Chassis assembly with high stability performance and wheeled humanoid robot

Abstract

The utility model discloses a chassis assembly with high stability performance and a wheeled humanoid robot. The chassis assembly comprises a chassis main body, the four steering wheel mechanisms are symmetrically arranged at four corners of the chassis main body in a penetrating manner; the battery mechanism is fixedly arranged at the middle rear position of the chassis main body; the navigation radar mechanism is fixedly arranged above the chassis main body; the steering wheel mechanism comprises a fixed plate; the rotating motor assembly is fixedly arranged on the fixing plate; the connecting frame is movably arranged below the fixing plate and is in transmission connection with the rotating motor assembly; the driving wheel assembly is rotationally arranged on the connecting frame; a stator assembly, a rotor assembly, a driver and an encoder are integrated in each of the rotating motor assembly and the driving wheel assembly. By adopting the steering wheel mechanism with high integration degree, the occupied space of the chassis main body is reduced, the battery mechanism can be conveniently placed in the chassis main body, and the problem that the stability of the chassis of the existing wheeled humanoid robot is not enough is effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of chassis assembly, especially relates to a high stability chassis assembly and wheeled humanoid robot. BACKGROUND

[0002] The existing technology adopts the steering wheel mechanism to move and steer the chassis of the wheeled humanoid robot, the steering wheel mechanism includes a rotating motor assembly and a walking motor assembly, the existing rotating motor assembly and walking motor assembly are generally arranged separately from the motor, the speed reducer, the driver and the encoder, so that the structure of the steering wheel mechanism is relatively complex, the space of the chassis is relatively large, the support span of the chassis is generally small in the limited chassis space, the power unit of most wheeled humanoid robots is placed in the upper chest cavity, so that the center of gravity of the wheeled humanoid robot is too high, the support span range of the wheeled humanoid robot is small, the chassis shakes seriously during the process of picking up objects, the stability is poor, and the work efficiency and accuracy are affected. SUMMARY

[0003] One of the purposes of the utility model is to provide a high stability chassis assembly and wheeled humanoid robot, so as to solve the problem of insufficient stability of the existing wheeled humanoid robot chassis.

[0004] The high stability chassis assembly and wheeled humanoid robot can be realized through the following technical solutions:

[0005] The high stability chassis assembly includes a chassis body, which is a hollow square cavity, four steering wheel mechanisms are respectively arranged symmetrically on the four corners of the chassis body, a battery mechanism is fixedly arranged on the rear middle position of the chassis body, and a navigation radar mechanism is fixedly arranged above the chassis body.

[0006] The steering wheel mechanism includes a fixed plate fixedly arranged on the corner of the chassis body, a rotating motor assembly fixedly arranged on the fixed plate, a connecting frame movably arranged below the fixed plate and in transmission connection with the rotating motor assembly, the rotating motor assembly drives the connecting frame to steer, a driving wheel assembly rotatably arranged on the connecting frame, and a stator assembly, a rotor assembly, a driver and an encoder integrated in the rotating motor assembly and the driving wheel assembly.

[0007] In one of the embodiments, the chassis assembly further comprises a plurality of obstacle avoidance cameras and a plurality of bottom obstacle avoidance radars; the plurality of obstacle avoidance cameras are respectively arranged through the sidewalls of the chassis body; the plurality of bottom obstacle avoidance radars are respectively arranged fixedly on the bottom of the chassis body.

[0008] In one of the embodiments, the four obstacle avoidance cameras are respectively arranged through the four sidewalls of the chassis body; the four bottom obstacle avoidance radars are respectively arranged fixedly on the bottom of the chassis body.

[0009] In one of the embodiments, the four corners of the chassis body are respectively provided with mounting cavities arranged through the four corners; the four rudders are respectively arranged fixedly on the chassis body through the corresponding mounting cavities.

[0010] In one of the embodiments, the middle rear position of the chassis body is provided with a containing cavity, and the battery mechanism is arranged fixedly in the containing cavity.

[0011] In one of the embodiments, the rotating motor assembly comprises a motor mechanism; a conical pinion gear fixedly arranged on the rotating shaft of the motor mechanism; a connecting cavity fixedly arranged at one end of the side of the motor mechanism, which is an L-shaped hollow cavity, and the connecting cavity wraps the conical pinion gear; a transmission mechanism arranged vertically in the connecting cavity and in transmission connection with the conical pinion gear and the driving wheel assembly respectively.

[0012] In one of the embodiments, the motor mechanism comprises a motor shell; a first stator assembly arranged fixedly in the motor shell; a first rotor assembly arranged rotatably in the motor shell and rotatably arranged through the first stator assembly; a rotating shaft in transmission connection with the first rotor assembly and arranged rotatably through the motor shell, and the conical pinion gear is fixedly arranged on the rotating shaft and in transmission engagement with the transmission mechanism; a first driver arranged fixedly in the motor shell and in electrical connection with the first rotor assembly; a first encoder arranged on the rotating shaft and in electrical connection with the first driver.

[0013] In one of the embodiments, the driving wheel assembly comprises a fixed shaft, both ends of which are arranged fixedly on the connecting frame; a wheel body arranged rotatably through the fixed shaft; a second stator assembly arranged fixedly through the fixed shaft and in the wheel body; a second rotor assembly arranged movably through the second stator assembly and fixedly in the wheel body; a second driver arranged fixedly in the wheel body and in electrical connection with the second rotor assembly; and a second encoder arranged fixedly on the second rotor assembly and in electrical connection with the second driver.

[0014] In one embodiment, the navigation radar mechanism includes a 3D radar and two obstacle avoidance radars; the 3D radar is fixedly disposed at the middle position of the front end of the chassis body; the two obstacle avoidance radars are fixedly disposed diagonally at two corners of the chassis body.

[0015] This utility model discloses a high-stability wheeled humanoid robot, comprising a chassis assembly and a robot body as described in any of the above-mentioned embodiments; the robot body is fixedly mounted on the chassis assembly.

[0016] Compared with the prior art, the advantages of this utility model of a highly stable chassis component and a wheeled humanoid robot are as follows:

[0017] This invention discloses a high-stability chassis assembly and a wheeled humanoid robot. By employing a highly integrated steering wheel mechanism, the space occupied by the steering wheel mechanism in the chassis body is reduced, making it easier to fix the battery mechanism in the middle and rear position of the chassis body. This allows the center of gravity of the robot body to be closer to the overall center during forward tilting movements, improving anti-tipping ability. At the same time, the four steering wheel mechanisms are symmetrically arranged at the four corners of the chassis body, maximizing the wheel system span and significantly improving the stability of the chassis body in all directions, effectively solving the problem of insufficient chassis stability in existing wheeled humanoid robots. Furthermore, through the cooperation of a navigation radar mechanism, obstacle avoidance camera, and bottom obstacle avoidance radar, obstacle avoidance navigation operations of the chassis assembly are effectively realized. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural schematic diagram of a chassis component with high stability according to the present invention;

[0020] Figure 2 yes Figure 1 The diagram shown is a structural schematic of a chassis component with high stability according to this utility model from another perspective.

[0021] Figure 3 yes Figure 1 The exploded structural diagram of a high-stability chassis component of this utility model is shown, including a chassis body and a steering wheel mechanism.

[0022] Figure 4 yes Figure 3 The diagram shows the structural schematic of the chassis body.

[0023] Figure 5 is Figure 3 The structure schematic view of the steering wheel mechanism shown in the figure, including a rotary motor assembly and a drive wheel assembly;

[0024] Figure 6 is Figure 5 The exploded structure schematic view of the rotary motor assembly shown in the figure, including a motor mechanism;

[0025] Figure 7 is Figure 6 The exploded schematic view of the motor mechanism shown in the figure;

[0026] Figure 8 is Figure 5 The cross-sectional structure schematic view of the drive wheel assembly shown in the figure;

[0027] Figure 9 The structure schematic view of a high-stability wheeled humanoid robot.

[0028] Indicated in the figure: 10, chassis assembly; 11, chassis main body; 111, mounting cavity; 112, containing cavity; 113, through hole; 12, steering wheel mechanism; 121, fixed plate; 122, rotary motor assembly; 1221, motor mechanism; 12211, motor shell; 12212, first stator assembly; 12213, first rotor assembly; 12214, rotating shaft; 12215, first driver; 12216, first encoder; 1222, conical pinion; 1223, connecting cavity; 1224, transmission mechanism; 123, connecting frame; 124, drive wheel assembly; 1241, fixed shaft; 1242, wheel body; 1243, second stator assembly; 1244, second rotor assembly; 1245, second driver; 1246, second encoder; 13, battery mechanism; 14, navigation radar mechanism; 141, 3D radar; 142, obstacle avoidance radar; 15, obstacle avoidance camera; 16, bottom obstacle avoidance radar; 17, charging interface; 20, robot main body. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0030] The following detailed description of embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but merely represents selected embodiments of the application. Based upon the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the application.

[0031] Referring to Figures 1-5 As shown in the drawings, the utility model discloses a high stability chassis assembly 10 mainly includes chassis main body 11, four rudder wheel mechanism 12, battery mechanism 13, navigation radar mechanism 14, a plurality of obstacle avoidance camera 15, a plurality of bottom obstacle avoidance radar 16 and charging interface 17, the chassis main body 11 is hollow square cavity, four rudder wheel mechanism 12 respectively through the symmetry setting on the four corners of chassis main body 11, through the cooperation of four rudder wheel mechanism realizes the movement and steering operation of chassis assembly 10, simultaneously makes wheel system span to maximum, greatly improves the stability of chassis main body 11 in each direction, battery mechanism 13 fixedly set in the rear position of the middle of chassis main body 11, makes the robot main body 20 in the process of moving forward its gravity center is close to the overall center, improves the anti-overturning ability, navigation radar mechanism 14 is set on the top of chassis main body 11, and it carries out navigation operation to chassis assembly 10, a plurality of obstacle avoidance camera 15 are respectively through the setting on the side wall of chassis main body 11, a plurality of obstacle avoidance camera 15 cooperate each other and carry out real-time monitoring and obstacle avoidance operation to the four around of chassis main body 11, a plurality of bottom obstacle avoidance radar 16 are respectively fixedly set in the bottom of chassis main body 11, a plurality of bottom obstacle avoidance radar 16 cooperate each other and carry out real-time monitoring and obstacle avoidance operation to the bottom of chassis main body 11, charging interface 17 is fixedly through the setting on the side wall of chassis main body 11, carries out charging operation to battery mechanism 13 through charging interface 17.In this embodiment, four obstacle avoidance cameras 15 are respectively through the setting on the four side walls of chassis main body 11, four bottom obstacle avoidance radars 16 are respectively fixedly set in the bottom of chassis main body 11, in other embodiments, the number of obstacle avoidance cameras 15, bottom obstacle avoidance radars 16 can be two, three, five or other multiple respectively, and the number is set according to actual demand.

[0032] Referring to Figure 3 And Figure 4 As shown in the drawings, specifically, four corners in chassis main body 11 respectively through the installation cavity 111 is set, four rudder wheel mechanism 12 respectively through the corresponding installation cavity 111 fixedly set in chassis main body 11, the rear position of the middle of chassis main body 11 is provided with containing cavity 112, battery mechanism 13 is fixedly set in containing cavity 112, thereby increasing the weight of chassis main body 11, enhancing its stability, four side walls of chassis main body 11 respectively through the through hole 113 is set, four obstacle avoidance cameras 15 respectively through the corresponding through hole 113 through chassis main body 11.

[0033] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 5 , in this embodiment, the steering wheel mechanism 12 includes a fixed plate 121, a rotating motor assembly 122, a connecting frame 123 and a drive wheel assembly 124; the fixed plate 121 is fixedly arranged on the mounting cavity 111; the rotating motor assembly 122 is fixedly arranged through the fixed plate 121; the connecting frame 123 is movably arranged below the fixed plate 121 and is in transmission connection with the rotating motor assembly 122, the rotating motor assembly 122 drives the connecting frame 123 to perform steering operation; the drive wheel assembly 124 is rotatably arranged on the connecting frame 123, and the drive wheel assembly 124 drives the chassis assembly 10 to move forward or backward.

[0034] Please refer to Figures 5-7 , in this embodiment, the rotating motor assembly 122 includes a motor mechanism 1221, a conical pinion 1222, a connecting cavity 1223 and a transmission mechanism 1224; the motor mechanism 1221 is a driving power body; the conical pinion 1222 is fixedly arranged on the rotating shaft of the motor mechanism 1221, and the motor mechanism 1221 drives the conical pinion 1222 to rotate; the connecting cavity 1223 is a hollow cavity, which is L-shaped, one end of the connecting cavity 1223 is fixedly arranged at the side of the motor mechanism 1221 and wraps the conical pinion 1222 inside; the transmission mechanism 1224 is vertically arranged in the connecting cavity 1223 and is in transmission connection with the conical pinion 1222 and the drive wheel assembly 124 respectively, the conical pinion 1222 drives the transmission mechanism 1224 to drive the drive wheel assembly 124 to perform steering operation.

[0035] Please refer to Figure 6 and Figure 7As shown, in the embodiment, the motor mechanism 1221 comprises a motor shell 12211, a first stator assembly 12212, a first rotor assembly 12213, a rotating shaft 12214, a first driver 12215 and a first encoder 12216; the motor shell 12211 is a hollow cavity; the first stator assembly 12212 is fixedly arranged in the motor shell 12211; the first rotor assembly 12213 is rotatably arranged in the motor shell 12211 and rotatably penetrates the first stator assembly 12212; the rotating shaft 12214 is in transmission connection with the first rotor assembly 12213 and penetrates the motor shell 12211; a conical pinion 1222 is fixedly arranged on the rotating shaft 12214 and in transmission meshing connection with a transmission mechanism 1224; the first driver 12215 is fixedly arranged in the motor shell 12211 and in electrical connection with the first rotor assembly 12213, which drives the first rotor assembly 12213 to rotate relative to the first stator assembly 12212; the first encoder 12216 is arranged on the rotating shaft 12214 and in electrical connection with the first driver 12215, which rotates following the rotation of the rotating shaft 12214. Specifically, the first stator assembly 12212 and the first rotor assembly 12213 both adopt the prior art, so their specific structures and working processes are not described here, as long as they meet the present application; the transmission mechanism 1224 comprises a transmission conical gear and a transmission shaft; the transmission conical gear is rotatably vertically arranged in the connecting cavity 1223 and in transmission meshing connection with the conical pinion 1222, the conical pinion 1222 and the transmission conical gear constitute a speed reduction steering structure, through which the output torque of the motor mechanism 1221 is increased and the lateral transmission force of the motor mechanism 1221 is changed into longitudinal transmission force; one end of the transmission shaft is in transmission connection with the transmission conical gear, and the other end thereof is in transmission connection with the driving wheel assembly 124.

[0036] Please refer to Figure 5 and Figure 8As shown, the drive wheel assembly 124 comprises a fixed shaft 1241, a wheel body 1242, a second stator assembly 1243, a second rotor assembly 1244, a second driver 1245 and a second encoder 1246; both ends of the fixed shaft 1241 are fixedly arranged on the connecting frame 123; the wheel body 1242 is rotatably arranged on the fixed shaft 1241; the second stator assembly 1243 is fixedly arranged on the fixed shaft 1241 and arranged in the wheel body 1242; the second rotor assembly 1244 is fixedly arranged in the wheel body 1242 and movably arranged on the second stator assembly 1243; the second driver 1245 is fixedly arranged in the wheel body 1242 and electrically connected with the second rotor assembly 1244; the second encoder 1246 is fixedly arranged on the second rotor assembly 1244 and electrically connected with the second driver 1245, and rotates with the second rotor assembly 1244. Specifically, the second stator assembly 1243 and the second rotor assembly 1244 both adopt the prior art, so their specific structures and working processes will not be described here, as long as they meet the application.

[0037] As shown in Figure 1 and Figure 3 As shown in the embodiment, the navigation radar mechanism 14 comprises a 3D radar 141 and two obstacle avoidance radars 142; the 3D radar 141 is fixedly arranged at the middle position of the front end of the chassis body 11; the two obstacle avoidance radars 142 are diagonally fixedly arranged on the two corners of the chassis body 11, and through the cooperation of the 3D radar 141 and the two obstacle avoidance radars 142, a 360° field of view range coverage is realized.

[0038] As shown in Figure 8 The utility model discloses a high stability performance's wheel type humanoid robot comprises the chassis assembly 10 and robot body 20 of any one above, and robot body 20 is fixedly arranged on chassis assembly 10, and chassis assembly 10 drives robot body 20 to move and turns to operation.

[0039] It should be noted that the rudder wheel mechanism 12 in the utility model discloses a high stability performance's chassis assembly and wheel type humanoid robot adopts the high-integration rotary motor assembly 122 and drive wheel assembly 124, so that the rudder wheel mechanism 12 occupies less space of the chassis body 11, and the battery mechanism 13 is fixedly arranged in the middle rear position of the chassis body 11, so that the robot body 20 is close to the overall center in the process of moving forward, and the anti-overturning ability is improved; the four rudder wheel mechanisms 12 are symmetrically arranged on the four corners of the chassis body 11, so that the wheel train span is maximized, and the stability performance of the chassis body 11 in each direction is greatly improved; and through the cooperation of the navigation radar mechanism 14, the obstacle avoidance camera 15 and the bottom obstacle avoidance radar 16, the obstacle avoidance navigation operation of the chassis assembly 10 is realized.

[0040] The technical features of the above-described embodiments can be combined in any manner, and for brevity, not all possible combinations of the technical features in the embodiments are described, but as long as the combinations of the technical features do not contradict each other, they should be considered within the scope of the present disclosure.

[0041] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A chassis component with high stability, characterized in that, include: The main body of the chassis is a hollow square cavity; Four steering wheel mechanisms are symmetrically arranged at the four corners of the chassis body; The battery mechanism is fixedly installed at the rear center of the chassis body; The navigation radar mechanism is fixedly mounted on top of the chassis body; The steering wheel mechanism includes a fixed plate, which is fixedly mounted on the corner of the chassis body; a rotary motor assembly fixedly mounted on the fixed plate; a connecting frame movably mounted below the fixed plate and driven by the rotary motor assembly, the rotary motor assembly driving the connecting frame to perform steering operations; and a drive wheel assembly rotatably mounted on the connecting frame. Both the rotary motor assembly and the drive wheel assembly integrate a stator assembly, a rotor assembly, a driver, and an encoder.

2. The high-stability chassis assembly according to claim 1, characterized in that, It also includes multiple obstacle avoidance cameras and multiple bottom obstacle avoidance radars; the multiple obstacle avoidance cameras are respectively installed through the side wall of the chassis body; the multiple bottom obstacle avoidance radars are respectively fixedly installed at the bottom of the chassis body.

3. A high-stability chassis assembly according to claim 2, characterized in that, The four obstacle avoidance cameras are respectively installed on the four side walls of the chassis body; the four bottom obstacle avoidance radars are respectively fixedly installed on the bottom of the chassis body.

4. A high-stability chassis assembly according to claim 3, characterized in that, The chassis body has mounting cavities through its four corners, and the four steering wheel mechanisms are fixedly mounted on the chassis body through their respective mounting cavities.

5. A high-stability chassis assembly according to claim 4, characterized in that, A receiving cavity is provided at the rear center of the chassis body, and the battery mechanism is fixedly installed in the receiving cavity.

6. A high-stability chassis assembly according to claim 1, characterized in that, The rotary motor assembly includes a motor mechanism; a bevel gear fixedly mounted on the rotating shaft of the motor mechanism; a connecting cavity fixedly mounted at one end on the side of the motor mechanism, which is an L-shaped hollow cavity, the connecting cavity enclosing the bevel gear; and a transmission mechanism vertically mounted in the connecting cavity and respectively connected to the bevel gear and the drive wheel assembly.

7. A high-stability chassis assembly according to claim 6, characterized in that, The motor mechanism includes a motor housing; a first stator assembly fixedly disposed in the motor housing; a first rotor assembly rotatably disposed in the motor housing and rotatably passing through the first stator assembly; a rotating shaft that is drively connected to the first rotor assembly and passes through the motor housing, wherein a bevel gear is fixedly disposed on the rotating shaft and is drively meshed with the transmission mechanism; a first driver fixedly disposed in the motor housing and electrically connected to the first rotor assembly; and a first encoder disposed on the rotating shaft and electrically connected to the first driver.

8. A high-stability chassis assembly according to claim 1, characterized in that, The drive wheel assembly includes a fixed shaft with its two ends fixedly mounted on the connecting frame; a wheel body rotatably mounted on the fixed shaft; a second stator assembly fixedly mounted on the fixed shaft and disposed within the wheel body; a second rotor assembly fixedly mounted within the wheel body and movably mounted on the second stator assembly; a second driver fixedly mounted within the wheel body and electrically connected to the second rotor assembly; and a second encoder fixedly mounted on the second rotor assembly and electrically connected to the second driver.

9. A high-stability chassis assembly according to claim 1, characterized in that, The navigation radar mechanism includes a 3D radar and two obstacle avoidance radars; the 3D radar is fixedly installed at the middle position of the front end of the chassis body; the two obstacle avoidance radars are fixedly installed diagonally at the two corners of the chassis body.

10. A wheeled humanoid robot with high stability, characterized in that, It includes the chassis assembly and robot body as described in any one of claims 1-9; the robot body is fixedly mounted on the chassis assembly.

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