Two-wheeled omni-directional moving balance robot chassis

Abstract

The invention discloses a two-wheel omni-directional moving balance robot chassis which comprises a mounting frame and two driving wheels arranged on the mounting frame, the two driving wheels are arranged side by side, each driving wheel comprises a driving mechanism, a hub and a tire, the tire is of an annular structure and arranged on the hub in a sleeving mode, and the driving mechanisms, the hubs and the mounting frame are installed in a matched mode. The driving assembly comprises a transverse driving assembly and a rolling driving assembly, the transverse driving assembly is used for driving the tire to roll in the circumferential direction so that the mounting frame and the driving wheel can move in the center line direction of the tire, and the rolling driving assembly is used for driving the hub to rotate to drive the driving wheel to roll. When the two driving wheels are conventionally used, large-area turning can be achieved through differential control, tires of the two driving wheels can synchronously roll (roll in the circumferential direction of the tires) to drive the whole chassis to transversely move, therefore, transverse power can be provided in the differential rotation process of the driving wheels, more turning modes are achieved, and the driving efficiency is improved. Advancing in a narrow environment is facilitated.

Description

Technical Field

[0001] This invention relates to the field of robot drive mechanism technology, and in particular to a two-wheeled omnidirectional mobile balancing robot chassis. Background Technology

[0002] The core advantages of balancing robots are the combination of self-balancing stability and flexible maneuverability. They have advantages such as narrow space adaptation, rapid turning, autonomous navigation, and load / interaction capabilities, and are widely used in hotel services, airport services, rail transportation and other fields.

[0003] Balancing robots are also wheeled robots, and their drive chassis mostly use single-wheel drive or dual-wheel drive. Among them, dual-wheel drive has a better balancing effect and therefore a wider range of applications. As shown in the patent application number CN202111549437.7, entitled "A Self-Balancing Inspection Robot", the robot's movement is achieved by using two wheeled chassis that can be driven and steered independently.

[0004] Although the drive wheels of the aforementioned chassis can rotate and roll independently, they are prone to "getting stuck" when traversing narrow sections of road (where the width is not much different from the overall width of the robot) and turning at large angles, which is not conducive to operation in confined environments. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a two-wheeled omnidirectional mobile balancing robot chassis. In normal use, the two drive wheels can achieve large-area turning through differential control, while the tires of the two drive wheels can also roll synchronously (rolling along the circumference of the tires), driving the chassis to move laterally as a whole. Thus, the differential rotation of the drive wheels can also provide lateral power, providing more turning methods and making it advantageous for travel in confined environments.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a two-wheeled omnidirectional mobile balancing robot chassis, comprising a mounting frame and two drive wheels mounted on the mounting frame, the two drive wheels being arranged side by side. Each drive wheel includes a drive mechanism, a hub, and a tire. The tire is a ring-shaped structure fitted onto the hub. The drive mechanism is installed in conjunction with the hub and the mounting bracket, and includes a lateral drive assembly and a rolling drive assembly. The lateral drive assembly is used to drive the tire to roll circumferentially so that the mounting bracket and the drive wheel can move along the tire's centerline. The rolling drive assembly is used to drive the hub to rotate and drive the drive wheel to roll.

[0007] Compared with the prior art, the present invention has the following beneficial effects: The chassis designed in this invention is mainly used for balance vehicles. It is equipped with two drive wheels, which can roll and move laterally under the rolling action of the tires. It can also be equipped with a steering motor (the structure described in the patent in the background art). Thus, the chassis can achieve lateral movement of the chassis without changing the rotation angle of the drive wheels, in addition to the existing multiple movement modes, making it more suitable for use in confined environments.

[0008] Furthermore, the lateral drive assembly includes a lateral driver and connecting components. The connecting component includes at least three drive gears, each drive gear is rotatably connected to the wheel hub and is evenly distributed in a ring along the inner wall of the tire. Each drive gear is in frictional rolling contact with the inside of the tire. Each drive gear rotates synchronously under the action of a lateral drive so that the tire rolls along its circumference.

[0009] Furthermore, the connecting components also include a central drive shaft and multiple transmission components, the same number as the drive gears. The central drive shaft is rotatably connected to the hub and to the transverse drive. The transmission component is used to connect the central drive shaft and the drive gear so that the rotation of the central drive shaft drives the rotation of the drive gear.

[0010] Furthermore, the transmission components include a worm gear, a first gear, a second gear, and a third gear. The central drive shaft is equipped with a worm gear that meshes with the worm wheel. The first gear rotates coaxially with the worm wheel, the third gear rotates coaxially with the drive gear, and the second gear is located between the first gear and the third gear and meshes with the first gear and the third gear respectively.

[0011] Furthermore, the wheel hub has an annular groove for securing the tire in the circumference, and the wheel hub has a mounting cavity inside. The mounting cavity has multiple communication ports that communicate with the annular groove, the same number as the number of drive gears. Each drive gear is rotatably set in the mounting cavity, and the outer part of the drive gear is located in the annular groove and rubs against the inner wall of the tire.

[0012] Furthermore, it also includes a lateral movement assist component, which comprises two sets of rollers. Each roller assembly includes multiple rollers, each roller is arranged in a ring along the inner wall of the tire in rolling contact with the tire and is rotatably connected to the hub, and the axis of each roller is parallel to the axis of the drive gear; The two roller sets are located on both sides of the drive gear along its axis.

[0013] Furthermore, two mounting slots are provided around the circumference of the wheel hub. Each mounting slot includes multiple rolling grooves arranged around the circumference of the wheel hub. The number of rolling grooves is the same as the number of rolling wheels and they are installed one by one. Each rolling wheel is located in the corresponding rolling groove and is rotatably connected to the wheel hub and rolls in contact with the tire.

[0014] Furthermore, the two roller sets are respectively in rolling contact with the tire at the two side wall ports close to the annular groove opening, and the drive gear is in frictional contact with the tire at the bottom of the annular groove.

[0015] Furthermore, the hub has a split structure, including a first mounting seat and a second mounting seat that are detachably connected in the direction of the hub axis. The first mounting seat and the second mounting seat are respectively provided with a semi-cavity structure, each semi-cavity structure having at least three chambers. The two semi-cavity structures are spliced ​​together to form at least three connecting cavities for installing connecting components. The three connecting cavities are interconnected to form a mounting cavity. Each connecting cavity is used to install a drive gear and is connected to the bottom of the annular groove. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the external structure of the present invention; Figure 2 This is a structural cross-sectional view of the present invention; Figure 3 This is a schematic diagram of the external structure of the drive wheel of the present invention without the mounting bracket; Figure 4 This is a schematic diagram of the external structure of the drive wheel of the present invention, excluding the mounting bracket and the tire; Figure 5 This is an exploded structural diagram of the drive wheel in this invention; Figure 6 This is a schematic diagram of an exploded structure of the drive wheel with the tire removed in this invention; Figure 7 This is a schematic diagram of a structure in which the second mounting base and connecting components of the present invention are installed together. Figure 8 An exploded structural diagram showing the cooperative installation of the first mounting base, the first cover plate, and the roller assembly of the present invention. Figure 9 for Figure 8 A structural diagram from another perspective.

[0017] In the figure: mounting bracket 10, slot structure 11, mounting part 12, hub 20, first cover plate 21, first fixing hole 211, first mounting seat 22, second mounting seat 23, second cover plate 24, mounting cavity 25, connecting cavity 251, semi-cavity structure 252, connecting port 253, positioning post 26, annular groove 27, tire 30, rolling drive assembly 41, lateral drive 42, central drive shaft 421, worm 43, worm wheel 44, transmission seat 45, slot 451, positioning part 452, drive gear 46, third gear 47, second gear 48, first gear 49, rolling wheel 51, mounting shaft 511, rolling groove 52, first pressing hole 521, roller group 510, connecting through groove 520. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] like Figure 1-9 As shown, a two-wheeled omnidirectional mobile balancing robot chassis includes a mounting frame 10 and two drive wheels mounted on the mounting frame 10. The two drive wheels are arranged side by side. Each drive wheel includes a drive mechanism, a hub 20, and a tire 30. The tire 30 is a ring structure fitted onto the hub 20. The drive mechanism is installed in cooperation with the hub 20 and the mounting frame 10, and includes a lateral drive component and a rolling drive component 41. The lateral drive component is used to drive the tire 30 to roll along its circumference so that the mounting frame 10 and the drive wheel move along the center line of the tire 30. The rolling drive component 41 is used to drive the hub 20 to rotate and drive the drive wheel to roll.

[0020] Understandably, the chassis of this invention is primarily designed for balance scooters. It is equipped with two drive wheels, which can roll under the action of the rolling drive assembly 41 and also roll circumferentially along the tire 30 under the drive of the lateral drive assembly, enabling lateral movement of the mounting frame 10 and the drive wheels. Furthermore, a steering motor (the structure described in the patent in the background art) can be added to the existing structure to achieve steering at any angle. The rolling, lateral movement, and steering of the drive wheels can be used selectively or simultaneously (when used simultaneously, control measures must ensure implementation). Therefore, this chassis, in addition to its existing multiple modes of movement, can achieve lateral movement of the chassis while maintaining the same rotation angle of the drive wheels, providing more dimensional movement within space and making it more suitable for use in confined environments.

[0021] like Figure 1 , 2 As shown, the mounting bracket 10 has two slot structures 11, and two drive wheels are respectively set in the corresponding slot structures 11. The slot structures 11 have sufficient space to ensure that the drive wheels can roll in the slot structures 11, and the tires 30 on the drive wheels can roll.

[0022] To further demonstrate the principle of the rolling and lateral movement of the drive wheel, this invention will be presented through the following description.

[0023] Understandably, the drive wheel of this invention mainly includes a hub 20, a tire 30, a drive mechanism, and a mounting bracket 10. The mounting bracket 10 facilitates the installation of the drive mechanism and also facilitates the connection of the entire drive wheel to the vehicle body. In this invention, the structures mounted on both sides of the hub 20 for mounting the drive mechanism, based on the connection between the drive mechanism and the hub 20, ensure that the connection between the vehicle body and the mounting bracket 10 does not affect the rotation of the hub 20 or the rolling of the tire 30.

[0024] The tire 30 has an overall ring-shaped structure and can be fitted onto the hub 20 to form the main body of the drive wheel. The main body can be cylindrical or polygonal. Currently, in addition to circular wheels, there are also some irregularly shaped wheel structures, all of which can achieve rotation of the main body under the drive of the drive motor to achieve the purpose of movement. In this invention, the tire 30 has a ring structure, and the hub 20 has a disc structure. The tire 30 is fitted onto the hub 20 so that the axis of the tire 30 is collinear with the axis of the hub 20, making the shape of the drive wheel similar to that of existing circular wheels. Circular wheels travel more smoothly, and the force on the ring-shaped tire 30 during the fitting process with the hub 20 is more balanced, making the layout and installation of the drive mechanism easier.

[0025] The tire 30 can be a ring structure formed by a solid tube with a certain thickness, or it can be a ring structure formed by a hollow tube. Based on its intended use, the tire 30 needs to possess a certain degree of rigidity, wear resistance, and elasticity. The tire 30 is commonly made of rubber. In specific applications, steel rims (or other materials) can be embedded inside the tire 30 to enhance its structural stability and control its deformation. The specific number and wire diameter can be adjusted according to the load on the drive wheel, ensuring that the tire 30 and the rim 20 work together to achieve both the overall rotation of the rim 20 and the rolling of the tire 30 on the rim 20.

[0026] Based on the cooperative relationship between the tire 30 and the wheel hub 20, when the driving tire 30 rolls along its circumference, the vehicle body equipped with the driving wheel can move laterally, and the rotation of the driving wheel hub 20 can drive the main body to roll, so that the vehicle body equipped with the driving wheel can move forward and backward.

[0027] To achieve the rotation of the wheel hub 20, the drive mechanism of the present invention includes a rolling drive assembly 41, which is used to rotate the wheel hub 20. Since the wheel hub 20 of the present invention adopts a circular structure, the rolling drive assembly 41 uses a drive motor. The drive motor is a servo motor, stepper motor, or other electrically controllable motor. The drive motor is fixed on the mounting bracket 10, and the output shaft of the drive motor is fixed to and coaxially arranged with the wheel hub 20. Therefore, the operation of the drive motor can achieve the rotation of the wheel hub 20, thereby realizing the rolling of the entire drive wheel. Figure 1 ,2 As shown, the two slot structures 11 of the mounting bracket 10 are arranged side by side, giving the mounting bracket 10 three mounting parts 12. The three mounting parts 12 and two drive wheels are arranged alternately. The two rolling drive components 41 (drive motors) corresponding to the two drive wheels are respectively mounted on the two mounting parts 12 on both sides, and the middle mounting part 12 is used to mount two lateral drive components. The output shaft of the drive motor corresponding to each drive wheel is fixedly connected to the corresponding wheel hub 20. The drive motor is connected to the corresponding mounting part 12. When the drive wheel needs to move forward or backward, the drive motor works, which can drive the wheel hub 20 to rotate, thereby driving the drive wheel to be fixed, and the vehicle body equipped with the drive wheel can rotate. When the two drive wheels are driven by the corresponding two drive motors, differential control can be achieved by controlling different speeds, so as to achieve the turning of the chassis. Of course, a steering motor can be set on the entire mounting bracket 10 to achieve overall steering operation, but this invention does not extend further.

[0028] The lateral drive assembly is used to drive the tire 30 to roll circumferentially. The driving method is mainly frictional rolling, which causes the tire 30 to roll on the hub 20. The lateral drive assembly can be located on one side of the tire 30 ring or on the inside of the tire 30. Both can drive the tire 30 to roll on the hub 20 under the action of friction, thereby moving the drive wheel along the centerline of the tire 30. In this invention, the frictional drive contact position is located on the inside of the tire 30. Therefore, the lateral drive assembly needs to be located inside the hub 20 and in frictional contact with the tire 30. Specifically, the lateral drive assembly includes a lateral driver 42 and a connecting component. The connecting component includes at least three drive gears 46. Each drive gear 46 is rotatably connected to the hub 20 and is evenly distributed in a ring along the inner wall of the tire 30. Each drive gear 46 is in frictional rolling contact with the inside of the tire 30. Each drive gear 46 rotates synchronously under the action of the lateral driver 42, so that the tire 30 rolls circumferentially.

[0029] Understandably, the lateral drive 42 is equivalent to the rolling drive assembly 41, serving as a power output device. Therefore, the lateral drive 42 is a motor (electrically controlled motor). Based on the presence of the motor, as long as the power of the motor can be transmitted to the tire 30, enabling the tire 30 to roll circumferentially on the hub 20, the lateral drive assembly of this invention also includes a connecting component. The connecting component includes at least three drive gears 46, each drive gear 46 being rotatably disposed with the hub 20 and in frictional contact with the inner wall of the tire 30. Therefore, as long as the power of the lateral drive 42 can be synchronously transmitted to each drive gear 46, the rotation of the drive gears 46 will enable the tire 30 to roll circumferentially. The requirement for the number of drive gears 46 is based on the principle of triangular stability; three drive gears 46 are required so that when all three drive gears 46 rotate simultaneously, they can drive the tire 30 to roll circumferentially. Of course, the number of drive gears 46 can also be 5, 6, or other natural numbers. The key is to ensure that during installation, the contact points (surfaces) between the multiple drive gears 46 and the tire 30 are evenly distributed along the inner circumference of the tire 30. This ensures that when multiple drive gears 46 work simultaneously, the friction force transmitted to the tire 30 is more balanced, achieving smooth rolling of the tire 30. Figure 6 , 7 As shown, in this invention, three drive gears 46 are provided. The axes of the three drive gears 46 are parallel to the tangent of the inner circle sidewall of the tire 30. This ensures that when the drive gears 46 rotate, the friction transmission enables the tire 30 to roll along its circumference, thereby realizing the lateral movement of the vehicle body equipped with the drive wheel.

[0030] In theory, each drive wheel requires a lateral actuator 42 to generate driving force. However, since the mounting part 12 in the middle of the mounting bracket 10 is used to mount two lateral drive components, considering the mounting layout and cost-saving principles, the two lateral actuators 42 corresponding to the two drive wheels can be combined. That is, a dual-axis electric motor can be used, with its two output shafts cooperating with two connecting parts. When this dual-axis electric motor rotates, it can synchronously drive the two tires 30 corresponding to the two drive wheels to roll (rolling along the circumference of the tires 30), realizing the lateral movement of the entire chassis (synchronously moving to the left or synchronously moving to the right). Figure 2 , 3 As shown in Figures 4, 5, and 6, the two drive wheels of the present invention are driven by a transverse driver 42. The transverse driver 42 is disposed on the mounting part 12 in the middle and has two output shafts. The two output shafts are respectively driven by two connecting parts corresponding to the two drive wheels.

[0031] Taking a single drive wheel as an example, to ensure that the power of the lateral drive 42 is synchronously distributed to each drive gear 46, the connecting component of this invention also needs to be provided with a transmission component for connecting the lateral drive 42 and each drive gear 46. In this invention, the components for realizing the power transmission of the lateral drive 42 mainly include a central drive shaft 421 and multiple transmission components in the same number as the drive gears 46. The central drive shaft 421 is rotatably connected to the wheel hub 20 and connected to the lateral drive 42. The transmission components are used to connect the central drive shaft 421 and the drive gears 46, so that the rotation of the central drive shaft 421 drives the drive gears 46 to rotate.

[0032] To achieve the above transmission, the transmission components can be configured in various ways. For example, a bevel gear (No. 1) can be set on the output shaft of the transverse driver 42 (motor), and a bevel gear (No. 2) can be set on the drive gear 46. Then, by using the bevel gear (No. 3) that meshes with the bevel gear on the output shaft and the bevel gear (No. 4) that meshes with the bevel gear set on the drive gear 46, the power of the transverse driver 42 can be transmitted to the drive gear 46.

[0033] The aforementioned transmission component requires multiple bevel gears and needs to achieve spatial transmission in the XYZ directions. Assuming the output shaft is along the Z direction, bevel gears (number 3) and (number 4) need to be connected by a transmission shaft extending along the Y direction to ensure the axis of the drive gear 46 is aligned along the X direction. This type of transmission component is complex, suffers from high efficiency loss, significant wear and precision issues, and is limited by the meshing characteristics of the bevel gears, making it difficult to achieve a balance. Therefore, this invention provides a transmission component with better transmission stability, longer service life, and better wear resistance. Specifically, the transmission component includes a worm gear 44, a first gear 49, a second gear 48, and a third gear 47. A worm 43, which meshes with the worm gear 44, is mounted on the central transmission shaft 421. The first gear 49 rotates coaxially with the worm gear 44, the third gear 47 rotates coaxially with the drive gear 46, and the second gear 48 is located between the first gear 49 and the third gear 47 and meshes with both. Figure 2 , 3As shown in Figures 4, 5, and 6, the two output shafts of the transverse actuator 42 are respectively connected to the two central drive shafts 421. Each output shaft, the central drive shaft 421, and the center line of the corresponding hub 20 are collinear. The central drive shaft 421 and the output shaft of the transverse actuator 42 are rotatably connected to the hub 20 through bearings to ensure that the rolling of the hub 20 does not affect the transverse actuator 42 and the central drive shaft 421. The worm 43 is part of the central drive shaft 421 and is located at the center of the hub 20. Three worm wheels 44 are arranged around the worm 43 and cooperate with the worm 43. The axis of the worm wheels 44 is not perpendicular to the axis of the worm 43 in a plane. The worm gear 44 is rotatably connected within the hub 20 and coaxially arranged with the first gear 49, ensuring that the rotation of the worm gear 44 drives the rotation of the first gear 49. Theoretically, when the tooth diameters of the first gear 49 and the third gear 47 are large enough, the meshing transmission of the first gear 49 and the third gear 47 can be achieved without the need for the second gear 48. Considering the spatial layout, this invention includes a second gear 48, which is rotatably arranged within the hub 20 and used to achieve the transmission between the first gear 49 and the third gear 47. The drive gear 46 rotates coaxially with the third gear 47, thus the transverse drive 42 works, which can drive the central drive shaft 421 and the worm 43 to rotate, thereby achieving synchronous rotation of the three worm gears 44. The synchronous rotation of the three worm gears 44, through the corresponding transmission of the first gear 49, the second gear 48, and the third gear 47, can achieve synchronous rotation of the three drive gears 46, thereby achieving the rolling of the tire 30 along its circumference through friction.

[0034] To facilitate the installation of connecting components within the wheel hub 20, such as Figure 2 , 4 As shown in Figures 5 and 6, the hub 20 has a split structure, consisting of a detachable first mounting seat 22 and a second mounting seat 23 along its axial direction. Both the first mounting seat 22 and the second mounting seat 23 resemble a disc structure. Multiple positioning posts 26 are provided between the first mounting seat 22 and the second mounting seat 23 to ensure that the first mounting seat 22 and the second mounting seat 23, when connected, form a disc-shaped hub 20. To facilitate the installation of connecting components, the first mounting seat 22 and the second mounting seat 23 are each provided with a semi-cavity structure 252. Each semi-cavity structure 252 has at least three chambers. Two semi-cavity structures 252 are joined to form at least three connecting cavities 251 for installing connecting components. Each connecting cavity 251 is used to install a corresponding transmission component. The transmission component also has a transmission seat 45, which has two positioning parts 452. The two positioning parts 452 are respectively positioned and inserted into the first mounting seat 22 and the second mounting seat 23 to ensure that the transmission seat 45 can also be smoothly installed in the corresponding mounting cavity 25. The split-type wheel hub 20 not only facilitates the installation of connecting components, but also ensures that the entire wheel hub 20 has sufficient load-bearing capacity, avoiding the problem of insufficient load-bearing capacity that exists in a single cavity structure.

[0035] To ensure that the tire 30 is properly fitted onto the rim 20 and does not separate from the rim 20 during rolling, a corresponding locking structure needs to be provided around the rim 20 to ensure that the tire 30 does not separate from the rim 20 and to facilitate frictional contact between the drive gear 46 and the tire 30. Specifically, the rim 20 has an annular groove 27 around its circumference for locking the tire 30. The rim 20 has a mounting cavity 25 inside, and the mounting cavity 25 has multiple communication openings 253, the same number as the number of drive gears 46, that communicate with the annular groove 27. Each drive gear 46 is rotatably disposed within the mounting cavity 25, and the outer portion of the drive gear 46 is located within the annular groove 27 and makes frictional contact with the inner wall of the tire 30. Since the rim 20 is a split structure, the annular groove 27 is actually partially located on the first mounting seat 22 and partially located on the second mounting seat 23. Only after the first mounting seat 22 and the second mounting seat 23 are spliced ​​and fixed together can the complete annular groove 27 be obtained. The cross-section of the annular groove 27 is similar to a semi-circular structure, ensuring that the tire 30 can be embedded and facilitating the rolling of the tire 30 along its circumference. Figure 6 , 7 As shown, the mounting cavity 25 consists of three interconnected connecting cavities 251. Each connecting cavity 251 has a connecting port 253 that communicates with the annular groove 27. According to the layout of the drive gear 46, the outer periphery of the drive gear 46 is slightly located within the annular groove 27 (i.e., slightly protruding from the bottom of the annular groove 27). Then, the tire 30, which is engaged in the annular groove 27, can roll under the action of the drive gear 46.

[0036] The first mounting base 22 and the second mounting base 23 have basically the same structure. Therefore, the central drive shaft 421 can be rotatably connected to the first mounting base 22 or the second mounting base 23, and the other second mounting base 23 or the first mounting base 22 can be coaxially fixed with the output shaft of the rolling drive assembly 41 (drive motor). In this invention, the second mounting base 23 is rotatably connected to the central drive shaft 421, and the first mounting base 22 is connected to the rolling drive assembly 41.

[0037] Of course, to ensure that the tire 30 remains on the hub 20 under the action of the lateral drive assembly, necessary limiting components need to be provided on the hub 20 to ensure that the tire 30 does not separate from the hub 20. To this end, the present invention also includes a lateral movement auxiliary assembly, which includes two roller groups 510. Each roller group 510 includes multiple rolling wheels 51, each rolling wheel 51 being arranged in a ring along the inner wall of the tire 30, rolling in contact with the tire 30 and rotatably connected to the hub 20. The axis of each rolling wheel 51 is parallel to the axis of the drive gear 46; the two roller groups 510 are respectively located on both sides of the drive gear 46 along its axis. Figure 2 , 4As shown in Figures 5 and 6, the two roller sets 510 are respectively arranged close to the two side walls of the groove opening of the annular groove 27. Each roller set 510 has multiple rolling wheels 51 arranged in a ring along the annular direction of the annular groove 27. The multiple rolling wheels 51 can facilitate the rolling of the tire 30.

[0038] To facilitate the rolling and installation of each rolling wheel 51, the present invention provides two mounting groove groups circumferentially on the hub 20. Each mounting groove group includes multiple rolling grooves 52 arranged circumferentially around the hub 20. The number of rolling grooves 52 is the same as the number of rolling wheels 51, and they are installed one-to-one. Each rolling wheel 51 is located in its corresponding rolling groove 52, rotatably connected to the hub 20, and rolls in contact with the tire 30. Figure 2 , 4 As shown in Figures 5 and 6, two mounting slot groups are respectively set on the first mounting base 22 and the second mounting base 23. To facilitate the rotation of the rolling wheel 51, the first mounting base 22 is provided with a plurality of rolling grooves 52 evenly distributed along its circumference. Similarly, the second mounting base 23 is provided with a plurality of rolling grooves 52 evenly distributed along its circumference. The rolling grooves 52 on the first mounting base 22 and the corresponding rolling grooves 52 on the second mounting base 23 are connected to form a connecting through groove 520. Along its through groove direction, the sidewall of the connecting through groove 520 has a circular arc structure with a lower middle and higher ends to accommodate the annular groove 27 structure. Theoretically, the rolling grooves 52 do not need to be through grooves; however, for ease of processing, the rolling grooves 52 are also designed as through grooves. The setting of the rolling grooves 52 enables the rolling wheel 51 to rotate on the hub 20. The installation of the plurality of rolling wheels 51 on the first mounting base 22 is the same as that on the second mounting base 23. For ease of demonstration of the installation of the rolling wheel 51 on the hub 20, as shown... Figure 2 , 4As shown in Figures 5, 6, 7, 8, and 9, taking the installation method of multiple rolling wheels 51 on the first mounting base 22 as an example, each rolling wheel 51 is rotatably mounted on the mounting shaft 511 via a bearing. A first cover plate 21 (the second cover plate 24 cooperates with the second mounting base 23) is provided on the side of the first mounting base 22 away from the second mounting base 23. The first cover plate 21 has a disc structure and a slot communicating with multiple rolling grooves 52. Multiple first fixing holes 211 (the second fixing holes cooperate with the second mounting base 23) are provided on the inner side of the first cover plate 21. The first mounting base 22 is provided with... There are multiple first pressing holes 521 that mate with multiple first fixing holes 211 (the second pressing holes mate with the second mounting base 23). After the first cover plate 21 is connected to the first mounting base 22, each first fixing hole 211 mates with the corresponding first pressing hole 521 to snap and fix one end of the mounting shaft 511. The multiple first fixing holes 211 (the number is twice that of the mounting shaft 511) and the multiple first pressing holes 521 (the number is twice that of the mounting shaft 511) correspond one-to-one, which can fix both ends of each mounting shaft 511, thereby realizing the rotation setting of multiple rolling wheels 51 on the hub 20.

[0039] Based on the drive wheel structure of this invention, the tire 30 has a continuous buffer layer with uniform thickness. During rolling, any minor unevenness on the ground can be buffered in real time through the elastic deformation of the tread rubber, covering the entire contact area with no blind spots, and vibration is continuously absorbed. In contrast, the independent rollers of a Mecanum wheel can only achieve localized buffering, limited to the contact point of a single roller. The gaps between the rollers are buffer blind spots; if a minor bump on the ground falls into one of these gaps, it will be directly transmitted to the vehicle body through the hub 20 without being buffered, resulting in direct vibration transmission and thus generating high-frequency micro-vibrations. Clearly, the drive wheel of this invention experiences significantly less vibration during lateral movement, making it particularly suitable for scenarios requiring high stability, such as precision equipment handling and medical robots. Furthermore, the overall structure of the drive wheel is simpler, requiring only two drive motors to achieve both the roller movement and lateral movement (lateral movement of the vehicle body equipped with the drive wheel), resulting in lower manufacturing and maintenance costs and facilitating wider adoption and use.

[0040] The lateral drive 42 and the rolling drive assembly 41 can operate simultaneously or selectively, as long as it is ensured that the drive wheels function normally when both are driven synchronously in actual use. Furthermore, the vehicle (robot) equipped with these drive wheels can also utilize differential control (or be equipped with a steering motor) to achieve steering, ensuring the normal operation of the vehicle. Based on these drive wheels, there is lateral movement (for the vehicle body). During vehicle movement, different control methods (differential control and / or lateral movement control) on multiple drive wheels can reduce turning wear, enable turning correction, and expand rotation control methods, thereby broadening the application scenarios of the vehicle (robot).

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0043] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A two-wheeled omnidirectional mobile balancing robot chassis, characterized in that: Includes a mounting bracket (10) and two drive wheels mounted on the mounting bracket (10), the two drive wheels being arranged side by side. Each drive wheel includes a drive mechanism, a hub (20) and a tire (30). The tire (30) is a ring structure fitted on the hub (20). The drive mechanism is installed in cooperation with the hub (20) and the mounting bracket (10), and includes a lateral drive assembly and a rolling drive assembly (41). The lateral drive assembly is used to drive the tire (30) to roll along its circumference so that the mounting bracket (10) and the drive wheel move along the center line of the tire (30). The rolling drive assembly (41) is used to drive the hub (20) to rotate and drive the drive wheel to roll. Among them, the rolling drive component (41) is an electric motor.

2. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 1, characterized in that: The lateral drive assembly includes a lateral driver (42) and a connecting component. The connecting component includes at least three drive gears (46), each drive gear (46) is rotatably connected to the hub (20) and is evenly distributed in a ring along the inner wall of the tire (30). Each drive gear (46) is in frictional rolling contact with the inside of the tire (30). Each drive gear (46) rotates synchronously under the action of the lateral drive (42) so that the tire (30) rolls along its circumference.

3. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 2, characterized in that: The connecting components also include a central drive shaft (421) and multiple transmission components in the same number as the drive gears (46). The central drive shaft (421) is rotatably connected to the hub (20) and connected to the transverse drive (42). The transmission component is used to connect the central drive shaft (421) and the drive gear (46) so that the central drive shaft (421) rotates and drives the drive gear (46) to rotate.

4. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 3, characterized in that: The transmission components include a worm gear (44), a first gear (49), a second gear (48), and a third gear (47). The central drive shaft (421) is provided with a worm (43) that cooperates with the worm wheel (44). The first gear (49) rotates coaxially with the worm wheel (44), the third gear (47) rotates coaxially with the drive gear (46), and the second gear (48) is located between the first gear (49) and the third gear (47) and meshes with the first gear (49) and the third gear (47) respectively.

5. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 2, 3 or 4, characterized in that: The hub (20) has an annular groove (27) for mounting the tire (30) in the circumferential direction. The hub (20) has a mounting cavity (25) inside. The mounting cavity (25) has multiple communication ports (253) that communicate with the annular groove, the same number as the number of drive gears (46). Each drive gear (46) is rotatably mounted in the mounting cavity (25), and the outer part of the drive gear (46) is located in the annular groove (27) and makes frictional contact with the inner wall of the tire (30).

6. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 5, characterized in that: It also includes a lateral movement assist component, which comprises two sets of rollers (510). Each roller assembly (510) includes multiple rollers (51), each roller (51) is arranged in a ring along the inner wall of the tire (30) and rolls in contact with the tire (30) and is rotatably connected to the hub (20). The axis of each roller (51) is parallel to the axis of the drive gear (46). The two roller sets (510) are located on both sides of the drive gear (46) along its axis.

7. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 6, characterized in that: Two mounting slots are provided around the circumference of the hub (20). Each mounting slot includes multiple rolling grooves (52) arranged around the circumference of the hub (20). The number of rolling grooves (52) is the same as the number of rolling wheels (51) and they are installed one by one. Each rolling wheel (51) is located in the corresponding rolling groove (52) and is rotatably connected to the hub (20) and rolls in contact with the tire (30).

8. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 7, characterized in that: The two roller sets (510) are respectively close to the two side wall ports of the annular groove (27) and roll in contact with the tire (30), and the drive gear (46) is located at the bottom of the annular groove (27) and rubs in contact with the tire (30).

9. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 2, 3, 4, 6, 7 or 8, characterized in that: The hub (20) has a split structure, including a first mounting seat (22) and a second mounting seat (23) that are detachably connected along the axis of the hub (20). The first mounting seat (22) and the second mounting seat (23) are respectively provided with a semi-cavity structure (252). Each semi-cavity structure (252) has at least three chambers. The two semi-cavity structures (252) are spliced ​​together to form at least three connecting cavities (251) for installing connecting components.

10. The two-wheeled omnidirectional mobile balancing robot chassis according to claim 5, characterized in that: The hub (20) has a split structure, including a first mounting seat (22) and a second mounting seat (23) that are detachably connected in the axial direction of the hub (20). The first mounting seat (22) and the second mounting seat (23) are respectively provided with a semi-cavity structure (252). Each semi-cavity structure (252) has at least three chambers. The two semi-cavity structures (252) are spliced ​​together to form at least three connecting cavities (251) for installing connecting parts. The three connecting cavities (251) are interconnected to form a mounting cavity (25). Each connecting cavity (251) is used to install a drive gear (46) and is connected to the bottom of the annular groove (27).

Images