Omnidirectional wheel device, robot and control method of device
An omnidirectional wheel and control signal technology, applied in the field of robotics, can solve problems such as inability to real-time sub-wheel braking
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Embodiment 1
[0038] refer to figure 1 , shows a schematic structural view of an omnidirectional wheel device provided by an embodiment of the present invention. The omnidirectional wheel device may include: a main shaft 01, a center wheel (not shown in the figure), several sub-wheels 03, and a sub-wheel fixing plate 02 And conductive parts 05.
[0039] like figure 1 As shown, the center wheel and sub-wheel fixing plate 02 are sleeved on the main shaft 01 , and the center wheel and sub-wheel fixing plate 02 can rotate around the main shaft 01 . Several sub-wheels 03 are arranged along the outer circumference of the center wheel, and the sub-wheels 03 are connected between the two sub-wheel fixing plates 02, and each sub-wheel 03 can rotate relative to the center wheel.
[0040] One end of the main shaft 01 is also provided with a conductive component 05, the conductive component 05 is located on the side of the sub-wheel fixing plate 02 away from the center wheel, and the sub-wheel 03 is ...
Embodiment 2
[0064] refer to Figure 5 , which shows a flow chart of steps of a control method provided by an embodiment of the present invention, which may specifically include:
[0065] Step 501: Judging whether each sub-wheel satisfies a preset braking condition.
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