Double roller omni-directional power caster and omni-directional mobile platform of mobile robot

A technology of mobile robots and double rollers, which is applied in the direction of power devices, electric power devices, motor vehicles, etc., and can solve problems such as complex sealing design, limited flexibility of mobile platforms, size and weight restrictions, etc.

Pending Publication Date: 2020-02-07
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For one, the drive motor is mounted on a roller frame, which is limited in size and weight, and requires a complex seal design
Second, the motor cable needs to be connected to the car body through the steering shaft, and the cable cannot be wound indefinitely, so the steering shaft of the caster wheel can only turn a limited number of turns
This limits the flexibility of the mobile platform, for example, the mobile platform cannot continue to operate along a closed trajectory with the vehicle body in the same direction

Method used

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  • Double roller omni-directional power caster and omni-directional mobile platform of mobile robot
  • Double roller omni-directional power caster and omni-directional mobile platform of mobile robot
  • Double roller omni-directional power caster and omni-directional mobile platform of mobile robot

Examples

Experimental program
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Effect test

Embodiment 1

[0037] Such as Figure 1 to Figure 4 As shown, the dual-roller omnidirectional power caster of this embodiment includes a frame 1 with a vertically arranged and rotatable steering shaft 3 mounted on the frame 1 and a wheel frame 2 mounted on the lower end of the steering shaft 3. The wheel carrier 2 is provided with a first roller 21 and a second roller 22 which are arranged side by side and can rotate independently. The rotation axis of the first roller 21 and the rotation axis of the second roller 22 coincide.

[0038] The frame 1 is provided with a first driving motor 11 and a second driving motor 12 arranged side by side and working independently. The first driving motor 11 and the second driving motor 12 are installed in the frame 1, and even if the wheel frame 2 turns endlessly, there is no problem of cable entanglement. The first driving motor 11 and the second driving motor 12 respectively drive the corresponding first roller 21 and the second roller 22 to rotate through...

Embodiment 2

[0058] Such as Figure 7 with Figure 8 As shown, the dual-roller omnidirectional power caster of this embodiment includes a frame 1 with a vertically arranged and rotatable steering shaft 3 mounted on the frame 1 and a wheel frame 2 mounted on the lower end of the steering shaft 3. The wheel carrier 2 is provided with a first roller 21 and a second roller 22 which are arranged side by side and can rotate independently. The rotation axis of the first roller 21 and the rotation axis of the second roller 22 coincide.

[0059] The difference between this embodiment and the first embodiment is that the first output gear portion 43 and the second output gear portion 53 are respectively bevel transmission gears. The wheel carrier 2 is provided with a third transmission gear 23 and a fourth transmission gear 24. The third transmission gear 23 is composed of a third bevel gear portion 23c meshing with the first output gear portion 43 and a third spur gear portion 23d for driving the firs...

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Abstract

The invention discloses a double roller omni-directional power caster and an omni-directional mobile platform of a mobile robot. The double roller omni-directional power caster includes a rack. The rack is provided with a steering shaft arranged vertically and capable of rotating. The lower end of the steering shaft is provided with a wheel stand. The wheel stand is provided with a first roller and a second roller arranged side by side and capable of rotating independently. A rotating axis of the first roller coincides with the rotating axis of the second roller. The rack is provided with a first drive motor and a second drive motor arranged side by side and working independently. The first drive motor and the second drive motor drive the corresponding first and second rollers to rotate through a transmission mechanism correspondingly. According to the double roller omni-directional power caster, the driving motors are located on the rack, the motion is transferred to the two rollers correspondingly through the transmission mechanism, and the independent motion of the two rollers is realized. The transmission ratio remains constant regardless of the position of the steering shaft.Meanwhile, the problem of cable winding is nonexistent, and unlimited steering of the wheel stand can be realized.

Description

Technical field [0001] The invention relates to the field of designing a movement mechanism of a mobile robot. Specifically, it is a dual-roller omnidirectional power caster and omnidirectional mobile platform of a mobile robot. Background technique [0002] In recent years, in order to improve production efficiency and reduce labor costs, equipment manufacturing, service industries and other fields have continuously increased the requirements for industrial automation and intelligence. Therefore, mobile robots are more and more widely used, and the market demand for mobile robots is increasing. Mobile robots have also become an important research hotspot. [0003] A mobile robot usually has a mobile platform, and the mobile platform realizes movement through a walking mechanism. The walking mechanism of mobile robot can be divided into crawler type, wheel type and foot type. Among them, wheeled mobile robots are the most widely used and are very suitable for the needs of indus...

Claims

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Application Information

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IPC IPC(8): B62D61/10B60K1/02
CPCB60K1/02B62D61/10
Inventor 杨桂林王逸王慰军张驰方灶军
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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