Mecanum wheel omnidirectional mobile vehicle and working method thereof

Abstract

The invention provides a Mecanum wheel omnidirectional mobile vehicle and a working method of the Mecanum wheel omnidirectional mobile vehicle, relates to an omnidirectional mobile vehicle provided with a Mecanum wheel and a working method of the omnidirectional mobile vehicle which are particularly applicable to realizing omnidirectional movement of the vehicle in a narrow space, and provides the Mecanum wheel omnidirectional mobile vehicle with four wheels uniformly grounded and having capability of keeping a frame horizontal to the greatest extent and the working method of the Mecanum wheel omnidirectional mobile vehicle. The Mecanum wheel omnidirectional mobile vehicle comprises a frame, a power supply, a controller and Mecanum wheels, wherein the Mecanum wheels are connected to the bottom of the frame through an air bag suspending device; the air bag suspending device comprises a damper, an air bag, an air supply, an air valve and a height adjusting device; tops of the damper andthe air bag are fixedly connected to the bottom of the frame; an axle of the Mecanum wheels is connected to the bottom ends of the damper and the air bag; and the air bag is connected with the air supply through the air valve. According to the Mecanum wheel omnidirectional mobile vehicle, closed-loop control is performed over the horizontality of the frame and the distance from the frame to the wheels, so that the wheels provided by the invention are adaptable to the application requirements of special industry.

Description

technical field [0001] The invention belongs to the field of vehicle engineering, and in particular relates to an omnidirectional mobile vehicle equipped with mecanum wheels and a working method thereof. The omnidirectional mobile vehicle is especially suitable for realizing the omnidirectional movement of the vehicle in a narrow space. Background technique [0002] The Mecanum Wheel is an all-round mobile wheel invented by the Swiss Bengt Lion in 1973, so it is also called the Lion Wheel. The characteristic of the mecanum wheel is that on the basis of the traditional wheel, on the rim and along the axis at 45 o A number of small rollers that can rotate freely are installed in the direction, 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 US patent, patent numbe...

AI Technical Summary

Problems solved by technology

Through in-depth research, it is found that the reason is: during the moving process of the mobile vehicle equipped with Mecanum wheels, the load is not balanced due to the unevenness of the ground, and the frame is prone to vibration up and down; the most critical thing is that the wheels cannot be evenly contacted. ground, resulting in uneven friction between the wheels and the ground, resulting in deviations in the running track

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