Four-wheel electric drive chassis for loading collaborative robot

Abstract

The utility model discloses a four-wheel electric drive chassis for loading a collaborative robot. Comprising a chassis frame, a frame plate fixedly arranged at the top of the chassis frame, a side surrounding plate fixedly arranged at the top of the frame plate, a supporting top plate fixedly arranged at the top end of the side surrounding plate, a collaborative robot fixedly installed in the center of the top face of the supporting top plate and moving wheel assemblies circumferentially and evenly distributed on the periphery of the top face of the frame plate. The four side edges of the top face of the frame plate are each provided with a horizontal positioning device, the positioning end of each horizontal positioning device is hinged to one moving wheel assembly, the moving wheel assemblies are driven to move and position horizontally, air cylinders are arranged at the tops of the positioning ends of the horizontal positioning devices, and the output shaft ends of the air cylinders are hinged to the tops of the moving wheel assemblies. And the moving wheel assembly is driven to swing up and down and be positioned. Omni-directional movement, free steering and rotation of the four-wheel-point driving chassis and automatic adjustment of the axial positions of the wheels can be achieved, and therefore the four-wheel-point driving chassis is suitable for various terrain environments and good in stability in the movement process.

Description

Technical Field

[0001] This utility model relates to the field of robot mobile platforms, and in particular to a four-wheel electric drive chassis for mounting collaborative robots. Background Technology

[0002] In the current robotics field, most systems employ relatively simple differential chassis systems, which can be broadly categorized into two types: one type includes multiple omnidirectional wheels and a drive wheel on each side; the other type has two or more drive wheels on each side of the chassis, with a motor on each side. All drive wheels on the same side are driven by the same motor, meaning that multiple drive wheels on the same side receive driving force from the same motor through a mechanical transmission structure. While the former chassis system is simple in structure and has a small turning radius, it has low adaptability to different terrains. The latter chassis system, while having better adaptability to different terrains and applicable to more working environments, experiences significant wheel slippage during turning due to the differential speed of the two tires. This requires the motor to overcome considerable additional friction, leading to accelerated tire wear and additional power loss, necessitating the selection of a more powerful motor during the design phase.

[0003] Existing omnidirectional mobile platform chassis structures, as efficient planar mobility devices, generally employ a rigid body with shock-absorbing devices in the wheel sets to mitigate vibrations generated during vehicle operation. Obstacle avoidance is achieved by changing the vehicle's direction of travel. Compared to traditional wheeled systems, this structure offers significant advantages in maneuverability, greatly improving planar mobility and adaptability to confined spaces. However, relying on changing the direction of travel for obstacle avoidance increases the difficulty of controlling the vehicle's direction and position. Furthermore, vibrations generated with the ground reduce the smoothness of operation, and there is a risk of rollover at higher speeds. On the other hand, it requires a high degree of flatness in the working surface, exhibiting relatively poor adaptability and stability. It often cannot guarantee a perfectly flat surface, resulting in insufficient wheel-to-ground contact, such as only three wheels in contact with the ground. This significantly reduces the chassis's motion precision, increases control difficulty, and may even prevent omnidirectional movement. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a four-wheel electric drive chassis for mounting a collaborative robot. It adopts a system of movable wheel assemblies arranged around the chassis frame, and realizes omnidirectional movement, free steering and rotation of the mobile platform through the movement cooperation between the movable wheel assemblies. The movable wheel assembly adopts omnidirectional wheels to ensure the mobility and flexibility of the mobile platform in confined spaces. At the same time, the chassis frame adopts a frame layout and suspension form that can actively drive the axial horizontal extension and vertical swing of the omnidirectional wheels, and is equipped with shock absorbers to enable the mobile platform to adapt to various terrain environments and improve the stability during movement.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A four-wheeled electric drive chassis for mounting a collaborative robot includes a chassis frame, a frame plate fixedly mounted on top of the chassis frame, side panels fixedly mounted on top of the frame plate, a support top plate fixedly mounted on top of the side panels, a collaborative robot fixedly mounted at the center of the top surface of the support top plate, and a set of movable wheels evenly distributed around the top surface of the frame plate. Each side panel contains at least one visual recognition module. A controller and a battery pack are mounted on the top surface of the frame plate. A horizontal positioning device is provided at each of the four edges of the top surface of the frame plate. The positioning end of each horizontal positioning device is hinged to one of the movable wheels. The horizontal positioning device drives the movable wheel assembly to move horizontally and position itself. A cylinder is provided at the top of the positioning end of the horizontal positioning device. The output shaft end of the cylinder is hinged to the top of the movable wheel assembly. The cylinder drives the movable wheel assembly to swing up and down and position itself.

[0007] Furthermore, the horizontal positioning device includes a guide sleeve fixedly mounted on the top surface of the frame plate, an embedded electric cylinder fixedly mounted inside the inner end of the guide sleeve, and a positioning block slidably mounted inside the guide sleeve. The positioning block is fixedly connected to the power output end of the embedded electric cylinder.

[0008] Furthermore, the moving wheel assembly includes a parallelogram linkage assembly, a drive motor, an omnidirectional wheel, and an auxiliary support wheel. The drive motor is horizontally fixedly installed inside the parallelogram linkage assembly. The omnidirectional wheel is located on the outside of the parallelogram linkage assembly and is connected to the output shaft of the drive motor. The auxiliary support wheel is located on the lower inner side of the parallelogram linkage assembly.

[0009] Furthermore, the parallelogram linkage assembly includes a connector hinged to the outer end of the positioning block, a motor mounting plate vertically disposed on the outer side of the connector, a rocker arm hinged to both sides of the top of the connector and the motor mounting plate, and a rocker frame hinged to both sides of the bottom of the connector and the motor mounting plate and located on the outer side of the rocker arm. The drive motor is fixedly mounted on the inner side of the motor mounting plate.

[0010] Furthermore, the inner end of the omnidirectional wheel is rotatably mounted on the outer side of the motor mounting plate via a thrust bearing.

[0011] Furthermore, the bottom of the connector is fixedly connected to an inclined swing wheel frame, and the auxiliary support wheel is rotatably connected to the free end of the swing wheel frame.

[0012] Furthermore, the top of the connector is hinged with a hinge joint, the top surface of the positioning block is fixedly provided with a cylinder bracket, the tail end of the cylinder body is hinged to the top of the cylinder bracket, and the output rod end of the cylinder is fixedly connected to the hinge joint.

[0013] Furthermore, a shock absorber is connected between the top of the swing frame and the top of the connector.

[0014] Furthermore, the shock absorber includes a first shaft at the top of the swing frame, a second shaft at the top of the connector, a first hinge joint rotatably sleeved on the first shaft, a plug rod fixedly mounted on the first hinge joint, a second hinge joint rotatably sleeved on the second shaft, and a plug sleeve fixedly mounted on the second hinge joint. The plug rod is movably inserted into the plug sleeve, and a shock-absorbing spring sleeved on the outside of the plug rod and the plug sleeve is fixedly connected between the first hinge joint and the second hinge joint.

[0015] Furthermore, the first shaft is fitted with shock-absorbing bushings located on both sides of the first hinge joint, and the second shaft is fitted with positioning bushings located on both sides of the second hinge joint.

[0016] The beneficial effects of this utility model are as follows:

[0017] 1. This utility model achieves omnidirectional movement, free steering, and rotation of the mobile platform by setting up a moving wheel assembly around the chassis frame and coordinating the movement between the moving wheel assemblies. The moving wheel assembly uses omnidirectional wheels, which can ensure the mobility and flexibility of the mobile chassis in narrow spaces.

[0018] 2. This utility model achieves axial horizontal movement of the omnidirectional wheel by using a horizontal positioning device, and realizes the relative vertical position of the omnidirectional wheel and the ground by the extension and retraction of the output rod of the cylinder. When the vision system detects an obstacle, it can automatically adjust the horizontal axial position of the omnidirectional wheel to avoid the obstacle, reduce unnecessary vibration, and improve the smoothness of the chassis during driving.

[0019] 3. The mobile wheel assembly of this utility model adopts a frame layout and suspension form different from that of the Mecanum wheel car. By setting a parallelogram linkage assembly that can adaptively deform according to external forces and configuring shock absorbers, a longitudinal arm suspension structure similar to that of a vehicle is formed. This can fully absorb and dissipate the vibration energy generated by movement, making the mobile chassis adaptable to various terrain environments and improving the stability during movement.

[0020] 4. This utility model has a compact structure, low manufacturing and usage costs, and can be applied to logistics handling needs in various scenarios. Attached Figure Description

[0021] Figure 1 This is one of the three-dimensional structural diagrams of the present utility model;

[0022] Figure 2 This is the second schematic diagram of the three-dimensional structure of the utility model;

[0023] Figure 3 A three-dimensional structural diagram of the internal structure of a four-wheel electric drive chassis;

[0024] Figure 4 A three-dimensional structural diagram showing the assembly of the moving wheel assembly and the horizontal positioning device;

[0025] Figure 5 This is one of the three-dimensional structural schematic diagrams of the moving wheel assembly;

[0026] Figure 6 This is the second three-dimensional structural schematic diagram of the moving wheel assembly;

[0027] Figure 7 This is a three-dimensional structural schematic diagram of the parallelogram linkage assembly;

[0028] Figure 8 This is a front view structural schematic diagram of the parallelogram linkage assembly;

[0029] Figure 9 This is a three-dimensional structural diagram of the shock absorber;

[0030] Figure 10 This is a three-dimensional structural diagram of the connector.

[0031] In the diagram: 1. Chassis frame; 2. Frame plate; 3. Side panel; 4. Support top plate; 5. Collaborative robot; 6. Moving wheel assembly; 601. Parallelogram linkage assembly; 6011. Connector; 6012. Motor mounting plate; 6013. Swing arm; 6014. Swing frame; 602. Drive motor; 603. Omnidirectional wheel; 604. Auxiliary support wheel; 605. Swing wheel frame; 7. Horizontal positioning device; 701. Guide sleeve; 7 02. Embedded electric cylinder; 703. Positioning block; 8. Cylinder; 801. Hinge; 802. Cylinder bracket; 9. Shock absorber; 901. First shaft; 902. Second shaft; 903. First hinge joint; 905. Insertion rod; 904. Second hinge joint; 906. Insertion sleeve; 907. Shock-absorbing spring; 908. Shock-absorbing bushing; 909. Positioning bushing; 10. Vision recognition module; 11. Controller; 12. Battery pack. Detailed Implementation

[0032] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0033] Please see Figures 1 to 10 A four-wheeled electric drive chassis for carrying collaborative robots includes a chassis frame 1, a frame plate 2 fixedly mounted on top of the chassis frame 1, side panels 3 fixedly mounted on top of the frame plate 2, a support top plate 4 fixedly mounted on top of the side panels 3, a collaborative robot 5 fixedly mounted at the center of the top surface of the support top plate 4, and moving wheel assemblies 6 evenly distributed around the top surface of the frame plate 2. Each side panel 3 contains at least one vision recognition module 10. A controller 11 and a battery pack 12 are mounted on the top surface of the frame plate 2. The structure is largely the same as existing structures for carrying collaborative robots. The vision recognition module 10 is used for obstacle detection in four directions. The detection results are transmitted to the controller 11, which identifies the obstacles and then controls the working state of each moving wheel assembly 6 to achieve actions such as stopping, moving forward, reversing, turning left, turning right, and rotating in place. These are all existing technologies and will not be described in detail here.

[0034] The following is a detailed description of the innovations of this utility model. Since the four-wheel electric drive chassis of this utility model involves air pressure control, an additional high-pressure air pump (not shown in the figure) is required as an air source, and the working status of the high-pressure air pump is controlled by the controller 11.

[0035] A horizontal positioning device 7 is provided at each of the four edges of the top surface of the frame plate 2. A moving wheel assembly 6 is hinged to the positioning end of each horizontal positioning device 7. The horizontal positioning device 7 drives the moving wheel assembly 6 to move horizontally and position. A cylinder 8 is provided at the top of the positioning end of the horizontal positioning device 7. The cylinder 8 is connected to the air supply end of the high-pressure air pump through a pipeline. The output shaft end of the cylinder 8 is hinged to the top of the moving wheel assembly 6. The cylinder 8 drives the moving wheel assembly 6 to swing up and down and position.

[0036] Specifically, the moving wheel assembly 6 includes a parallelogram linkage assembly 601, a drive motor 602, an omnidirectional wheel 603, and an auxiliary support wheel 604. The parallelogram linkage assembly 601 includes a connector 6011 hinged to the outer end of the positioning block 703, a motor mounting plate 6012 vertically disposed on the outer side of the connector 6011, a rocker arm 6013 hinged to both sides of the top of the connector 6011 and the motor mounting plate 6012, and a rocker frame 6014 hinged to both sides of the bottom of the connector 6011 and the motor mounting plate 6012 and located on the outer side of the rocker arm 6013. The drive motor 602 is located inside the rocker frame 6014 and is horizontally fixedly mounted on the inner side of the motor mounting plate 6012. The inner end of the omnidirectional wheel 603 is rotatably mounted on the inner side of the motor mounting plate 6012 via a thrust bearing and is connected to the output shaft of the drive motor 602. Thus, the connector 6011, the swing arm 6013, the motor mounting plate 6012, and the swing frame 6014 constitute a parallelogram linkage mechanism, similar to the trailing arm suspension structure of a vehicle. This allows the parallelogram linkage assembly 601 to adapt to road conditions (such as potholes and bumps) by deforming in the vertical plane during the movement of the mobile platform. At the same time, it ensures that the motor mounting plate 6012 remains in a vertical state. The omnidirectional wheel 603 follows the position change of the motor mounting plate 6012 and swings inward and outward along its axis within a small range, without causing significant changes in the overall dimensions of the chassis. This ensures stability and control precision during operation.

[0037] The horizontal positioning device 7 includes a guide sleeve 701 fixedly mounted on the top surface of the frame plate 2, an embedded electric cylinder 702 fixedly mounted inside the inner end of the guide sleeve 701, and a positioning block 703 slidably mounted inside the guide sleeve 701. The positioning block 703 is fixedly connected to the power output end of the embedded electric cylinder 702. Both the guide sleeve 701 and the positioning block 703 are made of square steel, and the outer wall dimension of the positioning block 703 matches the inner wall dimension of the guide sleeve 701, allowing the output shaft end of the embedded electric cylinder 702 to drive the positioning block 703 to move horizontally within the guide sleeve 701. The embedded electric cylinder 702 is controlled by the controller 11. By adjusting the horizontal position of the positioning block 703, the landing point of the moving wheel assembly 6 on it is adjusted accordingly to avoid obstacles in front of the moving wheel assembly 6.

[0038] The inner end of the connector 6011 is provided with a connecting ear, which is rotatably connected to the outer free end of the positioning block 703 via a pin. Thus, the moving wheel assembly 6 can move and be positioned horizontally following the positioning block 703, while simultaneously rotating relative to the positioning block 703 around the pin. An inclined swing wheel frame 605 is fixedly connected to the bottom of the connector 6011, and an auxiliary support wheel 604 is rotatably connected to the free end of the swing wheel frame 605, such that the auxiliary support wheel 604 is positioned below the inner side of the parallelogram linkage assembly 601. The top of the connector 6011 is provided with a hinge seat, and a hinge member 801 is hinged to it via a pin. A cylinder bracket 802 is fixedly provided on the top surface of the positioning block 703, and the tail end of the cylinder body of the cylinder 8 is hinged to the top of the cylinder bracket 802. The output rod end of the cylinder 8 is fixedly connected to the hinge member 801. The guide sleeve 701 has a slot on the outer side of its top surface, and the bottom end of the cylinder bracket 802 is located in the slot, which allows the cylinder bracket 802 to move horizontally with the positioning block 703, making the structure more compact.

[0039] When the output rod of cylinder 8 is extended, the moving wheel assembly 6 can be kept in normal working condition, and the axis of omnidirectional wheel 603 remains horizontal. When omnidirectional wheel 603 encounters an obstacle during movement, controller 11 controls each moving wheel assembly 6 to stop working, thus stopping the chassis movement. Then, controller 11 controls cylinder 8 to work in the forward direction, causing its output rod to retract. At this time, connector 6011 flips upward, so omnidirectional wheel 603 is lifted off the ground. At the same time, swing wheel frame 605 flips downward, so that auxiliary support wheel 604 contacts the ground. Controller 11 controls embedded electric cylinder 702 to work, driving positioning block 703 to move horizontally. Omnidirectional wheel 603 also moves horizontally synchronously and is positioned on one side of the obstacle. Then, controller 11 controls cylinder 8 to work in the reverse direction, causing its output rod to extend. At this time, connector 6011 flips downward, so omnidirectional wheel 603 contacts the ground again, while swing wheel frame 605 flips upward, so that auxiliary support wheel 604 separates from the ground. The controller 11 then controls the omnidirectional wheel 603 and the two drive motors 602 corresponding to the opposite omnidirectional wheel 603 to work, and the chassis can avoid obstacles and continue to move forward.

[0040] During the adjustment of the omnidirectional wheel 603 position, the auxiliary support wheel 604 contacts the ground, ensuring the chassis remains stable and preventing tilting or tipping. Simultaneously, because the connector 6011 and the cylinder bracket 802 are flexibly connected via cylinder 8, the contact state between the omnidirectional wheel 603 and the ground is maintained by cylinder 8, ensuring reliable contact between the omnidirectional wheel 603 and the ground throughout travel. This allows the moving wheel assembly 6 to better adapt to road conditions, providing it with shock absorption capabilities and improving the overall stability of the chassis.

[0041] To further improve the shock absorption performance of the moving wheel assembly 6, in this embodiment, a shock absorber 9 is connected between the top end of the swing frame 6014 and the top end of the connector 6011. The shock absorber 9 includes a first shaft 901 disposed at the top end of the swing frame 6014, a second shaft 902 disposed at the top end of the connector 6011, a first hinge joint 903 rotatably sleeved on the first shaft 901, a plug rod 905 fixedly disposed on the first hinge joint 903, a second hinge joint 904 rotatably sleeved on the second shaft 902, and a plug sleeve 906 fixedly disposed on the second hinge joint 904. The plug rod 905 is movably inserted into the plug sleeve 906. A shock-absorbing spring 907 sleeved on the outside of the plug rod 905 and the plug sleeve 906 is fixedly connected between the first hinge joint 903 and the second hinge joint 904.

[0042] The swing frame 6014 has a U-shaped structure, with triangular plate structures designed at the top of its two vertical side walls, which are parallel to the outside of the swing arm 6013. Therefore, the first axle 901 is rotatably mounted on the top of the swing arm 6013. When the parallelogram assembly 601 deforms, the insertion rod 905 and the insertion sleeve 906 move relative to each other, causing the damping spring 907 to be stretched or compressed to absorb the energy generated during vibration. This energy is then released through the damping force between the relative movements, thus achieving a shock absorption effect and ensuring the stability of the four-wheel electric drive chassis during movement and its adaptability to road conditions.

[0043] Preferably, the first shaft 901 is fitted with shock-absorbing bushings 908 located on both sides of the first hinge joint 903, and the second shaft 902 is fitted with positioning bushings 909 located on both sides of the second hinge joint 904, so as to ensure that the shock absorber 9 is centered during operation and improve the reliability of the shock absorption performance.

[0044] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A four-wheeled electric drive chassis for mounting a collaborative robot, comprising a chassis frame (1), a frame plate (2) fixedly disposed on the top of the chassis frame (1), side panels (3) fixedly disposed on the top of the frame plate (2), a support top plate (4) fixedly disposed on the top of the side panels (3), a collaborative robot (5) fixedly mounted on the center of the top surface of the support top plate (4), and a set of moving wheels (6) evenly distributed around the top surface of the frame plate (2), wherein each side panel (3) is provided with at least one visual recognition module (10), and the top surface of the frame plate (2) is provided with a controller (11) and a battery pack (12), characterized in that: A horizontal positioning device (7) is provided at each of the four edges of the top surface of the frame plate (2). The positioning end of each horizontal positioning device (7) is hinged to a moving wheel assembly (6). The horizontal positioning device (7) drives the moving wheel assembly (6) to move horizontally and position. A cylinder (8) is provided at the top of the positioning end of the horizontal positioning device (7). The output shaft end of the cylinder (8) is hinged to the top of the moving wheel assembly (6). The cylinder (8) drives the moving wheel assembly (6) to swing up and down and position.

2. The four-wheeled electric drive chassis for mounting a collaborative robot according to claim 1, characterized in that: The horizontal positioning device (7) includes a guide sleeve (701) fixedly installed on the top surface of the frame plate (2), an embedded electric cylinder (702) fixedly installed in the inner end of the guide sleeve (701), and a positioning block (703) slidably installed in the guide sleeve (701). The positioning block (703) is fixedly connected to the power output end of the embedded electric cylinder (702).

3. The four-wheeled electric drive chassis for mounting a collaborative robot according to claim 2, characterized in that: The moving wheel assembly (6) includes a parallelogram linkage assembly (601), a drive motor (602), an omnidirectional wheel (603), and an auxiliary support wheel (604). The drive motor (602) is horizontally fixed inside the parallelogram linkage assembly (601). The omnidirectional wheel (603) is located outside the parallelogram linkage assembly (601) and is connected to the output shaft of the drive motor (602). The auxiliary support wheel (604) is located on the lower inner side of the parallelogram linkage assembly (601).

4. The four-wheeled electric drive chassis for mounting a collaborative robot according to claim 3, characterized in that: The parallelogram linkage assembly (601) includes a connector (6011) hinged to the outer end of the positioning block (703), a motor mounting plate (6012) vertically disposed on the outer side of the connector (6011), a rocker arm (6013) hinged to both sides of the top of the connector (6011) and the motor mounting plate (6012), and a rocker frame (6014) hinged to both sides of the bottom of the connector (6011) and the motor mounting plate (6012) and located on the outer side of the rocker arm (6013). The drive motor (602) is fixedly mounted on the inner side of the motor mounting plate (6012).

5. A four-wheeled electric drive chassis for mounting a collaborative robot according to claim 4, characterized in that: The inner end of the omnidirectional wheel (603) is rotatably mounted on the outer side of the motor mounting plate (6012) via a thrust bearing.

6. A four-wheeled electric drive chassis for mounting a collaborative robot according to claim 4, characterized in that: The bottom of the connector (6011) is fixedly connected to an inclined swing wheel frame (605), and the auxiliary support wheel (604) is rotatably connected to the free end of the swing wheel frame (605).

7. A four-wheeled electric drive chassis for mounting a collaborative robot according to claim 4, characterized in that: The top of the connector (6011) is hinged to a hinge member (801), the top surface of the positioning block (703) is fixedly provided with a cylinder bracket (802), the tail end of the cylinder body of the cylinder (8) is hinged to the top of the cylinder bracket (802), and the output rod end of the cylinder (8) is fixedly connected to the hinge member (801).

8. A four-wheeled electric drive chassis for mounting a collaborative robot according to any one of claims 4 to 7, characterized in that: A shock absorber (9) is connected between the top of the swing frame (6014) and the top of the connector (6011).

9. A four-wheeled electric drive chassis for mounting a collaborative robot according to claim 8, characterized in that: The shock absorber (9) includes a first shaft (901) disposed at the top of the swing frame (6014), a second shaft (902) disposed at the top of the connector (6011), a first hinge joint (903) rotatably sleeved on the first shaft (901), a plug rod (905) fixedly disposed on the first hinge joint (903), a second hinge joint (904) rotatably sleeved on the second shaft (902), and a plug sleeve (906) fixedly disposed on the second hinge joint (904). The plug rod (905) is movably inserted into the plug sleeve (906). A shock-absorbing spring (907) sleeved on the outside of the plug rod (905) and the plug sleeve (906) is fixedly connected between the first hinge joint (903) and the second hinge joint (904).

10. A four-wheeled electric drive chassis for mounting a collaborative robot according to claim 9, characterized in that: The first shaft (901) is fitted with shock-absorbing bushings (908) located on both sides of the first hinge joint (903), and the second shaft (902) is fitted with positioning bushings (909) located on both sides of the second hinge joint (904).

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