Mecanum wheel all-directional moving vehicle and driving method thereof

Abstract

The invention relates to a Mecanum wheel all-directional moving vehicle which comprises a vehicle frame, a rotary power source, a first reverser, a second reverser, a third reverser, a fourth reverserand a controller, wherein the vehicle frame is provided with a first Mecanum wheel, a second Mecanum wheel, a third Mecanum wheel and a fourth Mecanum wheel; the rotary power source is used for simultaneously driving the four Mecanum wheels; and the first reverser is arranged between the rotary power source and the first Mecanum wheel, the second reverser is arranged between the rotary power source and the second Mecanum wheel, the third reverser is arranged between the rotary power source and the third Mecanum wheel, and the fourth reverser is arranged between the rotary power source and thefourth Mecanum wheel. The driving method comprises the following steps: driving power output by one rotary power source is simultaneously transmitted to the first reverser, the second reverser, the third reverser and the fourth reverser through a driving mechanism, and then, the first reverser, the second reverser, the third reverser and the fourth reverser respectively transmit the obtained driving power to the first Mecanum wheel, the second Mecanum wheel, the third Mecanum wheel and the fourth Mecanum wheel of the Mecanum wheel all-directional moving vehicle according to the output direction determined by the controller.

Description

technical field [0001] The invention belongs to the field of vehicle engineering, in particular to a mecanum wheel omni-directional mobile vehicle and a driving method thereof. Background technique [0002] Mecanum Wheel (Mecanum Wheel) is a kind of all-round mobile wheel. It was invented by Swiss Bengt Lion in 1973, so it is also called Lion Wheel, and he works for Mecanum AB Company. The feature of this wheel is that on the basis of the traditional wheel, several small rollers that can rotate freely are installed on the rim along the direction of 45° with the axis, so that when the wheel rolls, the small rollers will produce direction-finding motion. Through the combined use and control of the mecanum wheels, the car body can be moved and rotated in any direction within the motion plane. [0003] In 1975, Lion obtained the U.S. patent (Patent No. 3,746,112, "Directionally Stable Self Propelled Vehicle"). In 1980, the U.S. Navy bought the patent and developed it for milita...

AI Technical Summary

Problems solved by technology

Since four motors are used to drive separately, the speed of the motor is changed through electronic speed regulation, thereby changing the running speed of the car body, and the driving torque at low speed cannot be increased.

To change the driving torque of the driving wheels by changing the speed like ordinary centralized drive vehicles, so as to improve the climbing and acceleration capabilities of the vehicle body, the mechanical structure is extremely complicated and difficult to realize.

At the same time, since the speeds of the four motors need to be precisely controlled and coordinated, precise feedback measurement and control of the speeds of each motor is required, the circuits and algorithms are more complicated, the reliability is reduced, and the cost is increased

In addition, due to the use of motor drive control, the cost and weight of the motor and battery are significantly increased in high-power engineering applications

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