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Travelling mechanism of mobile robot

A mobile robot and walking mechanism technology, applied in the field of mobile robots, can solve problems such as complex mechanical design structures

Active Publication Date: 2017-09-29
曹治
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The mobile robot installs an encoder on the rotating shaft of each omnidirectional wheel, and calculates the relative motion pose increment of the robot through the combination of the measurement data of the three encoders. The mechanical design structure is still particularly complicated.

Method used

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  • Travelling mechanism of mobile robot
  • Travelling mechanism of mobile robot
  • Travelling mechanism of mobile robot

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] See attached Figure 1-4 , a walking mechanism of a mobile robot, comprising a chassis 1, a walking system, a steering system and a control system; Device 5, walking drive motor 6; four drive wheels 2 are symmetrically installed on both sides of chassis 1 and only adopt one walking drive motor 6 to drive synchronously; Drive four driving wheels 2, make robot rely on four driving wheels 2 and only have the motion function of going straight; Described steering system is to set up a large cylindrical pit 7 that is concave upward in the center of the chassis, and a balance steering wheel is installed in the large cylindrical pit 7 8. The three driven wheels 9 are respectively installed on the bottom surface of the balance steering wheel 8 away from the center of the circle, and are at the vertices of an equilateral triangle symmetrical to the center...

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Abstract

The invention relates to a travelling mechanism of a mobile robot. The travelling mechanism comprises a chassis, a travelling system, a steering system and a control system; the travelling system comprises four drive wheels, a front main shaft and a back main shaft which are connected with the drive wheels, a coupling and a travelling drive motor; the steering system is a large upward and inward concave cylindrical hole which is formed in the center of the chassis, a balance steering wheel is arranged in the large cylindrical hole, and three driven wheels are arranged on the portion, away from the circle center, of the bottom face of the balance steering wheel respectively; according to the steering work mode of the travelling mechanism, driving wheels always work in a straight line driving mode with highest energy utilization, the driven wheels always work in a dangling or half-dangling steering mode, the driving wheels and the driven wheels work alternately in turn and work independently, and the structure is simple.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and in particular relates to a walking mechanism of a mobile robot, which is more suitable for running on a firm and non-rough ground and performing operations in daily life. Background technique [0002] Since entering the 21st century, with the rapid development of computer science, automation control, information technology and other industries, mobile robot technology related to these professions has also developed and grown. "Mobility" is one of the necessary conditions for mobile robots to enter our daily life. The continuous improvement of mobility and flexibility is the source of the development of mobile robot technology. Mobile robots mainly imitate various forms such as animals, vehicles and humans. Humans can run at a maximum speed of 36 km / h, cheetahs can run at a maximum speed of 110 km / h, and wheeled vehicles can reach a maximum speed of 300-400 km / h. Compared with the leg...

Claims

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Application Information

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IPC IPC(8): B62D61/10B62D7/02
CPCB62D7/023B62D61/10
Inventor 曹治
Owner 曹治
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