Active power caster assembly, omnidirectional mobile platform and control method thereof
A technology of omnidirectional movement and casters, which is applied in the field of mobile robots, can solve the problems of easy slipping noise and low running efficiency of rollers
Active Publication Date: 2016-08-17
宁波中科奥秘机器人有限公司
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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
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[0091] As an embodiment, the active power caster assembly 100 further includes a first transmission shaft 170 and a second transmission shaft 180, the first transmission shaft 170 and the second transmission shaft 180 are respectively mounted on the wheel frame 130 through the first bearing, The first transmission shaft 170 and the second transmission shaft 180 transmit the rolling motion to the rollers 110 .
[0092] As an embodiment, 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 planet carrier 145 is mounted on the end face of the ninth gear 1621 through a connector, the driving motor 161 drives the first gear 141 and the fifth gear 1521 to rotate synchronously, the tenth gear 1622 Installed in the inner hole of the eighth gear 1524 through two second bearings, the...
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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 above active power caster assembly, and a control method for the above omnidirectional mobile platform. Background technique [0002] With the rapid development of robotics, mobile robots have been widely used in machinery manufacturing, e-commerce logistics, services, military and other fields. Based on the needs of various industries, many occasions require mobile robots to have the ability to quickly respond to motion, flexibility of motion, and the ability to travel together in various narrow areas. This requires a platform with omnidirectional movement capability to help mobile robots achieve this function. Therefore, the design of this omnidirectional mobile platform has become the focus of mobile robot design work. [0003] In order to design an omnidirectional wheeled mobile p...
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IPC IPC(8): A63H11/12A63H13/04
Inventor 杨桂林王慰军张驰郑天江闵孟斌
Owner 宁波中科奥秘机器人有限公司