The invention is suitable for the technical field of robot chassis, and provides a robot chassis and a control method thereof.The robot chassis comprises a bottom plate, a driving mechanism, a controller and auxiliary wheels, the bottom plate is provided with a first driving wheel and a second driving wheel which are used for driving the bottom plate to move, and the driving mechanism is arranged on the chassis; the auxiliary wheel is rotatably arranged on the wheel frame through the driving mechanism, and the controller is electrically connected with the driving mechanism and can control the driving mechanism to drive the auxiliary wheel to steer according to the movement of the driving wheel of the chassis. According to the robot chassis provided by the invention, the auxiliary wheels are rotationally connected with the driving mechanism, so that when the driving wheels of the chassis move and steer, the controller controls the driving mechanism to drive the auxiliary wheels to steer, and compared with the prior art that eccentric universal wheels rotate along with the driving wheels, eccentric arrangement is not needed, and the auxiliary wheels are directly driven by the driving mechanism to steer; as eccentric design is not needed, the distance from the fulcrum of the auxiliary wheel to the gravity center of the chassis is increased, chassis shaking is reduced, and stability is improved.
本申请适用于机器人底盘技术领域,提供了一种机器人底盘及其控制方法,该机器人底盘包括底板、驱动机构、控制器和辅助轮,底板上设置有用于驱动底板移动的第一驱动轮和第二驱动轮,驱动机构设置于底盘上;辅助轮通过所述驱动机构可转动地设置于轮架,控制器与驱动机构电连接,且可根据底盘的驱动轮的移动控制驱动机构驱动辅助轮转向。本申请提供的机器人底盘,辅助轮与驱动机构转动连接,这样在底盘的驱动轮移动转向时,控制器控制驱动机构驱动辅助轮转向,相对现有技术中使用偏心万向轮跟随驱动轮转动,不用进行偏心设置,直接由驱动机构驱动辅助轮转向,由于不用偏心设计,增加了辅助轮支点到底盘重心的距离,降低了底盘晃动,提高了稳定性。
Robot chassis and control method thereof
机器人底盘及其控制方法
2021-07-23
Patent
Electronic Resource
Chinese
Robot chassis, robot chassis steering adjusting method and robot
European Patent Office | 2021
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