Driving power foot wheel component, omni-directional moving platform and control method thereof

A technology of omnidirectional movement and casters, which is applied in the field of mobile robots and can solve the problems of low operation efficiency of rollers, easy slippage and noise, etc.
CN105080149AActive Publication Date: 2015-11-25宁波中科奥秘机器人有限公司
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
宁波中科奥秘机器人有限公司
Publication Date
2015-11-25

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Abstract

The invention provides a driving power foot wheel component, an omni-directional moving platform and a control method thereof. The driving power foot wheel component comprises a rolling wheel, a wheel axle and a wheel frame, and further comprises a driving device, a steering device and a differential speed device, wherein the driving device comprises a driving motor and a driving gear set, and driven by the driving motor, the driving gear set is rotated to control the rolling wheel to roll; the steering device comprises a steering motor and a steering gear set, and driven by the steering motor, the steering gear set is rotated to control the rolling wheel to veer; the differential speed device comprises a planetary gear train, wherein the planetary gear train comprises a first gear, a second gear, a planetary carrier and an auxiliary gear set; the first gear is arranged on the output shaft of the driving motor; the second gear is arranged on the output shaft of the steering motor; one end of the planetary carrier is connected to the driving gear set and the other end is connected to the auxiliary gear set; and the first gear and the second gear are respectively meshed with the auxiliary gear set, so that the rolling wheel is not easy to slip; therefore, transmission efficiency is improved.
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Description

technical field

[0001] The present invention relates to the technical field of mobile robots, in particular to an active power caster assembly, an omnidirectional mobile platform including the active power caster assembly, and a control method for the omnidirectional mobile platform. Background technique

[0002] With the rapid development of robot technology, mobile robots have been widely used in machinery manufacturing, e-commerce logistics, service, military and other fields. Based on the needs of various industries, mobile robots are required in many occasions to have the ability to respond quickly to motion, the flexibility of motion, and the ability to travel together in various narrow areas. This requires a platform with omnidirectional mobility to help mobile robots realize this function, so the design of this omnidirectional mobile platform has become the focus of mobile robot design.

[0003] In order to design an omnidirectional wheeled mobile platform, three ty...

Claims

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