Steering wheel chassis and robot

Abstract

The utility model relates to the field of logistics equipment, and discloses a steering wheel chassis and a robot, the steering wheel chassis comprises at least two sets of steering wheel mechanisms, each steering wheel mechanism comprises a driving wheel, a first driving motor and a second driving motor, the first driving motor drives the driving wheel to rotate, and the second driving motor drives the driving wheel to steer.

Description

Technical Field

[0001] The utility model relates to the field of logistics equipment, in particular to a steering wheel chassis and a robot. Background Art

[0002] In the prior art, the chassis of the robot generally consists of two drive wheels and two or four universal wheels. When the two drive wheels rotate in different directions or at different speeds, differential steering is achieved. When the left and right drive wheels rotate at the same speed but in opposite directions, the robot can rotate in place. The differential wheel has strict requirements on the flatness of the ground and has a light load, generally less than 1 ton, and cannot be used in situations where high precision requirements are required. Utility Model Content

[0003] Based on the above problems, the purpose of the utility model is to provide a robot chassis that has relatively low requirements on ground flatness and can carry a load of 1 ton or more.

[0004] On the one hand, the present application provides a steering wheel chassis, which includes at least two groups of steering wheel mechanisms, and the steering wheel mechanism includes a driving wheel, a first driving motor and a second driving motor. The first driving motor drives the driving wheel to rotate, and the second driving motor drives the driving wheel to turn.

[0005] In one embodiment of the present application, the output shaft of the first drive motor is drivingly connected to the axle of the drive wheel via a reducer.

[0006] In one embodiment of the present application, the second drive motor is connected to the drive wheel through a transmission mechanism, the transmission mechanism includes a first transmission wheel, a second transmission wheel and a bogie, one end of the bogie is connected to the second transmission wheel, and the other end is connected to the axle of the drive wheel, and the output shaft of the second drive motor is connected to the first transmission wheel through a reducer.

[0007] In one embodiment of the present application, tension belts are provided on the first transmission wheel and the second transmission wheel, and the second transmission wheel drives the bogie to rotate around the axis of the second transmission wheel.

[0008] In one embodiment of the present application, the steering wheel mechanism further includes a fixing frame, the second drive motor is mounted on the fixing frame, and the output shaft of the second drive motor passes through the fixing frame to connect to the first transmission wheel.

[0009] In one embodiment of the present application, the first transmission wheel is set to a first gear, the second transmission wheel is set to a second gear, one end of the bogie is connected to the second gear, and the other end is connected to the axle of the driving wheel, the output shaft of the second driving motor is connected to the first gear through a reducer, and the first gear is meshed with the second gear.

[0010] In one embodiment of the present application, the second gear is fixedly mounted on the bogie, and the second gear drives the bogie to rotate around the axis of the second gear.

[0011] In one embodiment of the present application, the two groups of steering wheel mechanisms are mirror images of each other.

[0012] On the other hand, the present application provides a robot comprising the above-mentioned steering wheel chassis, wherein the steering wheel chassis comprises four groups of steering wheel mechanisms, and the four groups of steering wheel mechanisms are mirror images of each other.

[0013] In one embodiment of the present application, the four groups of steering wheel mechanisms are respectively located in four quadrants of a rectangular coordinate system on a horizontal plane of the chassis.

[0014] The beneficial effects of the utility model are:

[0015] Using a steering wheel mechanism instead of differential steering increases the robot's adaptability to ground flatness and expands the robot's application scenarios; using a steering wheel mechanism instead of differential steering increases the robot's load capacity and can cope with load requirements of more than one ton; using a steering wheel mechanism instead of differential steering increases the robot's driving force when starting, and can effectively prevent the drive wheel from slipping when starting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0017] Figure 1 It is a structural schematic diagram of a steering wheel of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of a robot of the utility model;

[0019] Figure 3 It is a schematic diagram of the walking and rotating of the utility model.

[0020] In the figure: 1, second gear; 2, first gear; 3, fixed frame; 4, second drive motor; 5, connecting frame; 6, drive wheel; 7, bogie; 8, first drive motor;

[0021] 11. The first steering wheel mechanism; 12. The second steering wheel mechanism; 21. The third steering wheel mechanism; 22. The fourth steering wheel mechanism. DETAILED DESCRIPTION

[0022] The technical scheme of the embodiment of the utility model will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0023] A steering wheel chassis, the steering wheel chassis comprises at least two groups of steering wheel mechanisms, such as Figure 1 As shown, the steering wheel mechanism includes a driving wheel 6, a first driving motor 8 and a second driving motor 4. The first driving motor 8 drives the driving wheel 6 to rotate, and the second driving motor 4 drives the driving wheel 6 to turn.

[0024] The output shaft of the first driving motor 8 is drivingly connected to the axle of the driving wheel 6 via a speed reducer.

[0025] The steering wheel mechanism further includes a fixing frame 3, the second drive motor 4 is mounted on the fixing frame 3, and the output shaft of the second drive motor 4 passes through the fixing frame 3 to connect to the first transmission wheel. The steering wheel mechanism further includes a connecting frame 5, and the connecting frame 5 is connected to the fixing frame 3.

[0026] The first transmission wheel is set as the first gear 2, the second transmission wheel is set as the second gear 1, one end of the bogie 7 is connected to the second gear 1, and the other end is connected to the axle of the driving wheel 6, the output shaft of the second driving motor 4 is connected to the first gear 2 through a reducer, and the first gear 2 is meshed with the second gear 1.

[0027] The second gear 1 is fixedly mounted on the bogie 7, and the second gear 1 drives the bogie 7 to rotate around the axis of the second gear 1. The two groups of steering wheel mechanisms are mirror images of each other.

[0028] A steering wheel chassis comprises at least two groups of steering wheel mechanisms, wherein the steering wheel mechanism comprises a driving wheel 6, a first driving motor 8 and a second driving motor 4, wherein the first driving motor 8 drives the driving wheel 6 to rotate, and the second driving motor 4 drives the driving wheel 6 to turn.

[0029] The output shaft of the first driving motor 8 is drivingly connected to the axle of the driving wheel 6 via a speed reducer.

[0030] The steering wheel mechanism further comprises a fixing frame 3 , the second driving motor 4 is mounted on the fixing frame 3 , and the output shaft of the second driving motor 4 passes through the fixing frame 3 and is connected to the first transmission wheel.

[0031] The second drive motor 4 is connected to the drive wheel 6 through a transmission mechanism, and the transmission mechanism includes a first transmission wheel, a second transmission wheel and a bogie 7. One end of the bogie 7 is connected to the second transmission wheel, and the other end is connected to the axle of the drive wheel 6. The output shaft of the second drive motor 4 is connected to the first transmission wheel through a reducer.

[0032] The first transmission wheel and the second transmission wheel are provided with tension belts, and the second transmission wheel drives the bogie 7 to rotate around the axis of the second transmission wheel.

[0033] A robot, characterized in that it comprises the above-mentioned steering wheel chassis, wherein the steering wheel chassis comprises four groups of steering wheel mechanisms, and the four groups of steering wheel mechanisms are mirror images of each other. The four groups of steering wheel mechanisms are respectively located in four quadrants of the rectangular coordinate system of the horizontal plane of the chassis. Figure 2 As shown, the robot comprises a first steering wheel mechanism 11, a second steering wheel mechanism 12, a third steering wheel mechanism 21, a fourth steering wheel mechanism 22, and a four-wheel drive steering mechanism diagonally installed in the robot chassis. The fixing frame 3 on the driving steering wheel mechanism is fixed to the robot chassis through two connecting frames with hexagon socket screws. If the four sets of driving motors work at the same speed and the same direction at the same time, and the bogies 7 of the four sets of driving steering wheel mechanisms rotate at the same time in a certain way, the robot can realize the function of turning or rotating in place.

[0034] Using a steering wheel mechanism instead of differential steering increases the robot's adaptability to ground flatness and expands the robot's application scenarios; using a steering wheel mechanism instead of differential steering increases the robot's load capacity and can cope with load requirements of more than one ton; using a steering wheel mechanism instead of differential steering increases the robot's driving force when starting, and can effectively prevent the drive wheel from slipping when starting.

[0035] The schematic diagram of the four driving steering wheel mechanisms installed on the chassis is as follows Figure 3 As shown, when driving straight, the four steering motors first rotate until the axes of the driving wheels 6 are perpendicular to the forward direction and then stop, that is, the initialization is completed, and then the four driving motors rotate. For example, when driving forward, they rotate forward, and when driving backward, they rotate backward, driving the driving wheels 6 to rotate synchronously, thereby realizing the function of driving forward or backward. When turning or turning 360° on the spot, the four steering motors rotate until the axes of the four driving wheels 6 are aligned with the rotation center, as shown in FIG. Figure 3 -b, at this time, the four drive motors rotate in one direction at the same time, which can achieve turning on the spot or 360° rotation on the spot. Figure 3 -b is a diagram of turning left. Figure 3-a and 3-c are schematic diagrams of the chassis of four driving steering wheel mechanisms moving straight in different directions. A four-wheel drive steering wheel structure designed in the present application can solve the problem of driving wheel slipping due to insufficient friction while satisfying the functions of the chassis moving forward, backward, turning, and rotating 360 degrees on the spot. By eliminating the universal wheel mechanism and replacing it with a set of driving steering wheel mechanisms at each corner, on the one hand, the number of driving wheels is increased, thereby preventing the driving wheels from slipping; on the other hand, the friction between the driving wheels and the ground increases with the increase of the weight of the cargo, and further prevents the driving wheels from slipping.

[0036] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A steering wheel chassis, characterized in that: The steering wheel chassis includes at least two groups of steering wheel mechanisms, and the steering wheel mechanism includes a driving wheel, a first driving motor and a second driving motor. The first driving motor drives the driving wheel to rotate, and the second driving motor drives the driving wheel to turn.

2. The steering wheel chassis according to claim 1, characterized in that: The output shaft of the first driving motor is drivingly connected to the axle of the driving wheel through a reducer.

3. The steering wheel chassis according to claim 1, characterized in that: The second drive motor is connected to the drive wheel through a transmission mechanism, and the transmission mechanism includes a first transmission wheel, a second transmission wheel and a bogie. One end of the bogie is connected to the second transmission wheel, and the other end is connected to the axle of the drive wheel. The output shaft of the second drive motor is connected to the first transmission wheel through a reducer.

4. The steering wheel chassis according to claim 3, characterized in that: The first transmission wheel and the second transmission wheel are provided with tension belts, and the second transmission wheel drives the bogie to rotate around the axis of the second transmission wheel.

5. The steering wheel chassis according to claim 3, characterized in that: The steering wheel mechanism also includes a fixing frame, the second drive motor is mounted on the fixing frame, and the output shaft of the second drive motor passes through the fixing frame and is connected to the first transmission wheel.

6. The steering wheel chassis according to claim 3, characterized in that: The first transmission wheel is set as the first gear, the second transmission wheel is set as the second gear, one end of the bogie is connected to the second gear, and the other end is connected to the axle of the driving wheel, the output shaft of the second driving motor is connected to the first gear through a reducer, and the first gear is meshed with the second gear.

7. The steering wheel chassis according to claim 6, characterized in that: The second gear is fixedly mounted on the bogie, and the second gear drives the bogie to rotate around the axis of the second gear.

8. The steering wheel chassis according to claim 1, characterized in that: The two groups of steering wheel mechanisms are mirror images of each other.

9. A robot, characterized in that: It comprises the steering wheel chassis described in any one of claims 1-8, wherein the steering wheel chassis comprises four groups of steering wheel mechanisms, and the four groups of steering wheel mechanisms are mirror images of each other.

10. The robot according to claim 9, characterized in that: The four groups of steering wheel mechanisms are respectively located in four quadrants of the rectangular coordinate system of the chassis horizontal plane.

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