Independent steering driving wheel based on hub motor

Abstract

The invention relates to an independent steering driving wheel based on a hub motor, and belongs to the technical field of driving wheels. According to the independent steering driving wheel of an omnidirectional mobile robot, a shaft table is fixed to the center of a hub frame, hollowing is convenient for cabling of the hub motor, and a universal wheel is installed on the shaft table to reduce the friction during the relative rotation. A small flange coaxially sleeves the shaft table and is fixed, and the hollow shaft is coaxially embedded into the small flange and fixed. A sleeve coaxially sleeves the shaft table, and a sleeve disk is in contact with an upward universal wheel. A hollow shaft coaxially sleeves a lower angle contact bearing and an upper angle contact bearing, the lower angle contact bearing and the upper angle contact bearing separately and coaxially sleeve the upper end and lower end of the hollow shaft, the lower surface of the upper angle contact bearing is in contact with the hollow shaft, the upper surface of the lower angle contact bearing is in contact with the hollow shaft, and the lower surface of the lower angle contact bearing is in contact with the small flange. Optical shafts are evenly distributed and fixed to the upper part of the sleeve, and the upper ends of the optical shafts are embedded in an upper flange disc and fixed. In the process of traveling, a connected shock absorber is less bumpy and vibrated, and the stability in the process of traveling is ensured.

Description

technical field [0001] The invention is used for an omnidirectional mobile robot, mainly as a driving wheel of the robot, and can realize the functions of omnidirectional movement and independent steering of the robot. The design scheme has a compact structure, is convenient for installing and replacing parts, and also meets the requirements for flexibility and high mobility of an omnidirectional mobile robot, and belongs to the technical field of drive wheels. Background technique [0002] The rapid development of omnidirectional mobile robots, as the independent driving wheel of the traveling device, provides a guarantee for the flexible omnidirectional movement of the robot, enabling the robot to move freely in a narrower environment. The independent driving wheel is composed of a traveling mechanism, a force receiving mechanism, and a shock absorbing mechanism. The independent steering wheel involves mechanical technology, control technology, etc. After investigation, i...

AI Technical Summary

Problems solved by technology

After investigation, it was found that although the existing similar devices can meet the requirements, they have more or less shortcomings, such as not stable enough during walking, relatively bumpy, and noisy.

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