Wheeled robot chassis

Abstract

This invention relates to the field of wheeled robot technology and discloses a wheeled robot chassis. At least three wheel modules are movably mounted at the bottom of a wheel frame to support it. The included angle between any two adjacent wheel modules is equal. A drive module can drive the wheel modules to move radially back and forth along the wheel frame. When the wheeled robot's center of gravity shifts, the position of the wheel modules can be changed, expanding radially outward to adjust the wheelbase. The entire wheeled robot chassis can withstand a larger overturning moment, preventing self-propelled mechanical tipping and enabling the wheeled robot to move more stably. It features a compact and novel structure and high practicality. The greater the difference between the center of gravity and the center position, the greater the wheelbase adjustment required. Dynamic adjustment based on the actual changes in the center of gravity can promptly stabilize the overall structure of the wheeled robot.

Description

Technical Field

[0001] This invention relates to the field of wheeled robot technology, and more particularly to a wheeled robot chassis. Background Technology

[0002] Wheeled robots are typically composed of a wheeled chassis, body structure, and arm structure. They can achieve autonomous positioning and navigation using technologies such as LiDAR and depth cameras. The arm structure is generally mounted on the upper body of the robot, while the lower body provides the mobility. The chassis of the wheeled robot is responsible for propelling the upper body across the ground.

[0003] There are various forms and designs of wheeled robot chassis on the market. However, conventional drive components and wheel sets installed on wheeled chassis are difficult to adapt to changes in the robot's center of gravity when performing different actions and when the ground slope is different. When there is a shift in the center of gravity or when the robot is climbing a steep slope, the center of gravity may become unstable, resulting in poor grip on the ground and increasing the risk of tipping over.

[0004] Therefore, there is an urgent need for a wheeled robot chassis to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a wheeled robot chassis that can dynamically adjust the wheel track according to the actual changes in the center of gravity, can withstand greater overturning torque, has high practicality, and better structural stability.

[0006] To achieve this objective, the present invention adopts the following technical solution: Wheeled robot chassis, including: Wheel frame; The wheel assembly module, wherein at least three wheel assembly modules are provided, and the wheel assembly modules are movably disposed at the bottom of the wheel frame to support the wheel frame, and the included angle between any two adjacent wheel assembly modules is equal; A drive module that can drive the wheel assembly module to reciprocate radially along the wheel frame.

[0007] As an optional technical solution for the wheeled robot chassis, the drive module includes a gear drive motor and a central bevel gear. The gear drive motor is fixed at the center of the wheel frame and connected to the central bevel gear. The gear drive motor can drive the central bevel gear to rotate. One end of the wheel assembly module is provided with a bevel gear, and the bevel gears mesh with the central bevel gear for transmission.

[0008] As an optional technical solution for the chassis of a wheeled robot, the wheel assembly module includes a wheel axle assembly and a displacement assembly. The displacement assembly includes a ball screw and a nut. One end of the ball screw is fixed with the bevel gear. The ball screw can rotate to move the nut back and forth along the radial direction of the wheel frame. The nut is fixedly connected to the wheel axle assembly.

[0009] As an optional technical solution for the wheeled robot chassis, the displacement component also includes a lead screw support seat, which is fixedly mounted on the wheel frame and rotatably connected to the ball screw.

[0010] As an optional technical solution for the wheeled robot chassis, two lead screw support seats are provided, and the two lead screw support seats are spaced apart on both sides of the nut.

[0011] As an optional technical solution for the wheeled robot chassis, the drive module includes a motor mounting base and multiple linear motors. The motor mounting base is fixed to the center of the wheel frame, one end of each of the multiple linear motors is connected to the motor mounting base, and the other end of each of the multiple linear motors is correspondingly set to the wheel assembly module.

[0012] As an optional technical solution for the wheeled robot chassis, the wheel assembly module includes a wheel axle assembly and a slider. The slider is connected to the linear motor, and the linear motor can drive the slider to move back and forth along the radial direction of the wheel frame. The slider is fixedly connected to the wheel axle assembly.

[0013] As an optional technical solution for the chassis of a wheeled robot, the wheel assembly module includes a wheel and axle assembly, which includes an omnidirectional wheel and a wheel and axle, and the omnidirectional wheel is movably connected to the wheel and axle.

[0014] As an optional technical solution for the wheeled robot chassis, the wheel assembly module also includes a wheel assembly drive motor, which is fixed to the axle and can drive the omnidirectional wheel to rotate.

[0015] As an optional technical solution for the wheeled robot chassis, the wheel frame is provided with a linear guide rail, and the wheel assembly module is slidably connected to the wheel frame along the linear guide rail.

[0016] The beneficial effects of this invention are: The wheeled robot chassis provided by this invention includes a wheel frame, wheel modules, and a drive module. At least three wheel modules are provided, and all wheel modules have the same specifications. The wheel modules are movably mounted at the bottom of the wheel frame to support it, and the included angle between any two adjacent wheel modules is equal. The drive module can drive the wheel modules to move radially back and forth along the wheel frame, thus changing the position of the wheel modules. The static center of gravity of a wheeled robot is generally located at the center position. When the center of gravity of the wheeled robot shifts, the position of the drive wheel modules changes to adjust the wheelbase. The greater the difference between the center of gravity and the center position, the greater the wheelbase adjustment required. As the wheel modules continue to expand radially outward, the entire wheeled robot chassis can withstand a greater overturning moment, preventing self-propelled mechanical tipping and enabling the wheeled robot to move more stably. It features a compact and novel structure and high practicality. Dynamic adjustments are made according to the actual changes in the center of gravity to stabilize the overall structure of the wheeled robot in a timely manner. Attached Figure Description

[0017] Figure 1 This is a front structural schematic diagram of the wheeled robot chassis in the first embodiment provided by the specific implementation of the present invention; Figure 2 This is a schematic diagram of the reverse structure of the wheeled robot chassis in the first embodiment provided by the specific implementation of the present invention; Figure 3 This is a front structural diagram of the wheeled robot chassis in the second embodiment provided by the specific implementation of the present invention; Figure 4 This is a schematic diagram of the reverse side structure of the wheeled robot chassis in the second embodiment provided by the specific implementation of the present invention.

[0018] In the picture: 100. Wheel frame; 101. Bridging window; 102. Linear guide rail; 200. Wheelset module; 201. Omnidirectional wheel; 202. Wheelset drive motor; 211. Ball screw; 2111. Bevel gear; 212. Nut; 213. Screw support; 221. Slider; 311. Gear-driven motor; 312. Center bevel gear; 321. Motor mounting bracket; 322. Linear motor. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0020] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0023] like Figures 1 to 4 As shown, this invention discloses a wheeled robot chassis, including a wheel frame 100, wheel assembly modules 200, and a drive module. At least three wheel assembly modules 200 are provided, and the specifications of the multiple wheel assembly modules 200 are identical. The wheel assembly modules 200 are movably disposed at the bottom of the wheel frame 100 to support the wheel frame 100, and the included angle between any two adjacent wheel assembly modules 200 is equal. The drive module can drive the wheel assembly modules 200 to move radially back and forth along the wheel frame 100, thereby changing the position of the wheel assembly modules 200. The static center of gravity of a wheeled robot is generally located at the center position. When the center of gravity of the wheeled robot shifts, the position of the drive wheel assembly modules 200 changes to adjust the wheel track. The greater the difference between the center of gravity and the center position, the greater the wheel track adjustment required. The wheel assembly modules 200 continue to expand radially outward, dynamically adjusting according to the actual changes in the center of gravity to stabilize the overall structure of the wheeled robot in a timely manner.

[0024] When encountering a gentle slope, the wheeled robot tilts, causing a shift in its center of gravity. The wheel module 200 can be controlled to move outwards, allowing the entire chassis to withstand greater overturning moments and preventing the self-propelled machine from tipping over, thus increasing stability. When the wheeled robot is equipped with an upper body that functions as an arm, it can bend over and pick up heavy objects, exacerbating the center of gravity shift and potentially causing instability. Similarly, when elderly people or other individuals using the upper body for support use it as a handrail, center of gravity shifts frequently. Upon detecting such actions or situations, the wheel module 200 can be moved outwards in a timely manner, ensuring more stable movement. The wheeled robot chassis uses a single drive module to control the support radius formed by the telescopic combination of multiple wheel modules 200, effectively adapting to different actions and application scenarios. It features a compact and innovative structure and high practicality.

[0025] In the first embodiment, such as Figure 1 and Figure 2 The drive module includes a gear drive motor 311 and a central bevel gear 312. The gear drive motor 311 is fixed to the center of the wheel frame 100 and is connected to the central bevel gear 312. The gear drive motor 311 can drive the central bevel gear 312 to rotate. One end of the wheel assembly module 200 is provided with a bevel gear 2111, which meshes with the central bevel gear 312. The three bevel gears 2111 corresponding to the three wheel assembly modules 200 mesh with the central bevel gear 312, enabling the wheel assembly module 200 to move radially back and forth along the wheel frame 100 using only one gear drive motor 311 and the central bevel gear 312. This allows the support radius of the wheeled robot chassis to be increased or decreased to adapt to changes in the overall center of gravity.

[0026] Specifically, the wheel assembly module 200 includes a wheel axle assembly and a displacement assembly. The displacement assembly includes a ball screw 211 and a nut 212. One end of the ball screw 211 is fixed with a bevel gear 2111. The ball screw 211 can rotate to make the nut 212 move linearly and reciprocate radially along the wheel frame 100. The nut 212 is fixedly connected to the wheel axle assembly, and the nut 212 and the wheel axle assembly achieve displacement synchronously.

[0027] Furthermore, the displacement assembly also includes a lead screw support 213, which is fixedly mounted on the wheel frame 100. The lead screw support 213 is rotatably connected to the ball screw 211, fixing the position of the ball screw 211 and providing it with rotational freedom. For example, two lead screw support 213s are provided, spaced apart on both sides of the nut 212, which allows for more stable installation of the ball screw 211 and ensures the safe assembly of the wheeled robot chassis.

[0028] In this embodiment, the wheel assembly module 200 includes a wheel and axle assembly, which includes an omnidirectional wheel 201 and a wheel and axle, with the omnidirectional wheel 201 movably connected to the wheel and axle. The omnidirectional wheel 201 can move freely in any specified direction on a plane; it not only allows the omnidirectional wheel 201 to move forward or backward along the direction of hub rotation, like a regular directional wheel (this is called the primary rolling direction of the omnidirectional wheel 201), but also allows the omnidirectional wheel 201 to move perpendicular to the primary rolling direction when fixedly installed, due to the ball bearing structure arranged around the circumference of the omnidirectional wheel 201 hub (this is called the secondary rolling direction of the omnidirectional wheel 201). The structure of the omnidirectional wheel 201 allows it to combine the primary and secondary rolling directions during movement, thus forming a resultant force direction on a plane, ultimately enabling it to move at any angle, improving the mobility of the wheeled robot chassis.

[0029] Understandably, the wheel assembly module 200 also includes a wheel assembly drive motor 202, which is fixed to the axle and drives the rotation of the omnidirectional wheel 201. Therefore, the gear drive motor 311 first drives the rotation of the central bevel gear 312; then, the meshing of multiple bevel gears 2111 simultaneously drives the ball screws 211 of multiple displacement components to rotate, thereby causing the nut 212 to move linearly forward and backward; the displacement components drive the corresponding axle components to move, thus changing the wheelbase of the entire wheeled robot chassis. Simultaneously, the wheel assembly drive motor 202 can drive the movement of the omnidirectional wheel 201 to achieve the movement of the wheeled robot chassis and the entire wheeled robot on a plane.

[0030] Optionally, the wheel frame 100 is provided with a linear guide rail 102, and the wheel assembly module 200 is slidably connected to the wheel frame 100 along the linear guide rail 102. The linear guide rail 102 extends radially along the wheel frame 100, which regulates the displacement direction of the wheel assembly module 200, further improves the structural stability of the wheeled robot chassis, and extends the service life of its mechanical structure.

[0031] In the second embodiment, such as Figure 3 and Figure 4As shown, the drive module includes a motor mounting base 321 and multiple linear motors 322. The motor mounting base 321 is fixed to the center of the wheel frame 100. One end of each of the multiple linear motors 322 is connected to the motor mounting base 321, and the other end of each linear motor 322 is correspondingly set to the wheel assembly module 200, thus driving the wheel assembly module 200 to move radially. Similarly, by keeping the linear guide rail 102 and the linear motors 322 horizontally, the movement direction of the wheel assembly module 200 is made more precise.

[0032] Specifically, multiple linear motors 322 can control the corresponding multiple wheel assembly modules 200 to extend simultaneously or separately, which can be used to adjust more quickly in combination with the direction of the center of gravity offset, and prioritize the adjustment of the wheel track of the wheel assembly module 200 that is closer to the direction of the center of gravity offset, thereby improving the adjustment efficiency.

[0033] In this embodiment, the wheel assembly module 200 also includes a slider 221, which is connected to a linear motor 322. The linear motor 322 can drive the slider 221 to move back and forth along the radial direction of the wheel frame 100. The slider 221 is fixedly connected to the wheel axle assembly and moves synchronously, thereby improving the stability of the device structure.

[0034] like Figures 1 to 4 As shown, both slider 221 and nut 212 can be installed through the bridging window 101 on the wheel frame 100. The bridging window 101 has two parallel openings and extends radially along the wheel frame 100. Both slider 221 and nut 212 can pass through at both ends and connect to the wheel axle assembly. This makes the sliding displacement of the drive assembly on the wheel frame 100 smoother, the assembly structure more stable, and saves structural space.

[0035] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A wheeled robot chassis, characterized in that, include: Wheel holder (100); Wheelset module (200), at least three wheelset modules (200) are provided, the wheelset modules (200) are movably disposed at the bottom of the wheel frame (100) to support the wheel frame (100), and the included angle of any two adjacent wheelset modules (200) is equal; A drive module that can drive the wheel assembly module (200) to reciprocate radially along the wheel frame (100).

2. The wheeled robot chassis according to claim 1, characterized in that, The drive module includes a gear drive motor (311) and a center bevel gear (312). The gear drive motor (311) is fixed at the center of the wheel frame (100). The gear drive motor (311) is connected to the center bevel gear (312). The gear drive motor (311) can drive the center bevel gear (312) to rotate. One end of the wheel assembly module (200) is provided with a bevel gear (2111). The bevel gear (2111) meshes with the center bevel gear (312) for transmission.

3. The wheeled robot chassis according to claim 2, characterized in that, The wheel assembly module (200) includes a wheel axle assembly and a displacement assembly. The displacement assembly includes a ball screw (211) and a nut (212). One end of the ball screw (211) is fixed to the bevel gear (2111). The ball screw (211) can rotate to cause the nut (212) to reciprocate radially along the wheel frame (100). The nut (212) is fixedly connected to the wheel axle assembly.

4. The wheeled robot chassis according to claim 3, characterized in that, The displacement assembly also includes a lead screw support (213), which is fixedly mounted on the wheel frame (100) and is rotatably connected to the ball screw (211).

5. The wheeled robot chassis according to claim 4, characterized in that, There are two lead screw support seats (213), and the two lead screw support seats (213) are spaced apart on both sides of the nut (212).

6. The wheeled robot chassis according to claim 1, characterized in that, The drive module includes a motor mounting base (321) and multiple linear motors (322). The motor mounting base (321) is fixed to the center of the wheel frame (100). One end of each of the multiple linear motors (322) is connected to the motor mounting base (321), and the other end of each of the multiple linear motors (322) is correspondingly set to the wheel assembly module (200).

7. The wheeled robot chassis according to claim 6, characterized in that, The wheel assembly module (200) includes a wheel axle assembly and a slider (221). The slider (221) is connected to the linear motor (322). The linear motor (322) can drive the slider (221) to move back and forth along the radial direction of the wheel frame (100). The slider (221) is fixedly connected to the wheel axle assembly.

8. The wheeled robot chassis according to claim 1, characterized in that, The wheel assembly module (200) includes a wheel and axle assembly, which includes an omnidirectional wheel (201) and a wheel and axle, wherein the omnidirectional wheel (201) is movably connected to the wheel and axle.

9. The wheeled robot chassis according to claim 8, characterized in that, The wheel assembly module (200) also includes a wheel assembly drive motor (202), which is fixed to the wheel axle and can drive the omnidirectional wheel (201) to rotate.

10. The wheeled robot chassis according to any one of claims 1-9, characterized in that, The wheel frame (100) is provided with a linear guide rail (102), and the wheel assembly module (200) is slidably connected to the wheel frame (100) along the linear guide rail (102).

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