Omni-directional mobile wheel module

Abstract

The invention provides an omni-directional mobile wheel module. A steering engine and a spline shaft are mounted on a main mounting plate. A spline shaft gear is fixed at one end of the spline shaft, and a U-shaped plate is fixed at the other end of the spline shaft. A steering engine gear on a steering engine output shaft is meshed with the spline shaft gear. The left end and the right end of a wheel hub motor rotation shaft are fixed at the two branch end parts of the U-shaped plate, and a control panel receives an external command for controlling the turning and movement of a wheel hub motor through a communication interface. The steering engine is connected with the control panel, and the rotation angle of the steering engine is controlled according to the command sent by the control panel. The wheel hub motor is connected with a driver, and the driver is connected with the control panel and controls the wheel hub motor to move forwards and backwards according to the command sent by the control panel. The omni-directional mobile wheel module integrates turning and move functions, so that an omni-directional mobile wheel becomes a separate module. The omni-directional mobile wheel module is suitable for the outdoor common ground and is easy to operate and control. After the omni-directional mobile wheel module is mounted on a robot, the flexibility of the robot can be increased.

Description

technical field [0001] The invention belongs to the field of electromechanical technology, and in particular relates to an omnidirectional mobile wheel module. Background technique [0002] In the past 10 years, my country's robotics industry has continued to develop, and the application field and scope of application of robots are constantly expanding. Among them, mobile robots are more and more popular with the improvement of family living standards and social service levels. With the continuous expansion of the application field of mobile robots, mobile robots have put forward higher requirements for the speed and flexibility of movement. Under this requirement, the omnidirectional mobile wheel has been paid more and more attention. Omni-directional mobile wheels have all degrees of freedom of planar movement, including front and rear, left and right, and in situ rotation, and can generally move at any angle and at any speed. The speed and flexibility of the omnidirect...

AI Technical Summary

Problems solved by technology

But there are many motors, and the power consumption is relatively large

[0005] The disadvantages of the above-mentioned omnidirectional mobile wheels are: they all realize their two-dimensional motion through a special wheel structure, and control the movement direction of the mobile platform formed by the resultant force of multiple omnidirectional mobile wheel driving forces, which has great impact on motion control technology. Higher requirements; higher requirements for ground flatness, most of which are limited to indoor ground use; single wheel design is complicated and the cost is relatively high

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