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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.

Active Publication Date: 2015-11-25
宁波中科奥秘机器人有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Based on this, it is necessary to provide an active power caster assembly that can improve the operation efficiency of the roller and reduce slipping, an omnidirectional mobile platform containing the above-mentioned active power caster assembly, and The control method of the above-mentioned omnidirectional mobile platform

Method used

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

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Embodiment approach

[0091] As a possible implementation, the active power caster assembly 100 also includes a first transmission shaft 170 and a second transmission shaft 180, the first transmission shaft 170 and the second transmission shaft 180 are installed on the wheel frame 130 through the first bearing respectively, and the The first transmission shaft 170 and the second transmission shaft 180 transmit the rolling motion to the roller 110 .

[0092] As a possible implementation, the driving gear set 162 includes a ninth gear 1621, a tenth gear 1622, an eleventh gear 1623, a twelfth gear 1624, a thirteenth gear 1625, a fourteenth gear 1626 and a fifteenth gear 1627. The ninth gear 1621 is sleeved on the hub of the first gear 141, the planetary carrier 145 is installed on the end face of the ninth gear 1621 through a connector, and the driving motor 161 drives the first gear 141 to rotate synchronously with the fifth gear 1521, and the tenth gear 1622 Two second bearings are installed in the...

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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.

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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Application Information

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IPC IPC(8): A63H11/12A63H13/04
Inventor 王慰军杨桂林张驰闵孟斌郑天江
Owner 宁波中科奥秘机器人有限公司
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