Steering wheel module and robot chassis

Abstract

This invention belongs to the field of robotics technology and discloses a steering wheel module and a robot chassis. The steering wheel module includes a base, a drive bracket, a drive wheel, a drive motor, and conductive components. The drive bracket is rotatably connected to the bottom of the base, the drive wheel is rotatably connected to the drive bracket, and the drive motor is connected to the drive bracket and can drive the drive wheel to rotate. The conductive components include a first conductive element and a second conductive element. The first conductive element is connected to the base and electrically connected to a power source; the second conductive element is connected to the drive bracket and can rotate relative to the first conductive element. When rotating, the second conductive element can abut against the first conductive element to maintain continuous conductivity. The second conductive element is also electrically connected to the drive motor. This invention, by incorporating conductive components, has the beneficial effects of freeing up chassis space, protecting conductive components, and increasing the steering angle, ultimately extending the lifespan of the robot chassis and improving its performance.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a steering wheel module and a robot chassis. Background Technology

[0002] The mobile robot chassis is the foundation for a robot's autonomous movement. Depending on the drive method, robot chassis can be categorized into several types, such as differential drive, Mecanum wheel drive, and steering wheel drive. Among these, steering wheel drive, due to its flexible motion capabilities, such as the ability to turn in place and move laterally, is widely used in warehousing and logistics, service robots, and other fields.

[0003] The steering wheel module is a core component of the robot chassis. It integrates the drive motor and the steering motor, which control the rotation and steering of the wheels respectively, enabling the robot chassis to perform walking, traction, and steering functions, allowing the robot to move flexibly in various complex environments. Existing steering wheel modules typically include a base, a drive bracket, and drive wheels. The drive bracket is rotatably mounted on the bottom of the base via a rotating mechanism (such as a bearing), and the drive wheels are similarly rotatably mounted on the drive bracket. The rotation of the drive bracket is driven by a steering motor, while the rotation of the drive wheels is driven by a drive motor.

[0004] The existing steering wheel module described above has some shortcomings in terms of electrical connections. Since the drive motor needs to be powered from the power supply on the base, the common practice is to run the power supply harness directly outside the drive bracket. To ensure the drive bracket can rotate freely, the harness needs to have a certain length of spare wire, creating redundancy. This wiring arrangement has the following drawbacks:

[0005] First, when the drive bracket rotates, the wiring harness will be subjected to tension and thrust, causing the redundant part of the wiring harness to deform. Therefore, a certain deformation space needs to be reserved on the chassis for the redundant part of the wiring harness to prevent the wiring harness from rubbing against other components. This would cause the steering wheel module to occupy more chassis space, which would undoubtedly increase the overall size of the chassis and would not be conducive to the compact design of the robot chassis.

[0006] Secondly, when the drive bracket makes large-angle turns, the redundant wiring harness is prone to tangling and excessive bending, which limits the turning angle of the drive bracket and also affects the robot's movement flexibility.

[0007] Furthermore, during the frequent rotation of the drive bracket, the wiring harness is constantly under stress and deformation. Over time, repeated stretching and bending can cause fatigue fracture of the wires inside the wiring harness, thereby shortening the service life of the wiring harness and increasing maintenance costs. Summary of the Invention

[0008] The purpose of this invention is to provide a steering wheel module and a robot chassis, so as to reduce the encroachment of the steering wheel module on the robot chassis space by optimizing the power supply structure of the drive motor, and at the same time remove the limitation of the original wiring harness on the steering angle of the drive bracket, thereby increasing the rotation angle of the drive bracket.

[0009] To achieve this objective, the present invention adopts the following technical solution:

[0010] A steering wheel module includes a base, a drive bracket, a drive wheel, and a drive motor. The drive bracket is rotatably connected to the bottom of the base, the drive wheel is rotatably connected to the drive bracket, and the drive motor is connected to the drive bracket and can drive the drive wheel to rotate. The steering wheel module also includes conductive components, which include:

[0011] A first conductive element, the first conductive element being connected to the base, and the first conductive element being electrically connected to a power source; and...

[0012] The second conductive element is connected to the drive bracket and abuts against the first conductive element. The second conductive element is rotatable relative to the first conductive element and is continuously connected to the first conductive element when rotating. The second conductive element is electrically connected to the drive motor.

[0013] Preferably, the conductive component further includes:

[0014] A first slip ring, the first slip ring being connected to the base, and a first conductive element being connected to the first slip ring; and...

[0015] The second slip ring is connected to the drive bracket and is spaced apart from the first slip ring. The second conductive element is connected to the second slip ring.

[0016] Preferably, both the first slip ring and the second slip ring are made of insulating material.

[0017] Preferably, the first conductive element is a conductive sheet;

[0018] The second conductive element is an annular conductive track, and the axis of the conductive track coincides with the rotation axis of the drive bracket. The conductive sheet slides in conjunction with the conductive track.

[0019] Preferably, the conductive sheet is elastic.

[0020] Preferably, the base has a driving cavity at its bottom, the driving bracket has a connecting ring at its top, the connecting ring is placed inside the driving cavity, the conductive component is located at the top of the connecting ring, and the outer ring of the connecting ring and the side wall of the driving cavity are sealed together.

[0021] Preferably, the drive bracket includes:

[0022] Connecting seat, which is rotatably connected to the base;

[0023] The side plates are arranged in two spaced apart along a rotation axis perpendicular to the connecting seat, and the drive wheel and the drive motor are both located between the two side plates.

[0024] Preferably, the second conductive element is connected to the drive motor via a second wire, and a groove for accommodating the second wire is provided on the drive bracket.

[0025] Preferably, a sealing cap is connected to the opening of the groove.

[0026] The robot chassis includes a chassis body and a steering wheel module, wherein the steering wheel module is disposed at the bottom of the chassis body.

[0027] The beneficial effects of this invention are:

[0028] The steering wheel module of the present invention, by setting a conductive component, electrically connects a first conductive element to a power source, a second conductive element rotatably abuts against the first conductive element, and the second conductive element is electrically connected to a drive motor, thereby realizing the power supply to the drive motor and replacing the original wiring harness. It has the following beneficial effects:

[0029] 1. Free up chassis space: The conductive component that is electrically connected to the power supply can be fixed on the base, and the conductive component that is electrically connected to the drive motor can be fixed on the drive bracket. Therefore, the conductive component does not need to deform, that is, there is no need to reserve redundant parts for deformation, thereby saving the deformation space originally reserved for the wiring harness and freeing up the space on the chassis that was originally over-occupied, making it easier to arrange other components on the chassis.

[0030] 2. Protection of conductive components: The first conductive component, which is electrically connected to the power supply, can be close to the base or pass through the inside of the base. The second conductive component, which is electrically connected to the drive motor, can be close to the drive bracket or pass through the inside of the drive bracket. The second conductive component and the first conductive component are also located at the connection between the base and the drive bracket. Therefore, the above-mentioned conductive components are not easy to come into contact with other components, thus avoiding the risk of scratching other components.

[0031] 3. Increased steering angle: The conductive component that is electrically connected to the power supply can be fixed on the base, and the conductive component that is electrically connected to the drive motor can be fixed on the drive bracket. This eliminates the risk of wire harness tangling and excessive bending, allowing the drive bracket to rotate at any angle. That is, the drive bracket can rotate continuously for 360° to quickly respond to the steering requirements of the robot chassis. Attached Figure Description

[0032] Figure 1 This is one of the structural schematic diagrams of the steering wheel module of the present invention;

[0033] Figure 2 This is the second schematic diagram of the steering wheel module of the present invention;

[0034] Figure 3 This is a structural schematic diagram of the base and connecting seat of the present invention;

[0035] Figure 4 yes Figure 3 Sectional view along the middle AA direction;

[0036] Figure 5 This is a cross-sectional view of the conductive sheet and conductive track of the present invention along the radial direction of the conductive track;

[0037] Figure 6 This is a schematic diagram of the installation structure of the first slip ring of the present invention;

[0038] Figure 7 This is a schematic diagram of the installation structure of the second slip ring of the present invention;

[0039] Figure 8 yes Figure 7 A magnified view of a section at point B in the middle.

[0040] In the picture:

[0041] 1. Base; 11. Drive cavity; 12. Wire hole; 13. Bearing; 14. Boss; 15. Correction plate;

[0042] 2. Drive bracket; 21. Connecting seat; 211. Connecting ring; 2111. Limiting block; 22. Side plate; 23. Cable groove; 24. Sealing cover;

[0043] 3. Steering motor; 31. Output shaft;

[0044] 4. Drive wheel; 41. Wheel hub; 42. Tire;

[0045] 5. Drive motor;

[0046] 6. Conductive component; 61. First conductive element; 62. Second conductive element; 63. First slip ring; 64. Second slip ring; 641. Notch. Detailed Implementation

[0047] The present invention will now be described in further detail 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 not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0048] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0050] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0051] The following reference Figures 1 to 8 The steering wheel module and robot chassis provided by this invention will be described.

[0052] The robot chassis includes a chassis body and a steering wheel module, which is connected to the bottom of the chassis body. The steering wheel module is designed to enable the robot chassis to perform walking, traction, and steering functions, allowing the robot to move flexibly in various complex environments.

[0053] Existing steering wheel modules have problems such as large chassis area occupation, inability to rotate continuously for multiple revolutions, and short lifespan. In order to solve the above problems, this embodiment also provides a steering wheel module. The specific structure of the steering wheel module is described in the following content of this embodiment.

[0054] Reference Figure 1 and Figure 2The steering wheel module includes a base 1, a drive bracket 2, a steering motor 3, a drive wheel 4, and a drive motor 5. The drive bracket 2 is rotatably connected to the bottom of the base 1, the drive wheel 4 is rotatably connected to the drive bracket 2, the steering motor 3 is connected to the base 1 and can drive the drive bracket 2 to rotate, and the drive motor 5 is connected to the drive bracket 2 and can drive the drive wheel 4 to rotate.

[0055] Specifically, the steering motor 3 is located on top of the base 1, and its output shaft is vertically positioned. The output shaft is detachably connected to the top of the drive bracket 2, so that when the output shaft of the steering motor 3 rotates, it drives the drive bracket 2 to rotate synchronously around the vertical axis. This improves the responsiveness and accuracy of the drive bracket 2's rotation, allowing it to complete the steering action in 100ms (0.1s). Optionally, in some other embodiments, the output shaft of the steering motor 3 can also be tilted to a certain extent. Furthermore, the steering motor 3 is vertically positioned on top of the base 1 and does not protrude beyond the outer periphery of the base 1, thus not encroaching on space on the chassis body other than the base 1, which facilitates the arrangement of other components on the chassis body.

[0056] Furthermore, the drive bracket 2 includes a connecting seat 21 and a side plate 22. The connecting seat 21 is rotatably connected to the base 1, and the connecting seat 21 is detachably connected to the output shaft 31 of the steering motor 3. In this embodiment, the detachable connection method is a bolt connection. It should be noted that, unless otherwise specified, the detachable connection method in the following content is a bolt connection.

[0057] Two side plates 22 are spaced apart along a rotation axis perpendicular to the connecting seat 21, with the drive wheel 4 and drive motor 5 located between the two side plates 22. Specifically, the two side plates 22 are vertically arranged, and the connecting seat 21 is detachably connected between the two side plates 22. In this embodiment, the drive wheel 4 includes a hub 41 and a tire 42 sleeved on the outside of the hub 41. In this embodiment, the drive motor 5 is a hub motor, located inside the hub 41 of the drive wheel 4. The stator of the hub motor is fixedly connected to one of the side plates 22, and the rotor of the hub motor is detachably connected to the hub 41. This reduces the space occupied by the drive motor 5 in the axial direction of the drive wheel 4, leaving more space on the chassis body.

[0058] Reference Figure 3 and Figure 4Additionally, a driving cavity 11 is vertically formed at the bottom of the base 1, and a connecting ring 211 is connected to the top of the connecting seat 21. The connecting ring 211 is placed inside the driving cavity 11, and the outer ring of the connecting ring 211 is sealed to the side wall of the driving cavity 11. In this embodiment, a bearing 13 is connected between the outer ring of the connecting ring 211 and the side wall of the driving cavity 11. The inner ring of the bearing 13 is interference-fitted with the outer ring of the connecting ring 211, and the outer ring of the bearing 13 is interference-fitted with the side wall of the driving cavity 11. Thus, the bearing 13 provides support and guidance for the driving bracket 2, making the rotation of the driving bracket 2 smoother. The bearing 13 also seals the driving cavity 11, preventing dust and impurities from entering the interior of the driving cavity 11.

[0059] Furthermore, the side of the base 1 closest to the side plate 22 is flush with the side plate 22. A calibration plate 15 is detachably connected between the base 1 and the side plate 22. Fixing the calibration plate 15 can make the base 1 flush with the drive bracket 2, at which time the initial position of the drive bracket 2 is calibrated.

[0060] Reference Figure 4 and Figure 5 In order to supply power to the drive motor 5 and to transmit and receive control signals, the steering wheel module also includes a conductive component 6. The conductive component 6 is located between the bottom wall of the drive cavity 11 (i.e., the inner wall of the drive cavity 11 away from its opening) and the top of the connecting ring 211. In this embodiment, four conductive components 6 are provided. Two conductive components 6 are used to connect the power supply and the drive motor 5 to form a conductive circuit. The remaining two conductive components 6 are used to connect the controller of the robot chassis and the control module of the drive motor 5 to transmit and receive control signals.

[0061] Specifically, each conductive component 6 includes a first conductive element 61 and a second conductive element 62. The first conductive element 61 is connected to the base 1 and electrically connected to a power source. The second conductive element 62 is connected to the drive bracket 2 and abuts against the first conductive element 61. The second conductive element 62 is rotatable relative to the first conductive element 61, and continuous conductivity exists between them. The second conductive element 62 is also electrically connected to the drive motor 5. In this embodiment, in the conductive component 6 used for power supply, the first conductive element 61 is electrically connected to the power source via a first wire, and the second conductive element 62 is electrically connected to the drive motor 5 via a second wire, thereby providing power to the drive motor 5. In the conductive component 6 used for transmitting and receiving control signals, the first conductive element 61 is electrically connected to the controller of the robot chassis via a first wire. In other embodiments, other conductive components may be used to replace the first and second wires.

[0062] Optionally, in some other embodiments, only one conductive component 6 may be provided for supplying power to the drive motor 5, that is, power is supplied solely to the positive terminal of the drive motor 5, while the negative terminal of the drive motor 5 can form a conductive loop by grounding, and the start and stop control of the drive motor 5 can be achieved directly by controlling the continuity and disconnection of the power supply line. In some other embodiments, only two conductive components 6 may be provided for connecting the power supply and the drive motor 5. In summary, the specific number of conductive components 6 can be selected and arranged according to actual needs.

[0063] With the above configuration, the original wiring harness is replaced by a first wire, a first conductive element 61, a second conductive element 62, and a second wire arranged sequentially to supply power to the drive motor 5. Since the first wire and the second wire are close together and conduct electricity through the relatively movable first conductive element 61 and the second conductive element 62, the first wire and the second wire can be fixed without reserving extra length.

[0064] Firstly, this design saves space previously reserved for the wiring harness, freeing up space at the bottom of the chassis and making the steering wheel module more compact. Secondly, the first wire can fit snugly against the base 1 or pass through its interior, and the second wire can fit snugly against the drive bracket 2 or pass through its interior. Furthermore, the first and second wires do not deform frequently, reducing the risk of them rubbing against other components and extending their lifespan. Additionally, the first conductive element 61 and the second conductive element 62 are located within the relatively sealed drive cavity 11, providing protection and extending their lifespan as well, preventing excessive wear due to dust accumulation. Thirdly, with the first and second wires fixed, the rotation of the drive bracket 2 is unaffected, allowing it to rotate a full 360° continuously to quickly respond to the robot chassis's steering requirements.

[0065] Specifically, in this embodiment, the first conductive element 61 is a conductive sheet, and the second conductive element 62 is an annular conductive track, with the axis of the conductive track coinciding with the rotation axis of the drive bracket 2. The conductive sheet and the conductive track are in sliding engagement. In this embodiment, all the conductive tracks in the four conductive components 6 are coaxially arranged and distributed sequentially along the radial direction of the conductive track. Optionally, in some other embodiments, the installation positions of the conductive sheet and the conductive track can be interchanged.

[0066] Furthermore, the conductive sheet in this embodiment is elastic, and is formed by bending an elastic gold-plated steel sheet, roughly in a Z-shape (see reference). Figure 5The elasticity of the conductive sheet allows it to continuously contact the conductive track, ensuring its conductivity and compensating for height deviations. In other embodiments, the first conductive element 61 can also be a conductive spring. It is worth noting that multiple conductive sheets are arranged circumferentially along the conductive track to ensure the conductivity of the conductive component 6 and prevent open circuits caused by deformation or aging of individual conductive sheets.

[0067] In addition, the conductive component 6 also includes a first slip ring 63 and a second slip ring 64, wherein the first slip ring 63 is connected to the base 1. For details, please refer to... Figure 6 The bottom wall of the drive cavity 11 is connected to a boss 14. Multiple bosses 14 are arranged along the circumference of the first slip ring 63; in this embodiment, three are used as an example. The first slip ring 63 is detachably connected to the boss 14. A conductive sheet is connected to the bottom of the first slip ring 63, providing a mounting base for the conductive sheet and facilitating its removal and replacement as a whole, thus improving maintenance convenience. A second slip ring 64 is spaced apart from the first slip ring 63 and is connected to the drive bracket 2. For details, please refer to... Figure 7 and Figure 8 The second slip ring 64 is detachably connected to the top of the connecting ring 211, and the conductive rail is connected to the top of the second slip ring 64, providing a mounting base for the conductive rail through the second slip ring 64.

[0068] It should be noted that a limiting block 2111 is connected to the top of the connecting ring 211, and a notch 641 is provided on the inner ring of the second slip ring 64. The limiting block 2111 is inserted into the notch 641, thereby limiting the second slip ring 64 and aligning the holes on the second slip ring 64 with the holes on the connecting ring 211, so that the second slip ring 64 can be replaced. In this embodiment, the first slip ring 63 also uses this method for circumferential positioning.

[0069] Preferably, in this embodiment, both the base 1 and the drive bracket 2 are made of aluminum, and the thickness of the base 1 and the drive bracket 2 is the minimum thickness calculated through simulation, so as to make the entire steering wheel module more compact and minimize its weight. The first slip ring 63 and the second slip ring 64 are both made of insulating material, and this embodiment uses plastic as an example, so that the first slip ring 63 and the second slip ring 64 can provide insulation to prevent leakage from affecting the normal operation of the robot.

[0070] For example, in this embodiment, the thickness of the first slip ring 63 and the second slip ring 64 is 2mm, and the distance between the first slip ring 63 and the second slip ring 64 is 2mm, thereby reducing the height of the entire steering wheel module and improving the adaptability of the steering wheel module.

[0071] Reference Figure 6 and Figure 7Furthermore, to facilitate the routing of the first and second wires, a wire-passing hole 12 is provided on the base 1, allowing the first wire to be easily passed through the drive cavity 11 to supply power to the conductive sheet. A wire groove 23 is also provided on the drive bracket 2 to accommodate the second wire. By arranging the second wire inside the wire groove 23, the second wire is protected. A sealing cover 24 is detachably connected to the opening of the wire groove 23 to further protect the second wire without hindering its maintenance.

[0072] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A steering wheel module, comprising a base (1), a drive bracket (2), a drive wheel (4), and a drive motor (5), wherein the drive bracket (2) is rotatably connected to the bottom of the base (1), the drive wheel (4) is rotatably connected to the drive bracket (2), and the drive motor (5) is connected to the drive bracket (2) and is capable of driving the drive wheel (4) to rotate, characterized in that, The steering wheel module also includes a conductive component (6), which includes: A first conductive element (61) is connected to the base (1) and electrically connected to a power source; and, The second conductive element (62) is connected to the drive bracket (2). The second conductive element (62) can rotate relative to the first conductive element (61), and when the second conductive element (62) rotates, it can abut against the first conductive element (61) to continuously conduct electricity. The second conductive element (62) is electrically connected to the drive motor (5). The conductive component (6) further includes: A first slip ring (63) is connected to the base (1), and a first conductive element (61) is connected to the first slip ring (63); and, The second slip ring (64) is connected to the drive bracket (2), the second slip ring (64) is spaced apart from the first slip ring (63), and the second conductive element (62) is connected to the second slip ring (64); Both the first slip ring (63) and the second slip ring (64) are made of insulating material; The first conductive element (61) is a conductive sheet; The second conductive element (62) is an annular conductive track, and the axis of the conductive track coincides with the rotation axis of the drive bracket (2). The conductive sheet slides in conjunction with the conductive track. The base (1) has a driving cavity (11) at the bottom, and the top of the driving bracket (2) is connected to a connecting ring (211). The connecting ring (211) is placed inside the driving cavity (11), and the conductive component (6) is located on the top of the connecting ring (211). The outer ring of the connecting ring (211) and the side wall of the driving cavity (11) are sealed together.

2. The steering wheel module according to claim 1, characterized in that, The conductive sheet is elastic.

3. The steering wheel module according to claim 1, characterized in that, The drive bracket (2) includes: Connecting seat (21), the connecting seat (21) is rotatably connected to the base (1); Side plate (22), two side plates (22) are arranged at intervals along the rotation axis perpendicular to the connecting seat (21), and the drive wheel (4) and the drive motor (5) are both located between the two side plates (22).

4. The steering wheel module according to claim 1, characterized in that, The second conductive element (62) is connected to the drive motor (5) via a second wire, and a groove (23) for accommodating the second wire is provided on the drive bracket (2).

5. The steering wheel module according to claim 4, characterized in that, A sealing cap (24) is connected to the opening of the groove (23).

6. A robot chassis, comprising a chassis body, characterized in that, The robot chassis further includes a steering wheel module as described in any one of claims 1-5, wherein the steering wheel module is disposed at the bottom of the chassis body.

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