The invention discloses an omnidirectional mobile robot chassis mechanism based on hub motors. The omnidirectional mobile robot chassis mechanism comprises a supporting plate; four motor mounting frames are fixedly mounted on the upper surface of the supporting plate through bolts; a direct-current servo steering motor is fixedly mounted on each motor mounting frame through a bolt; four steering mechanisms are rotationally mounted on the supporting plate; each steering mechanism comprises a steering shaft and a steering horn; the steering shaft is installed on the supporting plate in a rotating mode through a thrust ball bearing, one end of the steering shaft is in transmission connection with an output shaft of the direct-current servo steering motor through a coupler, the steering horn is fixedly installed at the other end of the steering shaft through a bolt, and a direct-current servo hub motor is fixedly installed on the steering horn. According to the chassis mechanism, eight motors are used for accurate synchronous control, omnidirectional movement under the low chassis space condition is achieved, and a robot with the chassis mechanism has good movement flexibility and system stability.

    本发明公开了一种基于轮毂电机的全向移动机器人底盘机构,包括托板,所述托板的上表面上通过螺栓固定安装有四个电机安装架,所述电机安装架上通过螺栓固定安装有直流伺服转向电机,所述托板上转动安装有四个转向机构,所述转向机构包括转向轴和转向羊角,所述转向轴通过推力球轴承转动安装在托板上,所述转向轴的一端通过联轴器与直流伺服转向电机的输出轴传动连接,所述转向羊角通过螺栓固定安装在转向轴的另一端上,所述转向羊角上固定安装有直流伺服轮毂电机。本发明利用八个电机精确同步控制,实现在较低的底盘空间条件下的全向移动,使得具有该底盘机构的机器人具有较好的运动灵活性和系统稳定性。


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    Titel :

    Omnidirectional mobile robot chassis mechanism based on hub motors


    Weitere Titelangaben:

    一种基于轮毂电机的全向移动机器人底盘机构


    Erscheinungsdatum :

    2020-05-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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