Self-adaptive omnidirectional wheel robot under complex conditions

Abstract

The utility model discloses a self-adaptive omni-directional wheel robot under complex conditions, which is characterized in that omni-directional wheel sets are arranged at four corners of a chassis support and are connected with the chassis support through a fixing frame set; the fixing frame set comprises a sliding rail fixing frame and elastic shock absorber fixing frames, the sliding rail fixing frame is connected with the chassis support, the elastic shock absorber fixing frames are connected to the four corners of the sliding rail fixing frame, and the elastic shock absorber fixing frames are connected with the omni-directional wheel set. Each omni-directional wheel set comprises omni-directional wheels and a driving motor, each omni-directional wheel set is provided with two omni-directional wheels, the two omni-directional wheels are arranged in parallel, rollers are evenly and rotationally connected to the outer edges of the omni-directional wheels, the rollers on the two omni-directional wheels of each omni-directional wheel set are distributed in a staggered mode, the driving motors drive the omni-directional wheels to rotate through reduction gearboxes, and the driving motors are connected with the elastic shock absorber fixing frames. The robot has the advantages of being high in maneuverability under complex conditions and good in moving self-adaptive capacity.

Description

Technical Field

[0001] The utility model relates to the technical field of omnidirectional wheel robots, in particular to an omnidirectional wheel robot which is self-adaptive under complex conditions. Background Art

[0002] With the development of robotics technology, various types of mobile robots have emerged. Mobile robot chassis that integrate environmental perception and autonomous navigation capabilities are widely used in scenarios such as unmanned driving, warehouse navigation, logistics sorting, and delivery. Examples include Amazon's unmanned delivery vehicle Scout, FedEx's SameDay Bot, and Xiaomi's robot vacuum cleaner.

[0003] Current omnidirectional wheel chassis suspensions primarily rely on four-bar linkages. While these provide some shock absorption, the four-bar linkage can experience external deflection during movement, making initial dimensions inconvenient to change. Furthermore, the chassis' height increases, shifting the center of gravity upward and limiting maneuverability. Furthermore, omnidirectional wheels are directly driven by motors, which can lead to axle stiffness impacts and bending losses under complex conditions, such as steep slopes and rough roads.

[0004] In the existing technology, for example, an omnidirectional wheel mobile chassis platform of Dongguan University of Technology uses interconnected double-layer omnidirectional wheels and drive motors, but has no shock-absorbing mechanism, which makes it lack the ability to adapt to complex terrains and the ability to walk on complex terrains.

[0005] With this in mind, the present invention proposes an adaptive omnidirectional wheel robot under complex conditions, aiming to solve the above problems and making the omnidirectional wheel robot highly maneuverable under complex conditions and having good mobile adaptive capabilities. Utility Model Content

[0006] In view of the above-mentioned deficiencies in the prior art, the utility model provides an adaptive omnidirectional wheel robot under complex conditions.

[0007] In order to achieve the above-mentioned utility model purpose, the technical solution adopted by the utility model is:

[0008] An adaptive omnidirectional wheel robot under complex conditions, comprising a chassis bracket,

[0009] Omnidirectional wheel sets are provided at the four corners of the chassis bracket, and the omnidirectional wheel sets are connected to the chassis bracket through a fixing frame set;

[0010] The fixing frame group includes a slide rail fixing frame and an elastic shock absorber fixing frame, the slide rail fixing frame is connected to the chassis bracket, the four corners of the slide rail fixing frame are connected to the elastic shock absorber fixing frames, and the elastic shock absorber fixing frames are connected to the omnidirectional wheel group;

[0011] The omnidirectional wheel set includes an omnidirectional wheel and a drive motor. Each omnidirectional wheel set has two omnidirectional wheels, and the two omnidirectional wheels are arranged in parallel. The outer edges of the omnidirectional wheels are connected with rollers for uniform rotation, and a gap is left between two adjacent rollers. The rollers on the two omnidirectional wheels of the omnidirectional wheel set are staggered. The drive motor drives the omnidirectional wheel to rotate through a reduction gearbox, and the drive motor is connected to the elastic shock absorber fixing frame.

[0012] As an improvement, the slide rail fixing frame includes a slide rail group and a main frame body, the slide rail group is provided at the four corners of the main frame body, the slide rail group includes two slide rails and a slider, the two ends of the slide rail are connected to the main frame body through a connecting plate, the slider is slidably connected to the slide rail, the slider is connected to the drive motor through a connecting assembly, and the main frame body is connected to the omnidirectional wheel group through an elastic shock absorber fixing frame.

[0013] As an improvement, the connecting assembly includes a slider fixing plate, a drive motor fixing plate and a carbon plate. The drive motor fixing plate is connected to the drive motor, the upper and lower ends of the drive motor fixing plate are connected to the slider fixing plate through the carbon plate, the slider fixing plate is connected to the slider, and the lower end of the slider fixing plate is connected to the elastic shock absorber fixing frame.

[0014] As an improvement, the elastic shock absorber fixing frame includes a fixing frame and an elastic shock absorber, the fixing frame is connected to the main frame body, and the two ends of the elastic shock absorber are respectively connected to the fixing frame and the slider fixing plate.

[0015] As an improvement, the upper end of the elastic shock absorber is hinged to the fixing frame, and the lower end is connected to one of the slider fixing plates through a ball head.

[0016] As an improvement, the reduction box adopts a planetary gear reduction box, the output shaft of the planetary gear reduction box is the sun gear, and the transmission is carried out through three sets of planetary gear reduction, and the outer ring gear is fixed to the double-layer omnidirectional wheel.

[0017] As an improvement, there is a rotation space between the roller on the omnidirectional wheel and another omnidirectional wheel.

[0018] Compared with traditional technologies, the advantages of this utility model are:

[0019] 1. The double-rail slider parallel mechanism and series elastic shock absorber can ensure that the omnidirectional wheel set always contacts the ground while constraining it to move only up and down, making it more robust and more adaptable in complex terrains such as flying slopes, uphill slopes, and undulating sections.

[0020] 2. The motor rotor is connected to the hub of the double-layer omnidirectional wheel through a planetary gear reducer, where the outer gear ring is directly driven to the hub of the double-layer omnidirectional wheel. Compared with the current direct drive solution of the motor shaft coupling, it reduces the bending deflection of the wheel axle caused by strong shock impact in complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the utility model Figure 1 ;

[0022] Figure 2 This is a schematic diagram of the structure of the utility model Figure 2 ;

[0023] Figure 3 This is a schematic diagram of the connection between the omnidirectional wheel assembly and the fixed frame assembly of the utility model Figure 1 ;

[0024] Figure 4 This is a schematic diagram of the connection between the omnidirectional wheel assembly and the fixed frame assembly of the utility model Figure 2 ;

[0025] Reference table of accompanying symbols:

[0026] 1. Chassis bracket; 2. Omnidirectional wheel; 3. Drive motor; 4. Roller; 5. Main frame; 6. Slide rail; 7. Slider; 8. Slider fixing plate; 9. Drive motor fixing plate; 10. Carbon plate; 11. Fixed frame; 12. Elastic shock absorber. DETAILED DESCRIPTION

[0027] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings, wherein the same components are represented by the same reference numerals.

[0028] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the accompanying drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0029] In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

[0030] Example 1

[0031] Combined with attachment Figure 1-4 , the four corners of the chassis bracket 1 are provided with omnidirectional wheel sets, and the omnidirectional wheel sets are connected to the chassis bracket 1 through a fixing frame set;

[0032] The fixing frame group includes a slide rail fixing frame and an elastic shock absorber fixing frame. The slide rail fixing frame is connected to the chassis bracket 1. The four corners of the slide rail fixing frame are connected to the elastic shock absorber fixing frames. The elastic shock absorber fixing frames are connected to the omnidirectional wheel group.

[0033] The slide rail fixing frame includes a slide rail group and a main frame body 5. The slide rail group is provided at the four corners of the main frame body 5. The slide rail group includes two slide rails 6 and a slider 7. The two ends of the slide rail 6 are connected to the main frame body 5 through a connecting plate. The slider 7 is slidably connected to the slide rail 6. The slider 7 is connected to the drive motor 3 through a connecting assembly. The main frame body 5 is connected to the omnidirectional wheel group through an elastic shock absorber fixing frame;

[0034] The connecting assembly includes a slider fixing plate 8, a drive motor fixing plate 9 and a carbon plate 10. The drive motor fixing plate 9 is connected to the drive motor 3. The upper and lower ends of the drive motor fixing plate 9 are connected to the slider fixing plate 8 through the carbon plate 10. The slider fixing plate 8 is connected to the slider 7. The lower end of the slider fixing plate 8 is connected to the elastic shock absorber fixing frame.

[0035] The upper end of the elastic shock absorber 12 is hinged to the fixing frame 11, and the lower end is connected to one of the slider fixing plates 8 through a ball head.

[0036] Four sets of independently suspended omnidirectional wheels are distributed at the four corners of the chassis bracket 1, which can provide sufficient yaw axis rotational torque to meet the distribution angle of the omnidirectional wheels 2 and make its main motion a rotational motion. The torque arm is long, which is conducive to rapid movement in all directions.

[0037] A slide rail fixing frame and an elastic shock absorber fixing frame are provided between the four sets of omnidirectional wheel groups and the chassis bracket 1. The elastic shock absorber fixing frame is arranged in the same manner as the front and rear directions, so that its force-bearing performance is better.

[0038] The drive motor 3 is fixed through the drive motor fixing plate 9, the drive motor fixing frame 9 is connected to the upper and lower double-layer carbon plates 10, and is connected to the slider fixing plate 8 through a six-sided nut. The left and right slider fixing plates 8 are respectively connected to the two sliders 7, and are installed on the double slide rails 6 to realize the double slide rail slider parallel mechanism.

[0039] The unilateral slider fixing plate 8 is hinged to the elastic shock absorber 12. The elastic shock absorber 12 is provided with a ball head to buffer the multi-freedom impact interference of the wheel set, and has a compact structure.

[0040] Combined with attachment Figure 1-4 The omnidirectional wheel set includes an omnidirectional wheel 2 and a drive motor 3. Each omnidirectional wheel set has two omnidirectional wheels 2. The two omnidirectional wheels 2 are arranged in parallel. The outer edges of the omnidirectional wheels 2 are evenly rotated and connected with rollers 4. A gap is left between two adjacent rollers 4. The rollers 4 on the two omnidirectional wheels 2 of the omnidirectional wheel set are staggered. The drive motor 3 drives the omnidirectional wheels 2 to rotate through a reduction gearbox. The drive motor 3 is connected to an elastic shock absorber fixing frame.

[0041] There is a rotation space between the roller on the omnidirectional wheel 2 and the other omnidirectional wheel 2 .

[0042] Driven by the drive motor 3, the omnidirectional wheel 2 rotates and comes into contact with the ground, subjecting it to a friction force opposite to the direction of motion. This friction force is perpendicular or parallel to the axis of the roller 4. The friction force perpendicular to the direction of the roller 4 is consumed as the roller 4 rotates, while the friction force parallel to the direction of the roller 4 creates static friction with the ground, causing movement. The design of a double-layer omnidirectional wheel 2 can compensate for the shortcomings of a single-layer omnidirectional wheel 2, which has discontinuities between the rollers 4 and causes greater vibration during rolling. The more layers an omnidirectional wheel 2 has, the greater its overall thickness and mass, placing higher demands on the drive motor 3. Therefore, to balance vibration and thickness, this technical solution adopts a double-layer design for the omnidirectional wheel 2. On the other hand, gaps are left between adjacent rollers 4 to reduce vibration. In this technical solution, the two layers of rollers 4 on the double-layer omnidirectional wheel 2 are arranged in an interlaced manner so that the two layers of rollers 4 complement each other in the form of "intercalated gaps" to ensure that during the rotation of the omnidirectional wheel 2, at least one roller 4 is in contact with the ground, thereby better ensuring the smooth movement of the omnidirectional wheel 2.

[0043] Example 2

[0044] Combined with attachment Figure 1-4 The driving motor 3 drives the omnidirectional wheel 2 to rotate through a reduction box. The reduction box adopts a planetary gear reduction box. The output shaft of the planetary gear reduction box is the sun gear, which is transmitted through three sets of planetary gear reduction. The outer ring gear is fixed to the double-layer omnidirectional wheel.

[0045] On the basis of Example 1, the driving motor 3 passes through a planetary gear reduction box, the output shaft is the sun gear, and the transmission is carried out through three sets of planetary gear reduction. The outer ring gear is fixed to the double-layer omni-directional wheel 2 to achieve the effect of reducing speed and increasing torque, driving the double-layer omni-directional wheel 2 to move.

[0046] The above description is only a preferred embodiment of the present utility model patent and is not intended to limit the present utility model patent. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model patent shall be included in the scope of protection of the present utility model patent.

Claims

1. An adaptive omnidirectional wheel robot for complex conditions, comprising a chassis support, characterized in that: Omnidirectional wheel sets are provided at the four corners of the chassis bracket (1), and the omnidirectional wheel sets are connected to the chassis bracket (1) via a fixing frame set; The fixing frame group includes a slide rail fixing frame and an elastic shock absorber fixing frame, the slide rail fixing frame is connected to the chassis bracket (1), the four corners of the slide rail fixing frame are connected to the elastic shock absorber fixing frames, and the elastic shock absorber fixing frame is connected to the omnidirectional wheel group; The omnidirectional wheel set comprises an omnidirectional wheel (2) and a driving motor (3), each of the omnidirectional wheel sets comprises two omnidirectional wheels (2), the two omnidirectional wheels (2) are arranged in parallel, the outer edges of the omnidirectional wheels (2) are connected to rollers (4) for uniform rotation, a gap is left between two adjacent rollers (4), the rollers (4) on the two omnidirectional wheels (2) of the omnidirectional wheel set are staggered, the driving motor (3) drives the omnidirectional wheels (2) to rotate through a reduction gearbox, and the driving motor (3) is connected to an elastic shock absorber fixing frame.

2. The adaptive omnidirectional wheel robot under complex conditions according to claim 1, characterized in that: The slide rail fixing frame includes a slide rail group and a main frame (5). The slide rail group is provided at the four corners of the main frame (5). The slide rail group includes two slide rails (6) and a slider (7). The two ends of the slide rails (6) are connected to the main frame (5) through a connecting plate. The slider (7) is slidably connected to the slide rails (6). The slider (7) is connected to the drive motor (3) through a connecting assembly. The main frame (5) is connected to the omnidirectional wheel group through an elastic shock absorber fixing frame.

3. The adaptive omnidirectional wheel robot under complex conditions according to claim 2, characterized in that: The connecting assembly comprises a slider fixing plate (8), a drive motor fixing plate (9) and a carbon plate (10); the drive motor fixing plate (9) is connected to the drive motor (3); the upper and lower ends of the drive motor fixing plate (9) are connected to the slider fixing plate (8) through the carbon plate (10); the slider fixing plate (8) is connected to the slider (7); and the lower end of the slider fixing plate (8) is connected to the elastic shock absorber fixing frame.

4. The adaptive omnidirectional wheel robot under complex conditions according to any one of claims 1 or 3, characterized in that: The elastic shock absorber fixing frame comprises a fixing frame (11) and an elastic shock absorber (12); the fixing frame (11) is connected to the main frame body (5); and the two ends of the elastic shock absorber (12) are respectively connected to the fixing frame (11) and the slider fixing plate (8).

5. The adaptive omnidirectional wheel robot under complex conditions according to claim 4, characterized in that: The upper end of the elastic shock absorber (12) is hinged to the fixing frame (11), and the lower end is connected to one of the slider fixing plates (8) through a ball head.

6. The adaptive omnidirectional wheel robot under complex conditions according to claim 1, characterized in that: The reduction box adopts a planetary gear reduction box, the output shaft of the planetary gear reduction box is the sun gear, and the transmission is carried out through three sets of planetary gear reduction. The outer ring gear is fixed to the double-layer omnidirectional wheel.

7. The adaptive omnidirectional wheel robot under complex conditions according to claim 1, characterized in that: There is a rotation space between the roller on the omnidirectional wheel (2) and another omnidirectional wheel (2).

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