A shock-absorbing chassis for a robot with flexible steering

Abstract

The present invention discloses a robot shock-absorbing chassis with flexible steering, which belongs to the field of robot technology. It includes a driving wheel group, a driven wheel group, a bottom plate, an I-shaped frame, a driven gear, a driving gear group, a top plate, etc. Two groups of driving wheel groups are symmetrically installed on both sides of the rear of the bottom plate, and two groups of driven wheel groups are symmetrically installed on both sides of the top plate and located on both sides of the front of the bottom plate. The top plate and the bottom plate are connected by an I-shaped frame, and the driving gear group is installed in the front of the bottom plate and cooperates with the driven gear installed on the driven wheel group. During the movement of the chassis, the driving wheel group at the rear of the chassis serves as the power of the robot so that the robot can move forward and backward, and the driven wheel group and the driving gear group at the front of the chassis work together to enable the robot to flexibly turn during the movement; shock absorbers are provided at the driving wheel group and the driven wheel group so that the robot has good terrain passability. The present invention has the advantages of strong flexibility, good passability, convenient disassembly and assembly, and reliable performance.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a flexible steering robot shock-absorbing chassis. Background Technology

[0002] With the rapid development of artificial intelligence technology, mobile robots have become widespread in many fields.

[0003] Currently, there are various shock absorption structures for mobile robots, each producing different shock absorption effects. Some existing shock absorption structures have design flaws that lead to shortcomings such as insufficient stability during movement, poor obstacle-crossing performance, and insufficient grip on uneven ground. Most chassis steering today uses differential steering, but this method results in a large turning radius, which to some extent limits the robot's mobility.

[0004] For example, the utility model patent with publication number CN204585230U discloses a wheeled home monitoring robot. Its shock absorber is located on one side of the connecting plate. This shock absorption method is prone to causing the wheel system structure to tilt, and the central axis of the wheel forms an angle with the ground, which prevents the wheel from playing its maximum role.

[0005] For example, the invention patent with publication number CN108327473A discloses an omnidirectional, all-drive mobile robot chassis with independent suspension. Its steering structure is controlled by four motors, which swing during steering, making them prone to damage. The four independent suspension structures are complex and have high manufacturing costs. Summary of the Invention

[0006] In view of the shortcomings of existing mobile robot shock absorption and steering structures, the purpose of this invention is to provide a robot shock-absorbing chassis that can steer flexibly. The chassis structure is simple and economical, improving the robot's stability and mobility when driving on roads.

[0007] The solution to achieve the present invention is as follows:

[0008] A flexible steering robot shock-absorbing chassis includes a drive wheel set, a driven wheel set, a base plate, I-beams, driven gears, a drive gear set, and a top plate. There are two drive wheel sets, symmetrically mounted on both sides of the rear of the base plate. The top plate is connected to the base plate via four I-beams symmetrically mounted on the front of the base plate. The two driven wheel sets are symmetrically located on both sides of the front of the base plate, with their upper parts mounted on the top plate. The drive gear set is mounted on the front of the base plate.

[0009] The driven wheel assembly includes a turntable bearing. The lower part of the outer ring of the turntable bearing is equipped with two sets of driven wheel connecting plate seats, two sets of driven wheel shock absorber seats, and a driven gear mounting plate. The mounting hole of the inner ring of the turntable bearing is used to mount the driven wheel assembly onto the top plate.

[0010] The driven wheel assembly also includes a driven wheel connecting plate seat, a driven wheel shock absorber seat, a driven wheel connecting plate, a driven wheel axle, a flange bearing, a driven gear mounting plate, a wheel, a shock absorber, a bushing, and a retaining ring.

[0011] The driven gear mounting plate has two sets of mounting holes. The inner set of mounting holes is used to mount the driven gear mounting plate to the lower part of the turntable bearing, and the outer set of mounting holes is used to connect the driven gear.

[0012] The lower part of the driven wheel connecting plate seat is connected to the upper mounting hole of the driven wheel connecting plate to form a rotating pair.

[0013] The lower part of the driven wheel shock absorber seat is connected to the upper mounting hole of the shock absorber to form a rotating pair.

[0014] The driven wheel connecting plate consists of two sets, distributed on both sides of the wheel. The central mounting hole is connected to the lower mounting holes of the two sets of shock absorbers to form a rotating pair, and the lower mounting holes are connected to the two sets of flange bearings.

[0015] The drive gear set includes a drive gear, a flange, a motor mounting bracket, and a motor.

[0016] The drive gear of the drive gear set cooperates with the driven gear mounted on the driven gear set to form a gear pair to achieve flexible steering.

[0017] One end face of the drive gear is connected to the flange, and the other end face is provided with a nut groove.

[0018] The flange passes through the motor mounting bracket and connects to the motor's output shaft.

[0019] The motor mounting bracket is provided with mounting holes for connecting to the motor. When connected to the motor, its interior fits into the cylindrical housing of the motor. The extended portions on both sides of the motor mounting bracket are provided with mounting holes for connecting the drive gear set to the base plate.

[0020] The drive wheel assembly includes wheels, drive wheel shock absorber seats, shock absorbers, No. 1 connecting plate, timing belt pulley, drive wheel connecting plate seat, motor, No. 2 connecting plate, drive wheel axle, snap ring, timing belt, bushing, etc.

[0021] The drive wheel connecting plate seat is used to connect connecting plate 1, connecting plate 2 and the base plate, and the drive wheel shock absorber seat is used to connect the shock absorber and the base plate.

[0022] The upper mounting hole of the No. 1 connecting plate is used to connect the drive wheel connecting plate seat, the middle mounting hole is used to connect the lower hole of the shock absorber, and the lower mounting hole is connected to the flange bearing; the upper mounting hole of the No. 2 connecting plate is used to connect the drive wheel connecting plate seat, the upper middle mounting hole is used to connect the motor, the lower middle mounting hole is used to connect the lower hole of the shock absorber, and the lower mounting hole is connected to the flange bearing; the flange bearings connected to the No. 1 and No. 2 connecting plates are both connected to the drive wheel axle, and the two flange bearings are spaced a certain distance apart for installing bushings and synchronous pulleys.

[0023] The motor output shaft passes through the No. 2 connecting plate and engages with the synchronous pulley hole. The motor and the synchronous pulley are fixed together by screws on the synchronous pulley.

[0024] There are two sets of synchronous pulleys. One set is used to connect to the motor output shaft, and the two are fixed together by screws on the synchronous pulley. The other set is installed on the drive wheel shaft and located between the two flange bearings. The bushing is used to fill the gap between the two flange bearings after the synchronous pulley is installed. The two sets of synchronous pulleys are driven by a synchronous belt.

[0025] The drive wheel axle is mounted to the wheel through mounting holes on its flange. A stepped shaft for positioning the No. 1 connecting plate is provided at the connection point of the drive wheel axle to the No. 2 connecting plate, and a groove is provided at the connection point of the drive wheel axle to the No. 2 connecting plate for installing a retaining ring for positioning the No. 2 connecting plate.

[0026] Compared with existing mobile robots, the advantages of this invention are:

[0027] The present invention provides shock-absorbing devices at both the drive wheel and the driven wheel, thereby improving the stability and reliability of the mobile robot's movement.

[0028] This invention uses a gear steering structure for steering, which reduces the space requirements for robot movement and makes the mobile robot more flexible in steering.

[0029] This invention adopts a modular design, with each module being independent of the others, making disassembly convenient and facilitating the installation of mobile robots.

[0030] In addition to the features and advantages described above, other objects and features of the present invention will be further explained in conjunction with the accompanying drawings. Attached Figure Description

[0031] Figure 1 This is a layout diagram of a flexible steering robot shock-absorbing chassis according to the present invention;

[0032] Figure 2 A three-dimensional diagram of a flexible steering robot shock-absorbing chassis according to the present invention;

[0033] Figure 3A three-dimensional view of the drive wheel assembly of a flexible steering robot shock-absorbing chassis according to the present invention;

[0034] Figure 4 An exploded view of the driven wheel assembly of a flexible steering robot shock-absorbing chassis according to the present invention;

[0035] Figure 5 This is an exploded view of the drive gear set of a flexible steering robot shock-absorbing chassis according to the present invention.

[0036] in:

[0037] 1. Drive wheel assembly 1a. Wheel 1b. Drive wheel shock absorber mount 1c. Shock absorber 1d. No. 1 connecting plate 1e. Timing belt pulley 1f. Drive wheel connecting plate mount 1h. No. 2 connecting plate 1i. Drive wheel axle 1j. Snap ring 1k. Timing belt 1m. Bushing

[0038] 2. Driven wheel assembly 2a. Driven wheel connecting plate seat 2b. Driven wheel shock absorber seat 2c. Turntable bearing 2d. Driven wheel connecting plate and driven wheel axle 2f. Flange bearing 2g. Driven gear mounting plate

[0039] 3. Base plate 4. I-beam frame 5. Driven gear 6. Drive gear set 6a. Drive gear 6b. Flange 6c. Motor mounting bracket 7. Top plate. Detailed Implementation

[0040] The invention will now be further described with reference to the accompanying drawings.

[0041] like Figures 1-2 As shown, a flexible steering robot shock-absorbing chassis includes a drive wheel set 1, a driven wheel set 2, a base plate 3, an I-beam frame 4, a driven gear 5, a drive gear set 6, and a top plate 7. There are two sets of drive wheel sets 1, symmetrically mounted on both sides of the rear of the base plate 3. The top plate 7 is connected to the base plate 3 via four sets of I-beam frames 4 symmetrically mounted on the front of the base plate 3. The two sets of driven wheel sets 2 are symmetrically located on both sides of the front of the base plate 3, with their upper parts mounted on the top plate 7; the drive gear set 6 is mounted on the front of the base plate 3.

[0042] Furthermore, the base plate 3 is generally rectangular, with symmetrical rectangular holes on both sides at the rear for mounting the drive wheel assembly 1, symmetrical openings on both sides at the front for mounting the driven wheel assembly 2, and a circular hole at the front for mounting the motor. It should be noted that the rectangular holes at the rear and the openings at the front of the base plate 3 should meet the movement requirements of the wheel assembly.

[0043] Furthermore, the I-beam frame 4 is shaped like an I-beam, and reinforcing ribs are designed at its right-angle joints to strengthen the I-beam frame 4.

[0044] like Figure 3As shown, the drive wheel assembly 1 includes a wheel 1a, a drive wheel shock absorber seat 1b, a shock absorber 1c, a first connecting plate 1d, a synchronous belt pulley 1e, a drive wheel connecting plate seat 1f, a motor, a second connecting plate 1h, a drive wheel axle 1i, a snap ring 1j, a synchronous belt 1k, and a bushing 1m. The drive wheel connecting plate seat 1f connects the first connecting plate 1d, the second connecting plate 1h, and the base plate 3. The drive wheel shock absorber seat 1b connects the shock absorber 1c and the base plate 3. The upper mounting hole of the first connecting plate 1d connects to the drive wheel connecting plate seat 1f, the middle mounting hole connects to the lower hole of the shock absorber 1c, and the lower mounting hole connects to the flange bearing 2f. The upper mounting hole of the second connecting plate 1h connects to the drive wheel connecting plate seat 1f, the upper middle mounting hole connects to the motor, the lower middle mounting hole connects to the lower hole of the shock absorber 1c, and the lower mounting hole connects to the flange bearing 2f. The flange bearings 2f connected to the No. 1 connecting plate 1d and the No. 2 connecting plate 1h are both connected to the drive wheel axle 1i, and the two flange bearings 2f are spaced a certain distance apart to install the bushing 1m and the synchronous pulley 1e.

[0045] Preferably, when connecting plate 1d and connecting plate 2h are installed on drive wheel connecting plate seat 1f, a thrust ball bearing can be installed between the contact surfaces of the connecting plates and drive wheel connecting plate seat 1f to reduce friction between their end faces, making the rotation of the formed rotating pair smoother.

[0046] The motor output shaft passes through the hole of the connecting plate 1h (No. 2) and engages with the synchronous pulley 1e. The motor and the synchronous pulley 1e are fixed together by screws on the pulley. There are two sets of synchronous pulleys 1e: one set connects to the motor output shaft, and the two are fixed together by screws on the pulley; the other set is installed on the drive wheel shaft 1i and located between the two flange bearings 2f. The bushing 1m is used to fill the gap between the two flange bearings 2f after the synchronous pulley 1e is installed. The two sets of synchronous pulleys 1e are driven by the synchronous belt 1k. The drive wheel shaft 1i is installed to the wheel 1a through the mounting hole on its flange. A stepped shaft is provided at the connection point of the drive wheel shaft 1i to the connecting plate 1d (No. 1) for positioning the connecting plate 1d. A groove is provided at the connection point of the drive wheel shaft 1i to the connecting plate 1h (No. 2) for installing the retaining ring 1j for positioning the connecting plate 1h.

[0047] like Figure 4 As shown, the driven wheel assembly 2 includes a turntable bearing 2c, a driven wheel connecting plate seat 2a, a driven wheel shock absorber seat 2b, a driven wheel connecting plate 2d, a driven wheel axle 2e, a flange bearing 2f, a driven gear mounting plate 2g, a wheel 1a, a shock absorber 1c, a bushing 1m, a retaining ring 1j, etc. Two sets of driven wheel connecting plate seats 2a, two sets of driven wheel shock absorber seats 2b, and a driven gear mounting plate 2g are installed on the lower part of the outer ring of the turntable bearing 2c.

[0048] The inner ring mounting hole of the turntable bearing 2c is used to mount the driven wheel assembly 2 onto the top plate 7.

[0049] Preferably, when the inner ring of the turntable bearing 2c is installed on the top plate 7, a bushing 1m should be added between the mounting hole and the top plate 7 to ensure a certain gap between the turntable bearing 2c and the top plate 7, so as to avoid interference between other bolts and nuts on the driven wheel assembly 2 and the top plate 7.

[0050] The driven gear mounting plate 2g has two sets of mounting holes. The inner set of mounting holes is used to mount the driven gear mounting plate 2g to the lower part of the turntable bearing 2c, and the outer set of mounting holes is used to connect the driven gear 5. The lower part of the driven wheel connecting plate seat 2a and the upper part of the driven wheel connecting plate 2d are connected to form a rotating pair.

[0051] Preferably, when the driven wheel connecting plate 2d is mounted on the driven wheel connecting plate seat 2a, a thrust ball bearing can be installed between the contact surfaces of the driven wheel connecting plate 2d and the drive wheel connecting plate seat 1f to reduce the friction between their end faces, making the rotation of the formed rotating pair smoother.

[0052] The lower part of the driven wheel shock absorber seat 2b is connected to the upper mounting hole of the shock absorber 1c to form a rotating pair. There are two sets of driven wheel connecting plates 2d, distributed on both sides of the wheel 1a. The middle mounting holes are connected to the lower mounting holes of the two sets of shock absorbers 1c to form a rotating pair, and the lower mounting holes are connected to the two sets of flange bearings 2f.

[0053] like Figure 5 As shown, the drive gear set 6 includes a drive gear 6a, a flange 6b, a motor mounting bracket 6c, and a motor. The drive gear 6a meshes with the driven gear 5 mounted on the driven gear set 2 to form a gear pair for flexible steering. One end face of the drive gear 6a is connected to the flange 6b, and the other end face has a nut groove. The flange 6b passes through the motor mounting bracket 6c and connects to the output shaft of the motor. The motor mounting bracket 6c has mounting holes for connecting to the motor, and when connected to the motor, its interior fits snugly against the cylindrical housing of the motor. The extended portions on both sides of the motor mounting bracket 6c have mounting holes for connecting the drive gear set 6 to the base plate 3.

[0054] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make many improvements and substitutions to the present invention. Any improvements or modifications made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot shock-absorbing chassis with flexible steering, comprising a driving wheel group (1), a driven wheel group (2), a bottom plate (3), an I-shaped frame (4), a driven gear (5), a driving gear group (6), and a top plate (7); the driving wheel group (1) comprises two groups, which are symmetrically mounted on both sides of the rear portion of the bottom plate (3); the top plate (7) is connected to the bottom plate (3) through four groups of I-shaped frames (4) symmetrically mounted on the front portion of the bottom plate (3); the two groups of driven wheel groups (2) are symmetrically located on both sides of the front portion of the bottom plate (3), and their upper parts are mounted on the top plate (7); the driving gear group (6) is mounted on the front portion of the bottom plate (3); The driving wheel assembly (1) comprises a wheel (1a), a driving wheel shock absorber seat (1b), a shock absorber (1c), a No. 1 connecting plate (1d), a synchronous pulley (1e), a driving wheel connecting plate seat (1f), a motor, a No. 2 connecting plate (1h), a driving wheel axle (1i), a retaining spring (1j), a synchronous belt (1k), and a bushing (1m); The driven wheel assembly (2) comprises a turntable bearing (2c), two sets of driven wheel connecting plate seats (2a), two sets of driven wheel shock absorber seats (2b), and a driven gear mounting plate (2g) are mounted on the lower part of the outer ring of the turntable bearing (2c), and the mounting hole of the inner ring of the turntable bearing (2c) is used to mount the driven wheel assembly (2) on the top plate (7); The driven wheel assembly (2) further comprises a driven wheel connecting plate seat (2a), a driven wheel shock absorber seat (2b), a driven wheel connecting plate (2d), a driven wheel axle (2e), a flange bearing (2f), a driven gear mounting plate (2g), a wheel (1a), a shock absorber (1c), a bushing (1m), and a retaining spring (1j); The driven gear mounting plate (2g) has two groups of mounting holes, the inner group of mounting holes is used to mount the driven gear mounting plate (2g) on ​​the lower part of the turntable bearing (2c), and the outer group of mounting holes is used to connect the driven gear (5); The lower part of the driven wheel connecting plate seat (2a) is connected to the upper mounting hole of the driven wheel connecting plate (2d) to form a rotating pair; The lower part of the driven wheel shock absorber seat (2b) is connected to the upper mounting hole of the shock absorber (1c) to form a rotating pair; There are two groups of driven wheel connecting plates (2d) distributed on both sides of the wheel (1a); the upper mounting holes of the driven wheel connecting plates (2d) are respectively connected to the lower mounting holes of the two groups of shock absorbers (1c) to form a rotating pair; the lower mounting holes of the driven wheel connecting plates (2d) are respectively connected to the two groups of flange bearings (2f).

2. The flexible steering robot shock-absorbing chassis according to claim 1, characterized in that: The driving gear set (6) comprises a driving gear (6a), a flange (6b), a motor mounting frame (6c), and a motor.

3. The flexible steering robot shock-absorbing chassis according to claim 1, characterized in that: The driving gear (6a) of the driving gear set (6) cooperates with the driven gear (5) mounted on the driven wheel set (2) to form a gear pair to achieve flexible steering.

4. The flexible steering robot shock-absorbing chassis according to claim 2, characterized in that: One end surface of the driving gear (6a) is connected to the flange (6b), and the other end surface is provided with a nut groove; The flange (6b) is connected to the output shaft of the motor by passing through the motor mounting frame (6c); The motor mounting frame (6c) is provided with a mounting hole connected to the motor. When connected to the motor, its interior fits with the cylindrical housing of the motor. The extended parts on both sides of the motor mounting frame (6c) are provided with mounting holes for connecting the driving gear set (6) to the bottom plate (3).

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