The invention discloses a four-wheel independent steering moving platform based on a planetary mechanism. The four-wheel independent steering moving platform comprises a frame, a walking system, a battery, an equipment mounting plate, a material box, a motion controller, a sensor and a mechanical arm. The walking system comprises a driving system, a steering system and a suspension system; the steering system comprises a motor and a planetary mechanism, the small size can be kept, meanwhile, the steering torque requirement can be met, and therefore independent steering control over each wheel is achieved. The suspension system is an improved top-mounted double-cross-arm suspension system, and stability can be guaranteed while independent shock absorption of the left wheel and the right wheel is achieved. The robot can meet the requirement for operation in a narrow environment, and meanwhile multiple functions can be achieved by carrying different end effectors. The high-precision steering mechanism has high steering precision and small steering radius, and has high movement stability and stability and high bearing capacity at the same time.
本专利公开了一种基于行星机构的四轮独立转向移动平台,包括:车架、行走系统、电池、设备安装板、物料箱、运动控制器、传感器和机械臂;行走系统包括:驱动系统、转向系统和悬挂系统;转向系统包括电机和行星机构,能够保持小体积的同时满足转向扭矩需求,从而实现对每个车轮的独立转向控制;悬挂系统为改进的上置式双横臂式悬挂,能够在左右轮独立减震的同时保证稳定性。本专利能够适应狭小环境作业需求,同时可以通过搭载不同的末端执行器实现多功能。本专利具有高转向精度和小转向半径,具有较高的运动稳定性和平稳性同时具有较高的承载能力。
Four-wheel independent steering mobile platform based on planetary mechanism
一种基于行星机构的四轮独立转向移动平台
2022-04-22
Patent
Electronic Resource
Chinese
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