The invention discloses an omni-directional mobile robot and a balance rocker arm structure thereof.The omni-directional mobile robot comprises a chassis structure, the chassis structure is composed of an H-shaped power system, swing arm walking mechanisms on the two sides and the balance rocker arm structure, and the H-shaped power system is used for distributing power to the swing arm walking mechanisms on the two sides; the swing arm walking mechanism can swing freely with a power output shaft of the H-shaped power system as the axis. The balance rocker arm structure is arranged between the H-shaped power system and the swing arm walking mechanisms on the two sides of the H-shaped power system and used for restraining rotation of the H-shaped power system so that the H-shaped power system, the swing arm walking mechanisms and the balance rocker arm structure can form a whole with the chassis function. The balance rocker arm structure comprises a rotary supporting structure, a middle rocker arm and side rocker arms located at the left and right ends of the middle rocker arm. The balance rocker arm structure plays a role in homogenizing pitching disturbance input of the swing arms on the two sides, and then the obstacle crossing profiling performance of the chassis is guaranteed.
本发明公开了一种全向移动机器人及其平衡摇臂结构,该全向移动机器人包括底盘结构,该底盘结构由H型动力系统、两侧的摆臂行走机构和平衡摇臂结构组成,其中所述H型动力系统用于将动力分配至两侧的摆臂行走机构,所述摆臂行走机构以H型动力系统的动力输出轴为轴心,能够自由摆动;所述平衡摇臂结构设置在H型动力系统与其两侧的摆臂行走机构之间,用于对所述H型动力系统进行转动约束,以使所述H型动力系统、摆臂行走机构和所述平衡摇臂结构三者构成一个具有底盘功能的整体,该平衡摇臂结构包括回转支撑结构、中间摇臂、位于中间摇臂左右两端的侧摇臂。本发明的平衡摇臂结构起到均化两侧摆臂俯仰扰动输入的作用,进而保证底盘的越障仿形性能。
Omnidirectional mobile robot and balance rocker arm structure thereof
一种全向移动机器人及其平衡摇臂结构
2023-09-22
Patent
Electronic Resource
Chinese
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