Ball-borne self-balancing mobile robot platform support

Abstract

The invention discloses a ball-borne self-balancing mobile robot platform support which comprises a first PVB plastic board, a second PVB plastic board and a third PVB plastic board. A first direct-current servo motor is installed below the third PVB plastic board through a first L connecting piece, a first OL universal wheel is connected to a shaft of the first direct-current servo motor, a second direct-current servo motor is installed in the direction perpendicular to the first direct-current servo motor through a second L connecting piece below the third PVB plastic board, a second QL universal wheel is connected to a shaft of the second direct-current servo motor, a small universal wheel is installed on the axis, symmetric to the second direct-current servo motor, of the first direct-current servo motor, and the first QL universal wheel, the second QL universal wheel and the center of a driving ball are on the same straight line. According to the ball-borne self-balancing mobile robot platform support, due to the platform support, the motors are more convenient to install, motor driving signals are simpler, the ball-shaped driving wheels are easy to drive, and all-directional motion can be performed.

Description

technical field [0001] The invention relates to a platform support capable of enabling a mobile robot to complete self-balancing on a single sphere, in particular enabling the mobile robot to drive a spherical drive wheel through the platform support to move in all directions. Background technique [0002] At present, the known self-balancing mobile robot experiment platform support on the ball is assembled by PVB plastic plate, three stepper motors, QL universal wheel and connected by screws and nuts. The platform bracket is composed of three circular PVB plastic plates as an overall frame, and each PVB plastic plate is connected to other circular PVB plastic plates through four vertically erected long screws evenly distributed on its circumference. Do not place any objects on the top, the second layer is generally used to place the controller, sensor and stepper motor drive of the mobile robot, etc., the third layer is generally used to place the battery, etc., and the bot...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the existing self-balancing mobile robot platform support on the ball, such as complex drive signals of the stepping motors, large number of stepping motors, large volume occupied by the stepping motor driver and inconvenient installation of three stepping motors, the present invention provides a The new structure of the self-balancing mobile robot platform support on the ball not only reduces the number of motors, but also makes the motor drive signal simpler. At the same time, the stepper motor is replaced by a DC servo motor that is easier to drive, reducing the number of motor drives. The volume makes it easier for the self-balancing mobile robot on the ball to drive the spherical drive wheel and move in all directions

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