A novel transmission structure for omni-directional movement of Mecanum wheels comprises a main transmission structure, two differential structures and four speed superposition structures, and the twodifferential structures are the front wheel differential structure and the rear wheel differential structure respectively. The four speed superposition structures are respectively a front left speedsuperposition structure, a front right speed superposition structure, a rear left speed superposition structure and a rear right speed superposition structure. The main transmission structure is connected with the four speed superposition structures, the front wheel differential structure is connected with the front left speed superposition structure and the front right speed superposition structure, and the rear wheel differential structure is connected with the rear left speed superposition structure and the rear right speed superposition structure. By means of the omni-directional movementdevice, the situations that when the Mecanum wheels are controlled to move in the omni-directional mode, due to the movement component of [11-1-1] T, normal movement cannot be achieved, and the structure is damaged due to self rotation resistance are effectively avoided, and meanwhile omni-directional movement of a chassis on the plane can be completed only through three power sources.
一种针对麦克纳姆轮全向移动的新型传动结构,包括一个主传动结构、两个差速结构和四个速度叠加结构,两个差速结构分别为前轮差速结构、后轮差速结构;四个速度叠加结构分别为前左速度叠加结构、前右速度叠加结构、后左速度叠加结构、后右速度叠加结构;主传动结构分别与四个速度叠加结构相连,前轮差速结构分别与前左速度叠加结构、前右速度叠加结构相连,后轮差速结构分别与后左速度叠加结构、后右速度叠加结构相连。本发明有效避免控制麦克纳姆轮全向移动时出现[11‑1‑1]的运动分量导致无法正常运动,结构自行阻转导致损坏的情况的发生,同时仅需三个动力源即可完成底盘在平面上的全向运动。
Novel transmission structure for omni-directional movement of Mecanum wheels
一种针对麦克纳姆轮全向移动的新型传动结构
2020-07-28
Patent
Electronic Resource
Chinese
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