The invention relates to a differential driving omni-directional moving steering wheel. The two motors of the same model are used for controlling walking and steering at the same time, the two servo motors drive the roller sets through the gear sets, differential transmission is achieved through cooperation of the upper bevel gear and the lower bevel gear and the driven bevel gear, and coupling servo control over walking and steering is achieved. According to the device, motor semi-closed loop and steering full-closed loop control is adopted, and high-precision walking and steering servo control can be achieved. Double-motor differential control is adopted, the power utilization rate of the motors is high, the load of a single motor is reduced, random rotation can be achieved in the steering direction, the influence of wiring is avoided, timing return is not needed, and control is convenient.
本发明涉及一种差速驱动全向移动舵轮。本发明使用两个同型号电机同时控制行走和转向,两个伺服电机通过齿轮组驱动滚轮组,而通过上下锥齿轮配合从动锥齿轮实现差速传动,实现行走和转向的耦合伺服控制。该装置采用电机半闭环和转向全闭环控制,可以实现高精度行走和转向的伺服控制。采用双电机差速控制,电机动力利用率高,降低单个电机负载,且转向方向上可以随意旋转,不受接线影响,无需定时回正,控制方便。
Differential driving omnidirectional moving steering wheel
一种差速驱动全向移动舵轮
2023-08-15
Patent
Elektronische Ressource
Chinesisch
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