Modern design, has wide market application foreground.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that, for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (21)
1. an active power castor assembly, including roller, wheel shaft and wheel carrier, described wheel shaft is arranged on described through described roller
On wheel carrier, and described wheel shaft drives described roller to roll, it is characterised in that described active power castor assembly also includes driving dress
Put, transfer and differential gear, described driving means, described differential gear are separately mounted to described wheel with described transfer
On frame；
Described driving means includes driving motor and drive gear set, and described in described driving driven by motor, drive gear set rotates control
Make described roller to roll；
Described transfer includes steer motor and tooth sector group, and described steer motor drives described tooth sector group to rotate control
Make described roller steering；
Described differential gear includes that epicyclic train, described epicyclic train include the first gear, the second gear, planet carrier and auxiliary
Help gear train, described first gear to be arranged on the output shaft of described driving motor, described second gear be arranged on described in turn to
On the output shaft of motor, one end of described planet carrier is connected with described drive gear set, and the other end of described planet carrier is with described
Assist tooth wheels connect, and described first gear, described second gear engage with described assist tooth wheels respectively.
Active power castor assembly the most according to claim 1, it is characterised in that described assist tooth wheels include the 3rd tooth
Wheel and the 4th gear, described 3rd gear engages with described first gear, described second gear respectively, and described 4th gear also divides
Not engaging with described first gear, described second gear, described 3rd gear and described 4th gear are separately mounted to described row
In carrier.
Active power castor assembly the most according to claim 2, it is characterised in that described tooth sector group includes the 5th tooth
Wheel, the 6th gear, the 7th gear and eighth gear, described 5th gear is arranged on the wheel hub of described second gear by connector
On, described steer motor drives described second gear to rotate with described 5th gear synchronous, and described 7th gear passes through described company
Fitting is fixedly mounted on described wheel carrier, and described 6th gear is arranged on the wheel hub of described 7th gear by described connector
On, described eighth gear is arranged on described wheel carrier by described connector and clutch shaft bearing.
Active power castor assembly the most according to claim 3, it is characterised in that the vertical straight radial line of described roller and institute
State and there is predeterminable range between the vertical straight radial line of eighth gear.
Active power castor assembly the most according to claim 3, it is characterised in that described active power castor assembly also wraps
Including the first power transmission shaft and second driving shaft, described first power transmission shaft and described second driving shaft are installed to by clutch shaft bearing respectively
On described wheel carrier.
Active power castor assembly the most according to claim 5, it is characterised in that described drive gear set includes the 9th tooth
Wheel, the tenth gear, the 11st gear, the 12nd gear, the 13rd gear, the 14th gear and the 15th gear, the described 9th
Gear set on the wheel hub of described first gear, the first gear described in described driving driven by motor and described 5th gear synchronous
Rotating, described tenth gear is arranged in the endoporus of described eighth gear by two the second bearings, and described 11st gear leads to
Crossing described connector to be arranged on the wheel hub of described tenth gear, described 12nd gear is arranged on described first power transmission shaft,
Described 13rd gear is arranged on described first power transmission shaft, and described 12nd gear rotates with described 13rd gear synchronous,
Described 14th gear is arranged on described second driving shaft, and described 15th gear is arranged on described wheel shaft.
Active power castor assembly the most according to claim 6, it is characterised in that described first gear, described second tooth
Wheel, described 3rd gear, described 4th gear, described 7th gear, described eighth gear, described 9th gear, the described tenth
Gear, described 11st gear and described 12nd gear are bevel gear, described 5th gear, described 6th gear, described
13rd gear, described 14th gear and described 15th gear are roller gear.
Active power castor assembly the most according to claim 7, it is characterised in that described clutch shaft bearing is deep-groove ball axle
Holding, described second bearing is angular contact ball bearing.
Active power castor assembly the most according to claim 1, it is characterised in that described active power castor assembly also wraps
Including driving decelerator and speed reducing steering system, described driving decelerator is arranged on the output shaft of described driving motor, described in turn to
Decelerator is arranged on the output shaft of described steer motor.
10. an Omni-mobile platform, it is characterised in that include described in vehicle frame and at least one any one of claim 1 to 9
Active power castor assembly, described active power castor assembly is arranged on described vehicle frame.
11. Omni-mobile platforms according to claim 10, it is characterised in that the wheel carrier of described active power castor assembly
Being rotationally connected including upper frame and lower frame, described upper frame and described lower frame, described roller is arranged on described lower frame.
12. Omni-mobile platforms according to claim 11, it is characterised in that described Omni-mobile platform also includes first
Suspension frame structure, the first suspension frame structure described in each described active power castor assembly correspondence at least two, described upper frame passes through
The most described first suspension frame structure is arranged on described vehicle frame；
Wherein, described first suspension frame structure includes the first screw rod, the first nut and the first compression spring, described first compression spring
Being nested with on described first screw rod, described first compression spring is placed between described upper frame and described vehicle frame, described first spiral shell
Female and described first screw rod coordinates.
13. Omni-mobile platforms according to claim 12, it is characterised in that described Omni-mobile platform also includes guiding
Device, described guider includes bearing pin, sliding bearing sleeve and the 3rd nut, and described bearing pin is multidiameter, and described bearing pin includes
First paragraph axle and second segment axle, described vehicle frame arranges pin shaft hole, and the diameter of described pin hole is straight more than described first paragraph axle
Footpath, the diameter of described pin shaft hole is less than the diameter of described second segment axle, and described first paragraph axle runs through described pin hole, and described first
Section axle and described 3rd nut screw connection so that described bearing pin is fixed on described vehicle frame, and described upper frame is provided with institute
Stating the described sliding bearing sleeve that second segment axle carries out guiding, described second segment axle is placed in described sliding bearing sleeve.
14. Omni-mobile platforms according to claim 12, it is characterised in that described Omni-mobile platform also includes at least
One passive auxiliary castor, at least one passive auxiliary castor described is arranged on described lower frame.
15. Omni-mobile platforms according to claim 14, it is characterised in that at least one passive auxiliary castor described is equal
For universal caster wheel.
16. Omni-mobile platforms according to claim 15, it is characterised in that described Omni-mobile platform also includes second
Suspension frame structure, the quantity of described second suspension frame structure is led to equal to the quantity of described passive auxiliary castor, described passive auxiliary castor
It is arranged on described vehicle frame after the most described second suspension frame structure；
Described second suspension frame structure includes mounting seat, the second screw rod, the second compression spring and the second nut, and described mounting seat is fixed
On described vehicle frame, described mounting seat is ladder shaft-like, is provided with shoulder hole in described mounting seat, and described second screw rod runs through described
Shoulder hole, described second compression spring is nested with on described second screw rod, and the bottom of described second screw rod is provided with for right
The flange that described second compression spring is spacing, described second compression spring is placed between described mounting seat and described flange, described
The bottom of the second screw rod and the vertical pivot threaded engagement of described passive auxiliary castor, the upper end of described second screw rod and described second
Nut screw connection.
17. Omni-mobile platforms according to claim 14, it is characterised in that described active power castor assembly is with described
The quantity of passive auxiliary castor is two, and described active power castor assembly and described passive auxiliary castor are respectively in diagonal angle
Line is symmetrical arranged.
18. Omni-mobile platforms according to claim 17, it is characterised in that described Omni-mobile platform also includes controlling
Device, described control device electrically connects with described steer motor and described driving motor respectively；
Wherein, described control device includes controller, amplifier and encoder, and described controller is based on motion control arithmetic
Calculating, described controller electrically connects with described amplifier and described encoder respectively, and described controller can be connect by interconnecting module
Receive the value of described encoder, and send control instruction for described amplifier；Described amplifier is used for reading control signal also
And drive described steer motor and the operating of described driving motor；Described encoder is used for reading described steer motor and described drives
The actual position value of galvanic electricity machine calculates for motion control arithmetic.
19. Omni-mobile platforms according to claim 10, it is characterised in that described Omni-mobile platform is additionally provided with use
In connecting the interface of at least one in laser range finder, gyroscope, sonac and vision sensor.
20. Omni-mobile platforms according to claim 10, it is characterised in that described vehicle frame uses polyformaldehyde material system
Become.
The control method of 21. 1 kinds of Omni-mobile platforms, described Omni-mobile platform is the Omni-mobile described in claim 18
Platform, it is characterised in that comprise the following steps:
The motion of the turning velocity of the transfer of active power castor assembly and the rolling speed of roller and Omni-mobile platform
Length velocity relation is obtained by following inverse kinematics formula
Wherein vxAnd vyBeing Omni-mobile platform speed on work space x and y direction respectively, ω is that Omni-mobile platform exists
The angular velocity that work space rotates, b is the offset or dish between the pivot center of roller and the pivot center of transfer, and h is
Omni-mobile Platform center is to the distance between the pivot center of transfer, and r is the radius of roller, and β is Omni-mobile platform
Local coordinate system and global coordinate system between angle；φ1Be first active power castor assembly transfer turn
To angle,It it is the steering angular velocity of the transfer of first active power castor assembly；φ2It is second active power foot
The steering angle of the transfer of wheel assembly,It it is the steering angular velocity of the transfer of second active power castor assembly；
ρ1It is the roll angle of the roller of first active power castor assembly,It it is the roller of first active power castor assembly
Rate of roll；ρ2It is the roll angle of the roller of second active power castor assembly,It is second active power castor
The rate of roll of the roller of assembly；And
Under given mobile platform movement velocity, industrial computer calculates the roller of two active power castor assemblies according to formula (1)
Rate of roll and the steering angular velocity of transfer, and calculated parametric results is issued the control of Omni-mobile platform
Device, and then control to drive motor and steer motor motion, it is achieved the work space motor control of Omni-mobile platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510332303.8A CN105080149B (en) | 2014-07-16 | 2015-06-16 | Active power castor assembly, Omni-mobile platform and control method thereof |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2014103384465 | 2014-07-16 | ||
| CN201410338446 | 2014-07-16 | ||
| CN201510332303.8A CN105080149B (en) | 2014-07-16 | 2015-06-16 | Active power castor assembly, Omni-mobile platform and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105080149A CN105080149A (en) | 2015-11-25 |
| CN105080149B true CN105080149B (en) | 2016-08-17 |
Family
ID=54562033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510332303.8A Active CN105080149B (en) | 2014-07-16 | 2015-06-16 | Active power castor assembly, Omni-mobile platform and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105080149B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105946451B (en) * | 2016-05-06 | 2019-10-25 | 中国科学院宁波材料技术与工程研究所 | Omni-mobile platform and its steering wheel and driving wheel |
| CN106125739A (en) * | 2016-08-29 | 2016-11-16 | 深圳市劲拓自动化设备股份有限公司 | A kind of coordinated control system based on many Omni-mobile platforms and control method |
| CN106626978B (en) * | 2017-01-21 | 2024-04-26 | 陕西铁鹰特种车有限公司 | Universal wheel with direction inducing mechanism |
| CN106873645B (en) * | 2017-04-13 | 2023-06-20 | 桂林电子科技大学 | Spherical gyro mechanism capable of conducting omnidirectional precession and control method |
| CN108394267A (en) * | 2018-03-23 | 2018-08-14 | 上海制驰智能科技有限公司 | Omnidirectional running mobile platform steering driving mechanism and driving and steering system |
| CN110568780A (en) * | 2018-06-05 | 2019-12-13 | 中国科学院宁波材料技术与工程研究所 | Master-slave cooperative motion control system |
| CN111055626A (en) * | 2019-12-18 | 2020-04-24 | 南开大学 | All-directional mobile robot based on active power caster wheel assembly |
| CN113059992B (en) * | 2021-03-30 | 2022-03-25 | 沈阳航空航天大学 | Omnidirectional motion platform with double-wheel steering and driving coupling wheel structure |
| CN113524148A (en) * | 2021-08-04 | 2021-10-22 | 合肥工业大学 | Movable double-arm flexible assembly robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201646256U (en) * | 2009-12-31 | 2010-11-24 | 杨鹏波 | Novel electric driving wheel connection device |
| FR2989935B1 (en) * | 2012-04-30 | 2016-04-15 | Aldebaran Robotics | SPHERICAL WHEEL AND VEHICLE IMPLEMENTING THE WHEEL |
| CN103317965A (en) * | 2013-06-04 | 2013-09-25 | 叶林森 | Power-driven trundle |
-
2015
- 2015-06-16 CN CN201510332303.8A patent/CN105080149B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105080149A (en) | 2015-11-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105080149B (en) | Active power castor assembly, Omni-mobile platform and control method thereof | |
| CN104942822B (en) | A kind of two-freedom degree joint of robot for space | |
| KR101827956B1 (en) | Drive mechanism for automated guided vehicle | |
| CN108081946A (en) | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional | |
| CN106276009A (en) | Omni-mobile transfer robot | |
| CN105946451B (en) | Omni-mobile platform and its steering wheel and driving wheel | |
| Ma et al. | An omnidirectional mobile robot: Concept and analysis | |
| CN106394715A (en) | Omnidirectional moving wheel type robot platform and control method | |
| CN103010289A (en) | Omni-directional steering and lifting agricultural remote control mobile robot platform | |
| CN102700646B (en) | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm | |
| CN106379409A (en) | Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof | |
| US11235821B2 (en) | Reconfigurable joint track compound mobile robot | |
| CN105397802B (en) | A kind of coaxial output mechanism of four-degree-of-freedom | |
| CN105197119B (en) | Star-shaped obstacle crossing wheel based on planet gear | |
| CN103273977A (en) | Passive self-adaption deformable continuous track type mobile robot platform | |
| CN103465977A (en) | Caterpillar-type driving system of patrolling robot | |
| KR101204147B1 (en) | Caster wheel mechanism having dual offset structure and omnidirectional mobile robot using the same | |
| Ming-hui et al. | Design of moving system for mining searching robot | |
| CN107745755A (en) | A kind of industrial climbing level robot with obstacle crossing function | |
| CN110561999B (en) | Shock attenuation and automatic lifting device and be equipped with device's automatic guide transport vechicle | |
| CN104875802A (en) | Lightweight foldable tracked robot chassis | |
| CN202805181U (en) | Full-driving magnetic adsorption type multifunctional wall-climbing robot with MDOF (multi-degree of freedom) mechanical arm | |
| CN113602382A (en) | Large-scale heavy load AGV vehicle | |
| CN109702708B (en) | Spherical robot mechanism based on gyro precession effect and walking method | |
| CN117485422A (en) | Active steering transfer trolley for wind power blade and wind power blade transfer method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yang Guilin Inventor after: Wang Weijun Inventor after: Zhang Chi Inventor after: Zheng Tianjiang Inventor after: Min Mengbin Inventor before: Wang Weijun Inventor before: Yang Guilin Inventor before: Zhang Chi Inventor before: Min Mengbin Inventor before: Zheng Tianjiang |
|
| COR | Change of bibliographic data | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210511 Address after: 315300 room 311, 3 / F, building B, No. 2588, Sanbei street, Baisha street, Cixi City, Ningbo City, Zhejiang Province Patentee after: Ningbo Zhongke Aomi robot Co.,Ltd. Address before: 315201, No. 519, Zhuang Avenue, Zhenhai District, Zhejiang, Ningbo Patentee before: NINGBO INSTITUTE OF MATERIALS TECHNOLOGY & ENGINEERING, CHINESE ACADEMY OF SCIENCES |