Power transmission device for omni-directional mobile platform

Abstract

The invention relates a power transmission device, in particular to a power transmission device for an omni-directional mobile platform. The power transmission device comprises an internal side omni-directional wheel driven by a gearbox, wherein an external side omni-directional wheel is arranged on the external side of the internal side omni-directional wheel; the external side omni-directional wheel comprises a hub; the hub is structured to be rotationally connected with a supporting frame fixed on a frame; a bracket seat is fixedly arranged on the external side of the internal side omni-directional wheel at an axis; a connecting shaft is rotationally connected with the bracket seat; axle holes with mutually orthogonal axes are are formed in the two ends of the connecting shaft, respectively; one end of the connecting shaft is connected with the connecting shaft through a first pin shaft; the other end of the connecting shaft is rotationally connected with a shaft coupling seat; an axle hole allowing the shaft coupling seat to be connected with the connecting shaft through a second pin shaft is formed in one end of the shaft coupling seat; a blind hole allowing the hub to sleeve is formed in the other end of the shaft coupling seat; and the hub is fixedly connected with the shaft coupling seat through a first fastening piece arranged in a radial direction of the shaft coupling seat. Through the adoption of the power transmission device for the omni-directional mobile platform, provided by the invention, a problem that it is unable to normally run because the internal side omni-directional wheel is suspended can be avoided.

Description

technical field [0001] The present invention relates to a power transmission device, in particular to a power transmission device for an omnidirectional mobile platform, and more specifically to a power transmission device used in the front double wheel arrangement structure of an omnidirectional mobile platform. transmission device. Background technique [0002] Omnidirectional refers to a driving method that can directly move in any direction within a 2D plane. The omni-directional wheel is a mechanism that evenly distributes several rollers on the outer circular end surface of a hub, which is the basis for realizing omni-directional walking. Omni-directional wheels have the advantages of wear resistance, impact resistance, and anti-static. However, with the emergence of omni-directional mobile platforms, the demand and requirements for omni-directional mobile platforms are increasing. Among them, the requirement to increase the load capacity of the platform is the first...

AI Technical Summary

Problems solved by technology

The front two-wheel arrangement structure in the prior art makes the outer wheel 140 an independent body without driving force, which makes the omnidirectional mobile platform adopting the existing front two-wheel arrangement structure appear such as figure 2 In the situation shown, one of the inner wheels of the omni-directional mobile platform is suspended in the air. When the outer wheel has no driving force, the omni-directional mobile platform cannot be driven normally.

Images