The invention discloses an omni-directional moving device based on non-universal wheels. Infrastructure of the omni-directional moving device comprises at least two double-wheel driving wheel sets and a plurality of driven wheel sets. The double-wheel driving wheel set is used for changing the moving and rotating directions of the structural body; the driven wheel set is used for supporting the structural body to keep balance displacement. Each double-wheel driving wheel set at least comprises two driving motors and at least two wheel bodies, and the two driving motors independently drive the two wheels to rotate clockwise or anticlockwise respectively. And after the rotation angle is processed by the control unit, the rotation direction and the rotation angle of the driving motor are adjusted. On the basis of a common wheel body instead of a universal wheel, the omni-directional moving function is achieved, and the cost is reduced while the using effect is achieved; a common wheel body is large in contact area, good in road holding performance, high in control precision of all-directional movement, capable of meeting the use requirements of different occasions and convenient to apply and popularize.
本发明公开了一种基于非万向轮实现的全方位移动装置,该全方位移动装置的基础设施包括至少两个双轮主动轮组和若干个从轮轮组。双轮主动轮组用于改变结构体移动及旋转方向;从动轮组用于支撑结构体以保持平衡位移。每个双轮主动轮组至少包括两个驱动电机和至少两个轮体,两个驱动电机分别独立驱动两个轮子顺时针或逆时针旋转。旋转角度经过控制单元处理后,调整驱动电机的旋转方向和旋转角度。本发明基于普通轮体而非万向轮,实现全方位移动功能,在满足使用效果的同时,降低成本;普通轮体接触面积大,抓地性好,对于全方位移动的控制精度高,可适用于不同场合的使用需求,便于推广应用。
Omni-directional moving device based on non-universal wheels
一种基于非万向轮实现的全方位移动装置
2021-04-09
Patent
Electronic Resource
Chinese
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