Wheeled mobile robot platform

[0020] Example 1

[0021] In this embodiment, the number of support frames 2 is 3. The linear motion unit 23 adopts a ball screw type linear motion unit. The support frame base 21 is a hollow cylinder with a cavity inside. The linear motion unit 23 is installed on the support frame base. In the cavity of the seat 21, the moving unit 22 is a sliding part that cooperates with the supporting frame base 21. The supporting frame base 21 and the moving unit 22 constitute a moving pair. The supporting frame base 21, the moving unit 22 and the linear motion unit 23 The axes of the three are parallel and perpendicular to the plane of the body 1. The moving pair is driven by the linear motion unit 23, and the lower end of each moving unit 22 is symmetrically arranged on two wheels 3, and the wheels 3 are motor-driven wheels.

[0022] Example 2

[0023] In this embodiment, the number of support frames 2 is 5. The linear motion unit 23 adopts a belt-driven linear motion unit. The support frame base 21 is a hollow square prism with a cavity inside. The linear motion unit 23 is installed on the support frame base. In the cavity of the seat 21, the moving unit 22 is a sliding part that cooperates with the supporting frame base 21. The supporting frame base 21 and the moving unit 22 constitute a moving pair. The supporting frame base 21, the moving unit 22 and the linear motion unit 23 The axes of the three are parallel and perpendicular to the plane of the body 1. The moving pair is driven by the linear motion unit 23, and the lower end of each moving unit 22 is symmetrically arranged on the two wheels 3. The wheel 3 is an active movement mechanism, and relying on its built-in motor drive, it can drag the platform to move, thereby realizing the forward, backward and differential turning of the platform.

[0024] Example 3

[0025] In this embodiment, the number of support frames 2 is 8, the linear motion unit 23 adopts a pneumatic linear motion unit, the support frame base 21 is a hollow prism body with a cavity inside, and the linear motion unit 23 is installed on the support frame base 21 In the cavity of, the moving unit 22 is a sliding part that cooperates with the support base 21. The support base 21 and the moving unit 22 constitute a moving pair, and the support base 21, the moving unit 22 and the linear motion unit 23 are three The axis is parallel and perpendicular to the plane of the body 1. The moving pair is driven by the linear motion unit 23, and the lower end of each moving unit 22 is symmetrically arranged on the two wheels 3. The wheel 3 has the initiative of mechanical movement and relies on its built-in motor drive to drag the platform to move, thereby realizing the forward, backward and differential turning of the platform. When the platform is walking on uneven terrain, under the control of the control system, each support frame 2 is adjusted in real time. Under the premise of ensuring the stability of the platform, the wheels 3 are raised in time when obstacles are encountered, and they fall in time after the obstacles (see image 3 ), in order to achieve the purpose of the body 1 passing through rough terrain efficiently in a horizontal attitude.

[0026] What is not mentioned in the present invention is applicable to the prior art.