Driving and grading mechanism for all-terrain mobile robot

Abstract

The invention relates to the technical field of mobile robots, in particular to a driving and grading mechanism for an all-terrain mobile robot. The stepped driving unit is installed on the truss vehicle base body assembly and comprises four sets of power modules which are arranged in a staggered parallel suspension mode and output power, and switching between the running state and the neutral position sliding state of the mobile robot is completed according to actual needs; and the double-wishbone vibration reduction units are connected between each group of power modules and the truss vehicle base body assembly so as to enhance the vehicle body strength and the vehicle body stability of the mobile robot. The mobile robot can slide in a neutral position through the electromagnetic clutch, when the mobile robot breaks down or the electric quantity of a battery is insufficient, dragging is convenient, meanwhile, the starting and stopping functions of the driving motor can be achieved, driving control over the mobile robot is completed, and energy consumption of the battery is reduced; the wheel track of the mobile robot is controlled through the power modules arranged in a staggered parallel suspension mode, and the utilization rate of the space in the vehicle body is increased.

Description

Technical field [0001] The present invention relates to the field of mobile robot technology, specifically a drive gearing mechanism for all-terrain mobile robots. Background [0002] Mobile robots are widely used, but most of the mobile robot transmission methods on the market can not take into account the efficiency of power output and the working environment of power, on the one hand, the power module and the wheel module cannot be separated, on the other hand, the power output cannot be controlled intermittently. The more commonly used way is that the shaft is directly connected to the power module, this mode of transmission efficiency is high, but because the impact force of the ground facing the wheel is directly transmitted to the motor, so that its output characteristics are unstable, the working environment is poor, and it is impossible to interrupt the power output, and the neutral sliding is implemented; some mobile robots use the transmission belt transmission, the un...

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Problems solved by technology

[0002] Mobile robots are widely used, but the transmission methods of most mobile robots on the market cannot take into account both the efficiency of power output and the working environment of power. On the one hand, the power module cannot be separated from the wheel module, and on the other hand, the intermittent power output cannot be controlled.

The more commonly used method is the direct connection between the shaft and the power module. This method has high transmission efficiency, but because the impact force of the ground on the wheels is directly transmitted to the motor, the output characteristics are unstable, the working environment is poor, and the power output cannot be interrupted. Gliding in neutral; some mobile robots use transmission belts and universal couplings to separate the power module from the wheel module, but the space occupation of the power module is large and there is no belt tensioning mechanism, and it is impossible to control the intermittent power output , realize the variable drive drive, and achieve the effect of reducing energy consumption

[0003] For example, the Chinese patent application number is 201711258906.3, and the wheel-legged all-terrain mobile robot with double triangle suspension is proposed. It uses the hub motor as the driving motor, and the impact force of the ground on the wheel is directly transmitted to the motor, which fails to provide stability for the motor. The output environment of the motor leads to low output efficiency of the motor and shortens the working life of the motor

[0004] For example, the Chinese patent application number is 201811301142.6, which proposes an all-terrain mobile robot with an active independent suspension system. verb: move

[0005] Another example is the Chinese patent application number 201911096192.X, which proposes an all-terrain mobile robot that uses a worm gear motor, which has low output efficiency, and the worm gear motor is rigidly directly connected to the wheels, resulting in a large inertia of the wheel module and braking. Difficult, when the terrain is good and no strong power is needed, the power cannot be interrupted, resulting in waste of power and failing to save energy

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