An all-wheel in-phase drive trolley and its turning control method

Abstract

The invention discloses an all-wheel same-phase driving trolley and a turning control method thereof. The all-wheel same-phase driving trolley comprises a trolley body and a plurality of round wheels arranged on the trolley body. The number of the round wheels is even and is at least four. The round wheels are symmetrically arranged on two sides of the trolley body through driving components in a pairwise mode. A plurality of large friction force circular arc segments are uniformly distributed on each round wheel. The large friction force circular arc segments on every two round wheels which are symmetrically arranged are complementary and can form a whole circle. The phase positions of the large friction force circular arc segments on the round wheels which are located on the same side of the trolley body are the same. The friction force produced by the round wheels on the two sides of the trolley body is different, and the deviation phenomenon of the trolley body occurs during speed changing, so that trolley turning is achieved. The all-wheel same-phase driving trolley is simple and reliable in integral structure, has the characteristics of being high in efficiency, good in land surface adaptability and high in obstacle crossing capability and can be used for mobile robots, obstacle crossing vehicles and other mobile devices which need to walk on the uneven ground and the even ground.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to an all-wheel in-phase drive trolley and a turning control method thereof. Background technique [0002] With the development of my country's advanced technology, the research on intelligent wheeled robots has become more and more popular, and its application has become more and more extensive, and its value has become more and more significant. In recent years, the universal tugboat (triangular wheel), various obstacle-crossing wheels, and the mixed running mechanism of the round wheel and other forms have made the round wheel start to break away from the hard flat ground and enter complex terrain. Therefore, the study of a wheeled mobile robot capable of walking freely in complex terrain, powerful, light and simple has become the primary difficulty for its application and promotion. [0003] Existing data show that the same phase of the round wheels is conducive to climbing an...

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Problems solved by technology

[0004] In view of this, the object of the present invention is to provide an all-wheel in-phase driving trolley and its turning control method, which solves the problem of complicated and difficult turning in all-wheel in-phase without introducing complex turning methods such as bogies

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