Mechanical chassis capable of moving at high speed and climbing stairs

Abstract

The invention discloses a mechanical chassis capable of moving at a high speed and climbing stairs, and belongs to the field of stair-climbing robots, the mechanical chassis comprises a frame assembly, a front climbing mechanism assembly and a rear climbing mechanism assembly, the front climbing mechanism assembly and the rear climbing mechanism assembly are installed at the two ends of the frame assembly respectively, and the front climbing mechanism assembly and the rear climbing mechanism assembly are arranged on the frame assembly. The front climbing mechanism assembly comprises a left front wheel and hub motor assembly and a right front wheel and hub motor assembly which are installed at the two ends of the frame assembly, a steering motor and steering pull rod assembly is installed in the frame assembly, and through cooperative use of all the devices, the stability of the device in the stair climbing process can be improved, the stair climbing efficiency is improved, and the safety of the device is improved. Four hub motors on the front, back, left and right sides are adopted, four-wheel drive is carried out during stair climbing, the stair climbing efficiency is effectively improved, the rollover risk is effectively avoided through a front-back double-climbing structure, quick movement can be achieved through four-wheel drive, the tunnel climbing capacity is better, expansibility is good, and meanwhile a sensor, a calculation unit and the like can be additionally arranged on the device to achieve unmanned transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of stair-climbing robots, in particular to a mechanical chassis capable of moving at high speed and climbing stairs. Background Art

[0002] A stair-climbing robot is an intelligent device that can climb stairs autonomously or semi-automatically. It is mainly used to replace human labor in carrying heavy objects and performing operations in special environments. It is usually equipped with walking mechanisms such as tracks, wheels, and mechanical legs. It combines sensors (such as visual sensors and infrared sensors) and control systems to realize stair recognition, obstacle crossing and stable movement.

[0003] Upon investigation, a Chinese invention patent discloses a manned stair-climbing robot (publication number: CN213851523U), which includes a chassis system, a drive system, a seat system, a buffer system, and a control system. The chassis system includes tracks and chain tracks, with a drive motor mounted on the chassis. The seat is hinged to the chassis at one end and threadedly engaged with an adjustment screw at the other end. The buffer system includes a buffer motor, a buffer screw, and a buffer arm, with buffer wheels also mounted on the buffer arm. The control system is used to control the speed and direction of the drive motor, adjustment motor, and buffer motor. This structure uses chain tracks and tracks, which provide low resistance during movement, allowing for both ground walking and stair climbing, replacing a wheel-track mechanism. To prevent the robot from tipping forward or backward when ascending or descending stairs, a leveling buffer system is designed. The buffer precisely connects the stair climber to the step-down platform. A seat adjustment system ensures that the seat remains level regardless of the slope of the stairs, greatly improving riding comfort.

[0004] Although the above patent improves the stability of the robot during stair climbing through the arrangement of components such as the chassis system, drive system, and control system, and the coordination of the components, and uses the arrangement of the seat adjustment system to ensure the horizontal stability of the seat during stair climbing, since the equipment is often used during stair climbing, although the track equipment can improve the stability of stair climbing, its transportability is poor, and its own weight often causes indentations and damage to the track.

[0005] Therefore, the present invention provides a mechanical chassis that can move at high speed and climb stairs to solve the above problems. Summary of the Invention

[0006] (1) Technical problems solved

[0007] The present invention provides a mechanical chassis capable of moving at high speed and climbing stairs, aiming to solve the problems raised in the background art.

[0008] (2) Technical solution

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A mechanical chassis capable of high-speed movement and stair climbing comprises a frame assembly, a front climbing mechanism assembly, and a rear climbing mechanism assembly, wherein the front climbing mechanism assembly and the rear climbing mechanism assembly are respectively mounted at both ends of the frame assembly;

[0011] The front climbing mechanism assembly includes a left front wheel and a hub motor assembly, and a right front wheel and a hub motor assembly installed at both ends of the frame assembly. A steering motor and a steering rod assembly are installed inside the frame assembly.

[0012] As a preferred technical solution of the present application, the rear climbing mechanism assembly is installed at one end of the frame assembly away from the front climbing mechanism assembly, and the rear climbing mechanism assembly includes a left rear wheel and hub motor assembly and a right rear wheel and hub motor assembly installed at both ends of the frame assembly.

[0013] As a preferred technical solution of the present application, the front climbing mechanism assembly and the rear climbing mechanism assembly are both controlled by a climbing motor assembly, and the two climbing motor assemblies are respectively installed at the lower bottom end of the frame assembly.

[0014] As a preferred technical solution of the present application, a control system for controlling the front climbing mechanism assembly and the rear climbing mechanism assembly is installed on the upper top of the frame assembly.

[0015] As a preferred technical solution of the present application, a power battery for providing power to the two climbing motor assemblies is installed at the upper top of the frame assembly.

[0016] As a preferred technical solution of the present application, a braking system assembly for controlling the two climbing motor assemblies is installed inside the frame assembly.

[0017] As a preferred technical solution of the present application, the frame assembly includes an upper frame and a lower frame, and the upper frame and the lower frame are connected by welding pillars.

[0018] As a preferred technical solution of the present application, the steering motor and steering tie rod assembly includes a steering motor, the steering motor is connected to a left tie rod and a right tie rod, and the left tie rod and the right tie rod are connected to the front wheel hub through a steering plate.

[0019] As a preferred technical solution of the present application, the front climbing mechanism assembly also includes a climbing leg assembly, which includes a stepper motor, a reduction mechanism, a rotating shaft, a fixed arm and a movable arm. The stepper motor drives the reduction mechanism, and the rotating shaft is arranged on the reduction mechanism. Both ends of the rotating shaft extend to the outside of the reduction mechanism and fixed arms are installed at both ends. The bottom end of the movable arm is connected to the fixed arm.

[0020] As a preferred technical solution of the present application, a roller is provided at the free end of the movable arm.

[0021] (3) Beneficial effects

[0022] 1. Through the mutual cooperation of various components, the stability of the device during the climbing process can be improved, and the climbing efficiency can be improved. At the same time, high-strength pipes are used through bending, welding, riveting, and screwing with related motor mounting structures to form an integral frame, which is lower in cost than the sheet metal stamping and welding chassis. Four hub motors in the front, rear, left and right are used, and four-wheel drive is carried out simultaneously when climbing, which effectively improves the climbing efficiency. The device uses hub motors, the vehicle size is small, and the climbing mechanism can be loaded with cargo to achieve rapid climbing; the front and rear double climbing structures effectively avoid the risk of rollover, the four-wheel drive can achieve rapid movement, better ability to climb over tunnels, and good scalability. At the same time, the device can be equipped with additional sensors, computing units, etc. to achieve unmanned transportation.

[0023] 2. The device has wide applicability and strong operational flexibility. It can use front-wheel drive or rear-wheel drive on flat ground, which can improve the vehicle's endurance. The front and rear climbing mechanisms can achieve rapid climbing and movement. The motor-controlled mechanical chassis can quickly realize left and right steering of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The figure is a schematic diagram of the overall structure of a mechanical chassis that can move at high speed and climb stairs;

[0025] Figure 2 A schematic diagram of the disassembled and exploded structure of a mechanical chassis that can move at high speed and climb stairs;

[0026] Figure 3 This is a schematic diagram of the structure of a front climbing mechanism assembly in a mechanical chassis that can move at high speed and climb stairs;

[0027] Figure 4 The figure is a schematic diagram of the structure of a frame assembly in a mechanical chassis that can move at high speed and climb stairs;

[0028] Figure 5 A schematic diagram of a frame assembly in a mechanical chassis capable of high-speed movement and stair climbing, in a stair climbing preparation state;

[0029] Figure 6 This is a working state diagram of the front climbing mechanism assembly of a frame assembly in a mechanical chassis that can move at high speed and climb stairs;

[0030] Figure 7 This is a working state diagram of the rear climbing mechanism assembly of the frame assembly in a mechanical chassis that can move at high speed and climb stairs;

[0031] Figure 8A schematic diagram of the steering state of a frame assembly in a mechanical chassis capable of high-speed movement and stair climbing;

[0032] Figure 9 The diagram shows a frame assembly in a mechanical chassis that can move at high speed and climb stairs.

[0033] In the picture:

[0034] 1. Frame assembly; 101. Steering motor and steering rod assembly; 102. Upper frame; 103. Lower frame; 104. Pillar; 105. Left tie rod; 106. Right tie rod; 107. Steering plate; 2. Front climbing mechanism assembly; 201. Left front wheel and hub motor assembly; 202. Right front wheel and hub motor assembly; 3. Rear climbing mechanism assembly; 301. Left rear wheel and hub motor assembly; 302. Right rear wheel and hub motor assembly; 4. Climbing motor assembly; 5. Control system; 6. Power battery; 7. Braking system assembly. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] The present invention provides a mechanical chassis that can move at high speed and climb stairs, such as Figure 1-Figure 4 As shown, the mechanical chassis capable of high-speed movement and stair climbing comprises a frame assembly 1, a front climbing mechanism assembly 2 and a rear climbing mechanism assembly 3, wherein the front climbing mechanism assembly 2 and the rear climbing mechanism assembly 3 are respectively mounted at both ends of the frame assembly 1;

[0037] The front climbing mechanism assembly 2 includes a left front wheel and hub motor assembly 201 and a right front wheel and hub motor assembly 202 installed at both ends of the frame assembly 1. A steering motor and a steering rod assembly 101 are installed inside the frame assembly 1.

[0038] The rear climbing mechanism assembly 3 is installed at one end of the frame assembly 1 away from the front climbing mechanism assembly 2. The rear climbing mechanism assembly 3 includes a left rear wheel and hub motor assembly 301 and a right rear wheel and hub motor assembly 302 installed at both ends of the frame assembly 1.

[0039] In an embodiment of the present invention, the front climbing mechanism assembly 2 and the rear climbing mechanism assembly 3 are both controlled by the climbing motor assembly 4 , and the two climbing motor assemblies 4 are respectively installed at the lower bottom ends of the frame assembly 1 .

[0040] In an embodiment of the present invention, a control system 5 for controlling the front climbing mechanism assembly 2 and the rear climbing mechanism assembly 3 is installed at the upper top of the frame assembly 1 .

[0041] In an embodiment of the present invention, a power battery 6 for providing power to the two climbing motor assemblies 4 is installed on the upper top of the frame assembly 1 .

[0042] In an embodiment of the present invention, a brake system assembly 7 for controlling two climbing motor assemblies 4 is installed inside the vehicle frame assembly 1 .

[0043] In the embodiment of the present invention, the frame assembly 1 includes an upper frame 102 and a lower frame 103 , and the upper frame 102 and the lower frame 103 are welded with struts 104 .

[0044] In an embodiment of the present invention, the steering motor and steering tie rod assembly 101 includes a steering motor 108 , which is connected to a left tie rod 105 and a right tie rod 106 , and the left tie rod 105 and the right tie rod 106 are connected to the front wheel hub via a steering plate 107 .

[0045] In an embodiment of the present invention, the front climbing mechanism assembly 2 further includes a climbing leg assembly, which includes a stepper motor 203, a reduction mechanism 204, a rotating shaft 205, a fixed arm 206, and a movable arm 207. The stepper motor 203 drives the reduction mechanism 204. The rotating shaft 205 is mounted on the reduction mechanism 204. Both ends of the rotating shaft 205 extend outside the reduction mechanism and are mounted with fixed arms 206. The bottom end of the movable arm 207 is connected to the fixed arm 206. The structure and operating principle of the rear climbing mechanism assembly 3 are the same as those of the front climbing mechanism assembly 2 and will not be described in detail.

[0046] In the embodiment of the present invention, a roller 208 is provided at the free end of the movable arm 207 .

[0047] In the embodiments of the present invention, see Figures 5 to 8 The frame assembly 1 can provide sufficient stability and protection for the device, and fully provide stable support for each component during climbing or transportation. The front climbing mechanism assembly 2 and the rear climbing mechanism assembly 3 can be used to lift the front of the chassis to contact the top surface of the stairs through the movement of the climbing motor assembly 4 and the front climbing mechanism assembly 2, and then the rear of the chassis is lifted through the movement of another climbing motor assembly 4 and the rear climbing mechanism assembly 3 to complete the climbing work. It should be noted that during the climbing process of the mechanical chassis, the four-wheel hub motors work together with the front and rear climbing motors and the climbing mechanism. The four-wheel hub motors cooperate with the brake system assembly 7 to realize the downward movement of the mechanical chassis. The operation and stop of the hub motors, climbing motors, and brake system assembly 7 are all carried out by the instructions output by the mechanical chassis control system 5.

[0048] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A mechanical chassis capable of high-speed movement and stair climbing, comprising a frame assembly (1), a front climbing mechanism assembly (2) and a rear climbing mechanism assembly (3), characterized in that: The front climbing mechanism assembly (2) and the rear climbing mechanism assembly (3) are respectively mounted on both ends of the vehicle frame assembly (1); The front climbing mechanism assembly (2) comprises a left front wheel and a hub motor assembly (201) and a right front wheel and a hub motor assembly (202) mounted at both ends of the vehicle frame assembly (1); a steering motor and a steering rod assembly (101) are mounted inside the vehicle frame assembly (1).

2. The mechanical chassis capable of high-speed movement and stair climbing according to claim 1, characterized in that: The rear climbing mechanism assembly (3) is mounted on one end of the vehicle frame assembly (1) away from the front climbing mechanism assembly (2), and the rear climbing mechanism assembly (3) comprises a left rear wheel and wheel hub motor assembly (301) and a right rear wheel and wheel hub motor assembly (302) mounted on both ends of the vehicle frame assembly (1).

3. The mechanical chassis capable of high-speed movement and stair climbing according to claim 2, characterized in that: The front climbing mechanism assembly (2) and the rear climbing mechanism assembly (3) are both controlled by a climbing motor assembly (4), and the two climbing motor assemblies (4) are respectively installed at the lower bottom ends of the frame assembly (1).

4. The mechanical chassis capable of high-speed movement and stair climbing according to claim 3, characterized in that: A control system (5) for controlling the front climbing mechanism assembly (2) and the rear climbing mechanism assembly (3) is installed on the upper top of the frame assembly (1).

5. The mechanical chassis capable of high-speed movement and stair climbing according to claim 3, characterized in that: A power battery (6) for providing power to the two climbing motor assemblies (4) is installed on the upper top of the frame assembly (1).

6. The mechanical chassis capable of high-speed movement and stair climbing according to claim 5, characterized in that: A brake system assembly (7) for controlling the two climbing motor assemblies (4) is installed inside the vehicle frame assembly (1).

7. The mechanical chassis capable of high-speed movement and stair climbing according to claim 6, characterized in that: The frame assembly (1) comprises an upper frame (102) and a lower frame (103), wherein the upper frame (102) and the lower frame (103) are welded with a support column (104).

8. The mechanical chassis capable of high-speed movement and stair climbing according to claim 7, characterized in that: The steering motor and steering tie rod assembly (101) comprises a steering motor (104), wherein the steering motor (104) is connected to a left tie rod (105) and a right tie rod (106), and the left tie rod (105) and the right tie rod (106) are connected to the front wheel hub via a steering plate (107).

9. The mechanical chassis capable of high-speed movement and stair climbing according to claim 8, characterized in that: The front climbing mechanism assembly (2) further comprises a stair climbing leg assembly, which comprises a stepping motor (203), a speed reduction mechanism (204), a rotating shaft (205), a fixed arm (206) and a movable arm (207). The stepping motor (203) drives the speed reduction mechanism (204). The rotating shaft (205) is arranged on the speed reduction mechanism (204). Both ends of the rotating shaft (205) extend to the outside of the speed reduction mechanism and are equipped with fixed arms (206). The bottom end of the movable arm (207) is connected to the fixed arm (206).

10. The mechanical chassis capable of high-speed movement and stair climbing according to claim 9, characterized in that: The free end of the movable arm (207) is provided with a roller (208).

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