CN111377001A - Omnidirectional wheel removes chassis - Google Patents
Omnidirectional wheel removes chassis Download PDFInfo
- Publication number
- CN111377001A CN111377001A CN201811653450.5A CN201811653450A CN111377001A CN 111377001 A CN111377001 A CN 111377001A CN 201811653450 A CN201811653450 A CN 201811653450A CN 111377001 A CN111377001 A CN 111377001A
- Authority
- CN
- China
- Prior art keywords
- chassis
- wheel
- omnidirectional wheel
- shaft
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000013016 damping Methods 0.000 claims description 9
- 210000004907 gland Anatomy 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 230000035939 shock Effects 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000036544 posture Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an omnidirectional wheel moving chassis, which comprises: the vehicle body chassis, the vehicle body frame and the gear train drive main part; the vehicle body frame and the wheel train driving main part are arranged on the vehicle body chassis, the wheel train driving main part comprises more than three omnidirectional wheel shaft systems, each omnidirectional wheel shaft system comprises an independent motor and an omnidirectional wheel connected with the motor, and the more than three omnidirectional wheel shaft systems are uniformly distributed on the vehicle body chassis. The omnidirectional wheel moving chassis disclosed by the invention uses the omnidirectional wheel shafting, is flexible in movement, is not limited by space, can realize omnidirectional movement, and is suitable for occasions with narrow space, higher positioning precision and quick adjustment of working postures.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an omnidirectional wheel moving chassis.
Background
The mobile robot is a robot system which can sense the environment and the self state through a sensor, realize the autonomous movement facing to a target in the environment with obstacles and further complete a certain function. The traditional mobile robot wheel usually adopts a polyurethane wheel, realizes the motion functions of advancing, retreating, turning and the like by the differential principle of two wheels, but has poor motion flexibility, cannot be used in occasions with limited space, and is difficult to realize the adjustment of micro postures.
Disclosure of Invention
The embodiment of the invention provides an omnidirectional wheel moving chassis, which at least solves the technical problem that the existing moving chassis is poor in movement flexibility.
According to an embodiment of the present invention, there is provided an omni-wheel mobile chassis, including: the vehicle body chassis, the vehicle body frame and the gear train drive main part; the vehicle body frame and the wheel train driving main part are arranged on the vehicle body chassis, the wheel train driving main part comprises more than three omnidirectional wheel shaft systems, each omnidirectional wheel shaft system comprises an independent motor and an omnidirectional wheel connected with the motor, and the more than three omnidirectional wheel shaft systems are uniformly distributed on the vehicle body chassis.
Further, a spring damping structure for damping is arranged on a shaft of the omnidirectional wheel shaft system.
Further, the spring shock-absorbing structure includes: mounting a bottom plate, a spring and a spring gland; the mounting base plate is arranged on more than three shafts of the omnidirectional wheel shafting, and the spring gland tightly presses the spring on the mounting base plate for damping.
Furthermore, a bush guide structure for guiding is further arranged on the shaft of the omnidirectional wheel shaft system.
Further, the bush guide structure includes: a guide shaft, an oilless bushing; the guide shaft is arranged on the mounting bottom plate, and the oilless bushing is sleeved on the guide shaft for guiding.
Furthermore, deep groove ball bearings used in pairs and bearing blocking pieces for axially positioning the deep groove ball bearings are arranged on a shaft of the omnidirectional wheel shaft system.
Further, the omni-wheel shafting further comprises: the motor adapter flange, the motor bearing seat, the shaft end fixing piece, the adapter shaft and the flat key; the driving component of the motor is connected to the motor adapter flange and is supported by the motor bearing seat; the omni wheel is connected to the transfer shaft through a shaft end fixing piece, and the motor transfer flange sequentially transmits power to the transfer shaft and the omni wheel through flat keys.
Further, the number of the omnidirectional wheel shaft systems is four, and the shafts of the four omnidirectional wheel shaft systems are arranged in a 45-degree angle.
Furthermore, the omnidirectional wheel shafting also comprises a speed reducer connected with an independent motor.
Further, a laser detection module and a PGV navigation module are arranged on the vehicle body frame; the laser detection module and the PGV navigation module are matched to realize the planning of the specified path, and the vehicle body chassis is driven to move to the specified working position.
The omnidirectional wheel moving chassis in the embodiment of the invention uses the omnidirectional wheel shafting, is flexible in movement, is not limited by space, can realize omnidirectional movement, and is suitable for occasions with narrow space, higher positioning precision and quick adjustment of working postures.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of the general construction of an omni-wheel mobile chassis of the present invention;
FIG. 2 is a schematic layout of the drive train of the omni-wheel mobile chassis of the present invention;
FIG. 3 is a schematic view of a driving shaft system of the omnidirectional wheel moving chassis of the invention;
fig. 4 is a schematic structural view of a spring shock-absorbing structure of the omni-wheel mobile chassis of the present invention;
wherein the reference numerals are: 1-a drive assembly; 2-a motor adapter flange; 3-a motor bearing seat; 4-omni wheels; 5-bearing baffle plate; 6-flat bond; 7-a transfer shaft; 8-shaft end fixing part; 9-deep groove ball bearing; 10-mounting a bottom plate; 11-a guide shaft; 12-oilless liner; 13-a spring; 14-spring gland.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, referring to fig. 1-4, there is provided an omni-wheel mobile chassis, including: the vehicle body chassis, the vehicle body frame and the gear train drive main part; the vehicle body frame and the wheel train driving main part are arranged on the vehicle body chassis, the wheel train driving main part comprises more than three omnidirectional wheel shaft systems, each omnidirectional wheel shaft system comprises an independent motor and an omnidirectional wheel connected with the motor, and the more than three omnidirectional wheel shaft systems are uniformly distributed on the vehicle body chassis.
The omnidirectional wheel moving chassis in the embodiment of the invention uses the omnidirectional wheel shafting, is flexible in movement, is not limited by space, can realize omnidirectional movement, and is suitable for occasions with narrow space, higher positioning precision and quick adjustment of working postures.
In the preferred technical scheme, a spring damping structure for damping is arranged on a shaft of the omnidirectional wheel shafting. And a spring damping structure is arranged on each shaft, so that the chassis of the automobile body can move more stably.
In a preferred embodiment, the spring damping structure includes: the mounting base plate 10, the spring 13 and the spring gland 14; the mounting base plate 10 is arranged on more than three shafts of the omnidirectional wheel shafting, and the spring gland 14 presses the spring 13 on the mounting base plate 10 for damping. The spring gland 14 presses the spring 13 against the mounting base plate 10 to provide a shock absorbing function.
In a preferred technical scheme, a bush guide structure for guiding is further arranged on a shaft of the omnidirectional wheel shafting. And a bush guide structure is arranged on each shaft, so that the chassis of the vehicle body can move more stably.
In a preferred embodiment, the bushing guide structure includes: a guide shaft 11, an oilless bush 12; the guide shaft 11 is arranged on the mounting base plate 10, and the oilless bush 12 is sleeved on the guide shaft 11 for guiding. The guide shaft 11 and the oilless bushing 12 are matched for use to play a role in guiding.
In a preferred technical scheme, deep groove ball bearings 9 used in pairs and bearing blocking pieces 5 for axially positioning the deep groove ball bearings 9 are arranged on a shaft of an omnidirectional wheel shaft system. Each omnidirectional wheel axle system adopts the deep groove ball bearings 9 used in pairs for bearing. The bearing blocking plate 5 realizes axial positioning of the deep groove ball bearing 9, and the deep groove ball bearing 9 plays a role in bearing the load of the vehicle body.
In a preferred technical solution, the omni-directional wheel shafting further includes: the device comprises a motor adapter flange 2, a motor bearing seat 3, a shaft end fixing piece 8, an adapter shaft 7 and a flat key 6; a driving component 1 of the motor is connected to a motor adapter flange 2 and is supported by a motor bearing seat 3; the omnidirectional wheel 4 is connected with the adapter shaft 7 through the shaft end fixing piece 8, and the motor adapter flange 2 sequentially transmits power to the adapter shaft 7 and the omnidirectional wheel 4 through the flat key 6. A driving assembly 1 of the motor and the speed reducer is connected on a motor adapter flange 2, is supported by a motor bearing seat 3, and transmits power to an adapter shaft 7 through a flat key 6; the omnidirectional wheel 4 is linked on a switching shaft 7 through a shaft end fixing piece 8, and the switching shaft 7 transmits power to the omnidirectional wheel 4 through a flat key 6 to realize wheel train rotation; the bearing separation blade 5 and the motor adapter flange 2 realize axial positioning of the deep groove ball bearing 9.
In the preferred technical scheme, the number of the omnidirectional wheel shafting is four, and the shafts of the four omnidirectional wheel shafting are arranged in a 45-degree angle. The omnidirectional wheel mobile chassis is composed of a wheel train driving main part, a vehicle body chassis, a vehicle body frame, related electrical parts and the like. The wheel train driving main part is driven by four shafts, each shaft is driven by a separate motor and a speed reducer, the tail end of each shaft is provided with an omnidirectional wheel 4, the four shafts are arranged at 45-degree paired angles, and the omnidirectional movement can be realized through different driving combinations of forward and reverse rotation of the motors of the shafts.
In a preferred technical scheme, the omnidirectional wheel shaft system further comprises a speed reducer connected with an independent motor. The omnidirectional wheel moving chassis is driven by four shafts independently, and is driven by an independent four-wheel drive motor and a speed reducer, four omnidirectional wheel shaft systems are arranged at 45-degree opposite angles, and route planning such as forward, backward, transverse movement, turning and the like can be realized through different forward and reverse rotation coordination of the motors. The automobile body generally adopts frame type structure, under the prerequisite of guaranteeing bulk strength, the overall arrangement is compact, and the operation is more nimble.
In the preferred technical scheme, a laser detection module and a PGV navigation module are arranged on a vehicle body frame; the laser detection module and the PGV navigation module are matched to realize the planning of the specified path, and the vehicle body chassis is driven to move to the specified working position. Each electric component carries on automobile body frame, including electric subassembly and optical assembly, it is rationally distributed, be furnished with laser and PGV navigation technique, the function is stronger, the PGV system is the first system based on Data Matrix sign indicating number realization position location in the world, track and control, utilize advanced industry two-dimensional camera, PGV can not only guide the AGV dolly to remove along navigation code area (colour code area) and position code area, can also realize the vehicle through body vision recognition function and start, function such as stop or turn, it is accurate absolute position positioning system of submillimeter level.
The invention has the innovative technical points and the beneficial effects that:
1. the four omnidirectional wheel shaft systems are arranged at the opposite angles of 45 degrees, the movement is flexible, the space is not limited, the omnidirectional movement can be realized, and the omnidirectional wheel system is suitable for occasions with narrow space, higher positioning precision and fast adjustment of working postures.
2, each deep groove ball bearing 9 bears the weight of the department and increases spring shock-absorbing structure, increases the shock attenuation effect that the additional load strikes for the omniwheel removes the chassis and moves more stably in going, and bearing capacity is strong, and work is more reliable.
The invention can accurately convey the workpiece to the designated position in a narrow space by using the omnidirectional wheel structure and the PGV navigation technology, is not limited by the displacement dead angle, the space and the environment of a route, can solve the technical problem of universality which is difficult to realize by a common mobile robot with special tracks such as a right-angled bend and the like, and is suitable for occasions with narrow space, higher positioning precision and quick adjustment of working postures. The omnidirectional wheel moving chassis can be used for independently conveying goods, can also be matched with a mechanical arm to form a composite robot for complete use, has stronger self working capacity and wider working range, is beneficial to improving the production efficiency of enterprises, improving the product quality, reducing the cost and the like, provides high-quality products for the fields of automobiles, logistics, electronics, 3C, medical treatment, education and the like, and brings economic benefits for the enterprises.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, a division of a unit may be a logical division, and an actual implementation may have another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An omni-wheel mobile chassis, comprising: the vehicle body chassis, the vehicle body frame and the gear train drive main part; the automobile body frame, the wheel train drive main part set up on the automobile body chassis, the wheel train drive main part includes more than three omnidirectional wheel shafting, omnidirectional wheel shafting include independent motor and with the omnidirectional wheel that the motor is connected, more than three omnidirectional wheel shafting is in evenly distributed sets up on the automobile body chassis.
2. The chassis of claim 1, wherein a spring shock absorbing structure for shock absorption is provided on the axle of the omni wheel shafting.
3. The chassis of claim 2, wherein the spring dampening structure comprises: mounting a bottom plate, a spring and a spring gland; the mounting base plate is arranged on more than three shafts of the omnidirectional wheel shafting, and the spring gland tightly presses the spring on the mounting base plate for damping.
4. The chassis of claim 3, wherein a bushing guide structure for guiding is further arranged on the shaft of the omnidirectional wheel shafting.
5. The tray of claim 4, wherein the bushing guide structure comprises: a guide shaft, an oilless bushing; the guiding shaft is arranged on the mounting base plate, and the oilless bushing sleeve is arranged on the guiding shaft for guiding.
6. The chassis of claim 1, wherein a pair of deep groove ball bearings and a bearing baffle plate for axially positioning the deep groove ball bearings are arranged on a shaft of the omnidirectional wheel shafting.
7. The chassis of claim 1, wherein the omni wheel shafting further comprises: the motor adapter flange, the motor bearing seat, the shaft end fixing piece, the adapter shaft and the flat key; the driving assembly of the motor is linked to the motor adapter flange and is supported by the motor bearing seat; the omnidirectional wheel is linked to the transfer shaft through the shaft end fixing piece, and the motor transfer flange sequentially transmits power to the transfer shaft and the omnidirectional wheel through the flat keys.
8. The chassis of claim 1, wherein the number of omni wheel axle sets is four, and the axes of the four omni wheel axle sets are arranged at 45 ° diagonal.
9. The chassis of claim 1, wherein the omni-wheel shafting further comprises a speed reducer connected to the independent motor.
10. The chassis of claim 1, wherein a laser detection module and a PGV navigation module are arranged on the body frame; the laser detection module and the PGV navigation module are matched to realize the planning of the specified path, and the vehicle body chassis is driven to move to the specified working position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653450.5A CN111377001A (en) | 2018-12-29 | 2018-12-29 | Omnidirectional wheel removes chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653450.5A CN111377001A (en) | 2018-12-29 | 2018-12-29 | Omnidirectional wheel removes chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111377001A true CN111377001A (en) | 2020-07-07 |
Family
ID=71213307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811653450.5A Pending CN111377001A (en) | 2018-12-29 | 2018-12-29 | Omnidirectional wheel removes chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111377001A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922234A (en) * | 2016-06-27 | 2016-09-07 | 四川阿泰因机器人智能装备有限公司 | Mobile robot triangular chassis assembly |
| CN106151770A (en) * | 2016-08-12 | 2016-11-23 | 广东工业大学 | A kind of pipeline mobile robot device |
| CN106256568A (en) * | 2016-07-28 | 2016-12-28 | 南京理工大学 | A kind of reckoning positioning robot chassis applying vertical damping device |
| CN107088869A (en) * | 2017-04-20 | 2017-08-25 | 哈尔滨工业大学 | A kind of modularization all directionally movable robot for environment sensing |
| CN207496810U (en) * | 2017-11-20 | 2018-06-15 | 西南交通大学 | A kind of poisonous and harmful and fuel gas detection sampling omnidirectional wheel robot |
| CN108340981A (en) * | 2018-03-16 | 2018-07-31 | 安徽工程大学 | A kind of full landform Multipurpose mobile robot |
| CN209351489U (en) * | 2018-12-29 | 2019-09-06 | 沈阳新松机器人自动化股份有限公司 | A kind of omni-directional wheel mobile chassis |
-
2018
- 2018-12-29 CN CN201811653450.5A patent/CN111377001A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922234A (en) * | 2016-06-27 | 2016-09-07 | 四川阿泰因机器人智能装备有限公司 | Mobile robot triangular chassis assembly |
| CN106256568A (en) * | 2016-07-28 | 2016-12-28 | 南京理工大学 | A kind of reckoning positioning robot chassis applying vertical damping device |
| CN106151770A (en) * | 2016-08-12 | 2016-11-23 | 广东工业大学 | A kind of pipeline mobile robot device |
| CN107088869A (en) * | 2017-04-20 | 2017-08-25 | 哈尔滨工业大学 | A kind of modularization all directionally movable robot for environment sensing |
| CN207496810U (en) * | 2017-11-20 | 2018-06-15 | 西南交通大学 | A kind of poisonous and harmful and fuel gas detection sampling omnidirectional wheel robot |
| CN108340981A (en) * | 2018-03-16 | 2018-07-31 | 安徽工程大学 | A kind of full landform Multipurpose mobile robot |
| CN209351489U (en) * | 2018-12-29 | 2019-09-06 | 沈阳新松机器人自动化股份有限公司 | A kind of omni-directional wheel mobile chassis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111232092B (en) | Combined two-wheeled automatic guiding vehicle | |
| EP3501872A1 (en) | Non-scrubbing vertical drive unit for a trackless or free roaming vehicle with zero turn radius | |
| CN105425792A (en) | Omnidirectional mobile automatic guided vehicle | |
| US20200094617A1 (en) | Mecanum wheel and robot provided with mecanum wheel | |
| Ishigami et al. | Design, development, and mobility evaluation of an omnidirectional mobile robot for rough terrain | |
| CN102699893A (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN102673673A (en) | Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot | |
| Damoto et al. | Holonomic omnidirectional vehicle with new omni-wheel mechanism | |
| CN110816646A (en) | All-directional mobile platform for automatic transportation and application thereof | |
| Li et al. | Design and basic experiments of a transformable wheel-track robot with self-adaptive mobile mechanism | |
| CN103879467A (en) | Passive self-adaption crawler belt deformable rocking bar differential motion mobile robot platform | |
| Safar | Holonomic and omnidirectional locomotion systems for wheeled mobile robots: A review | |
| CN111377001A (en) | Omnidirectional wheel removes chassis | |
| Ye et al. | An omnidirectional mobile robot | |
| Doroftei et al. | Design, modeling and control of an omni-directional mobile robot | |
| CN104724204A (en) | AGV drive mechanism | |
| CN110774830A (en) | Steering drive axle, automatic guided vehicle and control method based on steering drive axle | |
| CN209351489U (en) | A kind of omni-directional wheel mobile chassis | |
| Li et al. | Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot | |
| CN111348119A (en) | Combined type mobile robot | |
| Kim et al. | Design and development of a variable configuration delivery robot platform | |
| Runge et al. | Design of a holonomic ball drive for mobile robots | |
| CN113002662B (en) | Mobile robot and steering wheel device thereof | |
| CN211001619U (en) | Double-roller omnidirectional power caster of mobile robot and omnidirectional mobile platform | |
| JP3294471B2 (en) | Omnidirectional vehicle and steering control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |