Outdoor mobile chassis and mobile robots

Abstract

The utility model relates to an outdoor mobile chassis and a mobile robot, comprising: a chassis body; a driving wheel group, installed on both sides of the chassis body, used to drive the chassis body to move; at least one set of driven wheel groups, including two suspension mechanisms arranged on the sides of the chassis body, wheels installed on the suspension mechanisms, and a steering mechanism arranged in the chassis body; the steering mechanism includes a driving assembly and a linkage base arranged in the chassis body, and a linkage assembly movably connected to the linkage base; the two ends of the linkage assembly are respectively rotatably connected to the two suspension mechanisms. The utility model still has high steering sensitivity and steering accuracy in complex terrain.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an outdoor mobile chassis and a mobile robot. Background Art

[0002] With the continuous development of science and technology, mobile robot technology has been widely used in various fields. As an intelligent device that can operate autonomously in complex outdoor environments, outdoor mobile robots have shown great potential in the fields of industry, agriculture, logistics, etc.

[0003] For outdoor mobile robots, they should be able to adapt to complex road conditions. However, existing mobile robots are limited by the chassis structure and usually cannot pass smoothly in complex terrain. For example, current mobile robots mainly use the differential operation of the active wheels to achieve steering, but for complex terrain, this method will have problems with low steering sensitivity and steering accuracy, and even affect the mobile robot's ability to pass. Utility Model Content

[0004] Aiming at the deficiencies of the prior art, the utility model discloses an outdoor mobile chassis and a mobile robot.

[0005] The technical solution adopted by the utility model is as follows:

[0006] In a first aspect, an outdoor mobile chassis is provided, comprising:

[0007] Chassis body;

[0008] A driving wheel set is installed on both sides of the chassis body and is used to drive the chassis body to move;

[0009] At least one set of driven wheel groups includes two suspension mechanisms symmetrically arranged on both sides of the chassis body, wheels installed on the suspension mechanisms, and a steering mechanism arranged in the chassis body; the steering mechanism includes a driving component and a linkage base arranged in the chassis body, and a linkage component movably connected to the linkage base; the two ends of the linkage component are respectively rotatably connected to the two suspension mechanisms.

[0010] In one embodiment of the utility model, the linkage assembly includes a first rotating pin shaft, a steering connecting shaft, a ball head shaft, a universal ball seat, a driving gear and a rack shaft; the first rotating pin shaft is vertically arranged and rotatably connected to the suspension mechanism; one end of the steering connecting shaft is fixedly connected to the first rotating pin shaft, and the other end of the steering connecting shaft is threadedly connected to the shaft portion of the ball head shaft; the ball head of the ball head shaft is connected to the end of the rack shaft through the universal ball seat; the driving gear is arranged in the linkage base and meshes with the rack shaft for transmission; the driving gear is transmission-connected to the driving assembly; the rack shaft is slidably connected to the linkage base.

[0011] In one embodiment of the utility model, the drive assembly includes a steering bracket fixed in the chassis body, a reducer fixed to the steering bracket, a steering motor connected to the reducer, a first encoder connected to the steering motor, and a second encoder connected to the reducer.

[0012] In one embodiment of the utility model, the suspension mechanism includes a first mounting seat fixed to one side of the chassis body, a second mounting seat opposite to the first mounting seat, a first rocker arm and a second rocker arm arranged between the first mounting seat and the second mounting seat, and a hub flange rotatably connected to the second mounting seat; the first rocker arm and the second rocker arm are inclined, and the first rocker arm and the second rocker arm are rotatably connected to the first mounting seat through a horizontally arranged rotating shaft, and one end of the first rocker arm and the second rocker arm is rotatably connected to the second mounting seat through a vertically arranged second rotating pin.

[0013] In one embodiment of the utility model, the suspension mechanism also includes a first support fixed to one side of the chassis body and located above the first mounting seat, a second support fixed to the first rocker arm, and an elastic support assembly whose two ends are respectively hinged to the first support and the second support.

[0014] In one embodiment of the utility model, the elastic support assembly includes an upper support hinged to the first support, a lower support hinged to the second support, a rotating nut threadedly matched with the upper support, and a support spring arranged between the upper support and the lower support; one end of the support spring abuts against the rotating nut, and the other end abuts against the lower support.

[0015] In one embodiment of the utility model, the driven wheel group is provided with two groups, which are respectively arranged at the front and rear end positions of the chassis body; the driving wheel group is arranged at the middle position of the chassis body.

[0016] In one embodiment of the present invention, a bumper is provided at the front and / or rear of the chassis body.

[0017] In a second aspect, a mobile robot is provided, comprising the outdoor mobile chassis provided in the first aspect.

[0018] The above technical solution of the utility model has the following advantages compared with the prior art:

[0019] The outdoor mobile chassis of the utility model has high steering sensitivity and steering accuracy even in complex terrain by arranging a steering mechanism.

[0020] The outdoor mobile chassis of the utility model can adapt to complex terrains by arranging a suspension mechanism, thereby improving the traffic capacity of the outdoor mobile chassis.

[0021] The mobile robot of the utility model cooperates with each other through a steering mechanism and a suspension mechanism, thereby jointly ensuring that an outdoor mobile chassis can complete various mobile tasks efficiently, stably and flexibly. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0023] Figure 1 It is a structural diagram of an outdoor mobile chassis.

[0024] Figure 2 It is a structural diagram of the driving wheel set, steering mechanism and suspension mechanism.

[0025] Figure 3 It is a structural diagram of the steering mechanism.

[0026] Figure 4 It is a partial cross-sectional view of the steering mechanism.

[0027] Figure 5 It is a schematic diagram of the structure of the suspension mechanism (the second rotating pin is not shown).

[0028] Figure 6 It is a front view of the suspension mechanism (showing the second pivot pin).

[0029] Description of the Figures in the Specification:

[0030] 10. Chassis body; 101. Bumper;

[0031] 20. Driving wheel set;

[0032] 30. driven wheel set; 301. wheel;

[0033] 40. Suspension mechanism; 401. First mounting seat; 402. First support seat; 403. Elastic support assembly; 404. Second support seat; 405. Hub flange; 406. Second mounting seat; 407. First rocker arm; 408. Second rocker arm; 409. Second rotating pin;

[0034] 50. Steering mechanism; 501. Steering motor; 502. Reducer; 503. Steering bracket; 504. First synchronous wheel; 505. Second synchronous wheel; 506. Synchronous belt; 507. Coupling; 508. Linkage base; 509. Linkage assembly; 5091. First rotating pin shaft; 5092. Steering connecting shaft; 5093. Ball head shaft; 5094. Universal ball seat; 5095. Driving gear; 5096. Rack shaft; 510. First encoder; 511. Second encoder. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0036] Existing mobile robots are limited by their chassis structure and usually cannot pass smoothly in complex terrains. For example, current mobile robots mainly use the differential operation of the active wheels to achieve steering, but for complex terrains, this method will have problems with low steering sensitivity and steering accuracy, and even affect the mobile robot's ability to pass.

[0037] In order to solve the above problems, this embodiment provides an outdoor mobile chassis and a mobile robot.

[0038] Embodiment 1

[0039] like Figure 1 As shown, this embodiment discloses an outdoor mobile chassis, including a chassis body 10, a driving wheel set 20 and at least one set of driven wheel sets 30. The driving wheel sets 20 are arranged on both sides of the chassis body 10.

[0040] In this embodiment, two sets of driven wheel groups 30 are provided, which are respectively provided at the front and rear end positions of the chassis body 10. The driving wheel group 20 is provided at the middle position of the chassis body 10. The chassis body 10 is driven to move by the driving wheel group 20. Moreover, the steering cooperation of the front and rear driven wheel groups 30 can achieve a large angle of steering.

[0041] It should be noted that the middle of the chassis body 10 generally refers to the position of the area roughly in the middle of the chassis body 10 in the length direction. The middle of the chassis body 10 often needs to bear forces from different directions of the outdoor mobile chassis, such as torsion force and impact force during driving, and plays a key role in the transmission and dispersion of force. At the same time, the arrangement of the driving wheel set 20 in the middle of the chassis body 10 plays an important role in the rigidity and stability of the outdoor mobile chassis.

[0042] Bumpers 101 are respectively arranged at the front and rear of the chassis body 10 to protect the chassis body 10. When the chassis is moved outdoors and slightly collides or is scratched by foreign objects, the bumpers 101 can effectively absorb and buffer the impact energy, reduce damage to the structure of the chassis body 10 and important components in the chassis body 10, and reduce maintenance costs.

[0043] Combination Figure 2 and Figure 3 For each set of driven wheel groups 30, it includes two suspension mechanisms 40 symmetrically arranged on the side of the chassis body 10, wheels 301 installed on the suspension mechanisms 40, and a steering mechanism 50 arranged in the chassis body 10. The steering mechanism 50 includes a driving assembly and a linkage base 508 arranged in the chassis body 10, and a linkage assembly 509 movably connected to the linkage base 508. The two ends of the linkage assembly 509 are respectively connected to the two suspension mechanisms 40 for rotation. The two wheels 301 are installed on the side of the chassis body 10 through the suspension mechanism 40. The driving assembly drives the linkage assembly 509 to move, thereby making the two wheels 301 installed on the sides of the two suspension mechanisms 40 turn synchronously. By keeping the two wheels 301 rotating in the same direction and at the same speed, the situation in the prior art that the wheel torque or traction is different due to the speed difference, thereby causing the two wheels to have different passing or obstacle-crossing capabilities, is avoided. This embodiment can ensure the passing and obstacle-crossing capabilities of the outdoor mobile chassis.

[0044] Combination Figure 3 and Figure 4 Specifically, the driving assembly includes a steering motor 501, a reducer 502, a steering bracket 503, a first synchronous wheel 504, a second synchronous wheel 505 and a synchronous belt 506. The steering bracket 503 is fixed in the chassis body 10. The reducer 502 is fixed to the steering bracket 503. The output end of the steering motor 501 is connected to the input end of the reducer 502, and the output end of the reducer 502 is coaxially provided with a first synchronous wheel 504, and the synchronous belt 506 is tensioned around the first synchronous wheel 504 and the second synchronous wheel 505.

[0045] In addition, the drive assembly also includes a first encoder 510 connected to the output shaft of the steering motor 501 and a second encoder 511 connected to the second synchronous wheel 505. Among them, the first encoder 510 is generally directly connected to the output shaft of the steering motor 501. This connection method is relatively simple and direct, and can ensure good synchronization. The first encoder 510 is used to feedback the rotation speed of the steering motor 501, which is convenient for realizing the speed control of steering. The second encoder 511 is connected to the output shaft of the reducer 502 through the transmission mechanism, namely the first synchronous wheel 504, the second synchronous wheel 505 and the synchronous belt 506, so that the transmission ratio can be adjusted according to actual needs or adapted to a specific installation layout. The second encoder 511 is used to feedback the output angle of the reducer 502, which is used to improve the steering accuracy. This is because the reducer 502 generally adopts gear transmission. Considering the gear clearance, there is a difference between the rotation angle of the output shaft of the reducer 502 and the output shaft of the steering motor 501. If the steering motor 501 is used to control the angle, the sensitivity and accuracy of the steering will be reduced.

[0046] The linkage assembly 509 includes a first rotating pin 5091, a steering connecting shaft 5092, a ball shaft 5093, a universal ball seat 5094, a driving gear 5095 and a rack shaft 5096. The first rotating pin 5091 is vertically arranged and is rotatably connected to the suspension mechanism 40. One end of the steering connecting shaft 5092 is fixedly connected to the first rotating pin 5091. The other end of the steering connecting shaft 5092 is threadedly connected to the shaft of the ball shaft 5093, which can fine-tune the lateral length of the linkage assembly 509, thereby improving the convenience of installation. Specifically, the other end of the steering connecting shaft 5092 is processed with an internal thread, that is, there is a threaded hole inside the shaft of the steering connecting shaft 5092 that matches the external thread of the shaft of the ball shaft 5093. The ball head of the ball shaft 5093 is connected to the end of the rack shaft 5096 through the universal ball seat 5094. Specifically, the ball head of the ball head shaft 5093 is pressed into the universal ball seat 5094. The end of the rack shaft 5096 and the universal ball seat 5094 can be fixed by matching. The driving gear 5095 is arranged in the linkage base 508 and meshes with the rack shaft 5096 for transmission. Specifically, the gear teeth of the driving gear 5095 are meshed with the tooth grooves on the surface of the rack shaft 5096 to achieve the conversion between linear motion and rotational motion. The rack shaft 5096 is slidably connected to the linkage base 508. In this embodiment, the two ends of the rack shaft 5096 are symmetrically provided with a first rotating pin shaft 5091, a steering connecting shaft 5092, a ball head shaft 5093, and a universal ball seat 5094 to achieve connection with two suspension mechanisms 40.

[0047] Combination Figure 5 and Figure 6The suspension mechanism 40 includes a first mounting seat 401, an elastic support assembly 403, a hub flange 405, a second mounting seat 406, a first rocker arm 407, a second rocker arm 408 and a second rotating pin 409.

[0048] The first mounting seat 401 is fixed to one side of the chassis body 10. The second mounting seat 406 is arranged opposite to the first mounting seat 401. In addition, there is a height difference between the second mounting seat 406 and the first mounting seat 401. The first rocker arm 407 and the second rocker arm 408 are arranged between the first mounting seat 401 and the second mounting seat 406. The hub flange 405 is rotatably connected to the second mounting seat 406, and the hub flange 405 is used to be fixedly connected to the hub of the wheel 301. The first rocker arm 407 and the second rocker arm 408 are arranged obliquely, and the first rocker arm 407 and the second rocker arm 408 are rotatably connected to the first mounting seat 401 through a horizontally arranged rotating shaft. That is, the first rocker arm 407 and the second rocker arm 408 have the freedom to swing up and down. One end of the first rocker arm 407 and the second rocker arm 408 is rotatably connected to the second mounting seat 406 through a vertically arranged second rotating pin 409. That is, the second mounting seat 406 has the freedom to rotate horizontally.

[0049] Furthermore, the suspension mechanism 40 further includes a first support 402, a second support 404 and an elastic support assembly 403. The first support 402 is fixed to one side of the chassis body 10 and is located above the first mounting seat 401. The second support 404 is fixed to the first rocker arm 407. One end of the elastic support assembly 403 is hinged to the first support 402, and the other end of the elastic support assembly 403 is hinged to the second support 404.

[0050] Among them, the elastic support assembly 403 includes an upper support, a lower support, a rotating nut and a support spring. The upper support is hinged to the first support 402. The lower support is hinged to the second support 404. The rotating nut and the upper support are threaded. One end of the support spring abuts the rotating nut, and the other end abuts the lower support. The support spring plays the role of absorbing and storing energy, and is usually a coil spring. By rotating the nut to adjust the depth of the support spring sleeve on the upper support, the tightness of the spring can be adjusted according to the need to adapt to different shock absorption requirements, and errors caused during processing can also be avoided. The rotating nut can be gear-shaped, and the gear-shaped adjustment block is convenient for adjustment.

[0051] For this embodiment, the driving wheel set 20 also includes a suspension mechanism and a wheel. The structure of the suspension mechanism and the wheel of the driving wheel set 20 can refer to the structure of the suspension mechanism 40 and the wheel 301 of the driven wheel set 30, and will not be described in detail here.

[0052] Embodiment 2

[0053] This embodiment discloses a mobile robot, including the outdoor mobile chassis provided in the first embodiment.

[0054] The mobile robot provided in this embodiment has at least the following advantages: 1. It still has high steering sensitivity and steering accuracy in complex terrain; 2. It can adapt to complex terrain and improve the traffic capacity of the outdoor mobile chassis; 3. It can achieve steering at a larger angle.

[0055] The main design point of the utility model lies in the structural improvement of the outdoor mobile chassis, and other structures of the mobile robot, such as the mechanical structure part and the electrical connection part of the mobile robot, will not be described in detail.

[0056] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. An outdoor mobile chassis, characterized in that: include: Chassis body (10); A driving wheel set (20), mounted on both sides of the chassis body (10), and used to drive the chassis body (10) to move; At least one set of driven wheel groups (30) comprises two suspension mechanisms (40) symmetrically arranged on both sides of the chassis body (10), wheels (301) mounted on the suspension mechanisms (40), and a steering mechanism (50) arranged in the chassis body (10); the steering mechanism (50) comprises a driving assembly and a linkage base (508) arranged in the chassis body (10), and a linkage assembly (509) movably connected to the linkage base (508); the two ends of the linkage assembly (509) are respectively rotatably connected to the two suspension mechanisms (40).

2. The outdoor mobile chassis according to claim 1, characterized in that: The linkage assembly (509) comprises a first rotating pin (5091), a steering connecting shaft (5092), a ball head shaft (5093), a universal ball seat (5094), a driving gear (5095) and a rack shaft (5096); the first rotating pin (5091) is vertically arranged and rotatably connected to the suspension mechanism (40); one end of the steering connecting shaft (5092) is fixedly connected to the first rotating pin (5091), and the steering connecting shaft (5092) The other end is threadedly connected to the shaft of the ball head shaft (5093); the ball head of the ball head shaft (5093) is connected to the end of the rack shaft (5096) through the universal ball seat (5094); the driving gear (5095) is arranged in the linkage base (508) and meshes with the rack shaft (5096) for transmission; the driving gear (5095) is transmission-connected to the driving assembly; the rack shaft (5096) is slidably connected to the linkage base (508).

3. The outdoor mobile chassis according to claim 2, characterized in that: The driving assembly comprises a steering bracket (503) fixed in the chassis body (10), a reducer (502) fixed to the steering bracket (503), a steering motor (501) connected to the reducer (502), a first encoder (510) connected to the steering motor (501), and a second encoder (511) connected to the reducer (502).

4. The outdoor mobile chassis according to claim 3, characterized in that: The suspension mechanism (40) comprises a first mounting seat (401) fixed to one side of the chassis body (10), a second mounting seat (406) opposite to the first mounting seat (401), a first rocker arm (407) and a second rocker arm (408) arranged between the first mounting seat (401) and the second mounting seat (406), and a hub flange (405) rotatably connected to the second mounting seat (406); the first rocker arm (407) and the second rocker arm (408) are arranged obliquely, and the first rocker arm (407) and the second rocker arm (408) are rotatably connected to the first mounting seat (401) via a horizontally arranged rotating shaft, and one end of the first rocker arm (407) and the second rocker arm (408) are rotatably connected to the second mounting seat (406) via a vertically arranged second rotating pin (409).

5. The outdoor mobile chassis according to claim 4, characterized in that: The suspension mechanism (40) further comprises a first support (402) fixed to one side of the chassis body (10) and located above the first mounting seat (401), a second support (404) fixed to the first rocker arm (407), and an elastic support component (403) with two ends respectively hinged to the first support (402) and the second support (404).

6. The outdoor mobile chassis according to claim 5, characterized in that: The elastic support assembly (403) includes an upper support hinged to the first support (402), a lower support hinged to the second support (404), a rotating nut threadedly matched with the upper support, and a support spring arranged between the upper support and the lower support; one end of the support spring abuts against the rotating nut, and the other end abuts against the lower support.

7. The outdoor mobile chassis according to claim 1, characterized in that: The driven wheel set (30) is provided in two sets, which are respectively arranged at the front and rear end positions of the chassis body (10); and the driving wheel set (20) is arranged at the middle position of the chassis body (10).

8. The outdoor mobile chassis according to claim 1, characterized in that: A bumper (101) is provided at the front and / or rear of the chassis body (10).

9. A mobile robot, characterized in that: It comprises an outdoor mobile chassis as described in any one of claims 1-8.

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