The invention relates to an omni-directional mobile platform based on a worm wheel and a worm. The mobile platform comprises a support mechanism, a power output mechanism, a power transmission systemand a mobile actuating mechanism. The support mechanism comprises a rack, four bevel gear shaft middle supports and a support partition plate; the power output mechanism is composed of a direct-current power source, four hub motors and an intermediate shaft driving motor; the power transmission system is composed of four worm wheels, four worm wheel shafts, four worms, four bevel gear shafts, twolarge bevel gears, an intermediate shaft, ten bearings and five couplers; and the mobile actuating mechanism is composed of four universal wheels. During movement, the four universal wheels can rotatein the same direction and at the same angle by driving the middle shaft, and through a reasonable design, the mechanism has reverse self-locking performance so as to ensure the stability of the mechanism running along a straight line. And the four universal wheels are independently driven by the four hub motors and are always kept at the same speed. According to the platform, the mobile platformcan move linearly in all directions so that the mobile platform can work more flexibly in a narrow space.
本专利涉及一种基于蜗轮蜗杆的全向移动平台,由支撑机构、动力输出机构、动力传递系统和移动执行机构组成,支撑机构由:机架、四个锥齿轮轴中间支撑和支撑隔板组成;动力输出机构由:直流电源、四个轮毂电机和中间轴驱动电机组成;动力传递系统由:四个蜗轮、四个蜗轮轴、四个蜗杆、四个锥齿轮轴、两个大锥齿轮、中间轴、十个轴承和五个联轴器组成;移动执行机构由:四个万向轮组成。移动时,可通过驱动中间轴使四个万向轮同向同角度转动,并经过合理的设计,使机构具有反向自锁性,以保证其沿直线行驶的稳定性。四个万向轮由四个轮毂电机独立驱动,且始终保持同速。本专利可使移动平台沿全向直线移动,使移动平台在狭小空间内更灵活地作业。
Omni-directional mobile platform based on worm wheel and worm
一种基于蜗轮蜗杆的全向移动平台
2020-08-25
Patent
Electronic Resource
Chinese
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