Double-wheel differential moving chassis adopting omnidirectional wheels as driven wheels

Abstract

The utility model belongs to the technical field of mobile robots, and particularly relates to a double-wheel differential mobile chassis adopting an omnidirectional wheel as a driven wheel, which comprises a mobile chassis, a motor-driven driving wheel is mounted at the bottom of the mobile chassis, the omnidirectional driven wheel is mounted at the bottom of the mobile chassis, and a shell is mounted on the outer wall of the mobile chassis. The bottom of the movable chassis is connected with a connecting base, a double-head motor is installed in the connecting base, the output end of the double-head motor is connected with a driving rod, and the end of the driving rod is connected with a first bevel gear. Then, two threaded rods are driven to rotate through the meshing relation between first conical teeth and second conical teeth, along with rotation of the two threaded rods, threaded connecting blocks in threaded connection with the outer walls of the threaded rods can drive a supporting frame to descend, and at the moment, a supporting plate at the bottom of the supporting frame can make contact with the ground to achieve fixing of the movable chassis; therefore, the stability of the mobile robot is improved.

Description

Technical Field

[0001] This utility model belongs to the field of mobile robot technology, specifically relating to a dual-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels. Background Technology

[0002] The movement principle of a two-wheel differential mobile chassis is based on controlling the difference in rotational speed between the two wheels. When the two wheels rotate at the same speed, the robot moves along a straight line. When the two wheels rotate at different speeds, the robot rotates around a center point. Therefore, by precisely controlling the difference in rotational speed between the two wheels, the robot can achieve various curved movements and steering operations.

[0003] Currently, existing robot dual-wheel differential mobile chassis typically use motor-driven wheels for movement during use, and the robot will stop in place when the motor-driven wheels stop rotating. However, when the robot stops on a slope or is pushed by an external force, the chassis will still move to some extent because the robot chassis does not have a good fixed structure, thus reducing stability. Utility Model Content

[0004] The purpose of this invention is to provide a dual-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels. This aims to solve the problem that existing dual-wheel differential mobile chassis for robots typically use motor-driven wheels for movement. When the motor-driven wheels stop rotating, the robot stops in place. However, when the robot stops on a slope or is pushed by an external force, the chassis does not have a good fixing structure, which causes the chassis to move to some extent, thus reducing stability.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a dual-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels, comprising a mobile chassis, a motor-driven driving wheel installed at the bottom of the mobile chassis, an omnidirectional driven wheel installed at the bottom of the mobile chassis, and a shell installed on the outer wall of the mobile chassis;

[0006] The bottom of the mobile chassis is connected to a connecting seat, and a dual-head motor is installed inside the connecting seat. The output end of the dual-head motor is connected to a drive rod, and the end of the drive rod is connected to a first bevel tooth. The inside of the connecting seat is connected to two connecting plates, and the bottom of the connecting seat has two threaded rods running through it. One end of the two threaded rods is connected to a second bevel tooth. The bottom of the connecting seat is connected to two connecting frames, and the outer walls of the two threaded rods are threaded with threaded connecting blocks. The outer walls of the threaded connecting blocks are connected to support frames, and the bottom of the support frames is provided with support plates.

[0007] As a preferred embodiment of the present invention, a dual-wheel differential moving chassis that uses omnidirectional wheels as driven wheels, the two threaded rods are symmetrically distributed, and one end of each threaded rod is connected to a connecting seat via a bearing to form a rotating connection structure.

[0008] As a preferred embodiment of the present invention, a dual-wheel differential mobile chassis that uses an omnidirectional wheel as the driven wheel, the threaded rod is located inside the connecting frame, and one end of the threaded rod is connected to the bearing connecting frame to form a rotating connection structure.

[0009] As a preferred embodiment of the present invention, a dual-wheel differential moving chassis that uses an omnidirectional wheel as the driven wheel, wherein the first bevel tooth and the second bevel tooth mesh with each other.

[0010] As a preferred embodiment of the present invention, a dual-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels, the end of the drive rod penetrates the surface of the connecting plate.

[0011] As a preferred embodiment of the present invention, a dual-wheel differential mobile chassis using omnidirectional wheels as driven wheels, the top of the support plate is connected to two mounting blocks, the outer walls of the two mounting blocks are provided with limit slots, the inner side of the support frame is connected to a mounting seat, the mounting seat is provided with a return spring, the end of the return spring is connected to a movable block, one end of the movable block is connected to a limit pin, the outer wall of the movable block is connected to a lever, and the bottom of the support frame is provided with two mounting slots.

[0012] As a preferred embodiment of the present invention, a dual-wheel differential moving chassis that uses omnidirectional wheels as driven wheels, the dimensions of the limiting slot and the limiting pin are adapted to each other.

[0013] As a preferred embodiment of the present invention, a dual-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels, the mounting block can penetrate the bottom of the support frame through a mounting slot.

[0014] As a preferred embodiment of the present invention, a dual-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels, the support frame can form an elastic engagement structure with the support plate through mounting blocks, limit slots, mounting seats, return springs, movable blocks, limit pins, push blocks, and mounting slots.

[0015] As a preferred embodiment of the present invention, a dual-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels, the bottom of the support plate is bonded with an anti-slip pad.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] The dual-head motor drives the drive rod to rotate clockwise, and then the meshing relationship between the first and second bevel teeth drives the two threaded rods to rotate. As the two threaded rods rotate, the threaded connecting blocks on their outer walls will drive the support frame to descend. At this time, the support plate at the bottom of the support frame will contact the ground to fix the mobile chassis, thereby improving the stability of the mobile robot.

[0018] By moving the movable block with the lever, the limit pin is retracted, allowing one end of the limit pin to disengage from the limit slot on the outer wall of the mounting block. Then, the support plate is pulled down to disengage from the mounting slot, making it easy to remove the support plate from the bottom of the support frame for subsequent replacement.

[0019] By attaching an anti-slip pad to the bottom of the support plate, the anti-slip pad can increase the friction with the ground when the support plate comes into contact with the ground, preventing slippage and thus improving grip on smooth or sloping surfaces.

[0020] By employing omnidirectional driven wheels, the mobility and flexibility of the mobile robot are improved, making it suitable for various complex terrain environments. Furthermore, the omnidirectional driven wheels, using structures such as spherical rollers or Mecanum wheels, enable omnidirectional movement, allowing the robot to achieve lateral displacement without changing its forward direction, thus enhancing the robot's flexibility. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0022] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the bottom cross-sectional structure of the mobile chassis of this utility model;

[0024] Figure 3 This is a schematic diagram of the main cross-sectional structure of the mobile chassis of this utility model;

[0025] Figure 4 This is an enlarged structural diagram of point A in this utility model;

[0026] Figure 5 This is an enlarged structural diagram of point B in this utility model;

[0027] Figure 6 This is a partially enlarged structural schematic diagram of the present invention.

[0028] In the diagram: 1. Mobile chassis; 2. Motor-driven drive wheel; 3. Omnidirectional driven wheel; 4. Housing; 5. Connecting seat; 6. Dual-head motor; 7. Drive rod; 8. First bevel gear; 9. Connecting plate; 10. Threaded rod; 11. Connecting frame; 12. Threaded connecting block; 13. Support frame; 14. Support plate; 15. Mounting block; 16. Limiting slot; 17. Mounting seat; 18. Return spring; 19. Movable block; 20. Limiting pin; 21. Pulling block; 22. Mounting slot; 23. Anti-slip pad; 24. Second bevel gear. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figure 1-6 The present invention provides the following technical solution: a dual-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels, including a mobile chassis 1, a motor-driven driving wheel 2 installed at the bottom of the mobile chassis 1, an omnidirectional driven wheel 3 installed at the bottom of the mobile chassis 1, and a shell 4 installed on the outer wall of the mobile chassis 1.

[0031] It should be noted that this application improves the mobility and flexibility of the mobile robot by using omnidirectional driven wheels 3 as driven wheels, making it suitable for various complex terrain environments. The robot includes a differential control system and a control unit. The differential control system is used to control the speed difference between the two drive wheels to achieve chassis steering. The control unit is used to receive external commands and control the movement of the differential control system and the omnidirectional driven wheels 3.

[0032] More importantly, the omnidirectional driven wheel 3 adopts a structure such as a spherical roller or a Mecanum wheel, which can achieve omnidirectional movement, enabling the robot to achieve lateral displacement without changing its forward direction, thereby enhancing the robot's flexibility.

[0033] The bottom of the mobile chassis 1 is connected to a connecting seat 5. A dual-head motor 6 is installed inside the connecting seat 5. The output end of the dual-head motor 6 is connected to a drive rod 7. The end of the drive rod 7 is connected to a first bevel tooth 8. The inside of the connecting seat 5 is connected to two connecting plates 9. The bottom of the connecting seat 5 has two threaded rods 10 running through it. One end of the two threaded rods 10 is connected to a second bevel tooth 24. The bottom of the connecting seat 5 is connected to two connecting frames 11. The outer walls of the two threaded rods 10 are threadedly connected to threaded connecting blocks 12. The outer walls of the threaded connecting blocks 12 are connected to support frames 13. The bottom of the support frames 13 is provided with a support plate 14.

[0034] It should be noted that the support frame 13 is U-shaped, and its two ends are respectively connected to a threaded connecting block 12.

[0035] Preferably, the two threaded rods 10 are symmetrically distributed, and one end of the two threaded rods 10 forms a rotating connection structure with the connecting seat 5 through a bearing. The threaded rods 10 are located inside the connecting frame 11, and one end of the threaded rods 10 forms a rotating connection structure through the bearing connecting frame 11. The first bevel tooth 8 and the second bevel tooth 24 mesh with each other, and the end of the drive rod 7 penetrates the surface of the connecting plate 9.

[0036] In practical use, the dual-head motor 6 drives the drive rod 7 to rotate clockwise, and then the meshing relationship between the first bevel tooth 8 and the second bevel tooth 24 drives the two threaded rods 10 to rotate. As the two threaded rods 10 rotate, the threaded connecting block 12 connected to the outer wall will drive the support frame 13 to descend. At this time, the support plate 14 at the bottom of the support frame 13 will contact the ground to fix the mobile chassis 1, thereby improving the stability of the mobile robot.

[0037] Conversely, the dual-head motor 6 drives the drive rod 7 to rotate counterclockwise, causing the two threaded rods 10 to rotate in the opposite direction. As a result, the threaded connecting block 12, which is threaded to the outer wall of the two threaded rods 10, will drive the support frame 13 to rise, thereby lifting the support plate 14 at the bottom.

[0038] It should be noted that the terminals of the dual-head motor 6 are connected to the robot's power supply.

[0039] Preferably, the top of the support plate 14 is connected to two mounting blocks 15, and the outer walls of the two mounting blocks 15 are provided with limiting slots 16. The inner side of the support frame 13 is connected to a mounting seat 17, and the interior of the mounting seat 17 is provided with a return spring 18. The end of the return spring 18 is connected to a movable block 19, one end of the movable block 19 is connected to a limiting pin 20, and the outer wall of the movable block 19 is connected to a lever 21. The bottom of the support frame 13 is provided with two mounting slots 22. The size of the limiting slots 16 and one end of the limiting pins 20 are adapted to each other. The mounting blocks 15 can penetrate the bottom of the support frame 13 through the mounting slots 22. The support frame 13 can form an elastic engagement structure with the support plate 14 through the mounting blocks 15, the limiting slots 16, the mounting seat 17, the return spring 18, the movable block 19, the limiting pin 20, the lever 21, and the mounting slots 22.

[0040] In practical use, by moving the movable block 19 with the lever 21, the limiting pin 20 is retracted, so that one end of the limiting pin 20 can be disengaged from the limiting slot 16 on the outer wall of the mounting block 15. Then, the support plate 14 is pulled down to disengage from the mounting slot 22, so that the support plate 14 can be easily removed from the bottom of the support frame 13.

[0041] Conversely, by moving the movable block 19 with the toggle 21, the limiting pin 20 is retracted, and then the mounting block 15 on the top of the support plate 14 is inserted along the mounting slot 22, so that the two mounting blocks 15 are located at both ends of the mounting base 17. At this time, the toggle 21 is released, and the limiting pin 20 will pop out under the action of the return spring 18 and insert into the limiting slot 16, thereby installing the support plate 14 at the bottom of the support frame 13.

[0042] It should be noted that the support plate 14 needs to be raised before disassembling or assembling it.

[0043] Preferably, the bottom of the support plate 14 is bonded with an anti-slip pad 23;

[0044] It should be noted that the anti-slip mat 23 is bonded with K11 general-purpose waterproof adhesive. General-purpose waterproof adhesive has good waterproof properties and can be used in damp areas.

[0045] In practical use, by attaching an anti-slip pad 23 to the bottom of the support plate 14, the anti-slip pad 23 can increase the friction with the ground when the support plate 14 is in contact with the ground, preventing slippage and thus improving the grip on smooth or inclined surfaces.

[0046] Working principle: First, the dual-head motor 6 drives the drive rod 7 to rotate clockwise. Then, the meshing relationship between the first bevel tooth 8 and the second bevel tooth 24 drives the two threaded rods 10 to rotate. As the two threaded rods 10 rotate, the threaded connecting block 12 connected to their outer wall threads will drive the support frame 13 to descend. At this time, the support plate 14 at the bottom of the support frame 13 will contact the ground to fix the mobile chassis 1, thereby improving the stability of the mobile robot. Furthermore, by attaching an anti-slip pad 23 to the bottom of the support plate 14, when the support plate 14 contacts the ground, the anti-slip pad 23 can increase the friction with the ground and prevent slippage, thereby improving the grip on smooth or inclined surfaces. The use of omnidirectional driven wheels 3 as driven wheels improves the mobility and flexibility of the mobile robot. The omnidirectional driven wheels 3 adopt structures such as spherical rollers or Mecanum wheels, which can achieve omnidirectional movement, allowing the robot to achieve lateral displacement without changing its forward direction, thereby enhancing the robot's flexibility. When it is necessary to disassemble the support plate 14, the movable block 19 is moved by the lever 21 to drive the limit pin 20 to retract, so that one end of the limit pin 20 can be disengaged from the limit slot 16 on the outer wall of the mounting block 15. Then, the support plate 14 is pulled down to disengage it from the mounting slot 22, thereby making it easy to remove the support plate 14 from the bottom of the support frame 13.

[0047] Finally, it should be noted that the above are merely preferred embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A dual-wheel differential moving chassis that uses omnidirectional wheels as driven wheels, comprising a moving chassis (1), characterized in that: The bottom of the mobile chassis (1) is equipped with a motor-driven drive wheel (2), the bottom of the mobile chassis (1) is equipped with an omnidirectional driven wheel (3), and the outer wall of the mobile chassis (1) is equipped with a shell (4). The bottom of the mobile chassis (1) is connected to a connecting seat (5). A dual-head motor (6) is installed inside the connecting seat (5). The output end of the dual-head motor (6) is connected to a drive rod (7). The end of the drive rod (7) is connected to a first bevel tooth (8). The inside of the connecting seat (5) is connected to two connecting plates (9). The bottom of the connecting seat (5) has two threaded rods (10) running through it. One end of the two threaded rods (10) is connected to a second bevel tooth (24). The bottom of the connecting seat (5) is connected to two connecting frames (11). The outer walls of the two threaded rods (10) are threadedly connected to threaded connecting blocks (12). The outer walls of the threaded connecting blocks (12) are connected to a support frame (13). The bottom of the support frame (13) is provided with a support plate (14).

2. A dual-wheel differential moving chassis using omnidirectional wheels as driven wheels according to claim 1, characterized in that: The two threaded rods (10) are symmetrically distributed, and one end of each threaded rod (10) is connected to the connecting seat (5) via a bearing to form a rotating connection structure.

3. A dual-wheel differential moving chassis using omnidirectional wheels as driven wheels according to claim 1, characterized in that: The threaded rod (10) is located inside the connecting frame (11), and one end of the threaded rod (10) forms a rotating connection structure through the bearing connecting frame (11).

4. A dual-wheel differential moving chassis using omnidirectional wheels as driven wheels according to claim 1, characterized in that: The first bevel tooth (8) meshes with the second bevel tooth (24).

5. A dual-wheel differential moving chassis using omnidirectional wheels as driven wheels according to claim 1, characterized in that: The end of the drive rod (7) penetrates the surface of the connecting plate (9).

6. A dual-wheel differential moving chassis using omnidirectional wheels as driven wheels according to claim 1, characterized in that: The top of the support plate (14) is connected to two mounting blocks (15), and the outer walls of the two mounting blocks (15) are provided with limit slots (16). The inner side of the support frame (13) is connected to a mounting base (17), and the interior of the mounting base (17) is provided with a return spring (18). The end of the return spring (18) is connected to a movable block (19), one end of the movable block (19) is connected to a limit pin (20), and the outer wall of the movable block (19) is connected to a lever (21). The bottom of the support frame (13) is provided with two mounting slots (22).

7. A dual-wheel differential moving chassis using omnidirectional wheels as driven wheels according to claim 6, characterized in that: The size of the limiting slot (16) is adapted to one end of the limiting pin (20).

8. A dual-wheel differential moving chassis using omnidirectional wheels as driven wheels according to claim 6, characterized in that: The mounting block (15) can pass through the bottom of the support frame (13) via the mounting slot (22).

9. A dual-wheel differential moving chassis using omnidirectional wheels as driven wheels according to claim 6, characterized in that: The support frame (13) can form an elastic engagement structure with the support plate (14) through the installation insert (15), the limiting slot (16), the mounting base (17), the return spring (18), the movable block (19), the limiting pin (20), the push block (21), and the mounting slot (22).

10. A dual-wheel differential moving chassis with omnidirectional wheels as driven wheels according to claim 1, characterized in that: The bottom of the support plate (14) is bonded with an anti-slip pad (23).

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