Wheel position variable type double-wheel omni-directional balance robot

Abstract

The utility model relates to the technical field of wheel position variable double-wheel omnidirectional balance robots, and discloses a wheel position variable double-wheel omnidirectional balance robot which comprises a chassis assembly, two suspension assemblies, two driving assemblies and two wheel parts. The driving assembly is used for driving the suspension assembly to move relative to the chassis assembly; the chassis assembly comprises a gear ring part, the gear ring part is arranged in a ring shape, the driving assembly comprises a driving motor and a gear set, the driving motor is used for driving the gear set to be rotationally arranged, and the gear set is meshed with the rack part. In this way, by switching the poses of the wheel parts relative to the chassis assembly, the double-wheel balance robot can move front and back, steer in situ, move obliquely and move transversely; meanwhile, the large-amplitude acceleration and deceleration motion is completed under the condition that the vehicle body is not inclined; moreover, when the double-wheel balance robot passes through a narrow road section, the width required by passing can be reduced, and the double-wheel balance robot can smoothly pass through the narrow road section.

Description

TECHNICAL FIELD

[0001] The utility model discloses a double-wheel balance robot of variable driving wheel pose, and more particularly to a double-wheel omnidirectional balance robot of variable wheel position. BACKGROUND

[0002] With the rapid development of robot technology, people's demand for robots that can move flexibly in narrow spaces increases, and double-wheel robots have been widely researched and used because of their small size and stable movement.

[0003] Currently, double-wheel robots have higher requirements for movement due to the complexity of the working environment, and simple forward and backward movement cannot meet the use requirements, so double-wheel robots have a turning function. For example, the prior art with the authorization announcement number CN114454145A discloses a robot moving chassis, which is characterized by including a shell and a mounting plate, the mounting plate is arranged on the outer side of the shell, a moving mechanism is arranged on both ends of the inner side of the shell for driving the shell to move, a control mechanism is arranged between the mounting plate and the shell and connected with the moving mechanism for driving the moving mechanism to lift and rotate the mounting plate, wherein the control mechanism includes a connecting assembly arranged on the inner side of the shell and connected with the moving mechanism for lifting the moving mechanism, a supporting assembly arranged between the connecting assembly and the mounting plate for cooperating with the connecting assembly to rotate the mounting plate, and a transmission assembly arranged between the connecting assembly and the moving mechanism for cooperating with the moving assembly to adjust the moving direction.

[0004] In the prior art, the turning of the double-wheel robot has limitations and cannot realize oblique or lateral movement, resulting in poor use efficiency of the double-wheel robot. CONTENT OF THE UTILITY MODEL

[0005] The utility model aims at providing a double-wheel omnidirectional balance robot of variable wheel position, which solves the problem of limitations in the turning of the double-wheel robot in the prior art.

[0006] The utility model discloses a wheel position variable formula two-wheel all -direction balance robot, including chassis assembly, two suspension assembly, two drive assembly and two wheel parts, two wheel parts with two suspension assembly is one one assembly arrangement, two suspension assembly is respectively with chassis assembly is movable assembly arrangement, drive assembly is used for driving suspension assembly relative chassis assembly is removed, and drive assembly is used for adjusting the pose of wheel part, chassis assembly includes gear ring spare, gear ring spare is circle arrangement, gear ring spare has rack part, and the rack part is in the form of teeth, drive assembly includes drive motor and gear set, drive motor is used for driving gear set is rotation arrangement, and gear set is engaged arrangement with rack part.

[0007] Further, the suspension assembly includes a suspension frame and at least one fixed wheel set, the fixed wheel set is arranged on the suspension frame, the fixed wheel set includes two fixed wheel bodies, the fixed wheel bodies are arranged in the form of wheels, the fixed wheel bodies are movably arranged, and a fixed disc area is formed between the two fixed wheel bodies; the chassis assembly includes a chassis body, the gear ring spare is fixedly arranged on the chassis body, the chassis body is embedded in the fixed disc area, and the two fixed wheel bodies are in contact with the chassis body.

[0008] Further, the suspension assembly includes at least one supporting wheel set, the supporting wheel set includes at least one supporting wheel body, the supporting wheel body is arranged in the form of a wheel, and the supporting wheel body is movably arranged; the chassis body is movably arranged with the supporting wheel body in an up-down manner; the fixed disc area is correspondingly arranged with the supporting wheel body in an up-down manner.

[0009] Further, the suspension frame includes a horizontal frame portion and a tooth support table, the horizontal frame portion is arranged horizontally, the fixed wheel body and the supporting wheel body are arranged on the horizontal frame portion, the fixed wheel body is arranged in a convex manner upward along a direction away from the horizontal frame portion, and the tooth support table is fixedly arranged with the horizontal frame portion in an up-down manner; the gear set includes a machine gear, a driving gear and a tooth bearing, the machine gear is assembled with the driving motor, the machine gear is engaged with the driving gear, the tooth bearing is arranged vertically, and the two ends of the tooth bearing are movably connected with the driving gear and the tooth support table respectively.

[0010] Further, the suspension frame includes a longitudinal frame portion, the longitudinal frame portion is assembled with the horizontal frame portion, the longitudinal frame portion is arranged vertically, the wheel part is arranged on the longitudinal frame portion, the longitudinal frame portion is correspondingly arranged with the chassis body, and the chassis body is arranged between the two longitudinal frame portions.

[0011] Further, the suspension assembly comprises two shock absorbers, the longitudinal frame part comprises a longitudinal frame body, a fixing plate, two guide rail members and two slider groups, the fixing plate and the two guide rail members are arranged on the longitudinal frame body, the fixing plate is arranged vertically, the two slider groups are in one-to-one sliding connection with the two guide rail members, the two shock absorbers are arranged on both sides of the suspension assembly, the shock absorbers are arranged vertically, and the two ends of the shock absorbers are connected with the fixing plate and the longitudinal frame body respectively; the shock absorbers are used for damping the vertical movement of the wheel member.

[0012] Further, the gear ring member is arranged in an elliptical shape, and the two suspension assemblies are driven to move around the gear ring member; the two suspension assemblies are driven in a single driving mode or a synchronous driving mode.

[0013] Further, the chassis assembly comprises a reinforcing frame, the reinforcing frame is arranged in an upper-lower overlapping mode with the chassis body; the wheel position variable type double-wheel omnidirectional balance robot comprises a vision assembly, the vision assembly is arranged in an upper-lower assembly mode with the reinforcing frame, the vision assembly comprises a camera module, a vision frame, a linkage structure, a swing assembly and a rotary motor, the vision frame is used for assembling the camera module, the rotary motor is used for driving the vision frame to rotate in a circular manner, the swing assembly is used for driving the linkage structure to swing, and the linkage structure is used for driving the vision frame to swing and driving the camera module to swing.

[0014] Further, the reinforcing frame comprises a long reinforcing frame and a short reinforcing frame, the long reinforcing frame and the short reinforcing frame are arranged in a cross intersection mode and form a frame junction, and the vision assembly is arranged in an upper-lower assembly mode with the frame junction; the length of the long reinforcing frame is greater than the length of the short reinforcing frame, the two ends of the long reinforcing frame are connected with the gear ring member in a butt joint mode, and the two ends of the short reinforcing frame are connected with the gear ring member in a butt joint mode; the long reinforcing frame and the short reinforcing frame clamp the gear ring member with the chassis body.

[0015] Further, the chassis assembly comprises a lower vertical frame, the reinforcing frame is arranged in an upper-lower assembly mode with the lower vertical frame, the lower vertical frame is arranged in a downward extending mode, a lower part of the lower vertical frame forms a vertical frame table, the vertical frame table is arranged below the chassis assembly, the vertical frame table is used for arranging a travel switch, the travel switch is used for outputting a limit instruction, and the limit instruction is used for controlling the movement position of the suspension assembly.

[0016] Compared with the prior art, the omnidirectional balance robot with variable wheel position and double wheels can move forward and backward and turn in place when the two suspension assemblies are located at two sides along the length direction of the chassis assembly; the omnidirectional balance robot with variable wheel position and double wheels can move obliquely when the driving assembly drives the suspension assembly to move relative to the chassis assembly, the relative position of the wheel member and the chassis assembly is changed, and the oblique movement of the omnidirectional balance robot with variable wheel position and double wheels is realized; the omnidirectional balance robot with variable wheel position and double wheels does not change the direction when the two suspension assemblies are located at two sides along the width direction of the chassis assembly, and the lateral movement of the omnidirectional balance robot with variable wheel position and double wheels is realized; in addition, the angle between the gravity center and the supporting point can be changed by changing the relative position of the wheel member and the chassis assembly, so that the acceleration and deceleration movement with a large amplitude can be completed without tilting the vehicle body; and when passing through a narrow road section, the driving assembly of the omnidirectional balance robot with variable wheel position and double wheels drives the wheel member to move along the chassis assembly, so that the width required for passing through can be reduced, and the omnidirectional balance robot with variable wheel position and double wheels can smoothly pass through the narrow road section. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a perspective view of the omnidirectional balance robot with variable wheel position and double wheels provided by the utility model;

[0018] Figure 2 is a top view schematic diagram of the omnidirectional balance robot with variable wheel position and double wheels in a lateral movement state provided by the utility model;

[0019] Figure 3 is a top view schematic diagram of the omnidirectional balance robot with variable wheel position and double wheels in a longitudinal movement state provided by the utility model;

[0020] Figure 4 is a top view schematic diagram of the omnidirectional balance robot with variable wheel position and double wheels in an oblique movement state provided by the utility model;

[0021] Figure 5 is a top view schematic diagram of the omnidirectional balance robot with variable wheel position and double wheels passing through a narrow road section provided by the utility model;

[0022] Figure 6 is a perspective view of the local structure of the omnidirectional balance robot with variable wheel position and double wheels provided by the utility model;

[0023] Figure 7 is a matching perspective view of the driving assembly and the suspension assembly of the omnidirectional balance robot with variable wheel position and double wheels provided by the utility model;

[0024] Figure 8 is a matching left view of the driving assembly and the suspension assembly of the omnidirectional balance robot with variable wheel position and double wheels provided by the utility model;

[0025] Figure 9 is a perspective view of the vision assembly of the omnidirectional balance robot with variable wheel position and double wheels provided by the utility model. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will make further detailed description to the utility model combined with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model, and are not used to limit the utility model.

[0027] The implementation of the utility model will be described in detail in combination with specific examples.

[0028] The same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components; in the description of the utility model, it should be understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationships in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the patent, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0029] Referring to Figures 1-9 The preferred embodiment provided by the utility model is shown in the drawings.

[0030] The wheel position variable type double-wheel omnidirectional balancing robot comprises a chassis assembly 1, two suspension assemblies 2, two drive assemblies 3 and two wheel members 4, the two wheel members 4 are arranged in one-to-one assembly with the two suspension assemblies 2, the two suspension assemblies 2 are respectively arranged in movable assembly with the chassis assembly 1, the drive assembly 3 is used for driving the suspension assembly 2 to move relative to the chassis assembly 1, and the drive assembly 3 is used for adjusting the pose of the wheel member 4; the chassis assembly 1 comprises a gear ring member 11, the gear ring member 11 is arranged in a ring shape, the gear ring member 11 has a rack part, the rack part is in a toothed shape, the drive assembly 3 comprises a driving motor 31 and a gear set 32, the driving motor 31 is used for driving the gear set 32 to be arranged in rotation, and the gear set 32 is arranged in meshing with the rack part.

[0031] The above-mentioned wheel position variable type double-wheel omnidirectional balance robot, when the two suspension assemblies 2 are located on both sides along the length direction of the chassis assembly 1, the double-wheel balance robot can move forward and backward and turn in place; when the driving assembly 3 drives the suspension assembly 2 to move relative to the chassis assembly 1, the relative position of the wheel member 4 and the chassis assembly 1 is changed, the oblique movement of the double-wheel balance robot is realized; when the two suspension assemblies 2 are located on both sides along the width direction of the chassis assembly 1, the orientation of the double-wheel balance robot does not change, and the double-wheel balance robot can move horizontally; further, by changing the relative position of the wheel member 4 serving as a support and the chassis assembly 1 to change the angle between the center of gravity and the support point, the acceleration and deceleration movement of a large amplitude can be completed without tilting the vehicle body; and when passing through a narrow road section, the driving assembly 3 of the double-wheel balance robot drives the wheel member 4 to move along the chassis assembly 1, which can reduce the width required for passing through, facilitating the smooth passing of the double-wheel balance robot through the narrow road section.

[0032] Further, the double-wheel balance robot can realize acceleration and deceleration without relying on the pitching of the chassis assembly 1 under the cooperation of the suspension assembly 2 and the chassis assembly 1, and can maintain the verticality of the vehicle body, which has a significant advantage when transporting liquid or other precision equipment that requires to be always kept upright; when the double-wheel balance robot is applied to carrying people, the passenger comfort can be significantly improved.

[0033] The suspension assembly 2 comprises a suspension frame 21 and at least one fixed wheel set 22, the fixed wheel set 22 is arranged on the suspension frame 21, the fixed wheel set 22 comprises two fixed wheel bodies, the fixed wheel bodies are arranged in a wheel shape, the fixed wheel bodies are movably arranged, and a fixed disc area is formed between the two fixed wheel bodies; the chassis assembly 1 comprises a chassis main body 13, the gear ring member 11 is fixedly arranged on the chassis main body 13, the chassis main body 13 is embedded with the fixed disc area, and the two fixed wheel bodies are in abutting arrangement with the chassis main body 13 respectively.

[0034] Under the action of the fixed wheel set 22, the positioning between the suspension assembly 2 and the chassis main body 13 is realized, the movement stability of the suspension assembly 2 relative to the chassis assembly 1 is improved, and the adjustment stability of the relative position of the wheel member 4 and the chassis assembly 1 is also improved.

[0035] The two fixed wheel bodies are arranged in a staggered manner, which facilitates the steering movement of the suspension assembly 2 relative to the chassis assembly 1.

[0036] The suspension assembly 2 comprises two fixed wheel sets 22, the two fixed wheel sets 22 are arranged in a spaced corresponding manner, and the positioning effect is improved.

[0037] The suspension assembly 2 comprises at least one supporting wheel set 23, the supporting wheel set 23 comprises at least one supporting wheel body, the supporting wheel body is arranged in a wheel shape, the supporting wheel body is movably arranged, the chassis main body 13 is in upper and lower movable abutting arrangement with the supporting wheel body; the fixed disc area is in upper and lower corresponding arrangement with the supporting wheel body.

[0038] Under the action of the supporting wheel body, the moving resistance of the suspension assembly 2 relative to the chassis assembly 1 is reduced, facilitating the movement of the suspension assembly 2 relative to the chassis assembly 1, thereby facilitating the pose adjustment of the wheel member 4.

[0039] The supporting wheel group 23 includes two supporting wheel bodies arranged in a spaced apart manner in the radial direction, thereby increasing the contact area with the chassis body 13 and further improving the resistance reduction effect.

[0040] The suspension bracket 21 includes a horizontal bracket portion and a tooth support table 25, the horizontal bracket portion is arranged horizontally, and the fixed wheel body and the supporting wheel body are respectively arranged on the horizontal bracket portion, facilitating the arrangement of the fixed wheel body and the supporting wheel body under the action of the horizontal bracket portion.

[0041] The fixed wheel body is arranged convexly upward in a direction away from the horizontal bracket portion, and the tooth support table 25 is arranged vertically fixed with the horizontal bracket portion; the gear group 32 includes a machine gear, a driving gear, and a tooth bearing member, the machine gear is assembled with the driving motor 31, the machine gear is arranged in meshing with the driving gear, the tooth bearing member is arranged vertically extending, and the two ends of the tooth bearing member are respectively arranged in movable connection with the driving gear and the tooth support table 25.

[0042] In this way, under the action of the tooth support table 25, the tooth bearing member supports the driving gear without affecting the rotation of the driving gear, improves the rotation stability of the driving gear, and ensures the transmission of the driving force.

[0043] The suspension bracket 21 includes a vertical bracket portion, the vertical bracket portion is assembled with the horizontal bracket portion, the vertical bracket portion is arranged vertically extending, the wheel member 4 is arranged on the vertical bracket portion, the vertical bracket portion is arranged corresponding to the chassis body 13, and the chassis body 13 is between the two vertical bracket portions; the overall stress of the double-wheel balancing robot is more uniform, and the moving stability of the double-wheel balancing robot is improved.

[0044] The suspension assembly 2 includes two shock absorbers 24, the vertical bracket portion includes a vertical bracket body, a fixed plate, two guide rail members, and two sliding block groups, the two guide rail members, the fixed plate, and the wheel member 4 are respectively arranged on the vertical bracket body, the fixed plate is arranged vertically extending, the two sliding block groups are arranged in one-to-one sliding connection with the two guide rail members, the two shock absorbers 24 are arranged corresponding on both sides, the shock absorber 24 is arranged vertically, and the two ends of the shock absorber 24 are respectively arranged in assembly with the fixed plate and the vertical bracket body; the shock absorber 24 is used for damping the wheel member 4 in the vertical direction.

[0045] In this way, under the action of the guide rail member, the wheel module is constrained in the vertical direction, avoiding the deviation of the wheel module in the vertical direction, cooperating with the damping effect of the two shock absorbers 24, reducing the vibration of the balancing robot when passing through the undulating road section, increasing the control performance, effectively protecting the mechanical structure, and improving the service life of the balancing robot; at the same time, the independent cooperation of the two shock absorbers 24 and the two guide rail members makes the damping performance of the suspension device more stable, and improves the driving stability of the balancing robot.

[0046] The gear ring part 11 is arranged in an elliptical shape, and the two suspension assemblies 2 are arranged to move around the gear ring part 11 under the driving force, so as to facilitate balance; the two suspension assemblies 2 are single-driven or synchronously driven, so as to meet different driving requirements.

[0047] The shock absorber 24 is a hydraulic shock absorber 24, which facilitates the application of damping effect.

[0048] The shock absorber 24 adopts a double-barrel negative pressure design, the spring stiffness coefficient of each hydraulic shock absorber 24 is 4N / MM, the maximum compression amount is 20MM, and the two shock absorbers 24 can collectively provide a maximum force of 160N, which can easily meet the damping requirements of the balancing robot.

[0049] The suspension frame 21 includes two longitudinal frame columns arranged in correspondence with each other, and the longitudinal frame columns are vertically arranged and correspondingly arranged with the guide rail part; the slider group includes at least one slider part arranged on the longitudinal frame column, and the slider part is slidingly connected with the guide rail part; under the action of the longitudinal frame column, the assembly of the slider group is realized, and the slider part is slidingly connected with the guide rail part.

[0050] The longitudinal frame column is made of aluminum material and is arranged in a hollow manner; in this way, the weight of the longitudinal frame column is lighter, the self-weight is reduced, and the driving of the balancing robot is facilitated.

[0051] The wheel part 4 includes a servo motor, a tire, a conversion sheet, and a wheel plate, the conversion sheet is assembled with the servo motor and the tire respectively, the wheel plate is assembled with the tire, and the wheel plate is used to support the tire, and the servo motor is assembled with the fixed plate.

[0052] The servo motor is used to drive the tire to rotate, and the driving of the balancing robot is realized through the rotation of the tire; at the same time, the servo motor is used to facilitate the control of the driving; in addition, under the action of the conversion sheet, the servo motor and the tire are integrally assembled, and under the action of the wheel plate, the bearing capacity of the tire is enhanced, and the service life of the tire is improved.

[0053] The wheel part 4 includes an electric control shell and a wheel control plate, the wheel control plate is arranged in the electric control shell, the electric control shell is assembled with the servo motor in a superimposed manner, and the wheel control plate is in signal communication with the servo motor; in this way, the control of the servo motor is facilitated, and the central arrangement helps to improve the rotation stability of the wheel module.

[0054] The electric control shell penetrates the fixed plate, and the wheel control plate is between the two longitudinal frame columns; in this way, the wheel control plate is arranged in a built-in manner, which protects the wheel control plate and avoids damage to the wheel control plate caused by external impact.

[0055] The chassis assembly 1 comprises a reinforcing frame 12, which is arranged in an up-down superimposed manner with a chassis main body 13; the wheel position variable double-wheel omnidirectional balanced robot comprises a vision assembly 5, which is arranged in an up-down assembled manner with the reinforcing frame 12, and the vision assembly 5 comprises a camera module 51, a vision frame 52, a linkage structure 53, a swing assembly 54 and a rotary motor 55, the vision frame 52 is used for assembling the camera module 51, the rotary motor 55 is used for driving the vision frame 52 to rotate in a circle, the swing assembly 54 is used for driving the linkage structure 53 to swing, and the linkage structure 53 is used for driving the vision frame 52 to swing and driving the camera module 51 to swing; the vision frame 52 comprises a swing frame 521 and a seat frame 522, and the swing frame 521 and the seat frame 522 are arranged in an up-down movable butt joint manner.

[0056] When horizontal adjustment is needed, the rotary motor 55 outputs a driving force to drive the seat frame 522 to rotate in a circle, and the seat frame 522 drives the swing frame 521 to rotate in a circle, so as to realize the adjustment of the horizontal field of view of the camera and expand the field of view range of the camera in the horizontal direction; when longitudinal adjustment is needed, the swing assembly 54 outputs a driving force to drive the lower swing rod to swing, and the lower swing rod drives the upper swing rod to swing, and the upper swing rod drives the swing frame 521 to swing relative to the seat frame 522 in an up-down manner, so as to realize the adjustment of the field of view of the camera in the longitudinal direction and expand the field of view range of the camera in the longitudinal direction; in this way, the camera has a larger field of view range in both the horizontal direction and the longitudinal direction, and the field of view extraction effect of the vision holder device is improved.

[0057] The linkage structure 53 comprises a lower swing rod and an upper swing rod, two ends of the lower swing rod are respectively connected with the upper swing rod and the swing assembly 54 in a butt joint manner, and two ends of the upper swing rod are respectively connected with the lower swing rod and the swing frame 521 in a butt joint manner; the swing assembly 54 is used for driving the lower swing rod to swing, the lower swing rod is used for driving the upper swing rod to swing, and the upper swing rod is used for driving the swing frame 521 to swing relative to the seat frame 522 in an up-down manner.

[0058] The linkage structure 53 comprises a lower flange bearing, and the lower flange bearing is arranged in an assembled manner with the upper part of the lower swing rod and the upper part of the upper swing rod; the lower flange bearing is used for providing a torque and for the rotation of the upper swing rod, and the upper part of the lower swing rod is provided with a lower bearing pad, which is arranged in an assembled manner with the lower flange bearing.

[0059] When longitudinal field of view adjustment is performed, the lower swing rod swings to output a swing force to the lower flange bearing, and under the action of the lower flange bearing, the upper swing rod rotates relative to the lower flange bearing, and the upper swing rod swings relative to the lower swing rod, so as to adjust the inclination angle of the swing frame 521 and further adjust the inclination angle of the camera.

[0060] Specifically, when upward adjustment is needed, the swing motor drives the lower swing rod to swing downward, the lower swing rod drives the upper swing rod to swing downward, the upper part of the upper swing rod drives the swing frame 521 to swing upward, the inclination angle is changed, and the field of view of the camera is adjusted upward.

[0061] Specifically, when it is needed to adjust downward, the swing motor drives the lower swing rod to swing upward, the lower swing rod drives the upper swing rod to swing upward, the upper part of the upper swing rod drives the swing frame 521 to swing downward, the change of the downward inclination is realized, and the field of view of the camera is adjusted downward.

[0062] The swing frame 521 comprises a main frame and a connecting column. The main frame is used for assembling the camera module 51. One end of the connecting column is fixedly connected with the main frame. The other end of the connecting column extends perpendicularly away from the main frame. The other end of the connecting column is in abutment with the upper part of the upper swing rod.

[0063] In this way, the upper swing rod is arranged under the action of the connecting column, and the upper swing rod and the swing frame 521 are arranged in parallel and spaced apart, so as to facilitate the swing and control of the upper swing rod.

[0064] The linkage structure 53 comprises an upper flange bearing. The upper part of the upper swing rod has an upper bearing pad. The upper flange bearing is embedded in the upper swing rod and is assembled with the upper bearing pad. The upper bearing pad is in abutment with the connecting column. Under the action of the upper flange bearing, the rotation of the upper swing rod is facilitated.

[0065] The reinforcing frame 12 comprises a long reinforcing frame and a short reinforcing frame. The long reinforcing frame and the short reinforcing frame are arranged in cross intersection and form a frame junction. The visual assembly 5 is assembled with the frame junction in an up-down manner. The length of the long reinforcing frame is greater than the length of the short reinforcing frame. The two ends of the long reinforcing frame are in abutment with the gear ring 11 respectively. The two ends of the short reinforcing frame are in abutment with the gear ring 11 respectively. The long reinforcing frame clamps the gear ring 11 with the chassis body 13. The short reinforcing frame clamps the gear ring 11 with the chassis body 13.

[0066] Under the combined action of the reinforcing frame 12 and the chassis body 13, the setting stability of the gear ring 11 is enhanced, thereby improving the movement stability of the suspension assembly 2 relative to the chassis assembly 1.

[0067] Furthermore, the two ends of the long reinforcing frame correspond to the arc region of the chassis body 13. The two ends of the short reinforcing frame correspond to the straight line region of the chassis body 13. When the two suspension assemblies 2 are respectively located in the arc region, the double-wheel balancing robot can move forward and backward and turn in place. When the two suspension assemblies 2 are respectively located in the straight line region, the orientation of the double-wheel balancing robot does not change, and the double-wheel balancing robot can perform lateral movement.

[0068] The chassis assembly 1 comprises a lower vertical frame. The reinforcing frame 12 is assembled with the lower vertical frame in an up-down manner. The lower vertical frame extends downward. The lower part of the lower vertical frame forms a vertical frame table. The vertical frame table is arranged below the chassis assembly 1. The vertical frame table is used for installing a travel switch. The travel switch is used for outputting a limit instruction. The limit instruction is used for controlling the movement position of the suspension assembly 2.

[0069] In this way, the travel switch limits the moving position of the suspension assembly 2 relative to the chassis assembly 1, achieving the control purpose, so as to control the automatic stop, reverse movement, variable speed movement or automatic back-and-forth movement of the moving position or travel of the suspension assembly 2 relative to the chassis assembly 1.

[0070] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A dual-wheel omnidirectional balancing robot with variable wheel position, characterized in that, The system includes a chassis assembly, two suspension assemblies, two drive assemblies, and two wheel components. The two wheel components are assembled one-to-one with the two suspension assemblies, and the two suspension assemblies are movably assembled with the chassis assembly. The drive assembly is used to drive the suspension assemblies to move relative to the chassis assembly and to adjust the position of the wheel components. The chassis assembly includes a gear ring component arranged in a ring shape, and the gear ring component has a rack portion with teeth. The drive assembly includes a drive motor and a gear set. The drive motor is used to drive the gear set to rotate, and the gear set is meshed with the rack portion.

2. The variable wheel position dual-wheel omnidirectional balancing robot as described in claim 1, characterized in that, The suspension assembly includes a suspension frame and at least one fixed wheel assembly. The fixed wheel assembly is mounted on the suspension frame and includes two fixed wheel bodies arranged in a wheel shape and movably arranged, forming a fixed disc area between the two fixed wheel bodies. The chassis assembly includes a chassis body, and the gear ring is fixedly arranged with the chassis body. The chassis body is embedded in the fixed disc area, and the two fixed wheel bodies are respectively arranged in abutment against the chassis body.

3. The variable wheel position dual-wheel omnidirectional balancing robot as described in claim 2, characterized in that, The suspension assembly includes at least one support wheel assembly, the support wheel assembly includes at least one support wheel body, the support wheel body is arranged in a wheel shape, the support wheel body is movably arranged, the chassis body and the support wheel body are arranged in vertically moving contact; the fixed plate area is arranged vertically corresponding to the support wheel body.

4. The variable wheel position dual-wheel omnidirectional balancing robot as described in claim 3, characterized in that, The suspension frame includes a horizontal frame and a toothed support platform. The horizontal frame is horizontally arranged, and the fixed wheel and the support wheel are respectively mounted on the horizontal frame. The fixed wheel is convexly arranged upwards in a direction away from the horizontal frame. The toothed support platform is vertically fixed to the horizontal frame. The gear set includes a machine gear, a drive gear, and a toothed bearing component. The machine gear is assembled with the drive motor and meshes with the drive gear. The toothed bearing component extends vertically, and its two ends are movably connected to the drive gear and the toothed support platform, respectively.

5. The variable wheel position dual-wheel omnidirectional balancing robot as described in claim 4, characterized in that, The suspension frame includes a longitudinal frame portion, which is assembled with the transverse frame portion. The longitudinal frame portion extends vertically, and the wheel assembly is mounted on the longitudinal frame portion. The longitudinal frame portion is arranged correspondingly to the chassis body, and the chassis body is located between the two longitudinal frame portions.

6. The variable wheel position dual-wheel omnidirectional balancing robot as described in claim 5, characterized in that, The suspension assembly includes two shock absorbers. The longitudinal frame includes a longitudinal frame body, a fixing plate, two guide rail components, and two slider assemblies. The two guide rail components, the fixing plate, and the wheel components are respectively mounted on the longitudinal frame body. The fixing plate extends vertically. The two slider assemblies are slidably connected to the two guide rail components. The two shock absorbers are arranged on opposite sides. The shock absorbers are vertically arranged, and their two ends are respectively assembled with the fixing plate and the longitudinal frame body. The shock absorbers are used to dampen the vertical vibration of the wheel components.

7. The variable wheel position dual-wheel omnidirectional balancing robot as described in any one of claims 1-6, characterized in that, The gear ring is arranged in an elliptical shape, and the two suspension assemblies are arranged to move around the gear ring under the driving force; the two suspension assemblies are driven by a single drive or synchronous drive.

8. The variable wheel position dual-wheel omnidirectional balancing robot as described in any one of claims 2-6, characterized in that, The chassis assembly includes a reinforcing frame, which is stacked and assembled with the chassis body in an upper and lower configuration. The variable wheel position dual-wheel omnidirectional balancing robot includes a vision assembly, which is stacked and assembled with the reinforcing frame in an upper and lower configuration. The vision assembly includes a camera module, a vision frame, a linkage structure, a swing assembly, and a rotary motor. The vision frame is used to assemble the camera module. The rotary motor is used to drive the vision frame to rotate in a circular motion. The swing assembly is used to drive the linkage structure to swing. The linkage structure is used to drive the vision frame to swing and to drive the camera module to swing.

9. The variable wheel position dual-wheel omnidirectional balancing robot as described in claim 8, characterized in that, The reinforcement frame includes a long frame and a short frame, which are arranged in a cross shape to form a frame assembly. The vision assembly is assembled vertically with the frame assembly. The length of the long frame is greater than the length of the short frame. Both ends of the long frame are respectively connected to the gear ring component, and both ends of the short frame are respectively connected to the gear ring component. The long frame clamps the gear ring component to the chassis body, and the short frame clamps the gear ring component to the chassis body.

10. The variable wheel position dual-wheel omnidirectional balancing robot as described in claim 8, characterized in that, The chassis assembly includes a lower vertical frame, and the reinforcement frame and the lower vertical frame are arranged vertically. The lower vertical frame extends downward and forms a vertical frame platform at its lower part. The vertical frame platform is arranged below the chassis assembly. The vertical frame platform is used to install a limit switch. The limit switch is used to output a limit command. The limit command is used to control the movement position of the suspension assembly.

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