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Driving mechanism of omnidirectional mobile robot

A technology of all-round movement and transmission mechanism, applied in the field of robots, can solve problems such as no lateral movement, and achieve the effects of increasing adaptability, ensuring coordination, and increasing accurate measurement

Inactive Publication Date: 2010-07-21
SERVICE CENT OF COMMLIZATION OF RES FINDINGS HAIAN COUNTY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the general non-omnidirectional wheeled mobile robot can achieve any direction and position after attitude adjustment in an open working space, it is no longer applicable in a relatively narrow space because it does not have the ability to move laterally.

Method used

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  • Driving mechanism of omnidirectional mobile robot
  • Driving mechanism of omnidirectional mobile robot
  • Driving mechanism of omnidirectional mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0014] The present invention will be further described below in conjunction with accompanying drawing.

[0015] like figure 1 and figure 2 As shown, a transmission mechanism of an omnidirectional mobile robot includes a base plate 1, a rotation drive motor 20, an active rotation transmission wheel 21, a passive rotation transmission wheel 8, a rotation transmission belt 22, a pressure belt wheel 19, a rotation shaft 6, and an active rotation measurement wheel 2, passive rotation measurement wheel 4, sensor measurement transmission belt 3, encoder 5, and servo motor 13, scroll wheel 16, damping spring 11, wheel support 12, active rolling pulley 14, passive rolling pulley 17, belt drive belt 16.

[0016] The base plate 1 is a flat plate arranged horizontally, and the rotation drive motor 20 is installed under the base plate 1 through the motor flange. Measuring wheel 2 and active rotation transmission wheel 21. The active rotation measuring wheel 2 is connected with the pass...

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Abstract

The invention relates to a driving mechanism of an omnidirectional mobile robot. The existing driving mechanism has low degree of freedom. A substrate is provided with a rotation driving motor; the rotation driving motor drives a driving rotation measuring wheel and a driving rotation driving wheel; a coder is installed below the driving rotation driving wheel; the driving rotation driving wheel is connected with a driven rotation driving wheel through a rotation driving belt; the driven rotation driving wheel is installed in a bearing between an upper cover and a lower cover; the rotation driving wheel drives a rotation axis; the bottom of the rotation axis is fixedly connected with a wheel bracket; the wheel bracket is internally provided with a rolling wheel; and the up-and-down movement of the wheel bracket is finished by the combined action of a damping spring and the rotation axis. The rolling wheel has three degrees of freedom, and the adaptability to landforms is increased on rough terrain.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a transmission mechanism of an omnidirectional mobile robot. Background technique [0002] Wheeled mobile robots have been widely used due to their advantages such as good stability and fast mobility. Omnidirectional mobile robot is a special form of wheeled mobile robot. The omni-directional mobile robot can move in any direction while keeping the posture of the body unchanged, and realize the function of omni-directional movement. This feature makes the path planning and trajectory tracking of the mobile robot relatively simple. Although the general non-omnidirectional wheeled mobile robot can achieve any direction and position after attitude adjustment in an open working space, it is no longer applicable in a relatively narrow space because it does not have the ability to move laterally. In this case, the omnidirectional mobile robot can take advantage of its stru...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60K17/00B60K17/356
Inventor 刘士荣吴秋轩吕强仲朝亮邱雪娜周国成姜宏超陈建业
Owner SERVICE CENT OF COMMLIZATION OF RES FINDINGS HAIAN COUNTY
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