A rocker-arm type all-wheel drive mobile robot chassis and vehicle

Abstract

The application provides a rocker type full drive mobile robot chassis and vehicle, the chassis is provided with two groups of symmetrical walking drive systems, the two groups of walking drive systems are connected through a differential, and each group of walking drive systems is composed of a walking system and a steering system. The walking system comprises a walking driving device, a walking power shaft, a rotary support structure and a walking wheel, the walking driving device is in transmission connection with the walking power shaft, and both ends of the walking power shaft are in transmission connection with the walking wheel through the rotary support structure; the steering system comprises a steering driving device, a ball screw pair and a connecting rod, the steering driving device is in transmission connection with the screw rod of the ball screw pair, and the nut of the ball screw pair is in horizontal rotary connection with the rotary support structure through the connecting rod. The mobile robot chassis provided by the application has full wheel drive, double Ackerman steering and in-place steering, and has high maneuverability and flexibility; and with the aid of the differential rocker structure, the mobile robot chassis has excellent performance in working under complex passing conditions outdoors.

Description

TECHNICAL FIELD

[0001] The present application relates to a mobile robot, in particular to a rocker arm type full drive mobile robot chassis and vehicle. BACKGROUND

[0002] The mobile robot chassis is an important part of the mobile robot, by loading corresponding components with different functions on the mobile robot chassis, different functions can be realized, and plays an important role in the fields of industry, agriculture, medical treatment, fire fighting, disaster rescue and the like.

[0003] As a basic component, the performance of the chassis is directly related to the mobility and stability of the mobile robot. In some use scenarios, higher requirements are put forward for the power, steering radius and stability of the robot, based on this, the present application provides a rocker arm type full drive mobile robot chassis of a rocker arm type full drive mobile robot chassis, which can meet higher use requirements. SUMMARY

[0004] The present application provides a rocker arm type full drive mobile robot chassis and vehicle, the rocker arm type full drive mobile robot chassis is provided with two groups of symmetrical walking drive systems, the two groups of walking drive systems are connected through a differential, each group of the walking drive system is composed of a walking system and a steering system,

[0005] The walking system comprises a walking driving device, a walking power shaft, a rotary support structure and a walking wheel, the walking driving device is in transmission connection with the walking power shaft, and the upper and lower ends of the rotary support structure are in rotary connection with the walking power shaft and the walking wheel through an upper shell and a lower shell respectively.

[0006] The steering system comprises a steering driving device, a ball screw pair and a connecting rod, the steering driving device is in transmission connection with the screw rod of the ball screw pair, and the nut of the ball screw pair is in rotary connection with the lower shell through the connecting rod.

[0007] Further, the walking driving device is a first driving motor, a first driving motor is fixed on the output shaft of the first driving motor, a first driven gear is fixed on the walking power shaft,

[0008] The first driven gear is directly engaged with the first driving gear, or the first driven gear is in transmission connection with the first driving gear through at least one first intermediate gear.

[0009] Further, the walking power shaft is composed of a first shaft in the middle and second shafts at both ends, the first shaft is connected with the second shaft through a first universal joint at both ends.

[0010] Further, the steering driving device is a second driving motor, a second driving motor is fixed on the output shaft of the second driving motor, and a second driving motor is in transmission connection with a second driven gear fixed on the screw rod.

[0011] The second driven gear is directly engaged with the second driving gear, or the second driven gear is drivingly connected with the second driving gear through at least one second intermediate gear.

[0012] Further, the output shafts of the walking driving device and the steering driving device are provided with the second universal joint and the third universal joint, and the first driving gear and the second driving gear are respectively fixed on the second universal joint and the third universal joint.

[0013] Further, each steering system comprises two groups of ball screw pairs, and the two groups of ball screw pairs share one screw rod, the screw rod is provided with reverse threads at two ends and matched with the nuts of the two groups of ball screw pairs, and the nut of each ball screw pair is connected with the rotary support structure at two ends through a connecting rod.

[0014] Further, the first bevel gear is fixed on the second rotating shaft, and the second bevel gear is fixed on the rotating shaft of the walking wheel.

[0015] The rotary support structure is provided with a bevel gear shaft, an inner ring and an outer ring which are coaxially arranged from inside to outside and relatively horizontally rotate, the inner ring is fixedly connected with the upper shell, the outer ring is fixedly connected with the lower shell, the vertical bevel gear shaft is fixedly provided with a third bevel gear and a fourth bevel gear at the upper end and the lower end respectively, the third bevel gear and the fourth bevel gear are engaged with the first bevel gear and the second bevel gear respectively,

[0016] The first bevel gear and the third bevel gear are located in the upper shell, and the second rotating shaft is connected with the upper shell,

[0017] The second bevel gear and the fourth bevel gear are located in the lower shell, and the rotating shaft of the walking wheel is connected with the lower shell.

[0018] Further, the left and right two groups of walking driving systems are arranged in a diagonal symmetry in the walking direction of the chassis, the differential gear comprises a differential gear housing, and the differential gear housing is fixedly provided with a connecting frame.

[0019] Two fifth bevel gears are arranged in parallel and coaxially in the differential gear housing, a planetary gear shaft is arranged between the two fifth bevel gears, the planetary gear shaft is fixedly connected with the differential gear housing, the planetary gear shaft is fixedly provided with a sixth bevel gear at two ends, the sixth bevel gear is engaged with the two fifth bevel gears at the same time, and the two groups of walking driving systems are connected with the two fifth bevel gears through connecting shafts.

[0020] Further, the walking system and the steering system are both provided with protective shells, the walking driving device and the walking power shaft of the walking system are protected in the protective shells, and the steering driving device and the ball screw pairs of the steering system are protected in the protective shells.

[0021] A mobile robot adopts the swing arm type full drive mobile robot chassis.

[0022] The present application has the advantages of:

[0023] 1) The mobile robot chassis provided by the present application is full-wheel driven, double Ackerman steered and omni-steered, and has strong maneuverability and flexibility, and excellent performance in complex environments;

[0024] 2) The chassis adopts modular design, and most of the workpieces of the left and right two groups of walking drive systems can be shared, reducing processing cost and maintenance cost;

[0025] 3) The two groups of symmetrically arranged walking drive systems are connected through a differential type rocker structure composed of differentials, which can always ensure that the wheels are in contact with the ground, can be self-adaptively adjusted to better adapt to the ground environment, has strong traction passing performance and stability, and has excellent performance in complex passing conditions outdoors.

[0026] 4) Compared with the traditional shock absorber, the differential is used in the present application to help reduce the weight and height of the vehicle frame, thereby improving the flexibility of the vehicle, and further reducing the cost. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 For an embodiment, the present application provides a structure diagram of a rocker type full-drive mobile robot chassis;

[0029] Figure 2 For a structure diagram from the bottom angle;

[0030] Figure 3 For a structure diagram of a walking drive system on one side of the present application;

[0031] Figure 4 For a structure diagram of a walking drive system on the other side of the present application;

[0032] Figure 5 For a side view of the walking drive system;

[0033] Figure 6 For a driving and steering principle diagram of the two groups of walking drive systems;

[0034] Figure 7 For Figure 6 A partial enlarged view of the connection between the walking power shaft and the steering wheel is shown in the structure diagram of the swivel support;

[0035] Figure 8 The differential appearance diagram connected between two groups of walking driving systems;

[0036] Figure 9 The component diagram of the differential;

[0037] Figure 10 The internal principle diagram of the differential. DETAILED DESCRIPTION

[0038] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail to avoid obscuring aspects of the present application.

[0039] In order to thoroughly understand the present application, detailed steps and detailed structures will be presented in the following description in order to explain the technical solutions of the present application. The preferred embodiments of the present application are described in detail as follows, however, in addition to these detailed descriptions, the present application can have other embodiments.

[0040] Referring to Figures 1-4 As shown in the drawings, the present application provides a swing arm full drive mobile robot chassis, the swing arm full drive mobile robot chassis 1 is provided with two groups of symmetrical walking driving systems 2, the two groups of walking driving systems 2 are connected through a differential 300, and each group of walking driving systems 2 is composed of a walking system 100 and a steering system 200.

[0041] Referring to Figure 6 As shown in the drawings, the walking system 100 contains a walking driving device 110, a walking power shaft 120, a rotary support structure 130 and a walking wheel 140, the walking driving device 110 is in transmission connection with the walking power shaft 120, and the upper and lower ends of the rotary support structure 130 are respectively in rotary connection with the walking power shaft 120 and the walking wheel 140 through an upper shell 134 and a lower shell 135. The steering system 200 contains a steering driving device 210, a ball screw pair 220 and a connecting rod 230, the steering driving device 210 is in transmission connection with a screw rod 221 of the ball screw pair 220, and a nut 222 of the ball screw pair 220 is in horizontal rotary connection with the lower shell 135 through the connecting rod 230.

[0042] The rocker type full drive mobile robot chassis provided by the application adopts a modular design, two groups of symmetrical walking drive systems 2 are relatively independent, facilitating installation and debugging; each group of walking drive systems 2 is composed of a walking system 100 and a steering system 200: 1) the walking system 100 is used for driving the walking wheels 140 to rotate, each walking wheel 140 is in transmission connection with a power shaft, and the four walking wheels 140 provide power for the robot, and the full drive power is stronger; 2) the steering system 200 drives the walking wheels to steer through a simple ball screw and a pull rod, and the steering function can be realized; 3) the two groups of symmetrical walking drive systems are connected through a differential type rocker structure composed of a differential, and when the road surface is uneven, a certain amplitude of relative swing is allowed between the two groups of walking drive systems under the action of the differential, the wheels can be guaranteed to be in contact with the ground at all times, the traction passability and stability are relatively strong, and the excellent performance of working under complex passing conditions outdoors is achieved. Compared with the way of adapting to the road surface by using a traditional shock absorber, the differential has the following advantages: 1) the weight and height of the vehicle frame are reduced, and thus the flexibility of the vehicle is improved; 2) only one differential is used to connect the two groups of walking drive systems on the chassis, the cost is reduced, and the differential has a lower failure rate than the shock absorber, thereby reducing the maintenance cost.

[0043] In an optional embodiment, the walking drive device 110 is a first drive motor, a first driving gear 111 is fixed on an output shaft of the first drive motor, and a first driven gear 121 is fixed on the walking power shaft 120. The first driven gear 121 can be directly meshed with the first driving gear 111, or a first intermediate gear 112 can be arranged between the first driven gear 121 and the first driving gear 111 to realize transmission connection, that is, Figure 6 as shown in the structure.

[0044] As Figure 6 shown, the walking power shaft 120 is composed of a first shaft 122 in the middle and second shafts 123 at both ends, the first shaft 122 is connected with the second shaft 123 through a first universal joint 124, the first driven gear 121 is fixedly installed on the first shaft 122, and a first bevel gear 125 is fixed on the second shaft 123 for transmission connection with the rotary support structure 130. The first universal joint 124 not only realizes the connection between the first shaft 122 and the second shaft 123, but also allows the first shaft 122 and the second shaft 123 to be in transmission connection in the non-coaxial case, so as to adapt to the steering of the vehicle.

[0045] In an optional embodiment, the steering drive device 210 is a second drive motor, and a second driving gear 211 is fixed on the output shaft of the second drive motor, which is connected to a second driven gear 223 fixed on the lead screw 221. The second driven gear 223 can directly mesh with the second driving gear 211, or a second intermediate gear 212 can be provided between the second driven gear 223 and the second driving gear 211 to achieve the transmission connection.

[0046] In an optional embodiment, the output shafts of the walking drive device 110 and the steering drive device 210 are equipped with a second universal joint 113 and a third universal joint 213, and the first drive gear 111 and the second drive gear 211 are respectively fixed on the second universal joint 113 and the third universal joint 213.

[0047] In an optional embodiment, each steering system 200 includes two sets of ball screw pairs 220, which share a single screw 221. The screw 221 has reverse threads at both ends that engage with the nuts 222 of the two sets of ball screw pairs 220. The nut 222 of each ball screw pair 220 is connected to the same side of the slewing support structure 130 at both ends via a connecting rod 230. Figure 6 As shown, a lead screw 221 drives the nuts 222 at both ends to move in opposite directions, thereby driving the front and rear wheels to rotate in the same direction. This achieves all-wheel steering of the chassis, making steering more flexible and easier in narrow spaces. It also reduces the turning radius and allows for turning on the spot, making it more agile.

[0048] In an alternative embodiment, such as Figures 6-7 As shown, a first bevel gear 125 is fixedly mounted on the second rotating shaft 123, and a second bevel gear 141 is fixedly mounted on the rotating shaft of the traveling wheel 140. The rotary support structure 130 has a bevel gear shaft 131, an inner ring 132, and an outer ring 133 coaxially arranged from the inside out. The bevel gear shaft 131, inner ring 132, and outer ring 133 rotate horizontally relative to each other. The inner ring 132 is fixedly connected to the upper housing 134, and the outer ring 133 is fixedly connected to the lower housing 135. A third bevel gear 136 and a fourth bevel gear 137 are fixedly mounted at the upper and lower ends of the vertical bevel gear shaft 131, respectively. The third bevel gear 136 and the fourth bevel gear 137 mesh with the first bevel gear 125 and the second bevel gear 141, respectively. (Further details omitted) Figure 3 and Figure 4The first bevel gear 125 and the third bevel gear 136 are located in the upper housing 134, and the second rotating shaft 123 is connected with the upper housing 134, the second bevel gear 141 and the fourth bevel gear 137 are located in the lower housing 135, and the rotating shaft of the traveling wheel 140 is connected with the lower housing 135. The power shaft and the traveling wheel are connected through the slewing support, and the connecting rod 230 of the steering system 200 is connected with the lower housing of the slewing support, the slewing support is used for transmitting the power of the traveling power shaft 120 to the traveling wheel rotating shaft, and the traveling wheel rotating shaft can be rotated relative to the traveling power shaft 120 in the horizontal direction through the inner and outer two relatively rotatable cylinder sleeves, so that the steering of the vehicle is realized.

[0049] In an optional embodiment, as shown in Figures 8-10 , the left and right groups of traveling drive systems 2 are arranged in a diagonal symmetry in the chassis traveling direction, the differential 300 comprises a differential housing 301, the differential housing 301 is fixed with a connecting frame 310, and the upper-mounted functional modules (such as detection, fire fighting and other functional modules) of the robot chassis are fixed on the connecting frame 310. Two fifth bevel gears 302 are arranged in parallel and coaxially in the differential housing 301, a planetary gear shaft 303 is arranged in the middle of the two fifth bevel gears 302, the planetary gear shaft 303 is fixedly connected with the differential housing 301, and the planetary gear shaft 303 is fixed with sixth bevel gears 304 at both ends, which are engaged with the two fifth bevel gears 302 at the same time. Two groups of traveling drive systems 2 are connected with the two fifth bevel gears 302 through connecting shafts 21 respectively (as shown in Figure 3 and Figure 5 ). The left and right groups of traveling drive systems 2 are connected through the differential 300, one of the traveling drive systems 2 is in contact with the uneven ground and is inclined, and the other traveling drive system 2 is not affected under the action of the differential 300, so that the chassis can better adapt to the road environment, reduce the suspension of the chassis, and improve the stability of the vehicle moving in the complex environment.

[0050] In an optional embodiment, the traveling system 100 and the steering system 200 are both provided with protective shells, the traveling drive device 110 and the traveling power shaft 120 of the traveling system 100 are protected in the protective shells, and the steering drive device 210 and the ball screw pair 220 of the steering system 200 are protected in the protective shells. The traveling system 100 and the steering system 200 are sealed and protected in the protective shells, so as to avoid the pollution, corrosion and collision of the transmission system of the traveling system and the steering system by the external environment, so that the chassis can be applied to the fire fighting, disaster rescue and other harsh working environments.

[0051] The preferred embodiments of the present application have been described. It is to be understood that the application is not limited to the above specific embodiments, and that devices and structures not described in detail should be understood to be implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the technical solutions of the present application, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of the present application, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the content of the technical solutions of the present application, still belongs to the scope of protection of the technical solutions of the present application.

Claims

1. A rocker-bogie mobile robot chassis, characterized in that, The rocker-arm type all-drive mobile robot chassis (1) is equipped with two sets of walking drive systems (2) on the left and right sides. The two sets of walking drive systems (2) are connected by a differential (300). Each set of walking drive systems (2) consists of a walking system (100) and a steering system (200). The walking system (100) includes a walking drive device (110), a walking power shaft (120) extending in the front-back direction, two sets of front and rear rotary support structures (130) and walking wheels (140). The walking drive device (110) is connected to the walking power shaft (120) in a transmission connection. The upper and lower ends of each set of rotary support structures (130) are respectively connected to one end of the walking power shaft (120) and the walking wheel (140) through the upper housing (134) and the lower housing (135). The steering system (200) includes a steering drive unit (210), a ball screw pair (220) and a connecting rod (230). The steering drive unit (210) is connected to the screw (221) of the ball screw pair (220) through a transmission. The nut (222) of the ball screw pair (220) is horizontally rotatably connected to the lower housing (135) through the connecting rod (230). The walking power shaft (120) consists of a first rotating shaft (122) in the middle and second rotating shafts (123) at both ends; The first bevel gear (125) is fixed on the second shaft (123), and the second bevel gear (141) is fixedly installed on the shaft of the walking wheel (140). The slewing support structure (130) is provided with a bevel gear shaft (131), an inner ring (132), and an outer ring (133) arranged coaxially from the inside out and rotating horizontally relative to each other. The inner ring (132) is fixedly connected to the upper housing (134), and the outer ring (133) is fixedly connected to the lower housing (135). The vertical bevel gear shaft (131) has a third bevel gear (136) and a fourth bevel gear (137) fixed at its upper and lower ends, respectively. The third bevel gear (136) and the fourth bevel gear (137) mesh with the first bevel gear (125) and the second bevel gear (141), respectively. The first bevel gear (125) and the third bevel gear (136) are located inside the upper housing (134), and the second rotating shaft (123) is connected to the upper housing (134). The second bevel gear (141) and the fourth bevel gear (137) are located inside the lower housing (135), and the shaft of the traveling wheel (140) is connected to the lower housing (135).

2. The rocker-bogie mobile robot chassis of claim 1, wherein, The walking drive device (110) is a first drive motor, and a first driving gear (111) is fixed on the output shaft of the first drive motor, and a first driven gear (121) is fixed on the walking power shaft (120). The first driven gear (121) meshes directly with the first driving gear (111), or the first driven gear (121) is connected to the first driving gear (111) through at least one first intermediate gear (112).

3. The rocker-bogie mobile robot chassis of claim 2, wherein, The first rotating shaft (122) is connected to the second rotating shaft (123) at both ends through the first universal joint (124), and the first driven gear (121) is fixedly installed on the first rotating shaft (122).

4. The rocker-bogie mobile robot chassis of claim 1 or 3, wherein, The turning driving device (210) is a second driving motor, and a second driving gear (211) is fixed on an output shaft of the second driving motor and is in transmission connection with a second driven gear (223) fixed on a screw rod (221); The second driven gear (223) is directly in mesh with the second driving gear (211), or the second driven gear (223) is in transmission connection with the second driving gear (211) through at least one second intermediate gear (212).

5. The rocker-bogie mobile robot chassis of claim 4, wherein, Output shafts of the walking driving device (110) and the turning driving device (210) are provided with a second universal joint (113) and a third universal joint (213), and the first driving gear (111) and the second driving gear (211) are respectively fixed on the second universal joint (113) and the third universal joint (213).

6. The rocker-bogie mobile robot chassis of claim 1, wherein, Each turning system (200) comprises two groups of ball screw pairs (220), and the two groups of ball screw pairs (220) share a screw rod (221), the screw rod (221) is provided with reverse threads at two ends and is matched with nuts (222) of the two groups of ball screw pairs (220), and the nut (222) of each ball screw pair (220) is connected with lower housings (135) at two ends through connecting rods (230).

7. The rocker-bogie mobile robot chassis of claim 1, wherein, The two groups of walking driving systems (2) are arranged in a diagonal symmetry in the chassis walking direction, and the differential (300) comprises a differential housing (301) and a connecting frame (310) fixed on the differential housing (301); The differential housing (301) is provided with two fifth bevel gears (302) distributed in parallel and coaxially, a planetary gear shaft (303) is arranged in the middle of the two fifth bevel gears (302), the planetary gear shaft (303) is fixedly connected with the differential housing (301), the planetary gear shaft (303) is fixedly provided with a sixth bevel gear (304) at two ends and is in mesh with the two fifth bevel gears (302), and the two groups of walking driving systems (2) are connected with the two fifth bevel gears (302) through connecting shafts (21).

8. A mobile robot, characterized by The mobile robot adopts the rocker arm type full drive mobile robot chassis in any one of claims 1-7.

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