Gear-driven adaptive terrain chassis

Abstract

The application provides a gear transmission adaptive terrain chassis, comprising: a chassis body, a wheel assembly, the wheel assembly is arranged on both sides of the chassis body respectively; a transmission assembly, the transmission assembly is connected with the chassis body, and both ends are connected with the wheel assembly respectively, wherein the transmission assembly comprises a transmission rod and a first gear set and a second gear set arranged at both ends of the transmission rod respectively, and the first gear set and the second gear set are connected with the wheel assembly respectively. In the gear transmission adaptive terrain chassis, pure mechanical gear transmission is relied on, the precision is high, the stability is good, the durability is good, the requirement for software control is reduced, the cost is lower, and the overall structure is simple. In addition, the transmission assembly realizes real-time response through the transmission rod and the first gear set and the second gear set arranged at both ends of the transmission rod, and avoids the delay in active control. In addition, the use scene of the adaptive terrain chassis is diversified, and the adaptive terrain chassis can be used indoors and outdoors, and is suitable for various complex environments.

Description

Technical Field

[0001] This invention relates to chassis, and more specifically to a gear-driven adaptive terrain chassis. Background Technology

[0002] Since the birth of robots, their applications have spanned various fields. As the intelligence level of robots continues to improve, the requirements for their application scenarios and versatility are also increasing.

[0003] Currently, many types of four-wheeled and six-wheeled robots on the market have relatively simple or specific working scenarios, which cannot meet the diverse needs of the market for robots. The obstacle-crossing ability of conventional robots is determined by the wheel diameter; the larger the wheel diameter, the greater the obstacle-crossing ability, and vice versa. They also have relatively low adaptability or require sophisticated software algorithms.

[0004] In addition, the chassis of current robots, which are relatively versatile, are also relatively complex in structure, resulting in high production and maintenance costs and low mass production capability. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a gear-driven adaptive terrain chassis, which addresses the above-mentioned technical defects of robots with complex structures and high production costs when they are used in single application scenarios and have high versatility.

[0006] To solve the above-mentioned technical problems, the present invention provides a gear-driven adaptive terrain chassis, which includes: a chassis body, wheel assemblies, the wheel assemblies being respectively disposed on both sides of the chassis body; and a transmission assembly, which is connected to the chassis body and has its two ends respectively connected to the wheel assemblies. The transmission assembly includes a transmission rod and a first gear set and a second gear set respectively disposed at both ends of the transmission rod, the first gear set and the second gear set being respectively connected to the wheel assemblies.

[0007] The gear-driven adaptive terrain chassis provided by the present invention may also have the following features: the first gear set includes a first gear, a second gear, a third gear and a fourth gear, the first gear is connected to the chassis body through a gear shaft, the second gear and the third gear mesh with the first gear respectively, and the fourth gear meshes with the third gear.

[0008] The gear-driven adaptive terrain chassis provided by the present invention may also have the following features: the second gear is connected to the transmission rod, and the fourth gear is connected to the wheel assembly on one side of the chassis body.

[0009] The gear-driven adaptive terrain chassis provided by the present invention may also have the following feature: a wheel assembly on one side of the chassis body is provided with a rotating shaft, and the rotating shaft is connected to a fourth gear.

[0010] The gear-driven adaptive terrain chassis provided by the present invention may also have the following features: the second gear set includes a fifth gear, a sixth gear and a seventh gear, the fifth gear is connected to the chassis body through a gear shaft, and the sixth gear and the seventh gear mesh with the fifth gear respectively.

[0011] The gear-driven adaptive terrain chassis provided by the present invention may also have the following features: the sixth gear is connected to the transmission rod, and the seventh gear is connected to the wheel assembly on the other side of the chassis body.

[0012] The gear-driven adaptive terrain chassis provided by the present invention may also have the following feature: the wheel assembly on the other side of the chassis body is provided with a rotating shaft, which is connected to the seventh gear.

[0013] The gear-driven adaptive terrain chassis provided by the present invention may also have the following features: the wheel assembly includes a main arm, a combination wheel and a rear wheel, one side of the main arm is connected to the transmission assembly through a rotating shaft, and the front and rear ends of the other side are connected to the combination wheel and the rear wheel respectively.

[0014] The gear-driven adaptive terrain chassis provided by the present invention may also have the following features: the combined wheel includes a combined lever arm, a front wheel, and an intermediate wheel. One side of the combined lever arm is connected to the main lever arm through a lever arm shaft, and the front wheel and the intermediate wheel are respectively connected to the other side of the combined lever arm.

[0015] The gear-driven adaptive terrain chassis provided by the present invention may also have the following features: the wheel assembly includes a swing arm, a front wheel and a rear wheel, one side of the swing arm is connected to the transmission assembly through a rotating shaft, and the front wheel and the rear wheel are respectively connected to the other side of the swing arm.

[0016] The beneficial effects of this invention are as follows:

[0017] The gear-driven adaptive terrain chassis of the present invention includes a chassis body, wheel assemblies, and a transmission assembly. The wheel assemblies are respectively disposed on both sides of the chassis body; the transmission assembly is connected to the chassis body, and its two ends are respectively connected to the wheel assemblies. The transmission assembly includes a transmission rod, a first gear set, and a second gear set. The first gear set and the second gear set are respectively connected to the wheel assemblies. In this gear-driven adaptive terrain chassis, relying on pure mechanical gear transmission, high precision, stability, and durability are achieved, reducing the requirements for software control and lowering costs, while also simplifying the overall structure. Furthermore, the transmission assembly, through the transmission rod and the first and second gear sets disposed at both ends of the transmission rod, achieves real-time response, avoiding delays in active control. Moreover, this adaptive terrain chassis has diverse application scenarios, is suitable for both indoor and outdoor use, and is applicable to various complex environments.

[0018] Furthermore, the first gear set includes four gears that mesh with each other, while the second gear set includes three gears that mesh with each other. Each of the first and second gear sets has a gear connected to a transmission rod, thus transmitting the rotation of the first gear set to the second gear set. Moreover, by using different numbers of gears in the first and second gear sets, when one wheel assembly is on a concave-convex surface, the other wheel assembly steers differently, thereby maintaining vehicle balance.

[0019] In addition, the transmission component in the chassis is connected to the chassis body, and the two ends of the transmission rod are connected to the first gear set and the second gear set. This makes the entire transmission structure located in the chassis body, which can make full use of the robot's internal space and make greater use of the vehicle space, allowing for more iteration of external loading space.

[0020] In addition, the wheel assembly can be a four-wheel or six-wheel structure, making it suitable for both six-wheeled and four-wheeled robots, and is not limited by the structural layout of the robot. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of the gear-driven adaptive terrain chassis in Embodiment 1;

[0022] Figure 2 This is a schematic diagram of the transmission assembly in Embodiment 1;

[0023] Figure 3 This is a schematic diagram of the gear-driven adaptive terrain chassis in Embodiment 2. Detailed Implementation

[0024] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0025] <Example 1>

[0026] In this embodiment, the gear-driven adaptive terrain chassis is applied to a six-wheeled robot and serves as the chassis for the six-wheeled robot.

[0027] like Figures 1-2 As shown, the gear-driven adaptive terrain chassis of this embodiment includes a chassis body 10, a wheel assembly, and a transmission assembly.

[0028] The chassis body 10 includes a base plate and two side plates respectively disposed on both sides of the base plate.

[0029] There are two sets of wheel assemblies, which are respectively located on both sides of the chassis body 10, on the outer sides of the two side plates. The two sets of wheel assemblies have the same structure and connection relationship, and one example will be described in detail below.

[0030] The wheel assembly includes a main arm 21, a combination wheel, and a rear wheel 22. The combination wheel includes a combination arm 23, a front wheel 24, and an intermediate wheel 25.

[0031] The rear end of the outer side of the main boom 21 is connected to the rear wheel 22, and the front end is connected to the combination wheel. The top end of the inner side of the main boom 21 is connected to the transmission assembly through the main shaft 26 and the main shaft bearing seat 27.

[0032] The main shaft bearing housing 27 is disposed through the side plate of the chassis body 10. The main shaft 26 is disposed within the main shaft bearing housing 27 and is capable of rotating within the main shaft bearing housing 27.

[0033] The two ends of the combined lever arm 23 are connected to the front wheel 24 and the intermediate wheel 25, respectively. The intermediate wheel 25 is located between the front wheel 24 and the rear wheel 22.

[0034] The top end of the combined lever arm 23 is connected to the main lever arm 21 via a lever arm pivot 28. The lever arm pivot 28 passes through the main lever arm 21 and can rotate around the main lever arm 21.

[0035] The transmission assembly includes a transmission rod 31, a first gear set, and a second gear set.

[0036] Bearing seats 32 are provided near both ends of the transmission rod 31, and the transmission rod 31 is fixed to the bottom plate of the chassis body 10 through the bearing seats 32 at both ends. The first gear set and the second gear set are respectively connected to the two ends of the transmission rod 31.

[0037] The first gear set includes a first gear 33, a second gear 34, a third gear 35, and a fourth gear 36.

[0038] The first gear 33 is connected to a side plate on one side of the chassis body 10 via a gear shaft 37. One side of the gear shaft 37 is on the side plate that fixes the chassis body 10, and the other side is rotatably connected to the first gear 33.

[0039] The second gear 34 is located below and to the side of the first gear 33, meshes with the first gear 33, and is connected to one end of the transmission rod 31.

[0040] The third gear 35 is located above and to the side of the first gear 33 and meshes with the first gear 33. The fourth gear 36 is located above and to the side of the third gear 35 and meshes with the third gear 35. The fourth gear 36 is fitted onto the main shaft 26 inside the wheel assembly on one side of the chassis body 10 and can drive the main shaft 26 to rotate.

[0041] The second gear set includes the fifth gear 41, the sixth gear 42, and the seventh gear 43.

[0042] The fifth gear 41 is connected to the side plate on the other side of the chassis body 10 via a gear shaft. One side of the gear shaft is fixed on the side plate on the other side of the chassis body 10, and the other side is rotatably connected to the fifth gear 41.

[0043] The sixth gear 42 is located below and to the side of the fifth gear 41, meshes with the fifth gear 41, and is connected to the other end of the transmission rod 31.

[0044] The seventh gear 43 is located above and to the side of the fifth gear 41, meshes with the fifth gear 41, and is fitted onto the main shaft 26 in the wheel assembly on the other side of the chassis body 10, and can drive the main shaft 26 to rotate.

[0045] This gear-driven adaptive terrain chassis utilizes the reverse transmission of gears. When the front wheel 24 and the intermediate wheel 25 on one side of the combined lever arm 23 are on a concave-convex surface, the main lever arm 21 will rotate, thereby driving the fourth gear 36 to rotate. If the fourth gear 36 rotates counterclockwise at this time, the third gear 35 meshing with the fourth gear 36 will rotate clockwise, the first gear 33 meshing with the third gear 35 will rotate counterclockwise, and the second gear 34 meshing with the first gear 33 will rotate clockwise. Since the second gear 34 is connected to the transmission rod 31, the sixth gear 42 on the other side of the transmission rod 31 will also rotate clockwise. Therefore, the fifth gear 41 meshing with the sixth gear 42 will rotate counterclockwise, and the seventh gear 43 meshing with the fifth gear 41 will rotate clockwise.

[0046] Therefore, the fourth gear 36 and the seventh gear 43, which are connected to the main arms 21 on both sides, rotate in opposite directions, thus enabling the vehicle body to always maintain balance and ensuring that all wheel systems can adapt to the ground.

[0047] <Example 2>

[0048] In this embodiment, the gear-driven adaptive terrain chassis is applied to a four-wheeled robot and serves as the chassis of the four-wheeled robot.

[0049] like Figure 3 As shown, the gear-driven adaptive terrain chassis of this embodiment includes a chassis body, wheel assemblies, and a transmission assembly. In this embodiment, the chassis body and transmission assembly have the same structure as those in Embodiment 1, and will not be repeated here; only the wheel assembly, which has a different structure, will be described.

[0050] The wheel assembly includes a swing arm 51, a front wheel 52, and a rear wheel 53.

[0051] The front wheel 52 and the rear wheel 53 are respectively connected to the front and rear ends of the outer side of the swing arm 51. The inner side of the swing arm 51 is connected to the transmission assembly via a rotating shaft.

[0052] The inner sides of the swing arms 51 on both sides are connected to the first gear set and the second gear set, respectively.

[0053] In the gear-driven adaptive terrain chassis of this embodiment, when the front wheel 52 on one side passes over an uneven surface, the swing arm 51 on that side will rotate. Then, the gear transmission mode of the first gear set and the second gear set in the transmission assembly is the same as that in Embodiment 1, so that the swing arm 51 on the other side will rotate in the opposite direction to the swing arm 51 on that side, thereby ensuring the balance of the vehicle body.

[0054] The gear-driven adaptive terrain chassis according to the above embodiments includes a chassis body, wheel assemblies, and a transmission assembly. The wheel assemblies are respectively disposed on both sides of the chassis body; the transmission assembly is connected to the chassis body, and both ends of the transmission assembly are connected to the wheel assemblies. The transmission assembly includes a transmission rod, a first gear set, and a second gear set. The first gear set and the second gear set are respectively connected to the wheel assemblies. In this gear-driven adaptive terrain chassis, relying on pure mechanical gear transmission, high precision, stability, and durability are achieved, reducing the requirements for software control and lowering costs, while also simplifying the overall structure. Furthermore, the transmission assembly, through the transmission rod and the first and second gear sets disposed at both ends of the transmission rod, achieves real-time response, avoiding delays in active control. Moreover, this adaptive terrain chassis has diverse application scenarios, is suitable for both indoor and outdoor use, and is applicable to various complex environments.

[0055] Furthermore, the first gear set includes four gears that mesh with each other, while the second gear set includes three gears that mesh with each other. Each of the first and second gear sets has a gear connected to a transmission rod, thus transmitting the rotation of the first gear set to the second gear set. Moreover, by using different numbers of gears in the first and second gear sets, when one wheel assembly is on a concave-convex surface, the other wheel assembly steers differently, thereby maintaining vehicle balance.

[0056] In addition, the transmission component in the chassis is connected to the chassis body, and the two ends of the transmission rod are connected to the first gear set and the second gear set. This makes the entire transmission structure located in the chassis body, which can make full use of the robot's internal space and make greater use of the vehicle space, allowing for more iteration of external loading space.

[0057] In addition, the wheel assembly can be a four-wheel or six-wheel structure, making it suitable for both six-wheeled and four-wheeled robots, and is not limited by the structural layout of the robot.

[0058] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A geared adaptive terrain chassis, characterized by, The gear transmission adaptive terrain chassis comprises: a chassis body, wheel assemblies arranged on both sides of the chassis body respectively, a transmission assembly connected with the chassis body and connected with the wheel assemblies at both ends respectively, wherein the transmission assembly comprises a transmission rod and first and second gear sets arranged at both ends of the transmission rod respectively, the first and second gear sets are connected with the wheel assemblies respectively, the first gear set comprises first, second, third and fourth gears, the second gear is connected with the transmission rod, and the fourth gear is connected with the wheel assembly on one side of the chassis body, the second gear set comprises fifth, sixth and seventh gears, the sixth gear is connected with the transmission rod, and the seventh gear is connected with the wheel assembly on the other side of the chassis body, when the wheel assembly on the side of the fourth gear sinks into a concave-convex surface, the rotation direction of the fourth gear is opposite to that of the seventh gear.

2. The gear transmission adaptive terrain chassis according to claim 1, wherein: the first gear is connected with the chassis body through a gear rotation shaft, the second and third gears are engaged with the first gear respectively, the fourth gear is engaged with the third gear.

3. The gear transmission adaptive terrain chassis according to claim 1, wherein: the wheel assembly on one side of the chassis body is provided with a rotation shaft connected with the fourth gear.

4. The gear transmission adaptive terrain chassis according to claim 1, wherein: the fifth gear is connected with the chassis body through a gear rotation shaft, the sixth and seventh gears are engaged with the fifth gear respectively.

5. The gear transmission adaptive terrain chassis according to claim 1, wherein: the wheel assembly on the other side of the chassis body is provided with a rotation shaft connected with the seventh gear.

6. The gear transmission adaptive terrain chassis according to claim 1, wherein: the wheel assembly comprises a main force arm, a combined wheel and a rear wheel, one side of the main force arm is connected with the transmission assembly through a rotation shaft, and the front and rear ends of the other side are connected with the combined wheel and the rear wheel respectively.

7. The gear transmission adaptive terrain chassis according to claim 6, wherein: the combined wheel comprises a combined force arm, a front wheel and an intermediate wheel, one side of the combined force arm is connected with the main force arm through a force arm rotation shaft, the front wheel and the intermediate wheel are connected to the other side of the combined force arm respectively.

8. The gear transmission adaptive terrain chassis according to claim 1, wherein: the wheel assembly comprises a swing arm, a front wheel and a rear wheel, one side of the swing arm is connected with the transmission assembly through a rotation shaft, the front wheel and the rear wheel are connected to the other side of the swing arm respectively.

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