Omnidirectional wheel and rubber wheel composite type three-wheel robot chassis

Abstract

The invention discloses an omnidirectional wheel and rubber wheel composite type three-wheel robot chassis. The omnidirectional wheel and rubber wheel composite type three-wheel robot chassis comprises a chassis frame, an omnidirectional wheel mechanism, two groups of silica gel wheel mechanisms, a wheel set gyroscope, a laser sensor and a control device, wherein the omnidirectional wheel mechanism is mounted and arranged at the front end of the chassis frame; the two groups of silica gel wheel mechanisms are symmetrically mounted at the rear end of the chassis frame and distributed together with the omnidirectional wheel mechanism in the form of an isosceles triangle; the wheel set gyroscope is fixedly mounted at the middle part of the chassis frame and used for feeding back the positionand the running distance in real time; the laser sensor is distributed and fixedly arranged on the chassis frame and used for measuring the distance in the advancing process in real time; and the control device is correspondingly connected with the omnidirectional wheel mechanism, the silica gel wheel mechanisms, the laser sensor and the wheel set gyroscope through circuits and used for controlling the omnidirectional wheel mechanism and the silica gel wheel mechanisms to run in real time according to data measured by the laser sensor and the wheel set gyroscope. The omnidirectional wheel andrubber wheel composite type three-wheel robot chassis has the advantages that a robot can be enabled to move and rotate in any direction, the control is simple and reliable, the mechanism is stable, the volume is small, the mass is low and the manufacturing cost is low.

Description

technical field [0001] The invention relates to a composite three-wheeled robot chassis with omnidirectional wheels and rubber wheels, especially suitable for robots moving on flat ground such as service robots and fire-fighting robots. Background technique [0002] The mobile robot on the ground is a kind of equipment suitable for working on the ground. There are many types, such as service robots, handling robots, and fire-fighting robots. Therefore, it is suitable for logistics and transportation places, public service places, monitoring and patrol places in the food industry, machinery industry, clothing industry, etc., and has made relatively high achievements in these three aspects. These advantages also make the flat mobile robot one of the most critical equipment in the logistics system, service system and monitoring system, and one of the important roles in the "machine replacement" plan. [0003] The chassis is one of the main parts of a mobile robot on level grou...

AI Technical Summary

Problems solved by technology

However, the existing flat-ground mobile robots are limited in size due to the limited carrying capacity; most of the existing flat-ground mobile robots have four wheels, so there will be suspensions that make the robot shake; the positioning system of the existing level-ground robots has visual positioning, light reflection Navigation positioning, ultrasonic positioning and GPS positioning, etc., are more expensive and more difficult to control

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