Stable mobile platform of indoor service robot

Abstract

The invention discloses a stable mobile platform of an indoor service robot. The stable mobile platform comprises a chassis and a driving system, a power system, a universal wheel system and an installation plate which are arranged on the chassis. The driving system comprises at least two driving wheel mechanisms. Each driving wheel mechanism comprises a driving wheel, a driving motor connected with the driving wheel, and an elastic suspension system fixedly connected with the driving motor. The elastic suspension system comprises a wedge block fixedly installed on the lower surface of the installation plate. The two ends of the lower surface of the wedge block are each provided with a guide rail. The other end of each guide rail is fixed to the lower surface of the chassis through a fixing block. Each guide rail is provided with a spring, a sliding plate and a linear bearing from top to bottom. The two ends of each sliding plate are each provided with a through hole. The sliding plates are arranged on the two guide rails through the through holes in a penetrating mode. The upper ends of the springs are fixedly connected to the wedge block, and the lower ends of the springs are fixed to the upper surfaces of the sliding plates, the linear bearings are fixed to the lower surface of the sliding plate, and the driving motors are fixed to the lower surfaces of the sliding plate. The stable mobile platform is compact in structure, has the good terrain adaptive capability, walks stably and is not likely to slip.

Description

technical field [0001] The invention relates to the field of robots, in particular to a stable mobile platform for an indoor service robot. Background technique [0002] Robots are mainly divided into industrial robots and service robots. As a new direction in the field of robotics, service robots have received widespread attention. Basic locomotion functions including forward, backward and turning are very important functions of a service robot. And this function is achieved through the chassis. At present, the mobile modes of robots mainly include crawler, multi-legged and wheeled. Tracked and multi-legged mobile can adapt to various terrains. The obstacle-surmounting ability of the multi-legged type makes it possible to operate in most terrains; while the crawler type is better in terms of stability. Compared with the wheel type, there are many shortcomings, but the speed and stability advantages of the wheel type are more suitable for the needs of service robots in ...

AI Technical Summary

Problems solved by technology

The three-wheel chassis has a simple structure and is flexible and free to operate, but its stability is insufficient, and it is prone to rollover when the speed is too fast and the terrain is uneven.

The four-wheel chassis runs smoothly, but when passing the stepped road, the driving wheels are easy to leave the ground and slip; at the same time, the shock absorption performance is also poor

However, the structure of the multi-wheel chassis is complex and difficult to manufacture.

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