CN115366989A

CN115366989A - All-terrain wheeled robot chassis

Info

Publication number: CN115366989A
Application number: CN202210846588.7A
Authority: CN
Inventors: 宋海峰; 严俊春; 韩冰; 李健; 陈卫华; 谢坤廷; 钱江红
Original assignee: Suzhou Xinding Emergency Equipment Technology Co ltd
Current assignee: Suzhou Xinding Emergency Equipment Technology Co ltd
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2022-11-22

Abstract

The invention discloses a full-terrain wheeled robot chassis; the two driving mechanisms are arranged on two sides of the chassis frame; each of the drive mechanisms includes at least: the device comprises a driving motor, a rotary bearing seat, a first swing arm, a second swing arm, a first wheel and a second wheel; a rotating shaft of the driving motor penetrates through the rotating bearing seat arranged on the chassis frame, and the rotating shaft is superposed with the axis of the rotating bearing seat; the first swing arm with the equal pivot setting of one end of second swing arm is in on the rotating bearing seat, the first swing arm with the other end of second swing arm drives respectively and is provided with first wheel and second wheel, just first swing arm with be formed with the contained angle between the second swing arm. The all-terrain wheeled robot chassis has stronger cross-country obstacle crossing capability and high adaptability to various terrains.

Description

All-terrain wheeled robot chassis

Technical Field

The invention relates to a chassis, in particular to an all-terrain wheeled robot chassis.

Background

The following robot integrates multiple functions of environment sensing, dynamic path planning, behavior control and execution and the like, and under the environments of surrounding areas of cities, high-risk and complex working conditions and the like, a chassis of the following robot can carry different loads and task modules to complete tasks such as reconnaissance and observation, fire fighting and extinguishment, material transportation on rugged mountain pavements and the like, so that the following robot plays more and more important roles in the civil field, the future war and other military fields.

In recent years, research on unmanned platforms has advanced greatly, but researchers mostly focus on the technical fields of image recognition, communication, positioning, environmental perception, system control and the like, and research on chassis and walking mechanisms is weak. The unmanned platform developed at present can realize unmanned driving on a highway, but the adaptability to terrain and ground objects such as field jungles is still very limited.

The existing various unmanned platforms mostly need to adjust the states of wheel legs when crossing obstacles in cross country, so that the operation is complex, time and labor are wasted, the high adaptability to various terrains is not provided, the steering in narrow regions is not flexible enough, the improvement of the overall level of the unmanned platform is seriously influenced, and the practical application of the unmanned platform is limited to a certain extent.

It is noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide an all-terrain wheeled robot chassis with both cross-country and obstacle-crossing functions, which has excellent terrain adaptability and obstacle-crossing capability. Each wheel not only can rotate independently, but also is relatively independent to ground and ground due to the fact that each wheel is provided with the independent swing arm.

To achieve the above object, an all-terrain wheeled robot chassis includes:

a chassis frame; the two driving mechanisms are arranged on two sides of the chassis frame; each drive mechanism includes at least: the device comprises a driving motor, a rotary bearing seat, a first swing arm, a second swing arm, a first wheel and a second wheel; a rotating shaft of the driving motor penetrates through a rotating bearing seat arranged on the chassis frame, and the rotating shaft is superposed with the axis of the rotating bearing seat; one ends of the first swing arm and the second swing arm are both arranged on the rotating bearing seat in a pivoting mode, the other ends of the first swing arm and the second swing arm are respectively provided with a first wheel and a second wheel in a driving mode, and an included angle is formed between the first swing arm and the second swing arm.

In a preferred embodiment of the present invention, a first end of the first swing arm is pivotally connected to the rotating bearing seat, the first end of the first swing arm can rotate around the rotating bearing seat, and a second end of the first swing arm is pivotally connected to a first wheel; the first end of the second swing arm is pivotally connected to the rotary bearing seat and can rotate by taking the rotary bearing as a shaft, and the second end of the second swing arm is provided with a second wheel; the rotating shaft is connected with the first wheel through a first transmission piece so as to drive the first wheel to rotate; the rotating shaft is connected with the second wheel through a second transmission piece so as to drive the second wheel to rotate.

In a preferred embodiment of the invention, the number of the driving mechanisms is four, and the four driving mechanisms are symmetrically distributed on two sides of the chassis frame.

In a preferred embodiment of the invention, a first shock absorber is arranged between the first swing arm and the chassis frame; a second shock absorber is arranged between the second swing arm and the chassis frame.

In a preferred embodiment of the present invention, the first transmission member includes: the first driven chain wheel is arranged at the power shaft end of the first wheel and corresponds to the driving chain wheel arranged at the tail end of the rotating shaft; a first transmission chain for driving and connecting the driving chain wheel and the first driven chain wheel; the second transmission member includes: the second driven chain wheel is arranged at the power shaft end of the second wheel and corresponds to the driving chain wheel arranged at the tail end of the rotating shaft; and the second transmission chain is used for driving and connecting the driving chain wheel and the second driven chain wheel.

In a preferred embodiment of the present invention, each of the driving mechanisms further comprises: the first upper limiting block is used for limiting the upward maximum swing amplitude of the first swing arm; the second upper limiting block is used for limiting the upward maximum swing amplitude of the second swing arm; the first lower limiting block is used for limiting the downward maximum swing amplitude of the first swing arm; and the second lower limiting block is used for limiting the downward maximum swing amplitude of the second swing arm.

In a preferred embodiment of the invention, a detachable shaft head lock is arranged at the center of the hub of the first wheel or/and the second wheel;

in a preferred embodiment of the present invention, the shaft head lock comprises: a spindle head lock body connected with the hub; the spindle head lock switch is rotatably arranged outside the spindle head lock body; a sliding sleeve, a spindle nose lock compression spring and spindle nose lock sliding teeth are sequentially distributed in the spindle nose lock body in the axial direction; the rotation of the spindle head lock switch can enable the sliding sleeve, the spindle head lock compression spring and the spindle head lock sliding teeth to axially move, so that the spindle head lock sliding teeth are meshed with or separated from the end part of the wheel power shaft.

In a preferred embodiment of the invention, the travel tracks of the hubs of the first wheel and the second wheel of each driving mechanism are on a straight line; or/and the driving mechanism located on the same side of the chassis frame has a running track on a straight line.

In a preferred embodiment of the present invention, the driving mechanism further includes a flange for connecting the chassis frame and the driving motor, and the flange is an integrally formed structure.

The invention achieves the following beneficial effects:

because each driving mechanism of the invention has two wheels, and each wheel not only can rotate independently, and meanwhile, because each wheel has an independent swing arm, the ground and the ground of each wheel are relatively independent and are not limited by other wheels, therefore, the whole chassis has stronger cross-country and obstacle-crossing capabilities, stronger adaptability to terrains, no need of adjusting the states of wheel legs, simple and convenient operation, time and labor saving, and can realize the function of directly crossing ground obstacles without speed reduction and posture adjustment.

Drawings

FIG. 1 is a schematic axial view of the overall structure in a preferred embodiment of the invention;

FIG. 2 is a schematic front view of the overall structure in the preferred embodiment of the present invention;

FIG. 3 is a schematic top view of the overall structure in a preferred embodiment of the invention;

FIG. 4 is a schematic structural view of the overall structure in a preferred embodiment of the present invention (with the first wheel of one of the drive mechanisms swinging upward as it traverses an obstacle);

FIG. 5 is a schematic top view of the overall structure in a preferred embodiment of the invention;

FIG. 6 is a schematic axial view of the combination of the rotary bearing housing and the driving motor according to the preferred embodiment of the present invention;

FIG. 7 is a schematic sectional view of the combination of the rotary bearing seat and the driving motor in the preferred embodiment of the present invention;

FIG. 8 is a schematic axial view of a first swing arm of the driving mechanism according to the preferred embodiment of the present invention;

FIG. 9 is a schematic sectional view of a first swing arm of the driving mechanism according to the preferred embodiment of the present invention;

FIG. 10 is a first schematic axial view of a first swing arm and a second swing arm of the driving mechanism according to the preferred embodiment of the present invention (the first swing arm and the second swing arm are mounted on a driving sprocket);

FIG. 11 is a second schematic axial view of the driving mechanism of the preferred embodiment of the present invention with the first and second swing arms;

FIG. 12 is a cross-sectional view of the rotary bearing support of the driving mechanism in accordance with the preferred embodiment of the present invention;

FIG. 13 is a first schematic view of the spindle head lock configuration in the preferred embodiment of the present invention (spindle head lock open);

FIG. 14 is a schematic view of the spindle head lock structure in the preferred embodiment of the present invention II (the spindle head lock is closed, i.e. locked);

in the figure: the device comprises a chassis frame-1, a power mechanism-1 a, a hanging port-1 b, a driving mechanism-2, a flange-3 a, a driving motor-3 b, a rotary bearing seat-4, a first swing arm-5, a shock absorber connecting end-5 a, a second swing arm-6, a first wheel-7, a first transmission piece-7 a, a second wheel-8, a second transmission piece-8 a, a first shock absorber-10, a second shock absorber-11, a driving chain wheel-12, a first driven chain wheel-13, a second driven chain wheel-14, a first transmission chain-15 a, a second transmission chain-15 b, a first upper limiting block-16 a, a first lower limiting block-16 b, a second upper limiting block-17 a, a second lower limiting block-17 b, a rotating shaft-20, a shaft head lock-30, a shaft head lock body-30 a, a shaft head lock switch-30 b, a sliding sleeve-30 c, a shaft head lock compression spring-30 d, a shaft head lock-30 e and a lock-A included angle.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

Referring to fig. 1~5, an all-terrain wheeled robot chassis of the present invention comprises: the chassis frame 1 is provided with a power mechanism 1a and four driving mechanisms 2 in driving connection with the power mechanism 1a, and the four driving mechanisms 2 are symmetrically distributed on two sides of the chassis frame 1. And the chassis frame 1 is also provided with a hanging port 1b.

As shown in fig. 6 to 11, each of the drive mechanisms 2 includes: flange 3a, driving motor 3b, rotating bearing seat 4, first swing arm 5, second swing arm 6, first wheel 7 and second wheel 8. As shown in fig. 3, the center driving paths of the first wheel 7 and the second wheel 8 of the four driving mechanisms 2 on the same side of the chassis frame 1 are on the same straight line. The driving sprocket 12 has a double gear structure for mounting the second drive chain 15b and the first drive chain 15a, respectively.

The integrated into one piece structure that flange 3a adopted has the first face of connecting driving motor 3b and the second face of connecting chassis frame 1, and rotating bearing frame 4 is installed between first face and the second face, and rotating shaft 20 that driving motor 3b is used for power take off passes rotating bearing frame 4, and rotating shaft 20 and rotating bearing frame 4's axis coincide mutually, and driving sprocket 12 is installed to the end of rotating shaft 20. And, the rotary bearing seat 4 is provided with independent two-side pivot grooves for respectively installing one ends of the first swing arm 5 and the second swing arm 6. Specifically, an included angle A is formed between the first swing arm 5 and the second swing arm 6, and the size of the included angle A can be adjusted according to the size of the wheel; the first end of the first swing arm 5 is sleeved on the rotating bearing seat 4, the first end of the first swing arm 5 can rotate by taking the rotating bearing seat 4 as a shaft, and the second end of the first swing arm 5 is provided with a first wheel 7; the first end suit of second swing arm 6 is on rotatory bearing frame 4, and the first end of second swing arm 6 can swivel bearing 4 be axle rotation, and second wheel 8 is installed to the second end of second swing arm 6.

Referring to fig. 1, 5 to 7, 10 and 11, the driving force of the first wheel 7 and the second wheel 8 is obtained by:

the rotating shaft 20 is connected to the first wheel 7 through a first transmission member 8a to rotate the first wheel 7. Specifically, the method comprises the following steps: the first transmission member 8 includes: the first driven sprocket 13 is arranged at the power shaft end of the first wheel 7, the first driven sprocket 13 corresponds to the driving sprocket 12, and the driving sprocket 12 and the first driven sprocket 13 are in transmission connection through a first transmission chain 15a. Namely: the driving motor 3b outputs a rotational force to the rotating shaft 20, the rotating shaft 20 drives the driving sprocket 12 thereon to rotate, the driving sprocket 12 drives the first driven sprocket 13 to rotate through the first transmission chain 15a, and the first driven sprocket 13 drives the power shaft to rotate when rotating, so as to drive the first wheel 7 to rotate.

Further, the rotating shaft 20 is connected to the second wheel 8 through the second transmission member 9a to rotate the second wheel 8. Specifically, the method comprises the following steps: the second transmission member 9a includes: a second driven sprocket 14 disposed at an axial end of the second wheel 8, the second driven sprocket 14 corresponding to the driving sprocket 12; the driving sprocket 12 and the second driven sprocket 14 are drivingly connected by a second drive chain 15 b. Namely: the driving motor 3b outputs a rotating force to the rotating shaft 20, the rotating shaft 20 drives the driving sprocket 12 thereon to rotate, the driving sprocket 12 drives the second driven sprocket 14 to rotate through the second transmission chain 15b, and the second driven sprocket 14 drives the wheel power shaft to rotate when rotating, so as to drive the second wheel 8 to rotate.

Referring to fig. 1, 2 and 4, a first shock absorber 10 is arranged between the first swing arm 5 and the chassis frame 1; a second shock absorber 11 is arranged between the second swing arm 6 and the chassis frame 1. One end of the first shock absorber 10 and one end of the second shock absorber 11 are connected with the chassis frame 1, and the other end of the first shock absorber 10 and the other end of the second shock absorber 11 are respectively connected with shock absorber connection ends 5a arranged on the first swing arm 5 and the second swing arm 6. Further, the first damper 10 and the second damper 11 are configured by a tension spring, but not limited thereto, and other damping structures in the prior art may be adopted in other embodiments.

The first shock absorber 10 and the second shock absorber 11 are arranged so that the robot has a stronger shock absorbing capability when walking.

As shown in fig. 8, 10 and 11, a first upper limiting block 16a is arranged on the flange 3a, and the first upper limiting block 16a is used for limiting the maximum upward swing amplitude of the first swing arm 5; a first lower limit block 16b is further arranged on the flange 3a, and the first lower limit block 16b is used for limiting the maximum downward swinging amplitude of the first swing arm 5; a second upper limiting block 17a and a second lower limiting block 17b are also provided on the flange 3a, wherein the second upper limiting block 17a is used for limiting the maximum upward swing amplitude of the second swing arm 6, and the second lower limiting block 17b is used for limiting the maximum downward swing amplitude of the second swing arm 6.

Referring to fig. 5, 7, 12 and 13, when the all-terrain wheeled robot chassis of the present invention needs to be dragged by other devices, in order to protect the driving motor 3b from being damaged, the transmission relationship between the wheels and the driving motor 3b needs to be temporarily blocked, and therefore, the present invention further detachably installs axle head locks 30 at the centers of the hubs of the first wheel 7 and the second wheel 8, respectively; the head lock 30 includes: a spindle head lock body 30a fastened at the center of the hub by a detachable bolt; a rotatable shaft head lock switch 30b is arranged outside the shaft head lock body 30a, and a sliding sleeve 30c, a shaft head lock compression spring 30d and shaft head lock sliding teeth 30e are sequentially distributed in the shaft head lock body 30a along the axial direction; the sliding sleeve 30c is in threaded fit with the spindle head lock switch 30b, so that when the all-terrain wheeled robot chassis is dragged, the rotating spindle head lock switch 30b can axially slide the sliding sleeve 30c, when the sliding sleeve 30c axially slides, the spindle head lock sliding teeth 30e can axially move through the spindle head lock compression spring 30d, specifically, the rotating spindle head lock switch 30b axially slides the sliding sleeve 30c, when the spindle head lock compression spring 30d is compressed by the sliding sleeve 30c, the spindle head lock sliding teeth 30e slide towards the end part of the wheel power shaft and are meshed with the end part of the wheel power shaft, so that the wheels and the driving motor 3b establish a transmission relationship, when the rotating spindle head lock switch 30b axially slides the sliding sleeve 30c, and when the spindle head lock compression spring 30d is stretched by the sliding sleeve 30c, the spindle head lock sliding teeth 30e are separated from the end part of the wheel power shaft and are separated from the end part of the wheel power shaft, so that the transmission relationship between the wheels and the driving motor 3b is blocked, so that when the all-terrain wheeled robot chassis is dragged, the driving motor 3b can be effectively protected.

The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. An all-terrain wheeled robot chassis, comprising:

a chassis frame (1);

the two driving mechanisms (2) are arranged on two sides of the chassis frame (1);

each of said drive mechanisms (2) comprising at least: the device comprises a driving motor (3 b), a rotary bearing seat (4), a first swing arm (5), a second swing arm (6), a first wheel (7) and a second wheel (8);

a rotating shaft (20) of the driving motor (3 b) penetrates through the rotating bearing seat (4) arranged on the chassis frame (1), and the axis of the rotating shaft (20) is coincided with that of the rotating bearing seat (4); the first swing arm (5) and the one end of second swing arm (6) is all pivoted and is set up on swivel bearing seat (4), first swing arm (5) with the other end of second swing arm (6) drives respectively and is provided with first wheel (7) and second wheel (8), just first swing arm (5) with be formed with contained angle (A) between second swing arm (6).

2. The all-terrain wheeled robot chassis of claim 1, characterized in that a first end of the first swing arm (5) is pivotally connected to the rotating bearing block (4), the first end of the first swing arm (5) is rotatable about the rotating bearing block (4), and a second end of the first swing arm (5) is pivotally connected to a first wheel (7);

the first end of the second swing arm (6) is pivotally connected to the rotary bearing seat (4), the first end of the second swing arm (6) can rotate by taking the rotary bearing (4) as a shaft, and the second end of the second swing arm (6) is provided with a second wheel (8);

the rotating shaft (20) is connected with the first wheel (7) through a first transmission piece (8 a) so as to drive the first wheel (7) to rotate;

the rotating shaft (20) is connected with the second wheel (8) through a second transmission piece (9 a) so as to drive the second wheel (8) to rotate.

3. All-terrain wheeled robot chassis according to claim 1, characterized in that the number of drive mechanisms (2) is four, four drive mechanisms (2) being symmetrically distributed on both sides of the chassis frame (1).

4. All-terrain wheeled robot chassis of claim 1 or 2,

a first shock absorber (10) is arranged between the first swing arm (5) and the chassis frame (1);

and a second shock absorber (11) is arranged between the second swing arm (6) and the chassis frame (1).

5. The all-terrain wheeled robot chassis of claim 1,

the first transmission member (8 a) includes:

the first driven chain wheel (13) is arranged at the power shaft end of the first wheel (7), and the first driven chain wheel (13) corresponds to the driving chain wheel (12) arranged at the tail end of the rotating shaft (20);

a first transmission chain (15 a) drivingly connecting the drive sprocket (12) and the first driven sprocket (13);

the second transmission member (9 a) comprises:

the second driven chain wheel (14) is arranged at the power shaft end of the second wheel (8), and the second driven chain wheel (14) corresponds to the driving chain wheel (12) arranged at the tail end of the rotating shaft (20);

and a second transmission chain (15 b) which drivingly connects the drive sprocket (12) and a second driven sprocket (14).

6. The all-terrain wheeled robot chassis of claim 1,

each of the drive mechanisms (2) further comprises:

a first upper limit block (16 a) for limiting the maximum swing amplitude of the first swing arm (5) upwards; a second upper limiting block (17 a) for limiting the maximum swing amplitude of the second swing arm (6) upwards;

and/or the first and/or second light sources,

a first lower limit block (16 b) used for limiting the downward maximum swinging amplitude of the first swinging arm (5); a second lower limit block (17 b) for limiting the maximum swing amplitude of the second swing arm (6) downwards.

7. The all-terrain wheeled robot chassis of claim 1,

a detachable axle head lock (30) is arranged in the hub center of the first wheel (7) or/and the second wheel (8).

8. The all-terrain wheeled robot chassis of claim 1,

the spindle head lock (30) includes:

a spindle head lock body (30 a) connected with the hub;

the shaft head lock switch (30 b) is rotatably arranged outside the shaft head lock body (30 a);

a sliding sleeve (30 c), a shaft head lock compression spring (30 d) and shaft head lock sliding teeth (30 e) are axially and sequentially distributed in the shaft head lock body (30 a);

the rotation of the shaft head lock switch (30 b) can enable the sliding sleeve (30 c), the shaft head lock compression spring (30 d) and the shaft head lock sliding teeth (30 e) to move axially, so that the shaft head lock sliding teeth (30 e) are meshed with or separated from the end part of the wheel power shaft.

9. All-terrain wheeled robot chassis according to claim 1, characterized in that the travel trajectories of the hubs of the first wheel (7) and the second wheel (8) of each drive mechanism (2) are on a straight line;

or/and the running tracks of the driving mechanisms (2) positioned on the same side of the chassis frame (1) are on the same straight line.

10. The all-terrain wheeled robot chassis of claim 1, characterized in that the drive mechanism (2) further comprises a flange (3 a) for engaging the chassis frame (1) and the drive motor (3 b), the flange (3 a) being of an integrally formed construction.