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Omnidirectional wheel type mobile robot

A mobile robot, omnidirectional mobile technology, applied in the field of mechanical engineering, can solve problems such as easy to generate vibration, the outer contour of the wheel is not a pure circle, and walking is unstable

Inactive Publication Date: 2011-12-07
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, most of the mobile robots used in production and life at home and abroad are non-omnidirectional mobile robots. Most of the existing omnidirectional mobile robots use mecanum wheels to realize the omnidirectional walking of the robot, but the mecanum wheels themselves have defects. The outer contour is not a pure circle, but a polygon close to a circle. It is unstable when walking and is prone to vibration

Method used

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  • Omnidirectional wheel type mobile robot
  • Omnidirectional wheel type mobile robot
  • Omnidirectional wheel type mobile robot

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specific Embodiment approach

[0017] Such as figure 1 As shown, the present invention comprises two major parts altogether: three compound wheel devices 1 and mobile robot body 2; Three wheels are installed on the mobile robot at an angle of 120° between two pairs, and each wheel moves centrifugally Robot center distances are equal.

[0018] Such as figure 2 , image 3 As shown, the wheel axial drive motor 12 is fixed on the motor sleeve end cover 14, the motor sleeve end cover 14 is fixed with the motor sleeve 5 by screws, the motor sleeve 5 and the wheel body 6 are connected by a rolling bearing 13, two Rely on axle sleeve 15 to locate between rolling bearing, the output shaft of axial drive motor 12 is directly connected with wheel hub 7 by key, when motor outputs a rotating speed, due to the effect of bearing, will drive wheel to rotate thereby drive mobile robot to advance.

[0019] The motor sleeve 5 is connected with the wheel radial rotation shaft 3 by the U-shaped splint 4, the wheel radial ro...

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Abstract

The invention provides a novel omnidirectional wheel type mobile robot. Three composite wheels are arranged on a robot body; energy two of the three composite wheels are arranged in a 120-degree uniform distribution mode; and the distances from the wheel centers of the wheels to the center of the mobile robot are equal. Each composite wheel can realize axial rotation and zero-radius revolution; the rotation and the revolution are respectively and independently driven by a motor, and the three wheels are not interfered mutually. The three wheels are driving wheels and are adjusted to turn the direction, thereby traveling in the plane along any direction. The omnidirectional wheel type mobile robot has the advantages that the structure is simple, the manufacture is easy, the control accuracy is high, and the popularization is easy, so that the omnidirectional wheel type mobile robot is very suitable for occasions with narrow space and high mobility requirement for the robot, can be used as a mobile transportation device on the flow production line of the factory, also can be used as the facility for domestic service and entertainment, and can replace the labor at various danger places for use.

Description

technical field [0001] The invention relates to an omnidirectional wheeled mobile robot, relating to the field of mechanical engineering, in particular to changing the rotation direction of the wheels by radially rotating the wheels, so as to realize the omnidirectional movement of the mobile robot. Background technique [0002] According to the mobile characteristics, mobile robots can be divided into non-omnidirectional mobile robots and omnidirectional mobile robots. The omnidirectional mobile robot system can realize 3-degree-of-freedom omnidirectional movement on the plane. This omnidirectional movement characteristic makes the omnidirectional movement mechanism have a wide application prospect in various industries. It has become an important branch in the field of robotics research and has received more and more more and more attention. The so-called omnidirectional mobile robot means that if the speed limit of the drive motor is not considered, the robot can move in...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 宋春雨赵京杜滨
Owner BEIJING UNIV OF TECH
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