| 摘要 |
PURPOSE: A moving robot base with structure of an endless rotation type decoupled turret is provided to improve working efficiency, to control a motor accurately, and to reduce power consumption by transmitting driving force of the driving motor on the turret revolving 360 angular degrees independently of rotation of the turret. CONSTITUTION: A turret motor(1) is installed on a turret(80) of a robot base(81), and a driving motor having a driving motor(2) and a steering motor(3) is fixed by a bracket. Driving force from the turret motor and the driving motor is transmitted to the lower part of the turret with triple-shaft structure, and the turret is rotated endlessly. The moving robot base is composed of a driving gear train(20) connecting the driving motor to wheels(90), and a turret gear train(10) comprising a first turret gear(11) and a turret center gear(12) and connecting the turret motor to the turret. First and second differential gear units(40,50) comprise input gears(42,52) engaged with the turret center gear, differential gear boxes(41,51) having second gears connected to the input gears, first gears connected to the driving motor and the steering motor and third gears connecting first and second gears, and output gears(43,53) installed outside the differential gear boxes and connected to the driving gear train and a steering gear train(30), and transmit driving force of the driving motor to the wheel by offsetting rotation of the turret from rotation of the driving motor.
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