Omni-directional movable platform for automatic transportation and application thereof

Abstract

The invention relates to an omni-directional movable platform for automatic transportation and application thereof. The omni-directional mobile platform comprises a movable platform frame, a driving mechanism, a steering mechanism, a steering driving mechanism and wheels; the four wheels are connected in two modes through front wheel shafts and rear wheel shafts, and front straight gears and rearstraight gears are arranged on the front wheel shafts and the rear wheel shafts, and the front straight gears and the rear straight gears are connected through a third synchronous belt; the driving mechanism transmits power to the front wheel shafts through the transmission of the gears, the steering driving mechanism is connected with a steering power gear, the steering power gear is connected with a steering power auxiliary gear through a first synchronous belt, the steering power auxiliary gear is coaxially connected with one of the steering gears, the four steering gears are connected through a second synchronous belt, and the four steering gears are connected with a half shaft through a supporting shaft. The walking power and steering power are provided through one servo motor and onestepping motor, the four wheels are synchronously rotated and steered, the control is simple, and the actions are consistent.

Description

technical field [0001] The invention relates to an all-round mobile platform for automatic transportation and its application, which belongs to the technical field of intelligent equipment. Background technique [0002] With the rapid development of science and technology, all-round mobile technology has attracted widespread attention and more and more occasions require flexible transportation equipment, such as automatic transport vehicles in factories, luggage delivery vehicles in airports, automatic wheelchairs for the disabled, etc. More flexible transport equipment is required. 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. The car in daily life does not have the degree of freedom of self-rotation, so it does not move in all directions, and parking on the side of the car is more troublesome. . [0003] There are roughly the following types of traditional omnidirectional whee...

AI Technical Summary

Problems solved by technology

However, the above omni-directional wheels have the following problems. 1. Poor mechanical properties. The disadvantage of traditional omni-directional wheels is that they are forced to move by the friction generated between their own wheels and the bottom surface, and the axles of the wheel body are prone to failure, which leads to limited applications. Poor carrying capacity

Moreover, due to the structure of the mecanum wheel, the mobile platform vibrates relatively loudly when moving, and the noise is large, which will cause adverse effects

2. In terms of obstacle surmounting performance, the obstacle surmounting ability of the traditional omni-directional wheel body is limited, mainly because the diameter of the passive wheel is too small, and the passive wheel may be stuck on small obstacles, such as the Mecanum wheel , which uses a wheel body structure, the mecanum wheel is poor in terms of heavy load and obstacle-surmounting ability, these are the bottlenecks of traditional omni-directional wheels, and also limit the development of omni-directional wheels in some special-purpose directions

3. Traditional omni-directional wheel control is more complicated, mainly because the wheel body is separated by force. When the mobile platform completes an action, each wheel body needs to cooperate with each other, resulting in a more complicated control algorithm and poor stability.

Although some scientific research institutes have developed an all-round mobile platform with a wheel structure, each driving wheel needs a corner motor to control the steering. The large number of motors makes the control more complicated, difficult to ensure accuracy, and poor consistency of action

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