Beihang University

Qingzhen Zhang

Juan Chen

Min Yang

Jingkun Wei

Changlin Wu

Shicheng Zheng

Langfu Cui

Zhaoqin Peng

A steering wheel structure for an omnidirectional mobile robot chassis is provided. The steering wheel structure can realize two degrees of freedom: the rudder rotation of the steering wheel rotation and the full free movement realized in the horizontal plane, it has the characteristics of a small size and a lower height. The wheel assembly realizes the movement of the steering wheel when it moves forward; the rudder assembly realizes the movement of the steering wheel when the steering wheel rotates, initializes the steering direction, and calibrates the rotation through the zero position sensor; the suspension assembly realizes the damping and buffering of the longitudinal motion of the steering wheel; the wiring assembly constrains the movement of various wires when the rudder rotates; the support plate is used for the connection and support of the wheel assembly and the wiring assembly with the rudder assembly.

Steering wheel structure for an omnidirectional mobile robot chassis

A steering wheel suspension structure of an omnidirectional mobile robot includes a steering wheel connecting ring, a plurality of leaf spring connecting beams and a chassis mounting section. The steering wheel suspension structure is an integrated plate structure. The steering wheel connecting ring is connected with a steering wheel, and the chassis mounting section is connected with a robot chassis. The leaf spring connecting beam is connected with the steering wheel connecting ring and the chassis mounting section, and the leaf spring connecting beam is used as the main component of suspension deformation. The suspension structure is simple, easy to install, light in weight, less in space, and highly integrated with the steering wheel assembly. When the suspension is deformed by the force, it weakens the radial force and only has the displacement and force in the vertical direction, thus ensuring the handling performance of the chassis.

Steering wheel suspension structure of omnidirectional mobile robot

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Beijing, China

Qingzhen Zhang