The invention provides a steering mechanism applied to a mobile robot. The steering mechanism applied to the mobile robot comprises a steering driving device and two steering wheels, the two steeringwheels are symmetrically arranged on the two sides of the steering driving device, and each steering wheel comprises a linkage piece, a steering shaft, a steering base and wheels; the wheels are arranged on the steering base in a relative rotating mode, the steering shaft is vertically arranged on the steering base, the steering base is connected with a vehicle body of the mobile robot through thesteering shaft, and the steering base can rotate around the steering shaft; the steering driving device is fixed relative to a vehicle body of the mobile robot, one end of the linkage piece is hingedto the output end of the steering driving device, and the other end of the linkage piece is hinged to the end of the steering base; and the steering driving device drives the linkage piece to swing so that the steering base rotates around the steering shaft; The invention further provides the mobile robot using the steering mechanism. The steering mechanism is simple in structure and small in size; and the mobile robot can flexibly rotate according to the Ackerman principle, and therefore the mobile robot can meet different task requirements.
本发明提供一种应用于移动机器人的转向机构,包括转向驱动装置和两个转向轮,两个转向轮对称设置在转向驱动装置两侧,转向轮包括联动件、转向轴、转向座和车轮;车轮相对转动的设置在转向座上,转向轴竖直设置在转向座上,转向座通过转向轴连接移动机器人的车体,转向座可绕转向轴转动;转向驱动装置相对移动机器人的车体固定,联动件一端与转向驱动装置的输出端铰接,联动件另一端与转向座的端部铰接;转向驱动装置驱动联动件摆动,以使转向座绕转向轴转动;本发明提供一种移动机器人,应用上述转向机构。本发明的转向机构,结构简单,体积小巧;本发明的移动机器人,能按照阿克曼原理进行灵活转动,从而适应不同的任务需求。
Steering mechanism applied to mobile robot and mobile robot
应用于移动机器人的转向机构及移动机器人
2021-03-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Steering suspension mechanism of mobile robot and control method of steering suspension mechanism
European Patent Office | 2023
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