Under-actuated wheel type structure chassis robot and working method

Abstract

The invention provides an under-actuated wheel type structure chassis robot and a working method, and relates to the technical field of chassis robots, the under-actuated wheel type structure chassis robot comprises a carriage, a driving mechanism arranged in the carriage and a driving wheel train connected with the driving mechanism through a rocker arm mechanism; wherein the rocker arm mechanism comprises a rocker arm, and a first driving synchronous shaft, a single-sided tooth synchronous belt and a driving shaft which are arranged in the rocker arm; one end of the first driving synchronizing shaft is connected with the driving mechanism, and the other end is connected with one end of the driving shaft through a single-sided tooth synchronous belt; the other end of the driving shaft is connected with the driving wheel train; the driving wheel train comprises a plurality of wheels which are arranged in a triangular shape, and the wheels are connected with the driving shaft through a retainer; the rocker arm mechanism is further connected with the compartment through a damper. Through an under-actuated structure, the three wheels rotate around the driving shaft while being driven by the double-sided tooth synchronous belt to rotate, and good obstacle crossing performance and rough road trafficability of the robot are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of chassis robots, and in particular to an under-actuated wheeled structure chassis robot and a working method thereof. Background Art

[0002] Wheeled chassis robots need to have good passability on both flat roads and rugged mountain roads. The walking devices of wheeled chassis robots in the prior art generally adopt gear transmission or track transmission. It is difficult for ordinary four-wheeled robots to move and operate on rugged roads such as mountains. Some walking devices can only cross smaller obstacles and have insufficient obstacle crossing capabilities.

[0003] The pipeline inspection robot in the prior art includes a walking device, a camera device and a fuselage; the fuselage is arranged on the ground through the walking device, and the camera device is installed on the fuselage; the camera device includes a bracket, a camera, a circular motor and a rotating motor, the bracket can be installed on the fuselage horizontally and rotatably through the rotating motor, and the camera can be installed on the bracket in a pitching and rotating manner through the circular motor; the walking device includes a planetary bracket, a motor, a baffle, a central axis and a transmission shaft; the central axis is arranged horizontally, one end of the central axis is hinged to the side of the fuselage, and the other end of the central axis passes through the center of the baffle and the planetary bracket for hinged connection; the baffle and the planetary bracket are in the shape of a regular triangle, the baffle and the planetary bracket are arranged parallel and spaced opposite to each other, and the baffle and the planetary bracket are connected to a transmission shaft at their three corners, so that the three transmission shafts form a structure with uniform spacing along the circumferential direction with the central axis as the center; each transmission shaft is movably provided with a pulley, and a wheel is provided on the pulley, and the pulleys on the three transmission shafts are connected by synchronous belt transmission, and the motor is installed on the inner surface of the baffle and connected to one of the transmission shafts.

[0004] The walking device of the pipeline inspection robot in the prior art is directly connected to the fuselage through the central axis. The structural form requires the chassis height of the fuselage to adapt to the wheel diameter, resulting in a low height of the fuselage chassis and the inability to climb over high obstacles. In addition, the motor of the walking device is installed on the stop frame, which limits the obstacle climbing height. Summary of the invention

[0005] In order to solve the problems in the existing technology, the present invention provides an under-driven wheeled structure chassis robot and a working method. Through the under-driven structure, three wheels are driven by a double-sided toothed synchronous belt and the wheels rotate around the drive shaft, thereby ensuring the robot's good obstacle crossing performance and rugged road passability.

[0006] In order to achieve the above-mentioned object, on the one hand, the present invention proposes an under-driven wheeled structure chassis robot, comprising a carriage, a driving mechanism arranged inside the carriage, and a driving wheel system connected to the driving mechanism through a rocker mechanism; wherein,

[0007] The rocker mechanism comprises a rocker and a first active synchronous shaft, a single-sided toothed synchronous belt and a drive shaft arranged inside the rocker; one end of the first active synchronous shaft is connected to the drive mechanism, and the other end is connected to one end of the drive shaft through the single-sided toothed synchronous belt; the other end of the drive shaft is connected to the drive gear train;

[0008] The driving wheel system includes a plurality of wheels arranged in a triangle, and the wheels are connected to the driving shaft through a retaining frame;

[0009] The rocker arm mechanism is also connected to the carriage via a shock absorber.

[0010] The retaining frame includes a first retaining frame and a second retaining frame, the first retaining frame and the second retaining frame are arranged in parallel, the number of the wheels is 3, the 3 wheels are all arranged between the first retaining frame and the second retaining frame, the first retaining frame is arranged between the wheel and the drive shaft, and the first retaining frame and the second retaining frame are connected through a second active synchronous wheel.

[0011] The driving wheel system also includes a clamping wheel and a driven shaft. The centers of the three wheels are respectively equipped with driven shafts, each of the driven shafts is equipped with a driven synchronous wheel, and the outer peripheries of the three driven synchronous wheels are equipped with double-sided toothed synchronous belts. The two ends of each driven shaft are respectively connected to the first retaining frame and the second retaining frame; two clamping wheels are also provided on the end surface of the first retaining frame close to the wheel, and the two clamping wheels and the second active synchronous wheel jointly clamp the double-sided toothed synchronous belt.

[0012] The number of the first active synchronous wheels is two, which are respectively arranged at two ends inside the rocker arm, and the two first active synchronous wheels are connected by a single-sided toothed synchronous belt.

[0013] The number of the driving wheel trains is four, which are respectively installed at the front ends and the rear ends of the carriage.

[0014] The driving mechanism comprises a driving motor and a reducer, wherein the output shaft of the driving motor is connected to the reducer, and the output shaft of the reducer passes through the box body and is connected to the first active synchronous wheel.

[0015] A first mounting frame is arranged on the outer wall surface of the carriage, a second mounting frame is arranged on the rocker arm, and two ends of the shock absorber are respectively hinged to the first mounting frame and the second mounting frame.

[0016] The rocker arm includes a shell and a cover. The shell is an oblong shell with an opening on one side and a cavity inside. The two ends of the shell are arc-shaped. The side wall of the shell is provided with a bearing hole. The first active synchronous wheel, the single-sided tooth synchronous belt and the drive shaft are all installed in the cavity inside the shell. The cover is buckled at the opening of the shell, and a bearing hole is provided at the bottom end of the cover.

[0017] On the other hand, the present invention provides a working method of an underactuated wheeled chassis robot, using the above-mentioned underactuated wheeled chassis robot, comprising the following steps:

[0018] Step 1: When the robot is operating normally, the driving mechanism starts to work, and the driving mechanism transmits power to the first active synchronous wheel, and the first active synchronous wheel transmits power to the driving shaft through the single-sided toothed synchronous belt, and the driving shaft drives the driving wheel system to rotate, so that the entire robot moves forward;

[0019] Step 2: When the robot encounters an obstacle during operation, the three wheels fixed around the cage rotate around the drive shaft to climb over the obstacle.

[0020] The beneficial effects of the present invention are:

[0021] 1. The three wheels of the under-driven wheel structure of the present invention are driven by a double-sided toothed synchronous belt to rotate, and the wheels rotate around the drive shaft to form an under-driven structure, thereby ensuring the robot's good obstacle crossing performance and rugged road passability.

[0022] 2. The driving wheel system of the present invention avoids the problem of a lower chassis of the carriage caused by direct connection between the carriage and the wheels by setting a rocker arm, thereby improving the robot's obstacle-crossing ability. The rocker arm of the present invention is connected to the carriage through a shock absorber to ensure the stability and shock-absorbing performance of the robot.

[0023] 3. The drive motor and reducer of the present invention are built into the carriage, which ensures a good working environment for the drive motor and reducer and reduces the probability of failure of the drive motor and reducer due to a harsh external working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the internal structure of the carriage of the present invention;

[0026] Figure 3 It is a schematic diagram of the internal structure of the rocker arm mechanism of the present invention;

[0027] Figure 4 It is a schematic diagram of the internal structure of the driving gear train of the present invention.

[0028] In the figure: 1. carriage; 2. driving mechanism; 21. driving motor; 22. speed reducer; 3. rocker mechanism; 31. housing; 32. cover; 33. first active synchronous wheel; 34. driving shaft; 35. single-sided toothed synchronous belt; 4. driving wheel train; 41. second active synchronous wheel; 42. first retaining frame; 43. second retaining frame; 44. clamping wheel; 45. driven synchronous wheel; 46. wheel; 47. double-sided toothed synchronous belt; 48. driven shaft; 5. shock absorber. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] See also Figures 1 to 4 On the one hand, an under-actuated wheeled chassis robot of the present invention comprises a carriage 1, a driving mechanism 2 arranged inside the carriage 1, and a driving wheel train 4 connected to the driving mechanism 2 through a rocker mechanism 3; wherein,

[0031] The rocker mechanism 3 includes a rocker arm and a first active synchronous shaft, a single-sided toothed synchronous belt 35 and a drive shaft 34 arranged inside the rocker arm; one end of the first active synchronous shaft is connected to the drive mechanism 2, and the other end is connected to one end of the drive shaft 34 through the single-sided toothed synchronous belt 35; the other end of the drive shaft 34 is connected to the drive gear train 4;

[0032] The driving wheel train 4 includes a plurality of wheels 46 arranged in a triangle shape, and the wheels 46 are connected to the driving shaft 34 through a retaining frame;

[0033] The rocker mechanism 3 is also connected to the carriage 1 via a shock absorber 5 .

[0034] In this embodiment, the carriage 1 is a box structure with space, and the drive mechanism 2 is placed inside the carriage 1. The drive mechanism 2 is connected to the drive wheel system 4 through the rocker mechanism 3, which is used to drive the rotation of the wheel system 4, so that the robot moves forward and crosses obstacles. The rocker mechanism 3 is connected to the drive mechanism 2 through the first active synchronous shaft, and the rocker mechanism 3 is also connected to the drive wheel system 4 through the drive shaft 34; the first active synchronous shaft drives the drive shaft 34 to rotate through the single-sided toothed synchronous belt 35, and the drive shaft 34 drives the wheel 46 to rotate through the retaining frame, thereby driving the robot to move forward and cross obstacles. When the robot encounters an obstacle with a height h less than the radius r of the wheel 46, the drive mechanism 2 drives the wheel 46 to easily cross the obstacle. When the robot encounters an obstacle with a height h greater than the radius r of the wheel 46, the drive mechanism 2 drives the retaining frame to rotate and then drives the wheel 46 to rotate, so that the upper wheel 46 of the drive wheel system 4 crosses the obstacle, thereby driving the drive wheel system 4 to move forward and cross the obstacle.

[0035] The retaining frame includes a first retaining frame 42 and a second retaining frame 43, the first retaining frame 42 and the second retaining frame 43 are arranged in parallel, the number of wheels 46 is 3, the three wheels 46 are all arranged between the first retaining frame 42 and the second retaining frame 43, the first retaining frame 42 is arranged between the wheel 46 and the drive shaft 34, and the first retaining frame 42 and the second retaining frame 43 are connected through the second active synchronous wheel 41.

[0036] In this embodiment, the first retaining frame 42 is close to the carriage 1, and the second retaining frame 43 is far away from the carriage 1. The two retaining frames are arc triangles. A center hole is provided between the first retaining frame 42 and the second retaining frame 43. The drive shaft 34 is mounted on the center hole of the first retaining frame 42. The drive shaft 34 is connected to the first retaining frame 42 through a bearing. The second active synchronous wheel 41 is mounted on the center hole of the second retaining frame 43. The second active synchronous wheel 41 is connected to the drive shaft 34 through a key. The rotation of the drive shaft 34 drives the second active synchronous wheel 41 to rotate.

[0037] The driving wheel system 4 also includes a clamping wheel 44 and a driven shaft 48. The centers of the three wheels 46 are respectively installed with driven shafts 48, and each driven shaft 48 is installed with a driven synchronous wheel 45. The outer periphery of the three driven synchronous wheels 45 is installed with a double-sided toothed synchronous belt 47. The two ends of each driven shaft 48 are respectively connected to the first retaining frame 42 and the second retaining frame 43; two clamping wheels 44 are also provided on the end surface of the first retaining frame 42 close to the wheel 46, and the two clamping wheels 44 and the second active synchronous wheel 41 jointly clamp the double-sided toothed synchronous belt 47, and the rotation of the second active synchronous wheel 41 drives the double-sided toothed synchronous belt 47 to rotate, thereby driving the wheel 46 to rotate.

[0038] There are two first active synchronous wheels 33 , which are respectively arranged at two ends of the inner part of the rocker arm. The two first active synchronous wheels 33 are connected by a single-sided toothed synchronous belt 35 .

[0039] In this embodiment, two first active synchronous wheels 33 are respectively arranged at the upper end and the lower end inside the rocker arm. The first active synchronous wheel 33 at the upper end is connected to the output end of the driving mechanism 2, and the first active synchronous wheel 33 at the lower end is connected to the input end of the driving shaft 34, ensuring that the two first active synchronous wheels 33 rotate synchronously, so that the driving mechanism 2 drives the driving wheel system 4 to rotate through the rocker arm mechanism 3.

[0040] There are four driving wheel trains 4 , which are respectively installed at the front ends and the rear ends of the carriage 1 .

[0041] In this embodiment, there are four drive mechanisms 2 disposed inside the carriage 1 , and each drive mechanism 2 is connected to a drive wheel train 4 .

[0042] The driving mechanism 2 includes a driving motor 21 and a reducer 22 . The output shaft of the driving motor 21 is connected to the reducer 22 . The output shaft of the reducer 22 passes through the housing and is connected to the first active synchronous wheel 33 .

[0043] A first mounting frame is provided on the outer wall surface of the carriage 1, a second mounting frame is provided on the rocker arm, and two ends of the shock absorber 5 are hinged to the first mounting frame and the second mounting frame respectively.

[0044] The rocker arm includes a shell 31 and a cover 32. The shell 31 is an oblong shell 31 with an opening on one side and a cavity inside. The two ends of the shell 31 are arc-shaped. The side wall of the shell 31 is provided with a bearing hole. The first active synchronous wheel 33, the single-sided toothed synchronous belt 35 and the drive shaft 34 are all installed in the cavity inside the shell 31. The cover 32 is buckled at the opening of the shell 31 to close the opening. A bearing hole is provided at the bottom end of the cover 32.

[0045] On the other hand, a working method of an underactuated wheeled chassis robot of the present invention adopts the above-mentioned underactuated wheeled chassis robot, comprising the following steps:

[0046] Step 1: When the robot is operating normally, the drive mechanism 2 starts to work, and the drive mechanism 2 transmits power to the first active synchronous wheel 33, and the first active synchronous wheel 33 transmits power to the drive shaft 34 through the single-sided toothed synchronous belt 35, and the drive shaft 34 drives the drive wheel system 4 to rotate, so that the robot moves forward;

[0047] Step 2: When the robot encounters an obstacle during operation, the three wheels 46 fixed around the retaining frame rotate around the drive shaft 34 to climb over the obstacle.

[0048] In this embodiment, step one includes the driving mechanism 2 transmitting power to the first active synchronous wheel 33, the first active synchronous wheel 33 transmits power to the driving shaft 34 through the single-sided toothed synchronous belt 35, the driving shaft 34 transmits power to the second active synchronous wheel 41, the second active synchronous wheel 41 transmits power to the driven synchronous wheel 45 through the double-sided toothed synchronous belt 47, and the driven synchronous wheel 45 drives the wheel 46 to rotate; when the robot is operating normally, the motor of the driving device starts to work, thereby driving the first active synchronous wheel 33 and the single-sided toothed synchronous belt 35 on the reducer 22 to rotate, thereby driving the driving shaft 34 to rotate, the rotation of the driving shaft 34 drives the second active synchronous wheel 41 to rotate, drives the double-sided toothed synchronous belt 47 to rotate, and then drives the driven synchronous wheel 45 to rotate, and the driven synchronous wheel 45 drives the wheel 46 to rotate, so that the entire robot moves forward.

[0049] Step 2 includes when the robot encounters an obstacle during operation (the wheels 46 encounter an obstacle), the three wheels 46 fixed around the retaining frame rotate around the drive shaft 34, and then climb over the obstacle.

Claims

1. An underactuated wheeled chassis robot, characterized in that: It includes a carriage, a driving mechanism arranged inside the carriage, and a driving wheel system connected to the driving mechanism through a rocker mechanism; wherein, The rocker mechanism comprises a rocker and a first active synchronous shaft, a single-sided toothed synchronous belt and a drive shaft arranged inside the rocker; one end of the first active synchronous shaft is connected to the drive mechanism, and the other end is connected to one end of the drive shaft through the single-sided toothed synchronous belt; the other end of the drive shaft is connected to the drive gear train; The driving wheel system includes a plurality of wheels arranged in a triangle, and the wheels are connected to the driving shaft through a retaining frame; The rocker arm mechanism is also connected to the carriage via a shock absorber.

2. The underactuated wheeled chassis robot according to claim 1, characterized in that: The retaining frame includes a first retaining frame and a second retaining frame, the first retaining frame and the second retaining frame are arranged in parallel, the number of the wheels is 3, the 3 wheels are all arranged between the first retaining frame and the second retaining frame, the first retaining frame is arranged between the wheel and the drive shaft, and the first retaining frame and the second retaining frame are connected through a second active synchronous wheel.

3. The underactuated wheeled chassis robot according to claim 2, characterized in that: The driving wheel system also includes a clamping wheel and a driven shaft. The centers of the three wheels are respectively equipped with driven shafts, each of the driven shafts is equipped with a driven synchronous wheel, and the outer peripheries of the three driven synchronous wheels are equipped with double-sided toothed synchronous belts. The two ends of each driven shaft are respectively connected to the first retaining frame and the second retaining frame; two clamping wheels are also provided on the end surface of the first retaining frame close to the wheel, and the two clamping wheels and the second active synchronous wheel jointly clamp the double-sided toothed synchronous belt.

4. The underactuated wheeled chassis robot according to claim 1, characterized in that: The number of the first active synchronous wheels is two, which are respectively arranged at two ends inside the rocker arm, and the two first active synchronous wheels are connected by a single-sided toothed synchronous belt.

5. The underactuated wheeled chassis robot according to claim 1, characterized in that: The number of the driving wheel trains is four, which are respectively installed at the front ends and the rear ends of the carriage.

6. The underactuated wheeled chassis robot according to claim 1, characterized in that: The driving mechanism comprises a driving motor and a reducer, wherein the output shaft of the driving motor is connected to the reducer, and the output shaft of the reducer passes through the box body and is connected to the first active synchronous wheel.

7. The underactuated wheeled chassis robot according to claim 1, characterized in that: A first mounting frame is arranged on the outer wall surface of the carriage, a second mounting frame is arranged on the rocker arm, and two ends of the shock absorber are respectively hinged to the first mounting frame and the second mounting frame.

8. The underactuated wheeled chassis robot according to claim 1, characterized in that: The rocker arm includes a shell and a cover. The shell is an oblong shell with an opening on one side and a cavity inside. The two ends of the shell are arc-shaped. The side wall of the shell is provided with a bearing hole. The first active synchronous wheel, the single-sided tooth synchronous belt and the drive shaft are all installed in the cavity inside the shell. The cover is buckled at the opening of the shell, and a bearing hole is provided at the bottom end of the cover.

9. A working method of an underactuated wheeled chassis robot, using the underactuated wheeled chassis robot according to any one of claims 1 to 8, characterized in that: The steps include: Step 1: When the robot is operating normally, the driving mechanism starts to work, and the driving mechanism transmits power to the first active synchronous wheel, and the first active synchronous wheel transmits power to the driving shaft through the single-sided toothed synchronous belt, and the driving shaft drives the driving wheel system to rotate, so that the entire robot moves forward; Step 2: When the robot encounters an obstacle during operation, the three wheels fixed around the cage rotate around the drive shaft to climb over the obstacle.

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