Portal frame wheeled robot with adjustable wheel tread

Abstract

The utility model relates to the technical field of wheeled robots, and particularly discloses a wheel-track-adjustable portal frame wheeled robot, which comprises a portal frame, two bottom feet of the frame are respectively connected with a walking chassis, and the wheel-track-adjustable portal frame wheeled robot is characterized in that the walking chassis is connected with two sliding seats in a sliding manner along the normal direction of the frame; the wheel type robot comprises a walking chassis, a plurality of sliding seats are arranged on the walking chassis, electric universal wheels are arranged on the sliding seats, adjusting devices are arranged on the walking chassis corresponding to the sliding seats, the adjusting devices are used for adjusting and fixing the positions of the sliding seats, the wheel track can be adjusted, and the adaptability of the whole device to different terrains can be effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of wheeled robot, especially relates to a wheel track adjustable gantry wheeled robot. BACKGROUND

[0002] The existing wheeled robot is fixedly installed with tires, and the steering flexibility is limited in the controllability, and it is difficult to adapt to different driving styles and special road surfaces, the driving stability is easily affected in the comfort, and the tire adaptation is poor in the adaptability, and the vehicle upgrading is also limited, which is not conducive to the optimization and individual adjustment of the vehicle in various scenes. SUMMARY

[0003] In order to solve the problems mentioned in the background art, the purpose of the utility model is to provide a wheel track adjustable gantry wheeled robot.

[0004] In order to realize the above object, the technical scheme of the utility model is as follows:

[0005] A wheel track adjustable gantry wheeled robot, comprising a frame of gantry, one walking chassis is connected on the two bottom feet of the frame respectively, two sliding seats are slidably connected on the walking chassis along the normal direction of the frame, a motorized universal wheel is installed on the sliding seat, an adjusting device is installed on the walking chassis corresponding to each sliding seat, and the adjusting device is used for adjusting and fixing the position of the sliding seat.

[0006] Further, the adjusting device comprises a driving motor and a gear, the driving motor is fixed longitudinally on the walking chassis, the main shaft of the driving motor is fixedly connected with the gear, a rack is fixedly connected on the sliding seat, the rack is parallel to the sliding direction of the sliding seat, and the gear is engaged with the rack.

[0007] Further, two inverted trapezoidal connecting frames are connected on the two bottom feet of the frame respectively, the bottom center position of the connecting frame is hinged to the walking chassis, and a suspension is hinged between the top of the connecting frame and the walking chassis.

[0008] Further, the motorized universal wheel comprises a steering motor, a wheel frame, a tire and a wheel edge driving motor, the steering motor is fixed vertically on the bottom of the sliding seat, the wheel frame is fixedly connected on the main shaft of the steering motor, the tire is rotatably installed on the wheel frame along the horizontal axis, and the wheel edge driving motor is fixedly connected on the wheel frame and used for driving the tire to rotate.

[0009] The utility model has the advantages that the distance between the two motorized universal wheels on the same walking chassis can be adjusted by adjusting the position of the sliding seat, the wheel track is adjusted, and the adaptability of the wheeled robot is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 perspective view of the present application;

[0011] Figure 2 rear view of the present application;

[0012] Figure 3 is Figure 2 schematic diagram of A.

[0013] Brief description of drawings: 1, frame, 11, connecting frame, 2, walking chassis, 21, guide rail, 3, slide, 31, sliding block, 32, rack, 4, electric universal wheel, 41, steering motor, 42, wheel frame, 43, tire, 44, wheel edge motor, 5, drive motor, 51, gear, 6, suspension. DETAILED DESCRIPTION

[0014] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art belong to the protection scope of the present application.

[0015] As Figures 1-3 shown, a wheel track adjustable gantry wheel robot, including a gantry type frame 1, two bottom feet of frame 1 are respectively connected with a walking chassis 2, two slide seats 3 are slidably connected to the walking chassis 2 along the normal direction of the frame 1, specifically, a set of guide rails 21 is respectively installed on the front and rear ends of the bottom of the walking chassis 2, the guide rails 21 extend along the front and rear directions, the top of the slide seat 3 is fixedly connected with a sliding block 31, the slide seat 3 is slidably connected to the guide rail 21 through the sliding block 31, the bottom of the slide seat 3 is provided with an electric universal wheel 4, the electric universal wheel 4 includes a steering motor 41, a wheel frame 42, a tire 43 and a wheel edge motor 44, the steering motor 41 is vertically fixed on the bottom of the slide seat 3, the wheel frame 42 is fixedly connected to the main shaft of the steering motor 41, the tire 43 is rotatably installed on the wheel frame 42 along the horizontal axis, the wheel edge motor 44 is fixedly connected to the wheel frame 42 for driving the tire 43 to rotate, the walking chassis 2 is provided with an adjusting device corresponding to each slide seat 3, the adjusting device is used for adjusting and fixing the position of the slide seat 3, the adjusting device includes a drive motor 5 and a gear 51, the drive motor 5 is longitudinally fixed on the walking chassis 2, the gear 51 is fixedly connected to the main shaft of the drive motor 5, the slide seat 3 is fixedly connected with a rack 32, the rack 32 is parallel to the sliding direction of the slide seat 3, and the gear 51 is engaged with the rack 32.

[0016] In actual use, the IMU module can be installed on the frame 1, the IMU module, the driving motor 5 and the electric universal wheel 4 are connected with the central control system, the IMU module integrates a gyroscope and an accelerometer, and can quickly and accurately measure pitch and roll attitude information. When the vehicle is running, the IMU module continuously collects data and monitors the vehicle body attitude at high frequency. Once the vehicle body attitude changes due to turning, acceleration or deceleration, or rough road, etc., the IMU will capture the change and send a signal to the central control system. The system analyzes according to the preset algorithm, if the attitude change exceeds the safe range or the normal threshold, such as abnormal pitch or roll angle affecting driving stability, it is determined that the track needs to be adjusted, and then an instruction is sent to the actuator, the driving motor 5 is started to drive the gear 51 and the rack 32, the slide 3 is accurately adjusted according to the strategy, the track is accurately adjusted, and the good driving attitude and stability of the vehicle are ensured.

[0017] In the embodiment, the two bottom feet of the frame 1 are respectively connected with inverted trapezoidal connecting frames 11, the bottom center positions of the connecting frames 11 are hinged to the running chassis 2, and the two ends of the top of the connecting frame 11 are hinged with the suspension 6 between the running chassis 2, the frame 1 and the running chassis 2 are set as a movable connection, and the suspension 6 is set, which can effectively improve the shock absorption performance of the vehicle body.

[0018] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wheel track adjustable gantry wheel robot, comprising a gantry frame (1), a walking chassis (2) is connected to each bottom of the frame (1), characterized in that, Two sliding seats (3) are connected to the walking chassis (2) along the normal direction of the frame (1), and an electric universal wheel (4) is installed on each sliding seat (3), and an adjusting device is installed on the walking chassis (2) corresponding to each sliding seat (3), which is used for adjusting and fixing the position of the sliding seat (3).

2. A trackable gantry wheel robot according to claim 1, wherein, The adjusting device comprises a driving motor (5) and a gear (51), the driving motor (5) is longitudinally fixed on the walking chassis (2), the gear (51) is fixed on the main shaft of the driving motor (5), a rack (32) is fixed on the sliding seat (3), the rack (32) is parallel to the sliding direction of the sliding seat (3), and the gear (51) is engaged with the rack (32).

3. A trackable gantry wheel robot according to claim 1, wherein, Two inverted trapezoidal connecting frames (11) are connected to the two bottom feet of the frame (1), respectively, the bottom center of the connecting frame (11) is hinged to the walking chassis (2), and a suspension (6) is hinged between the top of the connecting frame (11) and the walking chassis (2).

4. The trackable gantry wheel robot of claim 1, wherein, The electric universal wheel (4) comprises a steering motor (41), a wheel frame (42), a tire (43) and a wheel edge motor (44), the steering motor (41) is vertically fixed on the bottom of the sliding seat (3), the wheel frame (42) is fixed on the main shaft of the steering motor (41), the tire (43) is rotatably installed on the wheel frame (42) along the horizontal axis, and the wheel edge motor (44) is fixed on the wheel frame (42) for driving the tire (43) to rotate.

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