The invention belongs to the technical field of robot equipment, and particularly relates to an omnidirectional movement robot. Specifically, the omnidirectional movement robot comprises a chassis frame and an even number of steering power systems, each steering power system comprises a steering arm, a hub motor and a steering power mechanism, a first connecting part of each steering arm is rotatably connected to the chassis frame, and a stator part of each hub motor is connected to a second connecting part of the corresponding steering arm; the power output end drives the third connecting part of the steering arm to rotate relative to the chassis frame, the rotating center axis, relative to the chassis frame, of the third connecting part and the rotating center axis, relative to the chassis frame, of the first connecting part are coaxially arranged, and the steering driver, the steering transmission assembly and the third connecting part are arranged in a horizontal transmission mode.By means of the technical scheme, the problems that in the prior art, a robot chassis structure is inflexible in steering structure, the overall height of a robot is large, and the overall gravity center of the robot is difficult to lower are solved.
本发明属于机器人设备技术领域,尤其涉及一种全向运动机器人。具体地,该全向运动机器人包括:底盘架和偶数个转向动力系统,各个转向动力系统包括转向臂、轮毂电机和转向动力机构,转向臂的第一连接部可转动地连接在底盘架,轮毂电机的定子部连接在转向臂的第二连接部,动力输出端带动转向臂的第三连接部相对于底盘架转动,第三连接部相对于底盘架的转动中心轴线与第一连接部相对于底盘架的转动中心轴线同轴设置,转向驱动器、转向传动组件与第三连接部之间呈水平传动布置方式。应用本发明技术方案解决了现有技术的机器人底盘结构转向结构不灵活,而且导致了机器人整体高度较高而难以降低机器人整体重心的问题。
Omnidirectional movement robot
一种全向运动机器人
2021-01-12
Patent
Electronic Resource
Chinese
European Patent Office | 2017
|Movement Performance Analysis of Mecanum Wheeled Omnidirectional Mobile Robot
British Library Conference Proceedings | 2019
|OMNIDIRECTIONAL MOVEMENT WHEEL AND OMNIDIRECTIONAL MOVEMENT VEHICLE COMPRISING THE SAME
European Patent Office | 2018
|