Ground self-adaption type omnidirectional wheel device

Abstract

The invention relates to a ground self-adaption type omnidirectional wheel device. The device comprises a wheel stand, and an omnidirectional wheel arranged on the wheel stand; a bracket is vertically connected to the wheel stand; a sliding block is glidingly arranged on the bracket along the vertical direction; a telescopic part is arranged between the sliding block and the wheel stand; a hanging rack is also fixed to the sliding block and convenient to arrange the whole omnidirectional wheel device to a chassis of a mobile robot; the hanging rack comprises a supporting plate that is fixed to the sliding block; two horizontal clamping plates are arranged on the bracket. The ground self-adaption type omnidirectional wheel device can be connected to the chassis of the mobile robot, the wheel stand, the bracket, the sliding block and the hanging rack on the bracket are matched, and thereby, the omnidirectional wheel can freely expand or shrink under uneven pavement or impact condition, the spacing to the chassis of the mobile robot is changed to adapt to different pavement conditions, and as a result, the influence on the stability of the whole mobile robot is reduced, and the effects of buffering and preventing vibration are realized; the device is simple in structure, convenient to mount, and high in adaption.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a ground adaptive omnidirectional wheel device. Background technique [0002] Mobile robots are more and more widely used in human production and life, such as various competition robots, workshop handling robots, cleaning robots and various service robots. However, the wheels of most of the existing mobile robots, including the driving wheel and the driven wheel, are all directly installed on the chassis, that is, the wheels and the chassis are rigidly connected. The driving wheels are not well adapted to the conditions of the road surface, and are prone to vibration or slippage, which will cause large errors in the positioning and control of the mobile robot. Contents of the invention [0003] The purpose of the invention of the present invention is to solve the problem that the wheels of the mobile robot existing in the prior art are rigidly connected to the chassis so that wh...

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Problems solved by technology

[0003] The purpose of the invention of the present invention is to solve the problem that the wheels of the mobile robot existing in the prior art are rigidly connected to the chassis so that when encountering rough roads or being impacted, vibrations or skids and the like cannot be flexibly adapted to the road conditions. , providing a ground adaptive omnidirectional wheel device

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