CN103640641A - Wheel type omnibearing moving chassis and control method thereof - Google Patents
Wheel type omnibearing moving chassis and control method thereof Download PDFInfo
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- CN103640641A CN103640641A CN201310691953.2A CN201310691953A CN103640641A CN 103640641 A CN103640641 A CN 103640641A CN 201310691953 A CN201310691953 A CN 201310691953A CN 103640641 A CN103640641 A CN 103640641A
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Abstract
The invention discloses a wheel type omnibearing moving chassis and a control method thereof. The wheel type omnibearing moving chassis comprises a chassis which comprises a horizontally arranged framework and a Y-shaped bracket fixed in the framework, wherein the Y-shaped bracket comprises three branch arms: a branch arm A, a branch arm B and a branch arm C; one motor is arranged on each of the three branch arms, an omnibearing roller is arranged on each of output shafts of the three motors, and the motors can drive corresponding omnibearing rollers to rotate; a controller and a power supply are further arranged on the Y-shaped bracket; the controller is connected with the three motors and can control the three motors to work simultaneously or respectively; and the power supply supplies power to the three motors. By means of the control method, transverse movement, forward and backward movement and on-site rotation of the chassis can be realized. The wheel type omnibearing moving chassis can run in a transverse direction, is small in the turning radius and can turn on site, so that the driving operation space can be greatly reduced, and the site use cost is saved.
Description
Technical field
The present invention relates to a kind of mechanical handing device, relate in particular to a kind of wheeled Omni-mobile chassis and control method thereof.
Background technology
Along with the develop rapidly of modern processing manufacturing industry, intelligent factory and intelligent logistic storage to operation, control handling machinery (as transportation fork-truck, workpiece handling dolly) flexibly and have higher requirement.At present, conventional handling machinery mostly is parallel 4 wheel constructions, because roller is moved by motor straight tape splicing conventionally, therefore current handling machinery can only before and after travel, laterally (left and right) travel; Its direction is controlled and is adopted double front wheel or double rear wheel steering mode, exists that turn radius is large, spot turn is difficult, the problems such as space is large for operation.
Summary of the invention
For prior art above shortcomings, object of the present invention is just to provide a kind of wheeled Omni-mobile chassis and control method thereof, efficiently solving existing handling machinery can not cross running, the problem of the large and pivot stud difficulty of turn radius, can greatly reduce the running space that travels, save place use cost.
To achieve these goals, the technical solution used in the present invention is such: a kind of wheeled Omni-mobile chassis, comprise chassis, it is characterized in that: described chassis comprises horizontally disposed framework and is fixed on the Y shaped bracket in framework, described Y shaped bracket comprises three support arms: support arm A, support arm B and support arm C, support arm A, support arm B are connected with one end of support arm C, and the other end is all connected on framework; Support arm A equates with the angle between support arm C with angle and support arm A between support arm B, and is all greater than 90 °; A motor is set respectively on three support arms, has three motors: motor A, motor B and motor C, the output shaft of three motors is parallel with the support arm that each motor is set respectively; Yi Ge omnidirectional roller is set respectively on the output shaft of three motors, has San Ge omnidirectional roller: the roller A of omnidirectional, the roller B of omnidirectional and the roller C of omnidirectional, each motor can drive corresponding omnidirectional's roller to rotate;
On Y shaped bracket, be also provided with controller and power supply, described controller is connected with three motors, and can control three motors and work at the same time or separately; Described power supply is controller and three motor power supplies.
Further, described framework comprises the first pressure pin and the second pressure pin be arrangeding in parallel, and the length of described the first pressure pin is greater than the length of the second pressure pin; Vertical two the 3rd pressure pins that connect in two ends of the first pressure pin, one end of described the 3rd pressure pin is connected with the first pressure pin, and the other end is connected with the two ends of the second pressure pin by the 4th pressure pin being obliquely installed; One end of described Y shaped bracket is connected with the first pressure pin, and another two ends are connected with two the 4th pressure pins respectively.
Further, support arm A and the angle between support arm B of described Y shaped bracket are 135 °, and the angle between support arm A and support arm C is 135 °, and the angle between support arm B and support arm C is 90 °.
Further, be also provided with at least one stirrup in framework, the two ends of described stirrup are fixedly connected with framework.
Further, described omnidirectional roller is double-wheel-disc structure, is all arranged with several energy free rolling bearing rollers at the edge of two wheel discs; Described bearing roller was around omnidirectional's roller one week, and the bearing roller on two wheel discs is alternately dislocatedly distributed.
Further, described controller comprises signal receiving module, signal processing module and signal output module, and described signal output module passes to each motor by output control signal.
Further, described motor A, motor B and motor C all adopt stepping motor or reducing motor.
The control method on above-mentioned wheeled Omni-mobile chassis, is characterized in that:
1). transverse shifting:
By controller, send control signal, control each motor and drive respectively each omnidirectional's roller to rotate; The hand of rotation of San Ge driven by motor omnidirectional roller meets: the rotation direction of the roller B of omnidirectional and the roller C of omnidirectional is consistent with the rotation direction of the roller A of omnidirectional at the component direction of left/right direction; The speed that San Ge driven by motor omnidirectional roller rotates is respectively
υ a ,
υ b ,
υ c , and meet following relation:
In formula, υ is the speed that the horizontal left/right in chassis moves,
for the angle between support arm A and support arm B,
for the angle between support arm A and support arm C,
represent that the roller B of omnidirectional is at the speed component of horizontal left/right direction,
represent that the roller C of omnidirectional is at the speed component of horizontal left/right direction;
2). move forward and backward:
By controller, send control signal, control motor B, motor C and drive respectively the roller B of omnidirectional and the roller C of omnidirectional to rotate, and the rotation direction of the roller B of omnidirectional and the roller C of omnidirectional meets: the speed component direction of the rotation direction of the roller B of omnidirectional and the roller C of omnidirectional in front/rear direction is consistent; The rotating speed of the roller B of omnidirectional and the roller C of omnidirectional is respectively
υ b ,
υ c , and meet length velocity relation formula:
In formula,
υthe speed moving for the front/rear direction in chassis,
for the angle between support arm A and support arm B,
for the angle between support arm A and support arm C,
for
bwheel is at the speed component of front/rear direction,
for
cwheel is at the speed component of front/rear direction;
3). original place rotation:
By controller, send control signal, control each motor and drive respectively each omnidirectional's roller to rotate; Three motors drive respectively San Ge omnidirectional roller clockwise rotate simultaneously or rotate counterclockwise, and its rotating speed is respectively
υ a ,
υ b ,
υ c , and meet following relation:
Further, in moving forward and backward process, controller is controlled the roller A of omnidirectional and is done in real time micro-cw or conter clockwise stepping rotation.
Compared with prior art, the invention has the advantages that: simple in structure, can realize front and back and left and right transverse shifting, thereby it is wide to realize moving range, more can meet the needs that modern mechanicalization is produced and carried; Meanwhile, pivot turn can be realized in this chassis, makes like this turn radius less, thereby can realize the Omni-mobile on chassis; Haulage equipment also can move freely in narrow space like this, thereby can effectively enhance productivity.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is upward view of the present invention;
Control schematic diagram when Fig. 4 is transverse shifting of the present invention;
Fig. 5 is the control schematic diagram of fore-and-aft direction of the present invention while moving;
Control schematic diagram when Fig. 6 is original place of the present invention rotation.
In figure: 1-framework, 21-support arm A, 22-support arm B, 23-support arm C, 31-motor A, 32-motor B, 33-motor C, the roller A of 41-omnidirectional, the roller B of 42-omnidirectional, the roller C of 43-omnidirectional, 5-controller, 6-power supply, 7-interface arrangement, 8-stirrup.
The specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment: referring to Fig. 1, Fig. 2 and Fig. 3, a kind of wheeled Omni-mobile chassis, comprise chassis, described chassis comprises horizontally disposed framework 1 and is fixed on the Y shaped bracket in framework 1, described Y shaped bracket comprises three support arms: support arm A21, support arm B22 and support arm C23, support arm A21, support arm B22 are connected with one end of support arm C23, and the other end is all connected on framework 1; Wherein, support arm A21, support arm B22 and support arm C23's is equal in length, and support arm A21 equates with the angle between support arm C23 with angle and support arm A21 between support arm B22, and is all greater than 90 °.During concrete enforcement, support arm A21 and the angle between support arm B22 of described Y shaped bracket are 135 °, and the angle between support arm A21 and support arm C23 is 135 °, and the angle between support arm B22 and support arm C23 is 90 °; The control of being more convenient for like this to chassis moving process.
Described framework 1 comprises the first pressure pin and the second pressure pin be arrangeding in parallel, and the length of described the first pressure pin is greater than the length of the second pressure pin; Vertical two the 3rd pressure pins that connect in two ends of the first pressure pin, one end of described the 3rd pressure pin is connected with the first pressure pin, and the other end is connected with the two ends of the second pressure pin by the 4th pressure pin being obliquely installed; One end of described Y shaped bracket is connected with the first pressure pin, and another two ends are connected with two the 4th pressure pins respectively.Whole framework 1 is connected and is formed by several pressure pins, makes processing simpler, quick; This pressure pin can adopt metal material, wooden etc., makes load-carrying capacity stronger, and makes connective stability better.In framework 1, be also provided with at least one stirrup 8, the two ends of described stirrup 8 are fixedly connected with framework 1; Thereby make the load-carrying capacity on chassis stronger.
A motor is set respectively on three support arms, has three motors: motor A31, motor B32 and motor C33, the output shaft of three motors is parallel with the support arm that each motor is set respectively; Thereby can guarantee the relative position between motor shaft, so that the control to chassis moving direction and speed.Described motor A31, motor B32 and motor C33 all adopt stepping motor or reducing motor; Be more convenient for carrying out automation control.During concrete enforcement, three motors are installed on respectively the below of three support arms by a motor cabinet, make so easier for installation, and stability is better, meanwhile, motor can not be subject to delivering the impact of article, thereby make motor be difficult for being damaged, safety is better, longer service life.
Yi Ge omnidirectional roller is set respectively on the output shaft of three motors, has San Ge omnidirectional roller: the roller A41 of omnidirectional, the roller C43 of roller B42He omnidirectional of omnidirectional, each motor can drive corresponding omnidirectional's roller to rotate; During practical set, San Ge omnidirectional roller is all connected with the output shaft of three motors with coupler correspondence by adapter shaft.Described omnidirectional roller is double-wheel-disc structure, and two wheel discs coaxially arrange, and its axially with motor shaft to overlapping; Adopt double-wheel-disc structure, thereby make the load-carrying capacity of chassis whole stronger, stability is better.At the edge of two wheel discs, be all arranged with several energy free rolling bearing rollers; Described bearing roller was around omnidirectional's roller one week, and the bearing roller on two wheel discs is alternately dislocatedly distributed; Thereby make omnidirectional's roller be converted to friction of rolling with the friction on ground in moving process, thereby make mobile more smooth.
On Y shaped bracket, be also provided with controller 5 and power supply 6, described controller 5 is connected with three motors, and can control three motors and work at the same time or separately; Described power supply 6 is controller 5 and three motor power supplies.During making, in controller, write control program, thereby make controller carry out voluntarily movement according to instruction or the preset control program writing.Controller 5 is connected with three motors by an interface arrangement 7; Described interface arrangement 7 has the data transmission interface being connected with three motors with controller 5, by interface arrangement 7, controller 5 is connected with motor, thereby makes to connect convenient, and is convenient to communication or the replacing of motor or controller 5.Described controller 5 comprises signal receiving module, signal processing module and signal output module, by signal receiving module, receive higher level's control signal, then after this signal being processed, output is controlled and is passed to motor, rotates, and then drive chassis to move thereby control driven by motor omnidirectional roller.
The control method on a kind of above-mentioned wheeled Omni-mobile chassis:
1. transverse shifting:
As shown in Figure 4, by controller 5, send control signal (or PWM ripple), control each motor and drive respectively each omnidirectional's roller to rotate.The hand of rotation of San Ge driven by motor omnidirectional roller meets: the rotation direction of the roller C43 of roller B42He omnidirectional of omnidirectional is in the component direction of left/right direction and the rotation direction of the roller A41 of omnidirectional consistent (identical); The speed that San Ge driven by motor omnidirectional roller rotates is respectively
υ a ,
υ b ,
υ c , and meet following relation:
In formula, υ be chassis laterally/speed of sway,
for the angle between support arm A21 and support arm B22,
for the angle between support arm A21 and support arm C23,
represent that the roller B42 of omnidirectional is at the speed component of horizontal left/right direction,
represent that the roller C43 of omnidirectional is at the speed component of horizontal left/right direction.
Like this, omnidirectional's roller B42 at the speed component of front/rear direction is
, the roller C43 of omnidirectional at the speed component of front/rear direction is
, the two velocity magnitude equal direction is contrary, cancels out each other, thereby make chassis transverse shifting in front and back/direction.
2. move forward and backward:
As shown in Figure 5, by controller 5, send control signal (or PWM ripple), control motor B32, motor C33 and drive respectively the roller C43 of roller B42He omnidirectional of omnidirectional to rotate, and the rotation direction of the roller C43 of roller B42He omnidirectional of omnidirectional meets: the component direction of the rotation direction of the roller C43 of roller B42He omnidirectional of omnidirectional in front/rear direction is consistent; The rotating speed of the roller C43 of roller B42He omnidirectional of omnidirectional is respectively
υ b ,
υ c , and meet length velocity relation formula:
；
In formula,
υthe speed moving for the front/rear direction in chassis,
for the angle between support arm A21 and support arm B22,
for the angle between support arm A21 and support arm C23,
for
bwheel is at the speed component of front/rear direction,
for
cwheel is at the speed component of front/rear direction.
The roller B42 of omnidirectional at the speed component of horizontal left/right direction is
, the roller C43 of omnidirectional at the speed component of horizontal left/right direction is
, the two velocity magnitude equal direction is contrary, in horizontal left/right direction, cancel out each other, thereby make chassis forward/rear is to movement.
Now, the roller A41 of omnidirectional regulates (or correction) for moving forward and backward the direction of process, and its work does micro-cw by controller 5 control in real time or conter clockwise stepping is rotated.In current (afterwards) moving process, during right-hand corner, controller 5 is controlled in real time motor A31 and is driven the roller A41 of omnidirectional to rotate along the stepping of (contrary) hour hands; Controller 5 was controlled in real time motor A31 and was driven contrary (suitable) hour hands stepping of the roller A41 of omnidirectional to rotate in moving process during turnon left current (afterwards); During current (afterwards) traveling priority, controller 5 is controlled in real time motor A31 and is driven omnidirectional's roller A41 cw or anti-cw stepping to rotate, and moving direction is remained unchanged.
3. original place rotation:
As shown in Figure 6, by controller 5, send control signal (or PWM ripple), control each motor and drive respectively each omnidirectional's roller to rotate; Three motors drive respectively San Ge omnidirectional roller clockwise rotate simultaneously or rotate counterclockwise, and its rotating speed is respectively
υ a ,
υ b ,
υ c , and meet following relation:
Now, centered by the center of circle O of chassis Yi Sange omnidirectional roller place circle, rotate.
Finally it should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention but not restriction technologies scheme, those of ordinary skill in the art is to be understood that, those are modified or are equal to replacement technical scheme of the present invention, and do not depart from aim and the scope of the technical program, all should be encompassed in the middle of claim scope of the present invention.
Claims (9)
1. a wheeled Omni-mobile chassis, comprise chassis, it is characterized in that: described chassis comprises horizontally disposed framework and is fixed on the Y shaped bracket in framework, described Y shaped bracket comprises three support arms: support arm A, support arm B and support arm C, support arm A, support arm B are connected with one end of support arm C, and the other end is all connected on framework; Support arm A equates with the angle between support arm C with angle and support arm A between support arm B, and is all greater than 90 °; A motor is set respectively on three support arms, has three motors: motor A, motor B and motor C, the output shaft of three motors is parallel with the support arm that each motor is set respectively; Yi Ge omnidirectional roller is set respectively on the output shaft of three motors, has San Ge omnidirectional roller: the roller A of omnidirectional, the roller B of omnidirectional and the roller C of omnidirectional, each motor can drive corresponding omnidirectional's roller to rotate;
On Y shaped bracket, be also provided with controller and power supply, described controller is connected with three motors, and can control three motors and work at the same time or separately; Described power supply is controller and three motor power supplies.
2. a kind of wheeled Omni-mobile according to claim 1 chassis, is characterized in that: described framework comprises the first pressure pin and the second pressure pin be arrangeding in parallel, and the length of described the first pressure pin is greater than the length of the second pressure pin; Vertical two the 3rd pressure pins that connect in two ends of the first pressure pin, one end of described the 3rd pressure pin is connected with the first pressure pin, and the other end is connected with the two ends of the second pressure pin by the 4th pressure pin being obliquely installed; One end of described Y shaped bracket is connected with the first pressure pin, and another two ends are connected with two the 4th pressure pins respectively.
3. a kind of wheeled Omni-mobile according to claim 1 and 2 chassis, it is characterized in that: support arm A and the angle between support arm B of described Y shaped bracket are 135 °, angle between support arm A and support arm C is 135 °, and the angle between support arm B and support arm C is 90 °.
4. a kind of wheeled Omni-mobile according to claim 3 chassis, is characterized in that: in framework, be also provided with at least one stirrup, the two ends of described stirrup are fixedly connected with framework.
5. a kind of wheeled Omni-mobile according to claim 1 chassis, is characterized in that: described omnidirectional roller is double-wheel-disc structure, is all arranged with several energy free rolling bearing rollers at the edge of two wheel discs; Described bearing roller was around omnidirectional's roller one week, and the bearing roller on two wheel discs is alternately dislocatedly distributed.
6. a kind of wheeled Omni-mobile according to claim 1 chassis, is characterized in that: described controller comprises signal receiving module, signal processing module and signal output module, and described signal output module passes to each motor by output control signal.
7. a kind of wheeled Omni-mobile according to claim 1 chassis, is characterized in that: described motor A, motor B and motor C all adopt stepping motor or reducing motor.
8. the control method on the wheeled Omni-mobile chassis as described in above-mentioned arbitrary claim, is characterized in that:
1). transverse shifting:
By controller, send control signal, control each motor and drive respectively each omnidirectional's roller to rotate; The hand of rotation of San Ge driven by motor omnidirectional roller meets: the rotation direction of the roller B of omnidirectional and the roller C of omnidirectional is consistent with the rotation direction of the roller A of omnidirectional at the component direction of left/right direction; The speed that San Ge driven by motor omnidirectional roller rotates is respectively
υ a ,
υ b ,
υ c , and meet following relation:
In formula, υ is the speed that the horizontal left/right in chassis moves,
for the angle between support arm A and support arm B,
for the angle between support arm A and support arm C,
represent that the roller B of omnidirectional is at the speed component of horizontal left/right direction,
represent that the roller C of omnidirectional is at the speed component of horizontal left/right direction;
2). move forward and backward:
By controller, send control signal, control motor B, motor C and drive respectively the roller B of omnidirectional and the roller C of omnidirectional to rotate, and the rotation direction of the roller B of omnidirectional and the roller C of omnidirectional meets: the speed component direction of the rotation direction of the roller B of omnidirectional and the roller C of omnidirectional in front/rear direction is consistent; The rotating speed of the roller B of omnidirectional and the roller C of omnidirectional is respectively
υ b ,
υ c , and meet length velocity relation formula:
In formula,
υthe speed moving for the front/rear direction in chassis,
for the angle between support arm A and support arm B,
for the angle between support arm A and support arm C,
for
bwheel is at the speed component of front/rear direction,
for
cwheel is at the speed component of front/rear direction;
3). original place rotation:
By controller, send control signal, control each motor and drive respectively each omnidirectional's roller to rotate; Three motors drive respectively San Ge omnidirectional roller clockwise rotate simultaneously or rotate counterclockwise, and its rotating speed is respectively
υ a ,
υ b ,
υ c , and meet following relation:
9. the control method on wheeled Omni-mobile as claimed in claim 8 chassis, is characterized in that: in moving forward and backward process, controller is controlled the roller A of omnidirectional and done in real time micro-cw or conter clockwise stepping rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310691953.2A CN103640641A (en) | 2013-12-18 | 2013-12-18 | Wheel type omnibearing moving chassis and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310691953.2A CN103640641A (en) | 2013-12-18 | 2013-12-18 | Wheel type omnibearing moving chassis and control method thereof |
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| CN201310691953.2A Pending CN103640641A (en) | 2013-12-18 | 2013-12-18 | Wheel type omnibearing moving chassis and control method thereof |
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| US4657104A (en) * | 1983-07-23 | 1987-04-14 | Cybermation, Inc. | Concentric shaft mobile base for robots and the like |
| JPH03279081A (en) * | 1990-03-28 | 1991-12-10 | Hitachi Ltd | Self-travelling truck |
| JPH10297557A (en) * | 1997-04-25 | 1998-11-10 | Tokyo Inst Of Technol | Expansion traveling vehicle |
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Application publication date: 20140319 |