Patent ID: 7328759

Claim:
A mobile robot base with a decoupled turret mechanism, comprising: a turret rotatably placed on a support frame; a turret motor provided on the turret; an actuating motor unit provided on the turret to actuate a plurality of wheels; an actuating gear train unit coupled between the actuating motor unit and the plurality of wheels to transmit an actuating force generated from the actuating motor unit to a lower portion of the turret through a triple shaft mechanism; a turret gear train coupled between the turret and the turret motor, and comprising a first turret gear and a turret center gear, so that the turret motor rotates the turret on the support frame through the turret gear train; and a differential gear train unit coupled to both the turret gear train and the actuating motor unit to receive rotations of both the turret and the actuating motor unit, so that the differential gear train unit subtracts the rotation of the turret from the rotation of the actuating motor unit, thus transmitting a subtracted rotation to the plurality of wheels, and thus, only the rotation of the actuating motor unit is transmitted to the plurality of wheels.