CN113146569A - Wheel-distance-variable wheel-direction-adjustable three-wheel modular mobile robot - Google Patents

Abstract

The invention relates to the technical field of robots, in particular to a three-wheel modular mobile robot with a variable wheel track and an adjustable wheel direction. The device comprises a vehicle body, a wheel set module, universal wheels and a bracket; the vehicle body comprises at least three swing joint modules and at least two groups of swing joint modules; the swing joint modules are sequentially connected, two swing joint modules positioned at two ends after connection are respectively connected with one end of the top of one group of rotary joint modules, the swing joint modules are transversely arranged, and the rotary joint modules are vertically arranged; one end of the bottom of each group of rotary joint modules is respectively connected with a group of wheel set modules; one end of the support is connected with the swing joint module, and the other end of the support is connected with the universal wheel. By adopting a modular design method, reconstruction can be realized; the structure and the control are simple, and the whole robot is convenient and quick to disassemble and assemble; can realize the movement and the steering in any direction and has the function of omnibearing movement.

Description

Wheel-distance-variable wheel-direction-adjustable three-wheel modular mobile robot

Technical Field

The invention relates to the technical field of robots, in particular to a three-wheel modular mobile robot with a variable wheel track and an adjustable wheel direction.

Background

The mobile robot is the earliest and most widely applied robot in domestic and overseas research, and is a durable hotspot in robot research. It is the mobility of mobile robots that greatly expands the range of motion and the field of application of the robots. With the development of scientific technology, more and more mobile robots, such as service robots, transfer robots, fire robots, etc., are developed, which have the advantages of high automation degree, flexible application, safety, reliability, high work efficiency, etc., and thus are widely used.

The existing mobile robot has wheel type, crawler type and foot type. The medium-sized crawler-type mobile robot is driven by a crawler, has a large contact surface, is suitable for moving soft sandy soil and other ground surfaces, has good obstacle crossing performance and good off-road performance, and has large required driving force, high energy consumption, complex structure, large volume and heavy weight. The foot type mobile robot has the disadvantages of complex structure, difficult control, low moving speed, weak maneuverability and the like. Wheeled mobile robots are the most widespread and popular type due to their flexibility and rapidity of movement. The wheeled mobile robot comprises four wheels, three wheels, two wheels, a single wheel and other different structural forms. The four-wheel structure has good stability, but the structure is more complex, the cost is higher, and the flexibility of movement is slightly poor; the two wheels and the single wheel have simpler structures, good maneuverability and flexibility, poorer stability, more complex control and poorer adaptability to the environment, and are generally suitable for rolling on a relatively flat ground.

In the actual use process, the mobile robot is low in cost, strong in motion performance, quick in movement and stable and reliable in motion. The mobile robot having a three-wheel structure is interposed between the four-wheel mobile robot and the two-wheel/single-wheel mobile robot. The three-wheeled robot has a simpler structure than the four-wheeled robot and has better stability than the one-wheeled robot and the two-wheeled robot, thus having received much attention. However, at present, the flexibility and environmental adaptability of most three-wheeled robots are to be further improved, and the omnidirectional movement characteristic is not fully developed and realized, so it is very necessary to develop a three-wheeled robot which has a simple structure, is light, convenient and fast, can stably move, can realize omnidirectional movement, and can adapt to a complex environment.

Disclosure of Invention

In order to overcome at least one defect in the prior art, the invention provides the three-wheel modular mobile robot with the variable wheel track and the adjustable wheel direction, which can realize all-directional movement.

In order to solve the technical problems, the invention adopts the technical scheme that: a three-wheel modular mobile robot with a variable wheel track and an adjustable wheel direction comprises a robot body, a wheel set module, universal wheels and a support; the vehicle body comprises at least three swing joint modules and at least two rotation joint modules; the swing joint modules are sequentially connected, two swing joint modules positioned at two ends after connection are respectively connected with one end of the top of one rotary joint module, the swing joint modules are transversely arranged, and the rotary joint modules are vertically arranged; one end of the bottom of each rotary joint module is connected with a wheel set module respectively; one end of the support is connected with the swing joint module in the middle, and the other end of the support is connected with the universal wheel. In the invention, the vehicle body is of a modular structure and is formed by sequentially connecting and assembling the modules in series, and the connection sequence is as follows: the device comprises a wheel set module, a rotary joint module, a swing joint module, a rotary joint module and a wheel set module; the three swing joint modules are arranged in the horizontal direction, and the two groups of swing joint modules are arranged vertically; the rotary motion of the two rotary joint modules positioned at the two ends of the vehicle body can enable the wheel set modules connected with the two rotary joint modules to rotate around the axis of the rotary joint module, the direction of wheels in the wheel set modules is changed, the robot can move in any direction (front-back, left-right, oblique and the like) or the robot can turn (including in-situ zero-radius rotation), the swinging motion of the three swinging joint modules in the middle of the vehicle body enables the robot body to extend or bend, and the distance between the two wheel set modules of the mobile robot is changed to adapt to different environmental conditions. The invention adopts a modular design method, which can realize reconstruction; the structure and the control are simple, and the whole robot is convenient and quick to disassemble and assemble; the distance between the two wheel set modules can be changed by the design of the swing joint module, so that the device can adapt to different environments; through the rotary joint module, the direction of the wheels of the two wheel set modules can be changed, and the robot can move and steer in any direction and has an all-directional movement function; in addition, except that two sets of wheelset module drives, still added a set of universal wheel and supported, not only mobility is strong but also stability is better.

In one embodiment, the wheel set module comprises a first motor, a wheel carrier, a wheel, a small belt wheel, a large belt wheel and a synchronous belt; the first motor is fixed on the wheel carrier, the small belt wheel is connected with an output shaft of the first motor, the wheel is rotationally connected with the wheel carrier through a connecting piece, the large belt wheel is connected with the connecting piece, one end of the synchronous belt is wound on the small belt wheel, and the other end of the synchronous belt is wound on the large belt wheel; the wheel is driven to rotate by driving the large belt wheel to rotate. The small belt wheel is driven to rotate through the first motor, the synchronous belt is driven to rotate through the small belt wheel, so that the large belt wheel is driven to rotate, the large belt wheel is connected with the wheels through the connecting piece, the large belt wheel rotates, the connecting piece rotates together, the connecting piece drives the wheels to rotate, and finally the first motor is driven to move.

In one embodiment, the connecting member comprises a bearing and a rotating shaft, the bearing is mounted on the wheel carrier, the wheel is fixedly sleeved on the rotating shaft, the large belt wheel is fixedly sleeved on the rotating shaft, and one end of the rotating shaft is arranged on the bearing in a penetrating manner. The bearing is installed on the wheel carrier, and the pivot is connected with the bearing, through the setting of bearing and pivot, realizes that the rotation of wheel and wheel carrier is connected.

In one embodiment, the wheel carrier is further provided with a motor base, and the motor is arranged in the motor base.

In one embodiment, the rotating shaft is provided with a key groove, and the wheel is fixed on the rotating shaft through a key and a clamping spring.

In one embodiment, the swing joint module comprises a first base, a first joint output piece, a first driving motor and a first power transmission mechanism; the inside of the first base is divided into a first driving motor mounting cavity and a first power transmission mechanism mounting cavity by a first partition plate, and the axes of the two cavities are vertical to each other; the first driving motor is arranged in the first driving motor mounting cavity; the first power transmission mechanism is arranged in the first power transmission mechanism mounting cavity and comprises a bevel gear transmission mechanism and a first harmonic reducer, a main shaft of the first driving motor penetrates through the first partition plate to be connected with a driving bevel gear in the bevel gear transmission mechanism, a driven bevel gear in the bevel gear transmission mechanism is connected with the first harmonic reducer, and the first joint output part is connected to the first harmonic reducer; the axis of the first harmonic reducer is vertical to the axis of the first driving motor spindle; the first partition plate is provided with a wiring hole for communicating the first driving motor installation cavity and the first power transmission mechanism installation cavity, the interior of the first harmonic speed reducer is of a hollow structure, the hollow part of the first harmonic speed reducer forms the wiring hole, one end of the wiring hole is communicated with the first power transmission mechanism installation cavity, and the other end of the wiring hole is communicated with the wiring hole arranged on the first joint output piece; the first joint output piece comprises a first connecting end used for being connected with the first base and a second connecting end used for being connected with other joint modules, an installation inner cavity used for containing and connecting the first harmonic speed reducer is arranged in the first connecting end, and an opening of the installation inner cavity is butted with an opening of a first power transmission mechanism installation cavity in the first base; the opening direction of a first power transmission mechanism mounting cavity of the first base is perpendicular to the axis of the first driving motor spindle, and the direction of an opening of the mounting inner cavity is perpendicular to the axis of the first driving motor spindle.

In one embodiment, a joint zero position and limit position detection device is arranged between the first harmonic speed reducer and the first joint output member, and comprises a zero position Hall element, two limit position Hall elements and a trigger magnet, wherein the trigger magnet is arranged on a fixed part of the first harmonic speed reducer, and the zero position Hall element and the two limit position Hall elements are arranged in the circumferential direction of the first joint output member; when the first joint output piece is located at the zero position, the triggering magnet is opposite to the front faces of the zero position Hall elements, and when the first joint output piece is located at the two limit positions, the triggering magnet is opposite to the front faces of the two limit Hall elements respectively. The detection of the zero position and the two swing limit positions of the joint output piece is realized through the joint zero position and limit position detection device, so that the joint output piece is controlled to quickly return to the zero position in the working process and is prevented from swinging beyond the limit position of the set movable range. The position detection is realized by adopting the electromagnet and the Hall element, the size of the part is small, the part is easy to be embedded into other parts, the installation is simple and convenient, the mechanical contact and abrasion are avoided, and the reliability is good.

In one embodiment, the first harmonic reducer comprises a first wave generator, a first flexible gear and a first output steel gear, wherein the first wave generator is of a hollow structure, one end of the first wave generator is connected with a driven bevel gear in a bevel gear transmission mechanism, and the first output steel gear is connected with a first joint output member; the axis of the first wave generator is vertical to the axis of the column shaft of the first driving motor.

In one embodiment, the rotary joint module comprises a second base, a second joint output piece, a second driving motor and a second power transmission mechanism; the interior of the second base is divided into a second driving motor mounting cavity and a second power transmission mechanism mounting cavity by a second partition plate along the axis direction; the second driving motor is arranged in the second driving motor mounting cavity; the second power transmission mechanism is arranged in a second power transmission mechanism mounting cavity and comprises a cylindrical gear transmission mechanism and a second harmonic reducer, a main shaft of the second driving motor penetrates through the second separation plate to be connected with a second driving gear in the cylindrical gear transmission mechanism, a second driven gear in the cylindrical gear transmission mechanism is coaxially connected with the second harmonic reducer, and the second joint output part is connected to the second harmonic reducer; the second harmonic reducer is internally of a hollow structure, and the end part of the hollow part of the second partition plate and the second harmonic reducer is provided with a conductive slip ring.

In one embodiment, the second harmonic reducer comprises a second wave generator, a second flexible gear, a second output rigid gear and a crossed roller bearing, wherein the second wave generator is of a hollow structure, one end of the second wave generator is fixedly connected with a second driven gear in the cylindrical gear transmission mechanism through a set screw, an outer ring of the crossed roller bearing is fixedly connected with a second base through a screw, and an inner ring of the crossed roller bearing is connected with the second output rigid gear and a second joint output member through screws.

Compared with the prior art, the beneficial effects are: the three-wheel modular robot with the variable wheel track and the adjustable wheel direction, provided by the invention, can realize reconstruction by adopting a modular design method; the structure and the control are simple, and the whole robot is convenient and quick to disassemble and assemble; the distance between the two wheel set modules can be changed by the design of the swing joint module, so that the device can adapt to different environments; through the rotary joint module, the direction of the wheels of the two wheel set modules can be changed, and the robot can move and steer in any direction and has an all-directional movement function; in addition, except that two sets of wheelset module drives, still added a set of universal wheel and supported, not only mobility is strong but also stability is better.

Drawings

FIG. 1 is a schematic diagram of the robot moving in the y-axis direction according to the present invention.

Fig. 2 is a schematic diagram of the x-axis movement of the robot of the present invention.

Fig. 3 is a schematic view of a zero radius rotation of the robot of the present invention.

FIG. 4 is a schematic view of the connection between the caster and the bracket of the present invention.

FIG. 5 is an exploded view of the wheel assembly module of the present invention.

FIG. 6 is a schematic view of the overall structure of the wheel set module of the present invention.

Fig. 7 is a schematic view of the overall structure of the revolute joint module according to the present invention.

Fig. 8 is a schematic view of the internal structure of the revolute joint module according to the present invention.

Fig. 9 is a schematic view of the overall structure of the swing joint module of the present invention.

Fig. 10 is a schematic view of the internal structure of the swing joint module of the present invention.

In the figure: 1. a swing joint module; 101. a first base; 102. a first joint output; 103. a first drive motor; 104. a drive bevel gear; 105. a driven bevel gear; 106. a wiring hole; 107. a zero position Hall element; 108. a trigger magnet; 109. a first wave generator; 110. a first flexspline; 111. a first output steel wheel; 2. a revolute joint module; 20. a second base; 21. a second joint output; 22. a second drive motor; 23. a second driving gear; 24. a second driven gear; 25. a second wave generator; 26. a second flexspline; 27. a second output rigid wheel; 28. a crossed roller bearing; 29. a conductive slip ring; 3. a wheel set module; 31. a first motor; 32. a wheel carrier; 33. a wheel; 34. a small belt pulley; 35. a large belt pulley; 36. a synchronous belt; 37. a bearing; 38. a rotating shaft; 39. a motor base; 4. a universal wheel; 5. and (4) a bracket.

Detailed Description

The drawings are for illustration purposes only and are not to be construed as limiting the invention; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the invention.

As shown in fig. 1 to 3, a three-wheel modular mobile robot with a variable wheel track and an adjustable wheel direction comprises a vehicle body, a wheel set module 3, a universal wheel 4 and a support 5; the vehicle body comprises at least three swing joint modules 1 and at least two rotation joint modules 2; the swing joint modules 1 are sequentially connected, two swing joint modules 1 positioned at two ends after connection are respectively connected with one end of the top of one rotation joint module 2, the swing joint modules 1 are transversely arranged, and the rotation joint modules 2 are vertically arranged; one end of the bottom of each rotary joint module 2 is respectively connected with a group of wheel set modules 3; one end of the bracket 5 is connected with the swing joint module 1 positioned in the middle, and the other end is connected with the universal wheel 4. In the invention, the vehicle body is of a modular structure and is formed by sequentially connecting and assembling the modules in series, and the connection sequence is as follows: the wheel set module 3, the rotary joint module 2, the swing joint module 1, the rotary joint module 2 and the wheel set module 3 are arranged in sequence; wherein, the three groups of swing joint modules 1 are arranged in the horizontal direction, and the two groups of swing joint modules 2 are arranged vertically; the rotary motion of the two rotary joint modules 2 positioned at the two ends of the vehicle body can enable the wheel set modules 3 connected with the two rotary joint modules to rotate around the axis of the rotary joint module 2, the direction of wheels 33 in the wheel set modules 3 is changed, the robot can move along any direction (front-back, left-right, oblique and the like), or the robot can turn (including in-situ zero-radius rotation), the swinging motion of the three swinging joint modules 1 in the middle of the vehicle body enables the robot body to extend or bend, and the distance between the two wheel set modules 3 of the mobile robot is changed to adapt to different environmental conditions. The invention adopts a modular design method, which can realize reconstruction; the structure and the control are simple, and the whole robot is convenient and quick to disassemble and assemble; the distance between the two wheel set modules 3 can be changed by the design of the swing joint module 1, so that the device can adapt to different environments; through the rotary joint module 2, the direction of the wheels 33 of the two wheel set modules 3 can be changed, the robot can move and turn in any direction, and the robot has an all-directional movement function; in addition, except that two sets of wheelset modules 3 drive, still added a set of universal wheel 4 and supported, not only mobility is strong but also stability is better.

In one embodiment, as shown in fig. 4 and 5, the wheel set module 3 includes a first motor 31, a wheel carrier 32, a wheel 33, a small pulley 34, a large pulley 35, and a synchronous belt 36; the first motor 31 is fixed on the wheel carrier 32, the small belt wheel 34 is connected with the output shaft of the first motor 31, the wheel 33 is rotatably connected with the wheel carrier 32 through a connecting piece, the large belt wheel 35 is connected with the connecting piece, one end of the synchronous belt 36 is wound on the small belt wheel 34, and the other end is wound on the large belt wheel 35; the wheel 33 is driven to rotate by driving the large pulley 35 to rotate. Drive little band pulley 34 through first motor 31 and rotate, little band pulley 34 drives hold-in range 36 and rotates to drive big band pulley 35 and rotate, big band pulley 35 passes through the connecting piece and is connected with wheel 33, and big band pulley 35 rotates, and the connecting piece then rotates together, and the connecting piece drives wheel 33 again and rotates, finally realizes that first motor 31 drives wheel 33 and moves.

In one embodiment, the connecting member includes a bearing 37 and a rotating shaft 38, the bearing 37 is mounted on the wheel frame 32, the wheel 33 is fixedly sleeved on the rotating shaft 38, the large belt wheel 35 is fixedly sleeved on the rotating shaft 38, and one end of the rotating shaft 38 is arranged on the bearing 37 in a penetrating manner. The bearing 37 is installed on the wheel carrier 32, the rotating shaft 38 is connected with the bearing 37, and the rotating connection between the wheel 33 and the wheel carrier 32 is realized through the arrangement of the bearing 37 and the rotating shaft 38.

In one embodiment, the wheel frame 32 is further provided with a motor seat 39, and the motor is installed in the motor seat 39.

In one embodiment, the shaft 38 is provided with a key slot, and the wheel 33 is fixed on the shaft 38 through a key and a snap spring.

In one embodiment, as shown in fig. 9 and 10, the swing joint module 1 includes a first base 101, a first joint output member 102, a first driving motor 103, and a first power transmission mechanism; the inside of the first base 101 is divided into a first driving motor installation cavity and a first power transmission mechanism installation cavity by a first partition plate, and the axes of the two cavities are vertical to each other; the first driving motor 103 is arranged in the first driving motor installation cavity; the first power transmission mechanism is arranged in the first power transmission mechanism mounting cavity and comprises a bevel gear transmission mechanism and a first harmonic reducer, a main shaft of the first driving motor 103 penetrates through the first partition plate to be connected with a driving bevel gear 104 in the bevel gear transmission mechanism, a driven bevel gear 105 in the bevel gear transmission mechanism is connected with the first harmonic reducer, and the first joint output part 102 is connected to the first harmonic reducer; the axis of the first harmonic reducer is vertical to the axis of the main shaft of the first driving motor 103; the first partition plate is provided with a wiring hole 106 communicating a first driving motor installation cavity and a first power transmission mechanism installation cavity, the interior of the first harmonic speed reducer is of a hollow structure, a hollow part of the first harmonic speed reducer forms the wiring hole 106, one end of the wiring hole 106 is communicated with the first power transmission mechanism installation cavity, and the other end of the wiring hole 106 is communicated with the wiring hole 106 arranged on the first joint output piece 102; the first joint output part 102 comprises a first connecting end used for being connected with the first base 101 and a second connecting end used for being connected with other joint modules, wherein a mounting inner cavity used for accommodating and connecting a first harmonic reducer is arranged in the first connecting end, and an opening of the mounting inner cavity is butted with an opening of a first power transmission mechanism mounting cavity in the first base 101; through the structure, the joint output piece is tightly butted with the first base 101, so that the appearance is neat and attractive; and the space formed by the first power transmission mechanism mounting cavity and the mounting inner cavity provides mounting space for the first power transmission mechanism, and the structure is compact and the assembly is convenient. The opening direction of the first power transmission mechanism mounting cavity of the first base 101 is perpendicular to the axis of the main shaft of the first driving motor 103, and the opening direction of the mounting cavity is perpendicular to the axis of the main shaft of the first driving motor 103.

In one embodiment, a joint zero position and limit position detection device is arranged between the first harmonic speed reducer and the first joint output member 102, and comprises a zero position hall element 107, two limit position hall elements and a trigger magnet 108, wherein the trigger magnet 108 is arranged on a fixed part of the first harmonic speed reducer, and the zero position hall element 107 and the two limit position hall elements are arranged in the circumferential direction of the first joint output member 102; when the first joint output member 102 is located at the zero position, the trigger magnet 108 is in front-facing opposition to the zero position hall element 107, and when the first joint output member 102 is located at the two extreme positions, the trigger magnet 108 is in front-facing opposition to the two extreme hall elements, respectively. The detection of the zero position and the two swing limit positions of the joint output piece is realized through the joint zero position and limit position detection device, so that the joint output piece is controlled to quickly return to the zero position in the working process and is prevented from swinging beyond the limit position of the set movable range. The position detection is realized by adopting the electromagnet and the Hall element, the size of the part is small, the part is easy to be embedded into other parts, the installation is simple and convenient, the mechanical contact and abrasion are avoided, and the reliability is good.

The principle of the joint zero position and limit detection device is as follows: the position relationship between the first joint output part 102 and the first base 101 when the front surfaces of the two pieces of the trigger magnet 108 and the zero-position hall element 107 are opposite is defined as a zero position, at this time, the axes of the first joint output part 102 and the first base 101 are parallel, and the whole swing joint module 1 is in a straight state. When the joint module needs to return to the zero position at a non-zero position, the drive controller sends a signal to enable the first drive motor 103 to rotate, so that the first joint output member 102 is driven to swing towards one direction, the trigger magnet 108 moves along with the first joint member, in the process, if the front faces of the trigger magnet 108 and the zero position Hall element 107 are opposite, the zero position signal is triggered to enable the first drive motor 103 to stop, and if the front faces of the trigger magnet and the zero position Hall element are opposite, the limit signal is triggered to enable the first drive motor 103 to rotate reversely until the zero position signal is triggered. When the swing joint module 1 swings, the trigger magnet 108 moves relative to the first base 101 along with the first joint output part 102, and is represented as the trigger magnet 108 approaching or a limit hall element corresponding to the principle, in the approaching process, if the distance between the trigger magnet 108 and the limit hall element is about 3mm, the limit hall element is triggered to send a corresponding limit signal to the controller, and the swing joint module 1 cannot swing to the direction, so that the function of a limit switch is achieved.

In one embodiment, the first harmonic reducer comprises a first wave generator 109, a first flexible gear 110 and a first output steel gear 111, wherein the first wave generator 109 is of a hollow structure, one end of the first wave generator 109 is connected with a driven bevel gear 105 in a bevel gear transmission mechanism, and the first output steel gear 111 is connected with a first joint output member 102; the axis of the first wave generator 109 is perpendicular to the column axis of the first drive motor 103.

In the first harmonic reducer, a power input end and a power output end of the first harmonic reducer are respectively provided with an input end bearing 37 end cover and an output end bearing 37 end cover, the first harmonic reducer is internally provided with a first crossed roller bearing 28, an inner ring of the first crossed roller bearing 28 is connected with an output steel wheel through screws, an outer ring of the first crossed roller bearing 28 is connected with the input end bearing 37 end cover through screws, the input end bearing 37 end cover and an outer ring of the crossed roller bearing 28 are fixedly connected with a first base 101 through fixing screws, the output end bearing 37 end cover is fixedly connected with a first output steel wheel 111 and is simultaneously connected with a first joint output member 102 through screws, and therefore power of the first output steel wheel 111 is transmitted to the first joint output member 102.

In one embodiment, as shown in fig. 7 and 8, the swing joint module 2 includes a second base 20, a second joint output member 21, a second driving motor 22, and a second power transmission mechanism; the inside of the second base 20 is divided into a second driving motor installation cavity and a second power transmission mechanism installation cavity by a second partition plate along the axis direction; the second driving motor 22 is arranged in the second driving motor installation cavity; the second power transmission mechanism is arranged in a second power transmission mechanism mounting cavity and comprises a cylindrical gear transmission mechanism and a second harmonic reducer, a main shaft of the second driving motor 22 penetrates through the second separation plate to be connected with a second driving gear 23 in the cylindrical gear transmission mechanism, a second driven gear 24 in the cylindrical gear transmission mechanism is coaxially connected with the second harmonic reducer, and the second joint output part 21 is connected to the second harmonic reducer; the interior of the second harmonic reducer is of a hollow structure, and the end part of the hollow part of the second partition plate and the second harmonic reducer is provided with a conductive slip ring 29.

In one embodiment, the second harmonic reducer includes a second wave generator 25, a second flexible gear 26, a second output rigid gear 27, and a crossed roller bearing 28, wherein the second wave generator 25 is a hollow structure, one end of the second wave generator 25 is fixedly connected with the second driven gear 24 in the cylindrical gear transmission mechanism through a set screw, an outer ring of the crossed roller bearing 28 is fixedly connected with the second base 20 through a screw, and an inner ring of the crossed roller bearing 28 is connected with the second output rigid gear 27 and the second joint output member 21 through screws. The axes of the second base 20, the second joint output member 21 and the second harmonic reducer are overlapped, and the power transmission of the driven gear to the second joint output member 21 is realized through the structure, so that the structure is compact.

The second base 20 and the second joint output member 21 are cylindrical bodies having the same diameter, and the second joint output member 21 has a mounting cavity therein for accommodating and connecting a second harmonic reducer, and an opening of the mounting cavity is butted against an opening of a second power transmission mechanism mounting cavity in the second base 20. Through the structure, the second joint output piece 21 is tightly butted with the second base 20, so that the appearance is neat and attractive; and the space formed by the second power transmission mechanism mounting cavity and the mounting inner cavity provides mounting space for the second power transmission mechanism, and the structure is compact and the assembly is convenient.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A three-wheel modular mobile robot with a variable wheel track and an adjustable wheel direction is characterized by comprising a robot body, a wheel set module (3), universal wheels (4) and a support (5); the vehicle body comprises at least three swing joint modules (1) and at least two rotation joint modules (2); the swing joint modules (1) are sequentially connected, two swing joint modules (1) positioned at two ends after connection are respectively connected with one end of the top of one rotary joint module (2), the swing joint modules (1) are transversely arranged, and the rotary joint modules (2) are vertically arranged; one end of the bottom of each rotary joint module (2) is connected with a wheel set module (3) respectively; one end of the support (5) is connected with the swing joint module (1) positioned in the middle, and the other end of the support is connected with the universal wheel (4).

2. The three-wheel modular mobile robot with the variable wheel track and the adjustable wheel direction according to claim 1, characterized in that the wheel set module (3) comprises a first motor (31), a wheel carrier (32), a wheel (33), a small belt wheel (34), a large belt wheel (35) and a synchronous belt (36); the first motor (31) is fixed on the wheel carrier (32), the small belt wheel (34) is connected with an output shaft of the first motor (31), the wheel (33) is rotationally connected with the wheel carrier (32) through a connecting piece, the large belt wheel (35) is connected with the connecting piece, one end of the synchronous belt (36) is wound on the small belt wheel (34), and the other end of the synchronous belt is wound on the large belt wheel (35); the wheel (33) is driven to rotate by driving the large belt wheel (35) to rotate.

3. The modular mobile robot with three wheels and adjustable track distance according to claim 2, wherein the connecting member comprises a bearing (37) and a rotating shaft (38), the bearing (37) is mounted on the wheel frame (32), the wheel (33) is fixedly sleeved on the rotating shaft (38), the large belt wheel (35) is fixedly sleeved on the rotating shaft (38), and one end of the rotating shaft (38) is arranged on the bearing (37) in a penetrating manner.

4. The modular mobile robot with three wheels and adjustable wheel track according to claim 2 is characterized in that the wheel carrier (32) is further provided with a motor base (39), and the motor is installed in the motor base (39).

5. The three-wheeled modular mobile robot with the variable wheel track and the adjustable wheel direction as claimed in claim 3, wherein the rotating shaft (38) is provided with a key slot, and the wheel (33) is fixed on the rotating shaft (38) through a key and a clamping spring.

6. The modular mobile robot with three wheels and adjustable wheel track according to any one of claims 1 to 5, characterized in that the swing joint module (1) comprises a first base (101), a first joint output member (102), a first driving motor (103) and a first power transmission mechanism;

the interior of the first base (101) is divided into a first driving motor mounting cavity and a first power transmission mechanism mounting cavity by a first partition plate, and the axes of the two cavities are vertical to each other; the first driving motor (103) is arranged in the first driving motor mounting cavity; the first power transmission mechanism is arranged in the first power transmission mechanism mounting cavity and comprises a bevel gear transmission mechanism and a first harmonic reducer, a main shaft of the first driving motor (103) penetrates through the first partition plate to be connected with a driving bevel gear (104) in the bevel gear transmission mechanism, a driven bevel gear (105) in the bevel gear transmission mechanism is connected with the first harmonic reducer, and the first joint output part (102) is connected to the first harmonic reducer; the axis of the first harmonic reducer is vertical to the axis of a main shaft of a first driving motor (103);

the first partition plate is provided with a wiring hole (106) communicated with the first driving motor installation cavity and the first power transmission mechanism installation cavity, the interior of the first harmonic speed reducer is of a hollow structure, a hollow part of the first harmonic speed reducer forms the wiring hole (106), one end of the wiring hole (106) is communicated with the first power transmission mechanism installation cavity, and the other end of the wiring hole is communicated with the wiring hole (106) formed in the first joint output piece (102);

the first joint output piece (102) comprises a first connecting end used for being connected with the first base (101) and a second connecting end used for being connected with other joint modules, a mounting inner cavity used for accommodating and connecting a first harmonic reducer is arranged in the first connecting end, and an opening of the mounting inner cavity is butted with an opening of a first power transmission mechanism mounting cavity in the first base (101);

the opening direction of a first power transmission mechanism mounting cavity of the first base (101) is perpendicular to the axis of a main shaft of the first driving motor (103), and the direction of the opening of the mounting cavity is perpendicular to the axis of the main shaft of the first driving motor (103).

7. The three-wheel modular mobile robot with the variable wheel track and the adjustable wheel direction according to claim 6, characterized in that a joint zero position and limit position detection device is arranged between the first harmonic speed reducer and the first joint output member (102), and comprises a zero position Hall element (107), two limit position Hall elements and a trigger magnet (108), wherein the trigger magnet (108) is arranged on a fixed part of the first harmonic speed reducer, and the zero position Hall element (107) and the two limit position Hall elements are arranged in the circumferential direction of the first joint output member (102); when the first joint output member (102) is located at the zero position, the trigger magnet (108) is opposite to the front face of the zero position Hall element (107), and when the first joint output member (102) is located at two limit positions, the trigger magnet (108) is opposite to the front faces of the two limit Hall elements respectively.

8. The three-wheel modular mobile robot with the adjustable wheel track according to claim 6, characterized in that the first harmonic reducer comprises a first wave generator (109), a first flexible wheel (110) and a first output steel wheel (111), wherein the first wave generator (109) is of a hollow structure, one end of the first wave generator (109) is connected with a driven bevel gear (105) in a bevel gear transmission mechanism, and the first output steel wheel (111) is connected with a first joint output member (102); the axis of the first wave generator (109) is vertical to the column shaft axis of the first driving motor (103).

9. The modular mobile robot with three wheels and adjustable wheel track according to any one of claims 1 to 5, characterized in that the revolute joint module (2) comprises a second base (20), a second joint output member (21), a second driving motor (22) and a second power transmission mechanism;

the interior of the second base (20) is divided into a second driving motor installation cavity and a second power transmission mechanism installation cavity by a second partition plate along the axis direction; the second driving motor (22) is arranged in the second driving motor mounting cavity; the second power transmission mechanism is arranged in a second power transmission mechanism mounting cavity and comprises a cylindrical gear transmission mechanism and a second harmonic reducer, a main shaft of the second driving motor (22) penetrates through the second separation plate to be connected with a second driving gear (23) in the cylindrical gear transmission mechanism, a second driven gear (24) in the cylindrical gear transmission mechanism is coaxially connected with the second harmonic reducer, and the second joint output part (21) is connected to the second harmonic reducer;

the interior of the second harmonic reducer is of a hollow structure, and a conductive slip ring (29) is arranged at the end part of the hollow part of the second partition plate and the second harmonic reducer.

10. The three-wheel modular mobile robot with the adjustable wheel track according to claim 9, wherein the second harmonic reducer comprises a second wave generator (25), a second flexible wheel (26), a second output rigid wheel (27) and a crossed roller bearing (28), wherein the second wave generator (25) is of a hollow structure, one end of the second wave generator (25) is fixedly connected with a second driven gear (24) in the cylindrical gear transmission mechanism through a set screw, the outer ring of the crossed roller bearing (28) is fixedly connected with the second base (20) through a screw, and the inner ring of the crossed roller bearing (28) is connected with the second output rigid wheel (27) and the second joint output member (21) through screws.

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