Synchronous pulley linkage drive system for wheeled robots

Abstract

The present invention relates to the technical field of intelligent inspection robots for substations, and particularly to a synchronous pulley linkage drive system for a wheeled robot, which includes a vehicle body chassis and four wheels arranged on the vehicle body chassis, and the four wheels are connected with a synchronous pulley linkage drive system. The synchronous pulley linkage drive system includes a synchronous pulley linkage drive member, a driving wheel device, a driven wheel device and a linkage device. The synchronous pulley linkage drive member is fixedly installed on the vehicle body chassis, and the synchronous pulley linkage drive member is connected with the driving wheel device. The driving wheel device is connected with the linkage device, and the linkage device is connected with the driven wheel device. The driving wheel device and the driven wheel device are arranged in a diagonal cross manner. The present invention changes the original four-wheel eight-drive driving power steering system. Now, a synchronous pulley linkage drive system is added. Normally, only 2-5 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-drive drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent inspection robots for substations, and particularly to a synchronous pulley linkage transmission system for wheeled robots. Background Art

[0002] Intelligent inspection robots for substations are mainly used for autonomous inspection and data collection of outdoor substation equipment; through a wireless communication system, the inspection data is transmitted to the local monitoring background in real time to complete functions such as data analysis, processing, early warning, and warning; and remote centralized control management of the system is achieved through a remote centralized control background.

[0003] Intelligent inspection robots for substations have functions of autonomous navigation, positioning, charging, and inspection. They apply the technology of combining infrared thermal imaging and high-definition video, accurately identify the readings of various instruments in the substation and the current and voltage heating phenomena of equipment, timely detect equipment defects, and improve the efficiency of equipment inspection. At the same time, through background data analysis, abnormal information is timely informed to relevant operation and maintenance personnel so that they can handle abnormal problems in a timely manner. Substations generally have problems such as a large number of equipment, high density, narrow inspection roads, and complex road conditions. In view of the above situation, the walking requirements for intelligent inspection robots must have characteristics such as strong power, flexible steering, and small turning radius.

[0004] An inspection robot with an independent steering system with the patent number CN201720989376.9 includes an inspection trolley, and four wheels are provided below the inspection trolley, and the four wheels are arranged in a square; each wheel is equipped with an independent steering system, and the independent steering system is divided into a steering component, a swing arm, and a driving component, and the steering component and the driving component are connected by the swing arm; the steering component includes a steering motor, a harmonic reducer, and a magnetic encoder, the steering motor is installed on the inspection trolley, the steering motor and the harmonic reducer are coaxially connected, the magnetic encoder is installed at the output end of the harmonic reducer, and the output end of the harmonic reducer is connected to the upper end of the swing arm; the driving component includes a driving motor and a planetary reducer, the driving motor is installed at the lower end of the swing arm, and the driving motor, the planetary reducer, and the wheel center are coaxially connected. The above-mentioned inspection robot's four wheels are matched with independent independent steering systems, plus the power drive systems of the four wheels, forming a four-wheel eight-drive power steering system, which has advantages such as precise in-situ steering and accurate straight-line walking. However, this four-wheel eight-drive power steering system requires at least 8 sets of drivers and motors to achieve, the drive system structure is complex, and the cost is high.

[0005] In view of this, the present application proposes a synchronous pulley linkage transmission system for wheeled robots. Summary of the Invention

[0006] The purpose of the present invention is to provide a synchronous pulley linkage transmission system for wheeled robots in view of the deficiencies of the prior art.

[0007] To solve the above technical problems, the following technical solutions are adopted:

[0008] A synchronous pulley linkage drive system for a wheeled robot, comprising a vehicle body chassis and four wheels arranged on the vehicle body chassis. The four wheels are evenly distributed in a rectangular shape on the vehicle body chassis, and the four wheels are connected to a synchronous pulley linkage drive system for controlling the simultaneous steering or spinning in place of the four wheels.

[0009] The synchronous pulley linkage drive system includes a synchronous pulley linkage drive member, a driving wheel device, a driven wheel device and a linkage device. The synchronous pulley linkage drive member is fixedly installed on the vehicle body chassis, and the synchronous pulley linkage drive member is connected to the driving wheel device. The driving wheel device is connected to the linkage device, and the linkage device is connected to the driven wheel device. The driving wheel device and the driven wheel device are arranged in a diagonal cross pattern.

[0010] Further, the linkage device includes a linkage shaft, a linkage driving synchronous pulley and a linkage driven synchronous pulley arranged on the vehicle body chassis. The linkage driving synchronous pulley and the linkage driven synchronous pulley are respectively sleeved on the linkage shaft. The external synchronous pulley teeth of the linkage driving synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt of the driving wheel device, and the external synchronous pulley teeth of the linkage driven synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt of the driven wheel device.

[0011] Further, the driving wheel device includes a first driving wheel assembly, a second driving wheel assembly and a first driving transmission synchronous belt connecting the first driving wheel assembly and the second driving wheel assembly. The first driving wheel assembly and the second driving wheel assembly are arranged diagonally. The structures of the first driving wheel assembly and the second driving wheel assembly are the same, and the first driving wheel assembly or the second driving wheel assembly is connected to the synchronous pulley linkage drive member. The internal synchronous pulley teeth of the first driving transmission synchronous belt match the external synchronous pulley teeth of the linkage driving synchronous pulley.

[0012] Further, both the first driving wheel assembly and the second driving wheel assembly include a driving synchronous pulley, a driving shaft and a driving transmission seat. The driving synchronous pulley is sleeved on the upper part of the driving shaft. The external synchronous pulley teeth of the driving synchronous pulley match the internal synchronous pulley teeth of the first driving transmission synchronous belt. The driving transmission seat is sleeved on the lower part of the driving shaft. The driving transmission seat is connected to a steering bracket, and the wheel is installed on the steering bracket.

[0013] Furthermore, the driving wheel device further includes a first driving guide wheel and a second driving guide wheel, both of which are mounted on the vehicle chassis.

[0014] The first driving guide wheel is mounted on the side close to the first driving wheel assembly, and the external synchronous pulley teeth of the first driving guide wheel match the external synchronous pulley teeth of the first driving synchronous belt.

[0015] The second driving guide wheel is mounted on the side close to the second driving wheel assembly, and the external synchronous pulley teeth of the second driving guide wheel match the external synchronous pulley teeth of the first driving synchronous belt.

[0016] Furthermore, the driven wheel device includes a first driven wheel assembly, a second driven wheel assembly, and a first driven synchronous belt connecting the first driven wheel assembly and the second driven wheel assembly. The first driven wheel assembly and the second driven wheel assembly are arranged diagonally, and the structures of the first driven wheel assembly and the second driven wheel assembly are the same. The internal synchronous pulley teeth of the first driven synchronous belt match the external synchronous pulley teeth of the linkage driven synchronous pulley.

[0017] Furthermore, both the first driven wheel assembly and the second driven wheel assembly include a driven synchronous pulley, a driven shaft, and a driven transmission seat. The upper part of the driven shaft is sleeved with the driven synchronous pulley, and the external synchronous pulley teeth of the driven synchronous pulley match the internal synchronous pulley teeth of the first driven synchronous belt. The lower part of the driven shaft is sleeved with the driven transmission seat, and the driven transmission seat is connected with a steering bracket, and the wheel is mounted on the steering bracket.

[0018] Furthermore, the driven wheel device further includes a first driven guide wheel and a second driven guide wheel, both of which are mounted on the vehicle chassis.

[0019] The first driven guide wheel is mounted on the side close to the first driven wheel assembly, and the external synchronous pulley teeth of the first driven guide wheel match the internal synchronous pulley teeth of the first driven synchronous belt.

[0020] The second driven guide wheel is mounted on the side close to the second driven wheel assembly, and the external synchronous pulley teeth of the second driven guide wheel match the internal synchronous pulley teeth of the first driven synchronous belt.

[0021] Furthermore, the synchronous pulley linkage driving member is a steering motor and a speed reducer. The steering motor is fixedly mounted on the vehicle chassis, the output end of the steering motor is connected with the speed reducer, and the speed reducer is connected to the driving shaft of the first driving wheel assembly or the second driving wheel assembly.

[0022] Furthermore, the wheel is connected with a clutch device. The clutch device includes a first bevel gear, a second bevel gear, a first clutch, a second clutch and a clutch transmission shaft. The wheel is connected with a wheel transmission shaft. The first bevel gear is sleeved on the wheel transmission shaft. The end of the wheel transmission shaft is connected with the first clutch. The first clutch is connected with the wheel driving motor. The first bevel gear is meshed and connected with the second bevel gear. The clutch transmission shaft is sleeved in the second bevel gear. The upper part of the clutch transmission shaft is connected with the second clutch. The outside of the second clutch is connected with a steering bracket. The upper part of the second clutch is connected with a driving wheel device.

[0023] The steering bracket is connected with an electromagnetic limit component or a disc limit component.

[0024] The electromagnetic limit component includes an electromagnetic limit piece, an electromagnetic controller and an electromagnetic bolt. The electromagnetic controller is installed on the vehicle body chassis. The electromagnetic bolt is arranged on the electromagnetic controller. The electromagnetic limit piece is arranged on the steering bracket. A plurality of electromagnetic limit grooves are arranged on the electromagnetic limit piece. The electromagnetic limit grooves are matched with the electromagnetic bolt.

[0025] The disc limit component includes a disc limit piece, a disc controller and a disc clamping groove. The disc controller is installed on the vehicle body chassis. The disc clamping groove is arranged on the disc controller. The disc limit piece is arranged on the steering bracket. The disc limit piece is matched with the disc clamping groove.

[0026] Due to the adoption of the above technical solution, the following beneficial effects are achieved:

[0027] The present invention is a synchronous pulley linkage transmission system for a wheeled robot, which changes the original four-wheel eight-drive power steering system. Now, a synchronous pulley linkage transmission system is added. The synchronous pulley linkage transmission system includes a synchronous pulley linkage driving part, a driving wheel device, a driven wheel device and a linkage device. The synchronous pulley linkage driving part drives the driving wheel device to move. The driving wheel device drives the lower wheels to turn, and at the same time drives the upper driven wheel device and the linkage device to move. The driven wheel device and the linkage device drive the other wheels to follow and turn. Thus, the four wheels can complete the same-direction turning at the same time. In this way, only 3 or 5 sets of drivers and motors are normally required to achieve the effect of the original four-wheel eight-drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0028] Based on the synchronous pulley linkage drive system, by setting a clutch device, the steering motor for steering and the wheel drive motor for driving can be combined to form a unit, thus forming a walking and steering multiplexing motor unit. Therefore, this walking and steering multiplexing motor unit can integrate the steering motor and the wheel drive motor into one. Only 2 sets or 4 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-drive system. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced. Brief Description of the Drawings

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] Figure 1 FIG. is a schematic structural diagram of the synchronous pulley linkage drive system for a wheeled robot in Embodiment 1 of the present invention.

[0031] Figure 2 FIG. is a three-dimensional structural diagram of the synchronous pulley linkage drive system for a wheeled robot in Embodiment 1 of the present invention.

[0032] Figure 3 FIG. is a front view structural diagram of the synchronous pulley linkage drive system for a wheeled robot in Embodiment 1 of the present invention.

[0033] Figure 4 FIG. is a rear view structural diagram of the synchronous pulley linkage drive system for a wheeled robot in Embodiment 1 of the present invention.

[0034] Figure 5 FIG. is a top view structural diagram of the synchronous pulley linkage drive system for a wheeled robot in Embodiment 1 of the present invention.

[0035] Figure 6 FIG. is a bottom view structural diagram of the synchronous pulley linkage drive system for a wheeled robot in Embodiment 1 of the present invention.

[0036] Figure 7 FIG. is a schematic structural diagram of the wheel connection steering bracket in Embodiment 1 of the present invention.

[0037] Figure 8 FIG. is a schematic structural diagram of the synchronous pulley linkage drive member in Embodiment 1 of the present invention.

[0038] Figure 9 FIG. is a schematic structural diagram of the synchronous pulley linkage drive system in Embodiment 1 of the present invention.

[0039] Figure 10 FIG. is a schematic structural diagram of the connection between the synchronous pulley linkage drive system and the wheel in Embodiment 1 of the present invention.

[0040] Figure 11 FIG. is a schematic structural diagram of the synchronous pulley linkage drive system for a wheeled robot in Embodiment 2 of the present invention.

[0041] Figure 12 It is a schematic three - dimensional structure diagram of the synchronous pulley linkage drive system for a wheeled robot in Embodiment 2 of the present invention.

[0042] Figure 13 It is a schematic three - dimensional structure diagram of the electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0043] Figure 14 It is a schematic front - view structure diagram of the electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0044] Figure 15 It is a schematic rear - view structure diagram of the electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0045] Figure 16 It is a schematic side - view structure diagram of the electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0046] Figure 17 It is Embodiment 3 of the present invention Figure 16 The schematic sectional structure diagram in the A - direction.

[0047] Figure 18 It is a schematic top - view structure diagram of the electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0048] Figure 19 It is a schematic three - dimensional structure diagram of the electromagnetic limit clutch device installed on the vehicle body chassis in Embodiment 3 of the present invention.

[0049] Figure 20 It is a schematic three - dimensional structure diagram of the disc limit clutch device in Embodiment 4 of the present invention.

[0050] Figure 21 It is a schematic front - view structure diagram of the disc limit clutch device in Embodiment 4 of the present invention.

[0051] Figure 22 It is a schematic rear - view structure diagram of the disc limit clutch device in Embodiment 4 of the present invention.

[0052] Figure 23 It is a schematic side - view structure diagram of the disc limit clutch device in Embodiment 4 of the present invention.

[0053] Figure 24 It is Embodiment 4 of the present invention Figure 23 The schematic sectional structure diagram in the A - direction.

[0054] Figure 25 It is a schematic top - view structure diagram of the disc limit clutch device in Embodiment 4 of the present invention.

[0055] Figure 26 It is a schematic three - dimensional structure diagram of the disc limit clutch device installed on the vehicle body chassis in Embodiment 4 of the present invention.

[0056] In the figure: 1 - vehicle chassis; 2 - wheels; 3 - synchronous pulley linkage drive system; 4 - synchronous pulley linkage drive component; 5 - driving wheel device; 6 - driven wheel device; 7 - linkage device; 8 - electromagnetic limit clutch device; 9 - disc limit clutch device; 10 - electromagnetic limit component; 11 - disc limit component; 12 - steering bracket; 13 - wheel drive device; 14 - main control system.

[0057] 41 - steering motor; 42 - speed reducer; 43 - speed reducer housing.

[0058] 51 - first driving wheel assembly; 52 - second driving wheel assembly; 53 - first driving transmission synchronous belt; 54 - driving synchronous pulley; 55 - driving shaft; 56 - driving transmission seat; 57 - first driving guide pulley; 58 - second driving guide pulley.

[0059] 61 - first driven wheel assembly; 62 - second driven wheel assembly; 63 - first driven transmission synchronous belt; 64 - driven synchronous pulley; 65 - driven shaft; 66 - driven transmission seat; 67 - first driven guide pulley; 68 - second driven guide pulley.

[0060] 71 - linkage shaft; 72 - linkage driving synchronous pulley; 73 - linkage driven synchronous pulley.

[0061] 81 - first bevel gear; 82 - second bevel gear; 83 - first clutch; 84 - second clutch; 85 - clutch transmission shaft.

[0062] 101 - electromagnetic limit piece; 102 - electromagnetic controller; 103 - electromagnetic bolt; 104 - electromagnetic limit groove.

[0063] 111 - disc limit piece; 112 - disc controller; 113 - disc clamping groove.

[0064] 121 - first connecting plate; 122 - second connecting plate; 123 - reinforcing rib plate.

[0065] 131 - wheel drive motor; 132 - wheel transmission shaft. Detailed implementation mode

[0066] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessarily confusing the concepts of the present invention.

[0067] Embodiment 1

[0068] As shown Figures 1 to 10 in the figure, a synchronous pulley linkage transmission system for a wheeled robot according to an embodiment of the present invention includes a vehicle body chassis 1 and four wheels 2 arranged on the vehicle body chassis 1. The four wheels 2 are evenly distributed in a rectangular shape on the vehicle body chassis 1. The four wheels 2 are connected to a synchronous pulley linkage transmission system 3, and the synchronous pulley linkage transmission system 3 is used to control the simultaneous steering or in-situ rotation of the four wheels 2.

[0069] As a further description of this embodiment, each of the four wheels 2 is connected to a steering bracket 12. The steering bracket 12 is integrally in an inverted L shape. The steering bracket 12 includes a first connecting plate 121 at the top and a second connecting plate 122 at the lower part. The first connecting plate 121 connects the second connecting plate 122, and the first connecting plate 121 and the second connecting plate 122 form the inverted L-shaped steering bracket 12. A first mounting shaft hole (not shown in the figure) is provided on the first connecting plate 121, and the first mounting shaft hole matches the driving shaft 55. A second mounting shaft hole (not shown in the figure) is provided on the second connecting plate 122, and the second mounting shaft hole matches the wheel driving device 13. By providing the inverted L-shaped steering bracket 12, the first connecting plate 121 is used to connect the synchronous pulley linkage transmission system 3, and the second connecting plate 122 is used to connect the wheel 2. Since the axial direction of the wheel 2 is perpendicular to the axial direction of the driving shaft 55 of the synchronous pulley linkage transmission system 3, through the inverted L-shaped steering bracket 12, there is no need to add an additional transmission mechanism to achieve the transmission connection, making the overall layout reasonable.

[0070] As a further description of this embodiment, a reinforcing rib plate 123 is installed between the first connecting plate 121 and the second connecting plate 122. By providing the reinforcing rib plate 123, the overall strength of the steering bracket 12 is improved.

[0071] As a further description of this embodiment, two of the four wheels 2 located at the front side or two of the wheels 2 located at the rear side are respectively connected to a wheel driving device 13 for driving the two wheels 2 to move. The wheel driving device 13 is a wheel driving motor 131 and a wheel transmission shaft 132. The wheel driving motor 131 is fixedly installed on the inner side surface of the second connecting plate 122 of the steering bracket 12. The output end of the wheel driving motor 131 is connected to the wheel transmission shaft 132, and the wheel transmission shaft 132 is connected to the wheel 2. By changing the original four-wheel eight-drive power steering system, now a synchronous pulley linkage transmission system 3 is added, and only 3 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0072] As a further illustration of this embodiment, the synchronous pulley linkage drive system 3 includes a synchronous pulley linkage drive member 4, a driving pulley device 5, a driven pulley device 6, and a linkage device 7. The synchronous pulley linkage drive member 4 is fixedly installed on the vehicle chassis 1, and the synchronous pulley linkage drive member 4 is connected to the driving pulley device 5. The driving pulley device 5 is connected to the linkage device 7, and the linkage device 7 is connected to the driven pulley device 6. The driving pulley device 5 and the driven pulley device 6 are arranged diagonally and crosswise.

[0073] As a further illustration of this embodiment, the linkage device 7 includes a linkage shaft 71, a linkage driving synchronous pulley 72, and a linkage driven synchronous pulley 73 arranged on the vehicle chassis 1. The linkage driving synchronous pulley 72 and the linkage driven synchronous pulley 73 are respectively sleeved on the linkage shaft 71. The external synchronous pulley teeth of the linkage driving synchronous pulley 72 match the internal synchronous pulley teeth of the transmission synchronous belt of the driving pulley device 5, and the external synchronous pulley teeth of the linkage driven synchronous pulley 73 match the external synchronous pulley teeth of the transmission synchronous belt of the driven pulley device 6. In this embodiment, the linkage driving synchronous pulley 72 is arranged at the upper end of the linkage shaft 71, and the linkage driven synchronous pulley 73 is arranged at the lower end of the linkage shaft 71. For the need of installation layout, the positions of the linkage driving synchronous pulley 72 and the linkage driven synchronous pulley 73 can also be interchanged, and the positions of the corresponding driving pulley device 5 and the driven pulley device 6 are also swapped up and down in space, which are all within the protection scope of this embodiment.

[0074] As a further illustration of this embodiment, the driving wheel device 5 includes a first driving wheel assembly 51, a second driving wheel assembly 52, and a first driving transmission synchronous belt 53 connecting the first driving wheel assembly 51 and the second driving wheel assembly 52. The first driving wheel assembly 51 and the second driving wheel assembly 52 are arranged diagonally. The structures of the first driving wheel assembly 51 and the second driving wheel assembly 52 are the same, and the first driving wheel assembly 51 or the second driving wheel assembly 52 is connected to the synchronous pulley linkage driving member 4. The internal synchronous pulley teeth of the first driving transmission synchronous belt 53 match the external synchronous pulley teeth of the linkage driving synchronous pulley 72. Both the first driving wheel assembly 51 and the second driving wheel assembly 52 include a driving synchronous pulley 54, a driving shaft 55, and a driving transmission seat 56. The upper part of the driving shaft 55 is sleeved with the driving synchronous pulley 54. The external synchronous pulley teeth of the driving synchronous pulley 54 match the internal synchronous pulley teeth of the first driving transmission synchronous belt 53. The lower part of the driving shaft 55 is sleeved with the driving transmission seat 56. The driving transmission seat 56 is connected to a steering bracket 12, and a wheel 2 is installed on the steering bracket 12. By setting the driving wheel device 5, the synchronous pulley linkage driving member 4 drives the movement of either the first driving wheel assembly 51 or the second driving wheel assembly 52. Assume that the synchronous pulley linkage driving member 4 drives the movement of the first driving wheel assembly 51. Specifically, the synchronous pulley linkage driving member 4 drives the driving shaft 55 of the first driving wheel assembly 51 to rotate, thereby driving the driving synchronous pulley 54 and the driving transmission seat 56 to rotate accordingly. On the one hand, the driving transmission seat 56 drives the steering bracket 12 and the wheel 2 at the lower end of the first driving wheel assembly 51 to perform a steering movement. On the other hand, the driving synchronous pulley 54 drives the first driving transmission synchronous belt 53 to rotate, thereby driving the second driving wheel assembly 52 on the other side of the first driving transmission synchronous belt 53 to rotate. Specifically, the first driving transmission synchronous belt 53 drives the driving shaft 55 on the second driving wheel assembly 52 to rotate, thereby driving the driving transmission seat 56 on the second driving wheel assembly 52 to rotate, and further driving the steering bracket 12 and the wheel 2 at the lower end of the second driving wheel assembly 52 to perform a steering movement. Thus, the wheels 2 below the first driving wheel assembly 51 and the second driving wheel assembly 52 respectively perform a steering movement in the same direction. In addition, through the linkage effect of the linkage device 7, the two wheels 2 below the first driven wheel assembly 61 and the second driven wheel assembly 62 also rotate in the same direction, so that the effect of the original four-wheel drive steering can be achieved by one driving device, reducing three steering motors and motor drivers. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0075] As a further illustration of this embodiment, the driving wheel device 5 further includes a first driving guide wheel 57 and a second driving guide wheel 58, both of which are mounted on the vehicle chassis 1; the first driving guide wheel 57 is mounted on the side close to the first driving wheel assembly 51, and the external synchronous pulley teeth of the first driving guide wheel 57 match the external synchronous pulley teeth of the first driving synchronous belt 53; the second driving guide wheel 58 is mounted on the side close to the second driving wheel assembly 52, and the external synchronous pulley teeth of the second driving guide wheel 58 match the external synchronous pulley teeth of the first driving synchronous belt 53. By providing the first driving guide wheel 57 and the second driving guide wheel 58, not only can the direction of the first driving synchronous belt 53 be guided, but also the external synchronous pulley teeth of the first driving guide wheel 57 match the external synchronous pulley teeth of the first driving synchronous belt 53, and the external synchronous pulley teeth of the second driving guide wheel 58 match the external synchronous pulley teeth of the first driving synchronous belt 53. In this way, the first driving synchronous belt 53 is pressed, so that the first driving synchronous belt 53 will not disengage from the driving wheel device 5 during the driving movement, ensuring the normal operation of the entire driving wheel device 5.

[0076] As a further illustration of this embodiment, the driven wheel device 6 includes a first driven wheel assembly 61, a second driven wheel assembly 62, and a first driven transmission synchronous belt 63 connecting the first driven wheel assembly 61 and the second driven wheel assembly 62. The first driven wheel assembly 61 and the second driven wheel assembly 62 are arranged diagonally, and the structures of the first driven wheel assembly 61 and the second driven wheel assembly 62 are the same. The external synchronous pulley teeth of the first driven transmission synchronous belt 63 match the external synchronous pulley teeth of the linkage driven synchronous pulley 73. Both the first driven wheel assembly 61 and the second driven wheel assembly 62 include a driven synchronous pulley 64, a driven shaft 65, and a driven transmission seat 66. A driven synchronous pulley 64 is sleeved on the upper part of the driven shaft 65, and the external synchronous pulley teeth of the driven synchronous pulley 64 match the internal synchronous pulley teeth of the first driven transmission synchronous belt 63. A driven transmission seat 66 is sleeved on the lower part of the driven shaft 65, and the driven transmission seat 66 is connected to a steering bracket 12, and a wheel 2 is installed on the steering bracket 12. First, the driving member 4 of the synchronous pulley linkage drives the driving wheel device 5 to move. Then, the linkage driving synchronous pulley 72 on the linkage device 7 drives the linkage shaft 71 to rotate. Then, the linkage shaft 71 drives the linkage driven synchronous pulley 73 to rotate, thereby driving the first driven transmission synchronous belt 63 to rotate. Finally, the first driven wheel assembly 61 and the second driven wheel assembly 62 on the first driven transmission synchronous belt 63 rotate, driving the steering brackets 12 and the wheels 2 at the lower ends of the first driven wheel assembly 61 and the second driven wheel assembly 62 to turn. Thus, the wheels 2 below the first driven wheel assembly 61 and the second driven wheel assembly 62 turn in the same direction respectively, so that the effect of the original four-wheel drive steering can be achieved through one driving device, reducing three steering motors and motor drivers. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0077] As a further illustration of this embodiment, the driven wheel device 6 further includes a first driven guide wheel 67 and a second driven guide wheel 68, both of which are installed on the vehicle chassis 1; the first driven guide wheel 67 is installed on the side close to the first driven wheel assembly 61, and the external synchronous pulley teeth of the first driven guide wheel 67 match the internal synchronous pulley teeth of the first driven transmission synchronous belt 63; the second driven guide wheel 68 is installed on the side close to the second driven wheel assembly 62, and the external synchronous pulley teeth of the second driven guide wheel 68 match the internal synchronous pulley teeth of the first driven transmission synchronous belt. By providing the first driven guide wheel 67 and the second driven guide wheel 68, not only can the direction of the first driven transmission synchronous belt 63 be guided, but also the external synchronous pulley teeth of the first driven guide wheel 67 match the internal synchronous pulley teeth of the first driven transmission synchronous belt 63, and the external synchronous pulley teeth of the second driven guide wheel 68 match the internal synchronous pulley teeth of the first driven transmission synchronous belt, so as to press the first driven transmission synchronous belt 63, so that the first driven transmission synchronous belt 63 will not disengage from the driven wheel device 6 during the transmission movement, ensuring the normal operation of the entire driven wheel device 6.

[0078] It should be noted that the driving transmission seat 56 includes a bearing seat at the upper part and a connecting block at the lower part. The bearing seat is provided with a bearing hole, and the connecting block is provided with a connecting hole. The bearing hole matches the driving shaft 55, and the connecting block matches the driving shaft 55. The connecting block is connected to the steering bracket 12. Similarly, the structure of the driven transmission seat 66 is the same as that of the driving transmission seat 56, and the structure of the driven transmission seat 66 and the driving transmission seat 56 both adopt the transmission seats of the prior art, and the structure will not be described in detail here. When the driving shaft 55 makes a rotational movement, it drives the connecting block to make a rotational movement, thereby driving the lower steering bracket 12 and the wheels to rotate accordingly, so as to achieve the purpose of driving the wheels to turn. Similarly, in order to avoid unnecessary confusion of the concepts of the present invention, the further description of the well-known structures and technologies is omitted.

[0079] As a further illustration of this embodiment, the synchronous pulley linkage driving member 4 is a steering motor 41 and a speed reducer 42. The steering motor 41 is fixedly installed on the vehicle chassis 1. The output end of the steering motor 41 is connected with a speed reducer 42, and the speed reducer 42 is connected to the driving shaft 55 of the first driving wheel assembly 51 or the second driving wheel assembly 52. The outside of the speed reducer 42 is provided with a speed reducer housing 43, and the speed reducer housing 43 is used to install the entire speed reducer 42 in the housing. Specifically, the corresponding speed reducer 42 can be set as needed. In this embodiment, the speed reducer 42 of this embodiment is a synchronous belt type speed reducer 42.

[0080] As a further illustration of this embodiment, the steering motor 41 is connected to a steering motor driver (not shown in the figure), and the steering motor driver is connected to the main control system 14.

[0081] As a further illustration of this embodiment, the wheel drive motor 131 is connected to a wheel drive motor driver (not shown in the figure), and the wheel drive motor driver is connected to the main control system 14.

[0082] Working principle of this embodiment: When the wheeled robot needs to turn or spin in place, first the main control system 14 controls the steering motor driver to work, and then the steering motor 41 drives the reduction gear 42 to make a rotational movement, thereby driving the first driving wheel assembly 51 or the second driving wheel assembly 52 to move. Suppose the synchronous pulley linkage driving member 4 drives the first driving wheel assembly 51 to move. Specifically, the synchronous pulley linkage driving member 4 drives the driving shaft 55 of the first driving wheel assembly 51 to make a rotational movement, thereby driving the driving synchronous pulley 54 and the driving transmission seat 56 to rotate accordingly. On the one hand, the driving transmission seat 56 drives the steering bracket 12 and the wheel 2 at the lower end of the first driving wheel assembly 51 to make a turning movement. On the other hand, the driving synchronous pulley 54 drives the first driving synchronous belt 53 to make a rotational movement, thereby driving the second driving wheel assembly 52 on the other side of the first driving synchronous belt 53 to make a rotational movement. Specifically, the first driving synchronous belt 53 drives the driving shaft 55 on the second driving wheel assembly 52 to make a rotational movement, thereby driving the driving transmission seat 56 on the second driving wheel assembly 52 to make a rotational movement, and further driving the steering bracket 12 and the wheel 2 at the lower end of the second driving wheel assembly 52 to make a turning movement, thereby respectively realizing the wheels 2 under the first driving wheel assembly 51 and the second driving wheel assembly 52 to make turning movements in the same direction.

[0083] Meanwhile, as the steering motor 41 drives the first driving wheel assembly 51 and the second driving wheel assembly 52 to move, under the meshing action of the internal synchronous pulley teeth of the first active transmission synchronous belt 53 and the external synchronous pulley teeth of the linkage active synchronous pulley 72, the linkage active synchronous pulley 72 is driven to move. The linkage active synchronous pulley 72 drives the linkage shaft 71 to rotate, and then the linkage shaft 71 drives the linkage driven synchronous pulley 73 to rotate, thereby driving the first driven transmission synchronous belt 63 to rotate. Finally, the first driven wheel assembly 61 and the second driven wheel assembly 62 on the first driven transmission synchronous belt 63 rotate, driving the steering brackets 12 and the wheels 2 at the lower ends of the first driven wheel assembly 61 and the second driven wheel assembly 62 to turn. Thus, the wheels 2 below the first driven wheel assembly 61 and the second driven wheel assembly 62 turn in the same direction. In this way, through one driving device, the original four-wheel drive steering effect can be achieved, reducing three steering motors 41 and motor drivers. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0084] Embodiment 2

[0085] On the basis of the original Embodiment 1, wheel driving devices 13 for driving the wheels 2 to move are respectively connected to the four wheels 2. The wheel driving devices 13 are wheel driving motors 131 and wheel transmission shafts 132. The wheel driving motors 131 are fixedly installed on the inner side of the second connecting plate 122 of the steering bracket 12. The output end of the wheel driving motor 131 is connected to the wheel transmission shaft 132, and the wheel transmission shaft 132 is connected to the wheel 2. By changing the original four-wheel eight-drive power steering system, a synchronous pulley linkage transmission system 3 is added now. Only 5 sets of drivers and motors can achieve the original four-wheel eight-drive effect. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0086] Embodiment 3

[0087] In order to reduce the wheel drive device 13, a clutch device can be connected and installed on the wheel 2. The clutch device is an electromagnetic limit clutch device 8. The electromagnetic limit clutch device 8 includes a first bevel gear 81, a second bevel gear 82, a first clutch 83, a second clutch 84, and a clutch drive shaft 85. The wheel 2 is connected with a wheel drive shaft 132. A first bevel gear 81 is sleeved on the wheel drive shaft 132. The end of the wheel drive shaft 132 is connected with a first clutch 83. The first clutch 83 is connected with the wheel drive motor 131. The first bevel gear 81 is meshed and connected with a second bevel gear 82. A clutch drive shaft 85 is sleeved inside the second bevel gear 82. The upper part of the clutch drive shaft 85 is connected with a second clutch 84. The outside of the second clutch 84 is connected with a steering bracket 12. The upper part of the second clutch 84 is connected with a driving shaft 55. The steering bracket 12 is connected with an electromagnetic limit assembly 10. The electromagnetic limit assembly 10 includes an electromagnetic limit piece 101, an electromagnetic controller 102, and an electromagnetic bolt 103. The electromagnetic controller 102 is installed on the vehicle body chassis 1. The electromagnetic controller 102 is provided with an electromagnetic bolt 103. The steering bracket 12 is provided with an electromagnetic limit piece 101. The electromagnetic limit piece 101 is provided with a plurality of electromagnetic limit grooves 104. The electromagnetic limit grooves 104 are matched with the electromagnetic bolt 103. The first clutch 83 and the second clutch 84 adopt existing automotive electromagnetic clutches or automotive magnetic powder clutches. The automotive electromagnetic clutch controls the engagement and separation of the clutch by the on-off of the coil. The automotive magnetic powder clutch places magnetic powder between the driving and driven parts. When the power is off, the magnetic powder is in a loose state. When the power is on, the magnetic powder combines, and the driving and driven parts rotate simultaneously.

[0088] Specifically, in this embodiment, the wheel drive motor 131 is horizontally installed on the inner side of the second connecting plate 122 of the steering bracket 12. The wheel drive motor 131 is connected with the wheel 2 through the wheel drive shaft 132 and the first clutch 83. An bevel gear transmission mechanism composed of a first bevel gear 81 and a second bevel gear 82 is arranged on the wheel drive shaft 132. The first bevel gear 81 is installed on the wheel drive shaft 132, and the first bevel gear 81 is meshed and connected with the second bevel gear 82. The second bevel gear 82 is connected with the vehicle body chassis 1 through the clutch drive shaft 85 and the second clutch 84.

[0089] When the wheeled robot is walking normally, the main control system 14 controls the first clutch 83 to engage and the second clutch 84 to disengage. At this time, the wheel drive motor 131 drives the wheel 2, and the wheeled robot moves forward or backward normally;

[0090] When the wheeled robot needs to turn, the main control system 14 controls the first clutch 83 to disengage and the second clutch 84 to engage. At this time, the wheel drive motor 131 drives the first bevel gear 81 to rotate around the second bevel gear 82 to drive the steering bracket 12 to rotate. The electromagnetic pin 103 of the electromagnetic controller 102 is inserted into the electromagnetic limit groove 104 by the main control system 14 to limit the rotation of the electromagnetic limit piece 101 and the steering bracket 12, thereby locking the steering angle. Finally, the wheel 2 is driven to rotate to achieve a spin in place or a turn.

[0091] By setting the above clutch device, the steering motor 41 for steering and the wheel drive motor 131 for driving can be combined into a single unit to form a walking and steering multiplexing motor unit. Therefore, the walking and steering multiplexing motor unit can integrate the steering motor 41 and the wheel drive motor 131 into one.

[0092] Based on Embodiment 1, only 2 sets of drivers and motors are required to achieve the effect of the original four-wheel eight-wheel drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0093] Based on Embodiment 2, only 4 sets of drivers and motors are required to achieve the effect of the original four-wheel eight-wheel drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0094] Embodiment 4

[0095] To reduce the wheel drive device 13, a clutch device can be connected and installed on the wheel 2. The clutch device is a disc limit clutch device 9. The disc limit clutch device 9 includes a first bevel gear 81, a second bevel gear 82, a first clutch 83, a second clutch 84, and a clutch drive shaft 85. The wheel 2 is connected with a wheel drive shaft 132. A first bevel gear 81 is sleeved on the wheel drive shaft 132. The end of the wheel drive shaft 132 is connected with a first clutch 83. The first clutch 83 is connected with a wheel drive motor 131. The first bevel gear 81 is meshed and connected with a second bevel gear 82. A clutch drive shaft 85 is sleeved inside the second bevel gear 82. The upper part of the clutch drive shaft 85 is connected with a second clutch 84. The outside of the second clutch 84 is connected with a steering bracket 12. The upper part of the second clutch 84 is connected with a drive shaft 55. The steering bracket 12 is connected with a disc limit assembly 11. The disc limit assembly 11 includes a disc limit piece 111, a disc controller 112, and a disc clamping groove 113. The disc controller 112 is installed on the vehicle body chassis 1. The disc clamping groove 113 is arranged on the disc controller 112. The disc limit piece 111 is arranged on the steering bracket 12. The disc limit piece 111 matches the disc clamping groove 113. The first clutch 83 and the second clutch 84 adopt existing automotive electromagnetic clutches or automotive magnetic powder clutches. The automotive electromagnetic clutch controls the engagement and separation of the clutch by the on-off of the coil. In the automotive magnetic powder clutch, magnetic powder is placed between the driving and driven parts. When not energized, the magnetic powder is in a loose state. When energized, the magnetic powder combines and the driving and driven parts rotate simultaneously.

[0096] Specifically, in this embodiment, a wheel drive motor 131 is horizontally installed on the inner side of the second connecting plate 122 of the steering bracket 12. The wheel drive motor 131 is connected with the wheel 2 through the wheel drive shaft 132 and the first clutch 83. An bevel gear transmission mechanism composed of a first bevel gear 81 and a second bevel gear 82 is arranged on the wheel drive shaft 132. The first bevel gear 81 is installed on the wheel drive shaft 132. The first bevel gear 81 is meshed and connected with the second bevel gear 82. The second bevel gear 82 is connected with the vehicle body chassis 1 through the clutch drive shaft 85 and the second clutch 84.

[0097] When the wheeled robot walks normally, the main control system 14 controls the first clutch 83 to engage and the second clutch 84 to disengage. At this time, the wheel drive motor 131 drives the wheel 2, and the wheeled robot moves forward or backward normally;

[0098] When the wheeled robot needs to turn, the main control system 14 controls the first clutch 83 to disengage and the second clutch 84 to engage, and the wheel drive motor 131 drives the first bevel gear 81 to rotate around the second bevel gear 82 to drive the steering bracket 12 to rotate. The main control system 14 controls the disc clamping groove 113 of the disc controller 112 to insert and clamp the electromagnetic limit plate 101, limit the rotation of the electromagnetic limit plate 101 and the steering bracket 12, thereby locking the steering angle, and finally driving the wheel 2 to rotate to achieve rotation or turning in place.

[0099] By providing the above-mentioned clutch device, the steering motor 41 for steering and the wheel drive motor 131 for driving can be combined into one unit to form a walking steering multiplex motor unit. Therefore, the walking steering multiplex motor unit can combine the steering motor 41 and the wheel drive motor 131 into one.

[0100] On the basis of Example 1, only two sets of drivers and motors are needed to achieve the original four-wheel eight-wheel drive effect. Under the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0101] On the basis of Example 2, only 4 sets of drivers and motors are needed to achieve the original four-wheel eight-wheel drive effect. Under the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0102] The technical solution of the above-mentioned embodiment 3 and embodiment 4 is to combine the steering motor 41 and the wheel drive motor 131 into a composite motor on the basis of embodiment 1 or 2, and install the composite motor on the wheel 2 bracket or on the vehicle chassis 1, which can be matched and installed according to the actual needs.

[0103] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all included in the protection scope of the present invention.

Claims

1. A synchronous pulley linkage drive system for a wheeled robot, comprising a vehicle chassis and four wheels arranged on the vehicle chassis. The four wheels are evenly distributed and arranged in a rectangular shape on the vehicle chassis, and it is characterized in that: Four of the wheels are connected to a synchronous pulley linkage drive system for controlling the simultaneous steering or spinning in place of the four wheels; The synchronous pulley linkage drive system includes a synchronous pulley linkage drive member, a driving wheel device, a driven wheel device, and a linkage device. The synchronous pulley linkage drive member is fixedly installed on the vehicle body chassis, and the synchronous pulley linkage drive member is connected to the driving wheel device. The driving wheel device is connected to the linkage device, and the linkage device is connected to the driven wheel device. The driving wheel device and the driven wheel device are arranged diagonally and crosswise; The linkage device includes a linkage shaft, a linkage driving synchronous pulley, and a linkage driven synchronous pulley provided on the vehicle body chassis. The linkage shaft is sleeved with the linkage driving synchronous pulley and the linkage driven synchronous pulley respectively. The external synchronous pulley teeth of the linkage driving synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt of the driving wheel device. The external synchronous pulley teeth of the linkage driven synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt of the driven wheel device.

2. The synchronous pulley linkage drive system for a wheeled robot according to claim 1, characterized in that: The driving wheel device includes a first driving wheel assembly, a second driving wheel assembly, and a first driving transmission synchronous belt connecting the first driving wheel assembly and the second driving wheel assembly. The first driving wheel assembly and the second driving wheel assembly are arranged diagonally. The structures of the first driving wheel assembly and the second driving wheel assembly are the same, and the first driving wheel assembly or the second driving wheel assembly is connected to the synchronous pulley linkage drive member. The internal synchronous pulley teeth of the first driving transmission synchronous belt match the external synchronous pulley teeth of the linkage driving synchronous pulley.

3. The synchronous pulley linkage drive system for a wheeled robot according to claim 2, wherein: Both the first driving wheel assembly and the second driving wheel assembly include a driving synchronous pulley, a driving shaft, and a driving transmission seat. The driving synchronous pulley is sleeved on the upper part of the driving shaft. The external synchronous pulley teeth of the driving synchronous pulley match the internal synchronous pulley teeth of the first driving transmission synchronous belt. The driving transmission seat is sleeved on the lower part of the driving shaft. The driving transmission seat is connected to a steering bracket, and the wheel is installed on the steering bracket.

4. The synchronous pulley linkage drive system for a wheeled robot according to claim 2 or 3, characterized in that: The driving wheel device further includes a first driving guide wheel and a second driving guide wheel, both of which are installed on the vehicle body chassis; The first driving guide wheel is installed on one side close to the first driving wheel assembly, and the external synchronous pulley teeth of the first driving guide wheel match the external synchronous pulley teeth of the first driving transmission synchronous belt; The second driving guide wheel is installed on one side close to the second driving wheel assembly, and the external synchronous pulley teeth of the second driving guide wheel match the external synchronous pulley teeth of the first driving transmission synchronous belt.

5. The synchronous pulley linkage transmission system for a wheeled robot according to claim 1, characterized in that: The driven wheel device includes a first driven wheel assembly, a second driven wheel assembly, and a first driven transmission synchronous belt connecting the first and second driven wheel assemblies. The first and second driven wheel assemblies are diagonally arranged. The structures of the first and second driven wheel assemblies are the same. The internal synchronous pulley teeth of the first driven transmission synchronous belt match the external synchronous pulley teeth of the linkage driven synchronous pulley.

6. The synchronous pulley linkage transmission system for a wheeled robot according to claim 5, characterized in that: Both the first driven wheel assembly and the second driven wheel assembly include a driven synchronous pulley, a driven shaft, and a driven transmission seat. The driven synchronous pulley is sleeved on the upper part of the driven shaft. The external synchronous pulley teeth of the driven synchronous pulley match the internal synchronous pulley teeth of the first driven transmission synchronous belt. The driven transmission seat is sleeved on the lower part of the driven shaft. The driven transmission seat is connected to a steering bracket, and a wheel is installed on the steering bracket.

7. The synchronous pulley linkage drive system for a wheeled robot according to claim 5 or 6, characterized in that: The driven wheel device further includes a first driven guide wheel and a second driven guide wheel, both of which are installed on the vehicle chassis. The first driven guide wheel is installed on one side close to the first driven wheel assembly, and the external synchronous pulley teeth of the first driven guide wheel match the internal synchronous pulley teeth of the first driven transmission synchronous belt. The second driven guide wheel is installed on one side close to the second driven wheel assembly, and the external synchronous pulley teeth of the second driven guide wheel match the internal synchronous pulley teeth of the first driven transmission synchronous belt.

8. The synchronous pulley linkage drive system for a wheeled robot according to claim 3, wherein: The synchronous pulley linkage driving member is a steering motor and a speed reducer. The steering motor is fixedly installed on the vehicle chassis. The output end of the steering motor is connected to the speed reducer, and the speed reducer is connected to the drive shaft of the first driving wheel assembly or the second driving wheel assembly.

9. The synchronous pulley linkage drive system for a wheeled robot according to any one of claims 1-3, characterized in that: The wheel is connected to a clutch device. The clutch device includes a first bevel gear, a second bevel gear, a first clutch, a second clutch, and a clutch drive shaft. The wheel is connected to a wheel drive shaft. The first bevel gear is sleeved on the wheel drive shaft. The end of the wheel drive shaft is connected to the first clutch. The first clutch is connected to a wheel drive motor. The first bevel gear meshes with the second bevel gear. The second bevel gear has the clutch drive shaft sleeved inside. The upper part of the clutch drive shaft is connected to the second clutch. The outside of the second clutch is connected to the steering bracket. The upper part of the second clutch is connected to the driving wheel device. The steering bracket is connected to an electromagnetic limit component or a disc limit component. The electromagnetic limit component includes an electromagnetic limit piece, an electromagnetic controller, and an electromagnetic bolt. The electromagnetic controller is installed on the vehicle chassis. The electromagnetic bolt is provided on the electromagnetic controller. The electromagnetic limit piece is provided on the steering bracket. Multiple electromagnetic limit grooves are provided on the electromagnetic limit piece, and the electromagnetic limit grooves match the electromagnetic bolt. The disc limiting assembly includes a disc limiting piece, a disc controller, and a disc clamping groove. The disc controller is installed on the vehicle chassis, and the disc clamping groove is provided on the disc controller. A disc limiting piece is provided on the steering bracket, and the disc limiting piece is matched with the disc clamping groove.

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