Four-steering-wheel chassis capable of moving in all directions

Abstract

The invention relates to the technical field of robot steering wheel chassis, and discloses a four-steering-wheel chassis capable of moving in all directions. Wheel set areas are formed on the periphery of the bottom of the chassis body, and each wheel set area is provided with a steering wheel set. The steering wheel set comprises loading blocks, a wheel set part and a driver, each wheel set area is provided with the corresponding loading block, the driver is installed on the corresponding loading block, the wheel set part which is eccentrically arranged is installed at the bottom of the driver, and the driver is used for driving the wheel set part to steer so as to change the driving direction. The chassis body achieves steering and driving through the steering wheel set, the steering motor drives the rotating shaft to rotate to change the direction, the driving motor directly drives the wheels to move, the driving wheels are eccentrically arranged, power consumption of the steering motor is reduced, the mechanical structure is simplified, transmission parts are reduced, the maintenance cost is reduced, and the movement efficiency is improved. And the cruising ability and the overall performance of the robot are improved.

Description

Technical Field

[0001] This invention relates to the field of robot steering wheel chassis technology, and more particularly to a four-steering wheel chassis that can move in all directions. Background Technology

[0002] In today's era of rapid technological development, robotics has become a key force driving change in various industries. Robots are widely used in many fields such as industrial production, logistics and transportation, medical care, and home services. The steering wheel chassis is one of the core components of the robot's mobile system. The steering wheel chassis generally includes four steering wheel sets, each equipped with a steering mechanism. These steering mechanisms are usually composed of transmission components such as gears and belts. Through a complex mechanical structure, power is transmitted from the motor to the steering wheels, enabling the steering wheels to perform steering operations according to the robot's motion requirements.

[0003] Existing steering wheel chassis have some drawbacks in practical applications. Traditional steering wheel chassis have complex mechanical structures containing numerous mechanical parts. During frequent turning, transmission components such as gears or belts are prone to wear and require regular inspection and calibration to eliminate backlash. Furthermore, steering wheel chassis consume more energy. The steering motor needs to work continuously to maintain the drive wheel at the required angle, resulting in higher energy consumption than ordinary chassis. At the same time, the angle of the drive wheel may be offset, and the driving force is decomposed into ineffective components during movement, reducing motion efficiency and increasing energy waste. For robots that need to operate for a long time, this limits their endurance and scope of use.

[0004] To address the aforementioned issues, this application proposes a four-steering wheel chassis capable of omnidirectional movement. Summary of the Invention

[0005] This invention proposes an omnidirectional four-steering wheel chassis, which solves the problems of complex mechanical structure, easy wear of transmission components, need for regular inspection and calibration, high energy consumption, continuous work of steering motor, easy deviation of drive wheel angle, reduced motion efficiency, and limitation of robot endurance and application range in related technologies.

[0006] The present invention proposes an omnidirectional four-steering wheel chassis, comprising a chassis body;

[0007] The bottom of the chassis body is surrounded by wheel assembly areas, and each wheel assembly area is equipped with a steering wheel assembly.

[0008] The steering wheel assembly includes a loading block, a wheel assembly section, and a driver. Each wheel assembly area is equipped with a loading block, and the driver is mounted on the loading block. An eccentrically positioned wheel assembly section is mounted on the bottom of the driver. The driver is used to drive the wheel assembly section to turn in order to change the direction of travel.

[0009] As a further optimization of the present invention, the drive includes a steering motor, which is mounted on the loading block. The output end of the steering motor is connected to a rotating shaft located below the loading block, and the wheel assembly is mounted on the bottom of the rotating shaft.

[0010] As a further optimization of the present invention, the driver also includes a fixing cover, which is mounted on the loading block and covers the outer periphery of the steering motor.

[0011] As a further optimization of the present invention, a limiting member for limiting the rotation angle of the rotating shaft is installed at the bottom of the loading block.

[0012] As a further optimization of the present invention, the limiting member includes an annular cover and a semi-open ring. The bottom of the loading block is fitted with an annular cover that is sleeved on the outer periphery of the rotating shaft. The bottom of the annular cover is fitted with a semi-open ring located on the outer periphery of the rotating shaft. A stop block is installed on the outer periphery of the rotating shaft on the side away from the semi-open ring.

[0013] As a further optimization of the present invention, the wheel assembly includes a fixing block, a drive motor and a drive wheel. The fixing block is installed at the bottom of the rotating shaft, and the drive motor is installed on the side of the fixing block. The output end of the drive motor is connected to the drive wheel, and the drive wheel is eccentrically arranged relative to the rotating shaft. A protective cover is installed on the side of the fixing block and covers the drive motor.

[0014] As a further optimization of the present invention, the rotation axis of the steering motor is not on the same line as the rotation center of the drive wheel.

[0015] As a further optimization of the present invention, anti-collision components for protecting the steering wheel assembly are installed at both ends of the chassis body.

[0016] As a further optimization of the present invention, the anti-collision component includes anti-collision bars, and anti-collision bars are installed at both ends of the chassis body. Each end of the anti-collision bar is integrally connected with a reinforcing bar arranged in a bent manner, and the reinforcing bars at both ends are respectively located on the outside of the corresponding steering wheel assembly.

[0017] As a further optimization of the present invention, a battery compartment is installed in the middle of the chassis body, and visual cameras are also installed at both ends of the chassis body.

[0018] The above-described technical solution of the present invention has the following beneficial technical effects:

[0019] 1. The chassis body of this invention is equipped with steering wheel sets on all four sides of its bottom. During operation, the steering motor on the loading block drives the rotating shaft to rotate, thereby changing the steering angle of the bottom wheel set. Subsequently, the drive motor in the wheel set drives the drive wheel to rotate, thereby moving the entire chassis body. Since the drive wheel is eccentrically set relative to the steering motor, the power consumption of the steering motor can be reduced, and the torque requirement of the steering motor is smaller, which can make the overall vehicle smaller and lower in cost. For wheeled robots, a wider wheelbase can make the robot work more smoothly and reduce the risk of tipping over. It is suitable for robots that need to operate for a long time, effectively improving its endurance and application range.

[0020] 2. In each steering wheel assembly of the present invention, a drive motor drives the drive wheel to travel directly, and a steering motor drives the rotating shaft to rotate to directly change the travel direction of the wheel assembly. This simplifies the mechanical structure, reduces the use of transmission components, and reduces the need for periodic inspection and calibration, thereby reducing maintenance costs and workload. At the same time, the direct drive method reduces the situation where the driving force is decomposed into ineffective components, improves motion efficiency, reduces energy waste, and further enhances the overall performance of the robot. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a four-steering wheel chassis that can move omnidirectionally, as proposed in this invention.

[0022] Figure 2 This is a schematic diagram of the bottom structure of a four-steering wheel chassis that can move omnidirectionally, as proposed in this invention.

[0023] Figure 3 This is a schematic diagram of the steering wheel assembly of the present invention;

[0024] Figure 4 This is a schematic diagram of the cooperative structure of the loading block, wheel assembly, driver, and limiting member of the present invention;

[0025] Figure 5 For the present invention Figure 4 Overall front view;

[0026] Figure 6 This is a simplified structural diagram of the chassis body of the present invention.

[0027] Reference numerals: 1. Chassis body; 101. Battery compartment; 102. Vision camera; 2. Steering wheel assembly; 21. Loading block; 22. Wheel assembly; 221. Fixing block; 222. Drive motor; 223. Drive wheel; 23. Driver; 231. Steering motor; 232. Shaft; 233. Fixing cover; 234. Stop block; 24. Limiting component; 241. Annular cover; 242. Semi-opening ring; 25. Protective cover; 3. Anti-collision component; 31. Anti-collision bar; 32. Reinforcing bar. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0029] like Figure 1-6 As shown, the present invention proposes an omnidirectional four-steering wheel chassis, which includes a chassis body 1;

[0030] The bottom of the chassis body 1 has wheel assembly areas around it, and each wheel assembly area is equipped with a steering wheel assembly 2;

[0031] The steering wheel assembly 2 includes a loading block 21, a wheel assembly section 22, and a drive unit 23. Each wheel assembly area is equipped with a loading block 21, and the drive unit 23 is mounted on the loading block 21. The bottom of the drive unit 23 is equipped with an eccentrically positioned wheel assembly section 22. The drive unit 23 is used to drive the wheel assembly section 22 to turn in order to change the direction of travel.

[0032] When the driver 23 of the present invention is working, it can drive the wheel assembly 22 to perform a steering action, thereby changing the driving direction of the entire chassis body 1. Then, the wheel assembly 22 drives the entire chassis body 1 to move, realizing omnidirectional movement. The above can meet the needs of the robot to move flexibly in different scenarios and expand the robot's range of activities.

[0033] In this embodiment, the driver 23 includes a steering motor 231, which is mounted on the loading block 21. The output end of the steering motor 231 is connected to a rotating shaft 232 located below the loading block 21, and the wheel assembly 22 is mounted on the bottom of the rotating shaft 232. When the steering motor 231 is started, its output end drives the rotating shaft 232 to rotate. Since the wheel assembly 22 is mounted on the bottom of the rotating shaft 232, the rotation of the rotating shaft 232 will synchronously drive the wheel assembly 22 to rotate, thereby realizing the steering of the wheel assembly 22. The above-mentioned method of using the steering motor 231 to directly drive the rotating shaft 232 simplifies the steering transmission structure, reduces energy loss in the transmission link, improves the steering response speed, and also reduces the probability of steering failure due to transmission component failure.

[0034] In this embodiment, the driver 23 also includes a fixing cover 233, which is mounted on the loading block 21 and covers the outer periphery of the steering motor 231; it can form protection on the outer periphery of the steering motor 231.

[0035] In this embodiment, a limiting member 24 for limiting the turning angle of the rotating shaft 232 is installed at the bottom of the loading block 21; the limiting member 24 includes an annular cover 241 and a semi-open ring 242. An annular cover 241 sleeved on the outer periphery of the rotating shaft 232 is installed at the bottom of the loading block 21, and a semi-open ring 242 located on the outer periphery of the rotating shaft 232 is installed at the bottom of the annular cover 241. A stop block 234 is installed on the outer periphery of the rotating shaft 232 on the side away from the semi-open ring 242.

[0036] When the steering motor 231 drives the rotating shaft 232 to rotate, the stop block 234 installed on its outer periphery will rotate together with the rotating shaft 232. When the stop block 234 rotates to both ends of the opening of the semi-open ring 242, it will be blocked by the semi-open ring 242, thereby limiting the steering angle of the rotating shaft 232. The above can effectively avoid the chassis body 1 failure caused by the loss of steering angle control and ensure the normal operation of the chassis body 1.

[0037] In this embodiment, the wheel assembly 22 includes a fixing block 221, a drive motor 222 and a drive wheel 223. The fixing block 221 is installed at the bottom of the rotating shaft 232. The drive motor 222 is installed on the side of the fixing block 221. The output end of the drive motor 222 is connected to the drive wheel 223, and the drive wheel 223 is eccentrically arranged relative to the rotating shaft 232. A protective cover 25 covering the drive motor 222 is installed on the side of the fixing block 221.

[0038] When the drive motor 222 starts, its output end drives the drive wheel 223 to rotate. The drive wheel 223 generates friction when it contacts the ground, thereby moving the entire chassis body 1. The protective cover 25 covers the drive motor 222 to protect it. At the same time, the drive wheel 223 is eccentrically set relative to the shaft 232, which can reduce the power consumption and torque requirements of the steering motor 231. Furthermore, the drive motor 222 directly drives the drive wheel 223 to rotate, reducing the use of transmission components, reducing energy loss, and improving the chassis's motion efficiency.

[0039] In this embodiment, the rotation axis of the steering motor 231 and the rotation center of the drive wheel 223 are not on the same line. For the traditional coaxial arrangement, this arrangement can reduce the power consumption of the steering motor 231 and the torque requirement of the steering motor 231, thereby making the overall vehicle smaller and cheaper. For wheeled robots, a wider wheelbase can make the robot work more stably and reduce the risk of tipping over. The calculation process is as follows:

[0040] like Figure 6As shown, point O is the geometric center of the chassis. The coordinates (Xi, Yi) of the other points are calculated relative to point O, i.e., the origin. When the host computer decomposes the velocity into (Vx0, Vy0, w), it decomposes the velocity into the Vx and Vy of a single steering wheel, as well as the rotation angle. Therefore, the linear velocity of the steering wheel is equal to the control velocity at the center of the vehicle body, which is the velocity at point O. Thus, it can be deduced that:

[0041]

[0042] Since this design uses an eccentric wheel structure, its X and Y axes need to have a certain offset, which is r (r=45mm). This means that when the drive wheel 223 rotates, the change in its wheel track is determined by the trajectory equations of its angular velocity and linear velocity with respect to this eccentricity. The relationship is as follows:

[0043]

[0044] The above formula provides the coordinates of the drive wheel 223 relative to point O, allowing for the calculation of the wheel track at all times, thus ensuring stable chassis operation.

[0045] It should be further explained that this non-collinear arrangement makes the force and movement trajectory of the drive wheel 223 more reasonable when the steering motor 231 drives the wheel assembly 22 to turn. This avoids the drive wheel 223 from getting stuck or abnormally worn during the steering process, ensuring the smoothness of the steering action. At the same time, it further optimizes the power transmission efficiency of the chassis body 1, reduces energy waste, and improves the overall motion performance of the chassis body 1.

[0046] In this embodiment, anti-collision components 3 that protect the steering wheel assembly 2 are installed at both ends of the chassis body 1. When the chassis body 1 is subjected to external collision during movement, the anti-collision component 3 will first come into contact with the colliding object and bear the impact force.

[0047] In this embodiment, the anti-collision component 3 includes an anti-collision bar 31. Anti-collision bars 31 are installed at both ends of the chassis body 1. Both ends of the anti-collision bar 31 are integrally connected to a reinforcing bar 32 arranged in a bent manner. The reinforcing bars 32 at both ends are located on the outer side of the corresponding steering wheel assembly 2, forming a surrounding protective structure for the steering wheel assembly 2. When a collision occurs, the anti-collision bar 31 and the reinforcing bar 32 jointly bear the collision force. The aforementioned bent reinforcing bar 32 increases the contact protection area between the anti-collision component 3 and the steering wheel assembly 2, further enhancing the anti-collision effect. At the same time, the integral connection structure of the reinforcing bar 32 and the anti-collision bar 31 improves the strength and rigidity of the anti-collision component 3 itself, and can better resist the impact force of the collision.

[0048] In this embodiment, a battery compartment 101 is installed in the middle of the chassis body 1 to provide power support for all electrical components of the chassis body 1. Visual cameras 102 are also installed at both ends of the chassis body 1. The visual cameras 102 are connected to the robot's control system. The visual cameras 102 at both ends can collect environmental image information around the chassis body 1 in real time and transmit the information to the robot's control system.

[0049] In a specific embodiment, both the steering motor 231 and the drive motor 222 are connected to the robot's control system.

[0050] The specific working principle of this invention is as follows:

[0051] The visual cameras 102 at both ends of the chassis body 1 are activated to collect environmental image information around the chassis body 1 in real time and transmit the collected information to the robot's control system. The control system analyzes and processes the environmental information to determine the driving route, target direction and obstacle avoidance instructions of the chassis body 1.

[0052] According to the set driving command, the control system sends a steering signal to the steering motor 231 in the corresponding steering wheel set 2. The steering motor 231 drives the rotating shaft 232 to rotate. During the rotation of the rotating shaft 232, the stop block 234 on the rotating shaft 232 rotates accordingly. When the stop block 234 rotates to the end of the semi-open ring 242, it can limit the rotation angle of the rotating shaft 232 to prevent the steering angle from being too large. The rotation of the rotating shaft 232 will synchronously drive the wheel set 22 to rotate, thereby adjusting the orientation of the drive wheel 223.

[0053] Once the drive wheel 223 is adjusted to the appropriate direction, the control system sends a signal to the drive motor 222 in the wheel assembly 22. The drive motor 222 starts, and its output drives the drive wheel 223 to rotate. The drive wheel 223 generates friction when it contacts the ground, thereby driving the entire chassis body 1 to move along the set route and direction.

[0054] During the movement of the chassis body 1, if an external collision occurs, the anti-collision components 3 installed at both ends of the chassis body 1 will bear the collision force first. The anti-collision rod 31 in the anti-collision component 3 and the bent reinforcing rod 32 connected at both ends work together to buffer and absorb the collision energy, protect the steering wheel assembly 2 and the internal components of the chassis body 1 from damage, and ensure the safe and stable operation of the chassis body 1.

[0055] The embodiments of the present invention have been described above, but the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the embodiments described above, all of which are within the protection scope of the embodiments described above.

Claims

1. A four-steering wheel chassis capable of omnidirectional movement, characterized in that, Including the main chassis (1); The bottom of the chassis body (1) is surrounded by wheel area, and each wheel area is equipped with a steering wheel wheel group (2). The steering wheel assembly (2) includes a loading block (21), a wheel assembly (22) and a driver (23). Each wheel assembly area is equipped with a loading block (21). The driver (23) is mounted on the loading block (21). The bottom of the driver (23) is equipped with an eccentrically arranged wheel assembly (22). The driver (23) is used to drive the wheel assembly (22) to turn in order to change the direction of travel.

2. The omnidirectional four-steering wheel chassis according to claim 1, characterized in that, The driver (23) includes a steering motor (231) mounted on a loading block (21). The output end of the steering motor (231) is connected to a shaft (232) located below the loading block (21). The wheel assembly (22) is mounted on the bottom of the shaft (232).

3. A four-steering wheel chassis capable of omnidirectional movement according to claim 2, characterized in that, The driver (23) also includes a mounting cover (233) which is mounted on the loading block (21) and covers the periphery of the steering motor (231).

4. A four-steering wheel chassis capable of omnidirectional movement according to claim 2, characterized in that, The bottom of the loading block (21) is equipped with a limiting member (24) that limits the rotation angle of the rotating shaft (232).

5. A four-steering wheel chassis capable of omnidirectional movement according to claim 4, characterized in that, The limiting member (24) includes an annular cover (241) and a semi-open ring (242). The bottom of the loading block (21) is fitted with an annular cover (241) that is sleeved on the outer periphery of the rotating shaft (232). The bottom of the annular cover (241) is fitted with a semi-open ring (242) located on the outer periphery of the rotating shaft (232). A stop block (234) is installed on the outer periphery of the rotating shaft (232) on the side away from the semi-open ring (242).

6. A four-steering wheel chassis capable of omnidirectional movement according to claim 2, characterized in that, The wheel assembly (22) includes a fixing block (221), a drive motor (222) and a drive wheel (223). The fixing block (221) is installed at the bottom of the rotating shaft (232). The drive motor (222) is installed on the side of the fixing block (221). The output end of the drive motor (222) is connected to the drive wheel (223), and the drive wheel (223) is eccentrically arranged relative to the rotating shaft (232). A protective cover (25) covering the drive motor (222) is installed on the side of the fixing block (221).

7. A four-steering wheel chassis capable of omnidirectional movement according to claim 6, characterized in that, The rotation axis of the steering motor (231) is not on the same line as the rotation center of the drive wheel (223).

8. A four-steering wheel chassis capable of omnidirectional movement according to claim 1, characterized in that, Both ends of the chassis body (1) are equipped with anti-collision components (3) to protect the steering wheel assembly (2).

9. A four-steering wheel chassis capable of omnidirectional movement according to claim 8, characterized in that, The anti-collision component (3) includes an anti-collision bar (31). Both ends of the chassis body (1) are equipped with anti-collision bars (31). Both ends of the anti-collision bar (31) are integrally connected with a reinforcing bar (32) arranged in a bent manner. The reinforcing bars (32) at both ends are located on the outside of the corresponding steering wheel assembly (2).

10. A four-steering wheel chassis capable of omnidirectional movement according to claim 1, characterized in that, A battery compartment (101) is installed in the middle of the chassis body (1), and visual cameras (102) are also installed at both ends of the chassis body (1).

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