In-situ steering wheel type robot base mechanism

Abstract

The invention discloses an in-situ steering wheel type robot base mechanism, which comprises three parts: a machine frame assembly, a wheel system assembly and a steering and moving assembly, wherein the wheel system assembly is arranged under the machine frame assembly, and the steering and moving assembly is used for driving the wheel system assembly to steer and transversely move. When a carrier is arranged on a machine frame, the movement of the wheel system assembly is transferred by a transfer element, and the driving force of the transfer element is realized through the cooperation of two motors, four synchronous belts and eight belt wheels in the steering and moving assembly, so the stable steering and moving of the machine frame is ensured. The steering of the base mechanism is completed through being driven by a first step motor, the movement of the base mechanism is completed through being singly driven by a second step motor, the steering and moving functions can be realized by the base mechanism only through the two motors, the two kinds of movement can be completely uncoupled, and the control is simple.

Description

technical field [0001] The invention relates to a base suitable for use on a robot, more particularly, to a base mechanism for a wheeled robot that turns in situ. Background technique [0002] There are five main steering mechanisms for wheeled robots: Ekman steering, differential steering, shaft-joint steering, all-wheel steering, and car body-joint steering. Ekman steering is the most typical method. It drives the rear wheels, the front wheels are driven and steered, and the front wheels are synchronously deflected through Ekman connection between the two steering wheels, which is similar to the steering principle of vehicles such as automobiles. The wheels on both sides of the differential steering are independently driven, and the steering with different radii can be realized by changing the speed of the wheels on both sides. Axle-articulated steering is achieved by the rotation of the shaft connecting the wheels on both sides. Unlike Ekman steering, the wheels themselv...

AI Technical Summary

Problems solved by technology

[0003] The above five steering methods have their own characteristics: Ekman steering is the simplest and easy to implement, but the steering radius is larger; differential steering can achieve a smaller steering radius, but at any time two motors are working at the same time, power consumption It is relatively large, and when it is used to drive the car body to move, it requires high synchronization of the motion of the two motors; the shaft-joint steering requires the axle to drive the two wheels to move in a large range, and the power consumption is large. There are certain restrictions to avoid interference between the wheels and the car body; all-wheel steering is the most flexible, but each wheel needs a steering motor to drive the steering, and the cost and complexity are higher than other methods; Articulated steering is similar, the difference is that the entire car body needs to be rotated, and it is generally used in working environments with special requirements

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