Robot chassis capable of being switched between steering wheel and universal wheel

Abstract

The invention relates to a robot chassis capable of being switched between steering wheels and universal wheels. The robot chassis comprises a chassis frame, four switching mechanisms, four wheel sets and four steering mechanisms. The four switching mechanisms are installed on the four wheel sets correspondingly, and the four wheel sets are connected with the chassis frame through the four steering mechanisms correspondingly. The wheel set comprises a hub, a wheel support, a driving motor and a flange coupling. The switching mechanism comprises a steering engine and a switching rod; the wheel bracket comprises a mounting plate, a connecting plate and a first rotating shaft; the hub is rotationally connected with the mounting plate, the connecting plate is connected with the steering mechanism, the mounting plate is rotationally connected with the connecting plate through a first rotating shaft, the steering engine is mounted on the mounting plate, a stator of the driving motor is fixedly connected with the mounting plate, and an output shaft of the driving motor is connected with the hub through the flange coupling. One end of the switching rod is hinged to the connecting plate, and the other end of the switching rod is hinged to a rudder arm of the steering engine. The chassis is convenient to drag through external force when a fault occurs, and belongs to a transportation robot chassis.

Description

technical field [0001] The invention relates to a transportation robot chassis, in particular to a robot chassis that can be switched between steering wheels and universal wheels. Background technique [0002] Robots have now become a technology that truly affects life and changes people's lifestyles. A very important part of the robot is the motion module, which determines the speed and flexibility of the robot. At this stage, the steering wheel chassis is the solution with better movement ability among various chassis solutions, but the existing steering wheel chassis is limited by the structure. Without a profiling mechanism, it cannot be applied to complex terrain, and once the robot fails, the active steering wheel group will become uncontrollable and lose the performance of omnidirectional movement. For example, when the robot chassis fails and cannot walk, it needs to be dragged by external force , when the direction of the external force applied to the robot is the ...

AI Technical Summary

Problems solved by technology

A very important part of the robot is the motion module, which determines the speed and flexibility of the robot. At this stage, the steering wheel chassis is the solution with better movement ability among various chassis solutions, but the existing steering wheel chassis is limited by the structure. Without a profiling mechanism, it cannot be applied to complex terrain, and once the robot fails, the active steering wheel group will become uncontrollable and lose the performance of omnidirectional movement. For example, when the robot chassis fails and cannot walk, it needs to be dragged by external force , when the direction of the external force applied to the robot is the same as that of the steering wheel group, the steering wheel group rolls on the ground, and the external force only needs to overcome the resistance of rolling friction, which is much smaller than the resistance of sliding friction under the same friction factor , so the external force can easily drag the entire robot; when the direction of the external force applied to the robot is different from that of the steering wheel group, the steering wheel group cannot turn, and the entire robot is equivalent to a solid on the ground. The friction force generated by the gravity of the robot and the ground is the resistance of sliding friction, and it is difficult to drag the robot through external force; the reason for this is mainly that the steering wheel group cannot steer, and the reason why the steering wheel group cannot steer is that The wheel set cannot swing relative to the steering mechanism, and there is no eccentricity between the wheel set and the steering mechanism, so when an external force acts on the robot chassis, the wheel set cannot turn freely under the action of external force and ground friction; the walking direction of the wheel set It cannot turn to the same direction as the external force, and the robot chassis cannot change from sliding friction to rolling friction. Therefore, it is necessary to design a profiling mechanism that can adapt to various terrains. In case of failure, the steering wheel can be switched to a passive universal wheel The robot chassis is convenient for manual or other rescue robots to rescue it, and it is easy to drag

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