Omni-directional moving robot chassis and robot thereof

Abstract

The utility model relates to the technical field of robots, in particular to an omni-directional moving robot chassis and a robot thereof, the omni-directional moving robot chassis comprises two mounting plates which are distributed up and down at an interval, a mounting space is formed between the two mounting plates, and a plurality of driving wheel units are detachably connected in the mounting space; the driving wheel unit comprises a frame, a wheel piece rotationally connected to the frame and a driving piece fixed to the frame. Modularization design is adopted for the driving wheel units, convenient and fast assembly, disassembly and overhaul between the two installation plates can be achieved, the maintenance convenience of the robot in the actual use process is improved, the design of the three driving wheel units is adopted, the wheel piece is of the Mecanum wheel structure design, and the maintenance cost is reduced. And it is ensured that multi-angle movement can still be achieved under the condition that only three movable wheel units exist, the production cost is greatly reduced, the overall structural design is simple, and use convenience is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a robot chassis and robot of omnidirectional movement. BACKGROUND

[0002] With the development of modern robot technology, mobile robots show great potential in the field of automation and intelligence. These robots need to have high flexibility and adaptability when performing various tasks. Omnidirectional mobile robot chassis, as a core component of mobile robots, has a direct impact on the movement performance and work efficiency of robots.

[0003] Currently, omnidirectional mobile robot chassis has shown excellent performance in many applications. However, in a changing working environment, the existing omnidirectional mobile robot chassis still faces some technical and design challenges. In particular, in the structural design of the drive wheel, the existing robot chassis generally adopts a fixed connection method between the drive wheel and the chassis. When the drive wheel needs to be repaired or replaced, the operation process is complex and time-consuming, which limits the maintenance efficiency of the robot and increases the maintenance cost.

[0004] Based on this, in order to further improve the applicability of the existing robot chassis, we propose an omnidirectional mobile robot chassis and robot. SUMMARY

[0005] The utility model aims at solving the fixed connection between the drive wheel and the chassis, the inconvenience of maintenance and other shortcomings in the prior art, and proposes an omnidirectional mobile robot chassis and robot.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0007] Design an omnidirectional mobile robot chassis, comprising:

[0008] Two mounting plates are spaced apart vertically, an installation space is formed between the two mounting plates, and a plurality of dynamic wheel units are detachably connected in the installation space;

[0009] The dynamic wheel unit comprises a frame, a wheel member rotatably connected to the frame, and a drive member fixed to the frame, and the drive member is used to drive the wheel member to rotate;

[0010] The frame and the upper mounting plate are provided with a positioning assembly, and a supporting assembly is further provided between the two mounting plates.

[0011] Further, the mounting plate is a triangular plate, the number of dynamic wheel units is three, and the three dynamic wheel units are sequentially distributed at the three top corners of the triangular plate.

[0012] Further, the wheel member comprises a shaft rod rotating with the frame, and the end of the shaft rod is fixedly connected with a wheel disc;

[0013] Wherein the outer side of the wheel disc is fixedly connected with two hubs, and the outer side of the hub is rotatably connected with a plurality of rollers.

[0014] Further, the outer side of the hub is provided with a groove, and the both sides of the groove are provided with placing grooves, and the both shaft ends of the rollers are placed in the two placing grooves, and a stop sleeve is further fixedly connected to the outer side of the hub, and the stop sleeve covers the outer side of the placing groove.

[0015] Further, the plurality of rollers of the two hubs are sequentially and staggered arranged.

[0016] Further, the positioning assembly comprises a positioning bead embedded on the upper end of the frame, two positioning holes are spaced apart on the end face of the upper mounting plate, the telescopic end of the positioning bead is clamped with the positioning hole, and the side bottom of the mounting plate is provided with a guide groove communicating with the two positioning holes.

[0017] Further, the supporting assembly comprises a fixed stand column and two flanges fixedly connected to the both ends of the stand column, and the two flanges are fixedly connected with the two upper and lower mounting plates.

[0018] Further, the frame is fixedly connected between the two upper and lower mounting plates through a locking member.

[0019] Further, a plurality of threading holes are further provided on the end face of the mounting plate.

[0020] In addition, the utility model discloses a kind of robots, which comprises the robot chassis described above.

[0021] The omnidirectional mobile robot chassis and the robot thereof have the beneficial effects that: the dynamic wheel unit is modularized designed, so that convenient assembly and disassembly and maintenance between the two mounting plates can be realized, to improve the maintenance convenience of the robot in actual use process; in addition, three dynamic wheel units are used in the utility model, and the wheel member is designed as a Mecanum wheel structure, so that multi-angle movement can be realized under the condition of only three dynamic wheel units, the production cost is greatly reduced, the overall structure is simple, and the convenience of use is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a perspective view of the utility model;

[0023] Figure 2 It is a dynamic wheel unit structure schematic view of the utility model;

[0024] Figure 3 It is the positioning hole structure schematic view of the utility model;

[0025] Figure 4 It is the wheel hub structure schematic view of the utility model.

[0026] In the figure: 1, mounting plate; 11, threading hole; 2, driving wheel unit; 21, frame; 22, wheel part; 221, shaft; 222, wheel disc; 223, wheel hub; 224, roller; 225, groove; 226, stop sleeve; 23, driving part; 24, locking part; 3, positioning assembly; 31, positioning glass bead; 32, positioning hole; 33, guide slot; 4, support assembly; 41, stand column; 42, flange plate. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0028] Referring to Figures 1-4 As one of the embodiments of the utility model, it discloses an omnidirectional mobile robot chassis, specifically the robot chassis comprises:

[0029] Two mounting plates 1 are spaced apart in the up-down direction, an installation space is formed between the two mounting plates 1, and a plurality of driving wheel units 2 are detachably connected in the installation space;

[0030] The driving wheel unit 2 comprises a frame 21, a wheel part 22 rotatably connected to the frame 21, and a driving part 23 fixed to the frame 21, the driving part 23 is used to drive the wheel part 22 to rotate, preferably, the driving part 23 in the embodiment is a servo motor;

[0031] The frame 21 and the upper mounting plate 1 are provided with a positioning assembly 3, and the two mounting plates 1 are further provided with a support assembly 4.

[0032] In some embodiments, the mounting plate 1 is a triangular plate, the driving wheel unit 2 is provided with three driving wheel units 2, and the three driving wheel units 2 are sequentially arranged at the three top corners of the triangular plate, that is, three driving wheel units 2 are used to drive the mounting plate 1 to move, so as to drive the whole robot to move.

[0033] Specifically, the wheel part 22 in the embodiment comprises a shaft 221 rotatable with the frame 21, and the end of the shaft 221 is fixedly connected with a wheel disc 222;

[0034] The outer side of the wheel disc 222 is fixedly connected with two wheel hubs 223, and the outer side of the wheel hub 223 is rotatably connected with a plurality of rollers 224. The roller 224 refers to a rotating roller that can rotate.

[0035] On the basis of the above-mentioned embodiment, the outer side of the wheel hub 223 is provided with a groove 225, and the two sides of the groove 225 are provided with a placing groove. The two shaft ends of the roller 224 are placed in the two placing grooves, and a stop sleeve 226 is further fixedly connected to the outer side of the wheel hub 223, and the stop sleeve 226 covers the outer side of the placing groove.

[0036] It should be noted that the plurality of rollers 224 of the two wheel hubs 223 in this embodiment are sequentially and staggeredly arranged, so as to better realize omnidirectional movement.

[0037] That is, the two circles of rollers 224 arranged on a single wheel disc 222 are used to form a Mecanum wheel in this embodiment, so that multi-directional driving movement can be realized even if there are only three driving wheel units 2. In addition, the stop sleeve 226 in this embodiment is connected to the wheel hub 223 by a bolt, so that the roller 224 can be conveniently disassembled and assembled. When disassembled and maintained, the stop sleeve 226 can be disassembled first. Since there is no obstruction between the shaft of the roller 224 and the placing groove at this time, the roller 224 can be taken out of the groove.

[0038] In some embodiments, the positioning assembly 3 includes a positioning bead 31 embedded on the upper end of the frame 21, and two positioning holes 32 are spaced apart on the end face of the mounting plate 1 above. The telescopic end of the positioning bead 31 is clamped with the positioning hole 32, and the side bottom of the mounting plate 1 is provided with a guide groove 33 communicating with the two positioning holes 32.

[0039] Specifically, the positioning bead 31 and the positioning hole 32 are clamped in this embodiment, which is used to position the frame 21 during installation, and can limit the outward sliding distance of the frame 21 during disassembly and maintenance, so as to avoid the problem of direct falling.

[0040] During installation, first, the telescopic end of the positioning ball 31 on the frame 21 is inserted into the guide groove 33, when the frame 21 moves, the positioning ball 31 will first be clamped with the positioning hole 32 on the front side, at this time, the frame 21 can be freely rotated to connect the driving member 23 on the rear side, when the connection is completed, the frame 21 is rotated and continuously pushed backward until the positioning ball 31 is clamped with the positioning hole 32 on the rear side, and the positioning of the frame 21 is completed. Similarly, during maintenance, the positioning ball 31 can be pressed to be retracted inward, after sliding outward by a certain distance, when the positioning ball 31 is clamped again, the frame 21 can be rotated to conveniently maintain the driving member 23, without completely dismounting the frame 21, and the convenience of maintenance is improved.

[0041] Preferably, the frame 21 in the embodiment is connected and fixed between the upper and lower two mounting plates 1 through the locking member 24, the locking member 24 is a bolt, four locking members 24 are arranged in the embodiment, penetrate the upper mounting plate 1 and the frame 21, and are threadedly connected with the lower mounting plate 1, so that the frame 21 is fixed, and of course, in order to facilitate wiring of the driving member 23, a plurality of threading holes 11 are formed in the end surface of the mounting plate 1.

[0042] It should be noted that the support assembly 4 in the embodiment includes a fixed column 41 and two flange plates 42 fixedly connected at both ends of the column 41, the two flange plates 42 are connected and fixed with the upper and lower two mounting plates 1, and of course, the flange plates 42 and the mounting plates 1 are connected and fixed through bolts in the embodiment, and through the design of the column 41, the stress stability of the middle part of the upper and lower two mounting plates 1 can be improved.

[0043] In addition, the utility model discloses a robot, and the robot comprises the robot chassis described above.

[0044] To sum up, the dynamic wheel unit 2 is designed in a modular manner, convenient assembly and disassembly and maintenance between the two mounting plates 1 can be realized, the maintenance convenience of the robot in actual use is improved, three dynamic wheel units 2 are adopted in the utility model, the wheel member 22 is designed in a Mecanum wheel structure, and multi-angle movement can be realized under the condition of only three dynamic wheel units 2, the production cost is greatly reduced, the overall structure is simple, and the convenience of use is improved.

[0045] The above describes only a preferred specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the utility model concept of the utility model within the technical range disclosed by the utility model, which should be covered in the protection scope of the utility model.

Claims

1. An omnidirectional mobile robot chassis, characterized by, The utility model relates to a kind of omnidirectional mobile robot chassis, including: Two installation plates (1) are spaced apart vertically, an installation space is formed between the two installation plates (1), and a plurality of runner units (2) are detachably connected in the installation space; Wherein the runner unit (2) includes a frame (21), a wheel member (22) rotatably connected to the frame (21), and a driving member (23) fixed to the frame (21), the driving member (23) is used to drive the wheel member (22) to rotate; The frame (21) is provided with a positioning assembly (3) between the upper installation plate (1), and a support assembly (4) is further provided between the two installation plates (1), the positioning assembly (3) includes a positioning glass bead (31) embedded in the upper end of the frame (21), two positioning holes (32) are spaced apart on the end face of the upper installation plate (1), the telescopic end of the positioning glass bead (31) is clamped with the positioning hole (32), wherein the side edge bottom of the installation plate (1) is provided with a guide groove (33) communicating with the two positioning holes (32).

2. The omnidirectional mobile robot chassis of claim 1, wherein: The installation plate (1) is a triangular plate, and the runner unit (2) is provided with three, and is sequentially distributed at the three top corners of the triangular plate.

3. The omnidirectional mobile robot chassis of claim 2, wherein: The wheel member (22) includes a shaft (221) rotatable with the frame (21), and a wheel disc (222) fixedly connected to the end of the shaft (221). Wherein the outer side of the wheel disc (222) is fixedly connected with two hubs (223), and the outer side of the hub (223) is rotatably connected with a plurality of rollers (224).

4. The omnidirectional mobile robot chassis of claim 3, wherein: The outer side of the hub (223) is provided with a groove (225), and the both sides of the groove (225) are provided with a placing groove, the both shaft ends of the roller (224) are placed in the two placing grooves, and a stop sleeve (226) is further fixedly connected to the outer side of the hub (223), and the stop sleeve (226) covers the outer side of the placing groove.

5. The omnidirectional mobile robot chassis of claim 3, wherein: The plurality of rollers (224) of the two hubs (223) are sequentially and staggered arranged.

6. The omnidirectional mobile robot chassis of claim 1, wherein: The support assembly (4) includes a fixed stand (41) and two flanges (42) fixedly connected to both ends of the stand (41), and the two flanges (42) are fixedly connected with the two installation plates (1) above and below.

7. An omnidirectional mobile robot chassis according to any one of claims 1-6, characterized in that: The frame (21) is fixedly connected between the two installation plates (1) above and below by a locking member (24).

8. An omnidirectional mobile robot chassis according to any one of claims 1-6, characterized in that: A plurality of threading holes (11) are further provided on the end face of the installation plate (1).

9. A robot, characterized in that The utility model relates to a kind of omnidirectional mobile robot chassis, including as claimed in any one of claims 1-8.

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