The invention belongs to the technical field of robot moving platforms, and particularly relates to a robot moving platform and a moving control method.The robot moving platform comprises a frame and a suspension assembled on the frame, the top end of the frame is provided with a fixed platform through bolts, and the top end of the fixed platform is connected with a fixed flange; the suspension is composed of an upper fork arm, a lower fork arm, a suspension support and a shock absorber, a direct-current brushless motor is installed in the frame, a coupler is assembled on an output shaft of the direct-current brushless motor, a two-stage speed reducer is assembled at one end of the coupler, and a universal joint is assembled at the output end of the two-stage speed reducer. The Mecanum wheels are driven to rotate through cooperative work of the four direct-current brushless motors, the couplings, the two-stage speed reducers and the universal joints, and high-precision control over movement of the mobile platform is achieved. And the robot can accurately follow the preset path regardless of linear advancing or turning, so that the operation precision of the robot in a complex task is remarkably improved.
本发明属于机器人移动平台技术领域,具体涉及一种机器人移动平台及移动控制方法,包括车架及车架上装配的悬挂,所述车架的顶端通过螺栓安装有固定平台,所述固定平台的顶端连接有固定法兰,所述悬挂是由上叉臂、下叉臂、悬挂支架和减震器构成,所述车架的内部安装有直流无刷电机,所述直流无刷电机的输出轴装配有联轴器,所述联轴器的一端装配有二级减速器,所述二级减速器的输出端装配有万向节。本发明通过四个直流无刷电机、联轴器、二级减速器和万向节的协同工作,驱动麦克纳姆轮旋转,实现了对移动平台运动的高精度控制。无论是直线行进还是转弯,都能精确遵循预定路径,显著提升了机器人在复杂任务中的作业精度。
Robot moving platform and moving control method
一种机器人移动平台及移动控制方法
2025-05-13
Patent
Electronic Resource
Chinese
IPC: | B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge |