CN205310240U - An Omnidirectional Mobile Robot - Google Patents

Abstract

The utility model belongs to the technical field of mobile robot engineering, concretely relates to all-round mobile robot. The double-wheel driving wheel group comprises two coaxial wheels and two motors, the two motors respectively and independently drive the two wheels to rotate, the two motors are electrically connected with the control module, and the power supply supplies power for the control module and the motors. The utility model provides an all direction movement robot can be applied to each field such as traffic, transportation, family.

Description

An Omnidirectional Mobile Robot

technical field

The utility model belongs to the technical field of mobile robot engineering, in particular to an omnidirectional mobile robot.

Background technique

With the rapid development of science and technology, all-round mobile technology has attracted widespread attention. Omni-directional movement refers to the movement of three degrees of freedom of front and rear, left and right, and self-rotation on a plane. Since cars in daily life do not have the degree of freedom of self-rotation, they do not move in all directions. Parking on the side of the car is relatively difficult. trouble.

Omni-directional mobility technology is widely used in mobile robots, forklifts, pallet trucks and wheelchairs. At present, the omni-directional mobile mechanism existing on the market mainly realizes omni-directional movement by improving the structure of the wheel. The main products are: Mecanum wheel, autumn wheel, continuous switching wheel, orthogonal wheel, etc.

Reference patent document CN201534471U discloses a water, land and air omnidirectional mobile mechanism, including a box body and four mecanum wheels, and the movement direction and speed of the mobile mechanism can be controlled by controlling the movement direction and speed of the four mecanum wheels. Reference patent document CN201494532U discloses a mecanum wheel omnidirectional mobile vehicle, including a frame, on which the first, second, third, and fourth mecanum wheels are arranged. This utility model also uses the mecanum wheel The wheels can move in all directions.

There are many small rollers distributed obliquely on the rim of the mecanum wheel, so the wheel can slide laterally. The generatrix of the small rollers is very special. When the wheel rotates around the fixed wheel mandrel, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. Mecanum wheels are expensive and have limited load capacity, making them difficult to use in practice. Moreover, during the steering process of the mecanum wheel, due to the discontinuous contact between the rollers and the ground, vibration and slippage are likely to occur, especially when the ground is uneven or sloped, it is difficult to guarantee the omnidirectional movement effect and control accuracy.

Utility model content

Aiming at the shortcomings of the existing omnidirectional mobile mechanism using special wheels to achieve omnidirectional movement, the utility model proposes an omnidirectional mobile robot, which uses ordinary wheels to realize omnidirectional movement, which not only saves costs, but also reduces load capacity. High, good all-round movement effect, high control precision.

The utility model adopts the following technical solutions:

A kind of all-round mobile robot, it includes mobile platform and three two-wheel active wheel sets arranged under the mobile platform, control module and power supply are arranged in the mobile platform, two-wheel active wheel set includes two coaxial wheels and two The two motors independently drive the two wheels to rotate, the two motors are electrically connected to the control module, and the power supply supplies power to the control module and the motor.

Further, the distance between the three double-wheel driving wheel sets forms an isosceles triangle.

Further, an angle encoder is also provided on the two-wheel driving wheel set, and the angle encoder is electrically connected to the control module.

Further, the control module is an ARM processor control circuit.

Further, the power source is a storage battery.

The utility model adopts three double-wheel active wheel sets to realize omni-directional movement. The double-wheel active wheel sets adopt common wheels, and realize the omni-directional movement of the mobile platform by separately controlling the rotation speed and direction of each wheel. The omnidirectional mobile robot proposed by the utility model can be applied to various fields such as traffic, transportation, and family.

Description of drawings

Fig. 1 is the general view of omni-directional mobile robot;

Fig. 2 is the top view of omni-directional mobile robot;

Fig. 3 is a structural diagram of the dual-wheel active wheel set of the omnidirectional mobile robot.

detailed description

In order to further illustrate various embodiments, the utility model provides accompanying drawings. These drawings are part of the disclosure content of the present invention, which are mainly used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those skilled in the art should be able to understand other possible implementations and advantages of the present utility model. Components in the figures are not drawn to scale, and similar component symbols are generally used to denote similar components.

The utility model is further described now in conjunction with accompanying drawing and specific embodiment.

Referring to Fig. 1 to shown in Fig. 3, the omni-directional mobile robot of preferred embodiment of the present utility model, it comprises mobile platform 1 and is arranged on three two-wheel active wheel sets 2 under mobile platform 1, is provided with in mobile platform 1 Control module and power supply. Three two-wheel driving wheel sets 2 are used to support the mobile platform 1, and the distance between the three two-wheel driving wheel sets 2 in this embodiment forms an isosceles triangle. When the mobile platform 1 moves in a straight line, the directions and speeds of the three two-wheel drive wheel sets 2 are all the same.

Referring again to FIG. 3 , the dual-wheel driving wheel set 2 includes two coaxial wheels 21 and two motors 24 , on which a first gear 23 is fixedly mounted, and on the motor 24 a second gear 22 is mounted. The first gear 23 cooperates with the second gear 22 . In this embodiment, the first gear 23 and the second gear 22 are directly matched. Those skilled in the art know that a synchronous toothed belt can also be used to make the first gear 23 and the second gear 22 move together. The motor 24 drives the second gear 22 to rotate, and the first gear 23 drives the rotation of the wheel 21 .

The control module is electrically connected with the motors 24 of the three two-wheel driving wheel sets 2 respectively, and controls the rotation directions and speeds of all the motors 24 . The power supply of this embodiment adopts a storage battery, and uses the storage battery to supply power to the control module and the motor.

In addition, each two-wheel driving wheel set 2 is also equipped with an angle encoder, the angle encoder is electrically connected to the control module, and the angle encoder is used to calculate the rotation angle of each two-wheel driving wheel set 2, and the recorded result is fed back to the control module.

When the control module controls the rotation speeds and directions of rotation of all motors 24 to be the same, the mobile platform 1 moves linearly, the motors 24 rotate forward, the mobile platform 1 moves forward, the motors 24 move backwards, and the mobile platform 1 moves backward. When the mobile platform 1 needs to move laterally, the control module controls the two wheels 24 of the two-wheel driving wheel set 2 to rotate in opposite directions and at the same speed, without changing the state of the mobile platform 1, only changing the direction of the two-wheel driving wheel set 2. When the angle encoder feeds back that the rotation angle of the two-wheel drive wheel set 2 reaches 90°, then the mobile platform 1 is controlled to perform lateral linear motion.

The control module of this embodiment adopts an ARM processor to control the circuit, and those skilled in the art know that an industrial computer can also be used to realize the control of the mobile platform 1 .

No equipment is installed on the mobile platform 1 of this embodiment. Those skilled in the art know that the mobile platform can be a wheelchair, and camera equipment and the like can also be installed on the mobile platform 1 .

Although the utility model has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that, without departing from the spirit and scope of the utility model defined by the appended claims, changes in form and details may be made. Making various changes to the utility model is within the protection scope of the utility model.

Claims (5)

1. A kind of all-round mobile robot, it comprises mobile platform and is arranged on three two-wheel active wheel groups under mobile platform, is provided with control module and power supply in described mobile platform, it is characterized in that: described two-wheel active wheel The set includes two coaxial wheels and two motors, the two motors independently drive the two wheels to rotate, the two motors are electrically connected to the control module, and the power supply supplies power to the control module and the motors. 2. The omnidirectional mobile robot according to claim 1, characterized in that: the distance between the three two-wheel driving wheel sets forms an isosceles triangle. 3. The omni-directional mobile robot according to claim 1, characterized in that: the two-wheel drive wheel set is further provided with an angle encoder, and the angle encoder is electrically connected to the control module. 4. The omnidirectional mobile robot as claimed in claim 1, wherein the control module is an ARM processor control circuit. 5. The omnidirectional mobile robot according to claim 1, wherein the power supply is a storage battery.