Wheel leg chassis suitable for all terrains

Abstract

The utility model provides a wheel-leg chassis suitable for all terrains, which comprises a main body chassis, a walking wheel arranged on the lower side of the main body chassis and two obstacle crossing motors arranged on the two opposite sides of the main body chassis; the first end of each leg-imitating connecting rod mechanism corresponds to and is fixedly connected with an output shaft of one obstacle crossing motor, a joint is arranged in the middle of each leg-imitating connecting rod mechanism, and the second ends of the two leg-imitating connecting rod mechanisms located on the same side of the main body chassis are rotationally connected with each other; the obstacle crossing wheels are arranged on the two sides of the main body chassis and rotationally connected with the second ends of the leg-imitating connecting rod mechanisms; and the two obstacle crossing wheels are coplanar with the gravity center of the main body chassis. When the obstacle crossing motor works, the leg-imitating connecting rod mechanism can be driven to extend or shorten, so that the main body chassis can be lifted up in a short time, collision-free obstacle crossing is realized, and the stability is improved; in addition, jumping actions can be achieved, and the obstacle crossing ability is improved; the obstacle crossing wheels are convenient to replace and low in maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a wheeled-leg chassis suitable for all terrains. Background Technology

[0002] Traditional industrial robots mainly consist of a chassis with independent suspension to adapt to terrain and reduce vibrations caused by uneven ground. However, they lack obstacle-crossing capabilities, and even small obstacles can cause significant impacts and vibrations to the chassis. Their flexibility and stability are relatively poor, often limiting their ability to handle complex road conditions.

[0003] Therefore, overcoming the challenges and limitations of traditional chassis suspension on complex road surfaces and providing efficient, flexible, and stable mobility and transportation capabilities is of great and far-reaching significance for the future development of vehicle transportation or robots. Utility Model Content

[0004] The technical problem to be solved by this invention is: how to improve the obstacle-crossing ability and stability of industrial robots.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0006] This utility model provides a wheel-leg chassis suitable for all terrains, comprising:

[0007] The main chassis has wheels on the underside and two obstacle-crossing motors on each of the opposite sides.

[0008] Multiple leg-like linkage mechanisms are provided. The first end of each leg-like linkage mechanism corresponds to and is fixedly connected to the output shaft of an obstacle-crossing motor. A joint is provided in the middle of the leg-like linkage mechanism. The second end of the leg-like linkage mechanism can rotate around the joint along a plane perpendicular to the output shaft of the obstacle-crossing motor. The second ends of two leg-like linkage mechanisms located on the same side of the main chassis are rotatably connected to each other.

[0009] The obstacle-crossing wheels are located on both sides of the main chassis and are rotatably connected to the second end of the leg-like linkage mechanism; the two obstacle-crossing wheels are coplanar with the center of gravity of the main chassis.

[0010] The beneficial effects of this utility model are:

[0011] This invention utilizes two protruding leg linkage mechanisms connected to the same obstacle-crossing wheel. When the obstacle-crossing motor is working, it can drive the protruding leg linkage mechanisms to extend or retract, thereby lifting the main chassis in a short time and achieving obstacle crossing without impact, thus improving stability. In addition, by driving the protruding leg linkage mechanisms to extend and then retract, the obstacle-crossing motor can achieve jumping movements, improving obstacle-crossing ability. The obstacle-crossing wheel is easy to replace and has low maintenance costs. It can adapt to complex terrain and achieve efficient, flexible, and stable maneuverability.

[0012] Based on the above technical solution, the present invention can be further improved as follows.

[0013] Furthermore, the second end of the leg-like linkage mechanism is also equipped with a hub motor, and the output end of the hub motor is fixedly connected to the obstacle-crossing wheel.

[0014] The hub motor can serve as an auxiliary power source to drive the obstacle-crossing wheels. When crossing obstacles by jumping, it can increase the forward momentum of the main chassis, making it easier to successfully overcome obstacles.

[0015] Furthermore, the leg-like linkage mechanism includes a first plate and a second plate. The first end of the first plate is fixedly connected to the output shaft of the obstacle-crossing motor, and the second end of the first plate is rotatably connected to the first end of the second plate. The second ends of the two second plates located on the same side of the main chassis are rotatably connected to each other, and the second end of one of the second plates is fixedly connected to the fixed end of the hub motor.

[0016] The second end of the first plate and the first end of the second plate are rotatably connected to form a joint. When the two obstacle-crossing motors work at the same time, they can drive the first plate and the second plate to extend around the joint, which facilitates obstacle-crossing actions.

[0017] Furthermore, a flange bearing and a connecting block are provided between the second ends of the two second plates located on the same side of the main chassis. The outer ring of the flange bearing is connected to one of the second plates, the inner ring of the flange bearing is connected to the middle of the connecting block, the connecting block is connected to the other second plate, and the other second plate is fixedly connected to the fixed end of the hub motor.

[0018] The flange bearing reduces friction between the second ends of the two second plates, resulting in low motion resistance and reduced loss of obstacle-crossing power; the obstacle-crossing wheel is easy to replace and has low maintenance costs.

[0019] Furthermore, the connecting block has a convex shaft in the middle, which extends into the inner ring of the flange bearing. The convex shaft passes through the connecting block, the other second plate, and the hub motor in sequence by bolts, and the three are fixedly connected.

[0020] The cam shaft can withstand the radial load of the inner ring of the flange bearing, has a large force-bearing area, and is not easily dislodged from the flange bearing along the axial direction, thus exhibiting good stability.

[0021] Furthermore, the second end of the first plate is provided with a shaft hole, and a connecting bearing is provided in the shaft hole. The inner ring of the connecting bearing is connected to the first end of the second plate.

[0022] This facilitates reducing the resistance of the joint formed by the second end of the first plate and the first end of the second plate, thereby reducing wear and power loss.

[0023] Furthermore, both sides of the second end of the first plate are provided with an outer ring plate and an inner connecting plate. The outer ring plate is connected to the first plate by bolts, and the solid part of the outer ring plate covers the outer ring of the connecting bearing. The two inner connecting plates are connected to the second plate by bolts.

[0024] The outer ring plate blocks the connecting bearing to prevent it from falling off; two inner connecting plates connect the first end of the second plate to the inner ring of the connecting bearing, resulting in good structural stability.

[0025] Furthermore, the first end of the first plate is rotatably connected to the side wall of the main chassis.

[0026] To avoid bending moment on the output bearing of the obstacle-crossing motor, the obstacle-crossing motor only outputs torque, resulting in good motion reliability and improved overall strength and stability.

[0027] Furthermore, a bearing seat is provided on the side wall of the main chassis, and a thin-walled bearing is provided inside the bearing seat. The first end of the first plate is connected to the inner ring of the thin-walled bearing.

[0028] By using a bearing housing and a thin-walled bearing, the connection strength between the first end of the first plate and the side wall of the main chassis is improved, resulting in a small footprint and a compact structure.

[0029] Furthermore, the thin-walled bearing is also provided with an embedded ring, and a connecting ring is provided between the embedded ring and the first end of the first plate. The four are fixedly connected by bolts passing through the first end of the first plate, the connecting ring, the embedded ring and the output shaft of the obstacle-crossing motor in sequence.

[0030] The first end of the first plate, the connecting ring, the embedded ring, and the output shaft of the obstacle-crossing motor are connected to form a whole, which reduces the gap movement between the parts and improves the motion accuracy. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of this utility model.

[0032] Figure 2 This is an exploded view of a leg-linkage mechanism.

[0033] In the accompanying drawings, the technical features represented by each reference numeral are as follows:

[0034] 1-Main chassis; 11-Bearing housing; 12-Thin-walled bearing; 13-Embedded ring; 14-Connecting ring;

[0035] 2-Walking wheel; 3-Obstacle-crossing motor; 4-Leg-like linkage mechanism; 41-First plate; 42-Second plate; 43-Flange bearing; 44-Connecting block; 45-Connecting bearing; 46-Outer ring plate; 47-Inner connecting plate;

[0036] 5-Obstacle-crossing wheel; 6-Hub motor. Detailed Implementation

[0037] The principles and features of this utility model are described below. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0038] This utility model refers to Figure 1-2 .

[0039] This utility model provides a wheel-leg chassis suitable for all terrains, comprising:

[0040] The main chassis 1 has wheels 2 on the underside and two obstacle-crossing motors 3 on each of the opposite sides;

[0041] Multiple leg-like linkage mechanisms 4, the first end of each leg-like linkage mechanism 4 corresponds to and is fixedly connected to the output shaft of an obstacle-crossing motor 3, the middle part of the leg-like linkage mechanism 4 is provided with a joint, the second end of the leg-like linkage mechanism 4 can rotate around the joint along a plane perpendicular to the output shaft of the obstacle-crossing motor 3, and the second ends of two leg-like linkage mechanisms 4 located on the same side of the main chassis 1 are rotatably connected to each other.

[0042] The obstacle-crossing wheels 5 are located on both sides of the main chassis 1 and are rotatably connected to the second end of the leg-like linkage mechanism 4; the two obstacle-crossing wheels 5 are coplanar with the center of gravity of the main chassis 1.

[0043] principle:

[0044] The wheel-leg chassis of this invention can move on the ground via the wheels 2. The wheels 2 can be driven by a conventional walking motor, or by a hub motor or other equipment to provide walking power for the wheels 2 or the obstacle-crossing motor 3. When encountering an obstacle, the obstacle-crossing motor 3 activates, driving the proto-leg linkage mechanism 4 to rotate. When two proto-leg linkage mechanisms 4 on the same side approach each other, under the action of the linkage effect, the proto-leg linkage mechanism 4 drives the obstacle-crossing wheel 5 to extend. With the center of gravity in a coplanar state, this temporarily lifts the main chassis 1, which continues to move forward under inertia, thus crossing the obstacle. Furthermore, by immediately reversing the rotation of the obstacle-crossing motor 3, the proto-leg linkage mechanism 4 can first extend and then shorten. During extension, the reaction force from the ground gives the main chassis 1 upward velocity, thus completing a jumping motion under inertia to cross the obstacle by jumping. This improves obstacle-crossing capability.

[0045] This invention utilizes two protruding leg linkage mechanisms 4 connected to the same obstacle-crossing wheel 5. When the obstacle-crossing motor 3 is working, it can drive the protruding leg linkage mechanisms 4 to extend or retract, thereby lifting the main chassis 1 in a short time, achieving obstacle crossing without impact and improving stability. In addition, by driving the protruding leg linkage mechanisms 4 to extend and then retract through the obstacle-crossing motor 3, a jumping action can be achieved, improving obstacle-crossing ability. The obstacle-crossing wheel 5 is easy to replace and has low maintenance costs. It can adapt to complex terrain and achieve efficient, flexible, and stable maneuverability.

[0046] Furthermore, the second end of the leg-like linkage mechanism 4 is also provided with a hub motor 6, and the output end of the hub motor 6 is fixedly connected to the obstacle-crossing wheel 5.

[0047] The hub motor 6 can serve as an auxiliary power source to drive the obstacle-crossing wheel 5 to move. When crossing obstacles by jumping, it can increase the forward momentum of the main chassis 1, making it easier to successfully cross obstacles.

[0048] Furthermore, the leg-like linkage mechanism 4 includes a first plate 41 and a second plate 42. The first end of the first plate 41 is fixedly connected to the output shaft of the obstacle-crossing motor 3, and the second end of the first plate 41 is rotatably connected to the first end of the second plate 42. The second ends of the two second plates 42 located on the same side of the main chassis 1 are rotatably connected to each other, and the second end of one of the second plates 42 is fixedly connected to the fixed end of the hub motor 6.

[0049] The second end of the first plate 41 and the first end of the second plate 42 are rotatably connected to form a joint. When the two obstacle-crossing motors 3 work at the same time, they can drive the first plate 41 and the second plate 42 to extend around the joint, which facilitates obstacle-crossing actions.

[0050] Furthermore, a flange bearing 43 and a connecting block 44 are provided between the second ends of the two second plates 42 located on the same side of the main chassis 1. The outer ring of the flange bearing 43 is connected to one of the second plates 42, the inner ring of the flange bearing 43 is connected to the middle of the connecting block 44, the connecting block 44 is connected to the other second plate 42, and the other second plate 42 is fixedly connected to the fixed end of the hub motor 6.

[0051] The flange bearing 43 reduces friction between the second ends of the two second plates 42, resulting in low motion resistance and reduced loss of obstacle-crossing power; the obstacle-crossing wheel 5 is easy to replace and has low maintenance costs.

[0052] Furthermore, the connecting block 44 is provided with a convex shaft in the middle, which extends into the inner ring of the flange bearing 43. The convex shaft passes through the connecting block 44, the other second plate 42, and the hub motor 6 in sequence by bolts and fixes the three together.

[0053] The cam shaft can withstand the radial load of the inner ring of the flange bearing 43, has a large force-bearing area, and is not easy to detach from the flange bearing 43 along the axial direction, thus exhibiting good stability.

[0054] Furthermore, the second end of the first plate 41 is provided with a shaft hole, and a connecting bearing 45 is provided in the shaft hole. The inner ring of the connecting bearing 45 is connected to the first end of the second plate 42.

[0055] This facilitates reducing the resistance of the joint formed by the second end of the first plate 41 and the first end of the second plate 42, thereby reducing wear and power loss.

[0056] Furthermore, both sides of the second end of the first plate 41 are provided with an outer ring plate 46 and an inner connecting plate 47. The outer ring plate 46 is connected to the first plate 41 by bolts, and the solid part of the outer ring plate 46 covers the outer ring of the connecting bearing 45. The two inner connecting plates 47 are connected to the second plate 42 by bolts.

[0057] The outer ring plate 46 blocks the connecting bearing 45 to prevent it from falling off; the two inner connecting plates 47 connect the first end of the second plate 42 to the inner ring of the connecting bearing 45 into one piece, resulting in good structural stability.

[0058] Furthermore, the first end of the first plate 41 is rotatably connected to the side wall of the main chassis 1.

[0059] To avoid bending moment on the output bearing of obstacle-crossing motor 3, obstacle-crossing motor 3 only outputs torque, resulting in good motion reliability and improved overall strength and stability.

[0060] Furthermore, a bearing seat 11 is provided on the side wall of the main chassis 1, and a thin-walled bearing 12 is provided inside the bearing seat 11. The first end of the first plate 41 is connected to the inner ring of the thin-walled bearing 12.

[0061] The connection strength between the first end of the first plate 41 and the side wall of the main chassis 1 is improved by the bearing seat 11 and the thin-walled bearing 12, which occupies little space and has a compact structure.

[0062] Furthermore, the thin-walled bearing 12 is also provided with an embedded ring 13, and a connecting ring 14 is provided between the embedded ring 13 and the first end of the first plate 41. The four are fixedly connected by bolts passing through the first end of the first plate 41, the connecting ring 14, the embedded ring 13 and the output shaft of the obstacle-crossing motor 3 in sequence.

[0063] The first end of the first plate 41, the connecting ring 14, the embedded ring 13, and the output shaft of the obstacle-crossing motor 3 are connected to form a whole, which reduces the gap movement between the parts and improves the motion accuracy.

[0064] Preferably, the main chassis 1, connecting ring 14, first plate 41, second plate 42, and outer ring plate 46 are all made of fiberglass board, and the main chassis 1, first plate 41, and second plate 42 have a hollow structure. This facilitates the reduction of the overall weight of the machine and achieves lightweight development.

[0065] In the description of this utility model, it should be understood that if descriptive terms indicating orientation, direction, or positional relationship appear, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., the orientation or positional relationship indicated in this specification is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of understanding this utility model and simplifying the description, and does not indicate or imply that the part, element, or whole referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0066] Furthermore, if sequential descriptive terms such as "first," "second," etc., appear, their purpose in this specification is for ease of understanding or simplification. For example, to distinguish multiple technical features of the same type or function, which must be mentioned separately, this specification may use prefixes or suffixes to differentiate them. Therefore, they should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first," "second," etc., may explicitly or implicitly include at least one of those features. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0067] In this utility model, if descriptive terms describing structural relationships are used, such as "installation," "connection," "joining," and "fixing," they should be interpreted broadly unless otherwise explicitly specified and limited. For example, "installation," "connection," and "joining" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. "Fixing" can refer to an integral fixation or a detachable fixation using fasteners; it can be a direct fixation or a fixation through an intermediate medium. For those skilled in the art, the specific meaning of the above descriptive terms in this utility model can be understood based on the specific circumstances, the context, and the coherence of the preceding and following text.

[0068] In this utility model, if descriptive terms containing subordinate or connecting meanings appear, such as "above" or "below" the second feature, they should not be interpreted restrictively unless otherwise explicitly specified and limited. For example, "above" or "below" can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. For those skilled in the art, the specific meaning of the above descriptive terms in this utility model can be understood according to the specific circumstances, the context, and the coherence of the preceding and following text.

[0069] Furthermore, "above," "on top of," and "above" the first feature in relation to the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments, examples, and features described in this specification, and such combinations or integrations should all fall within the scope of the present invention.

[0071] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Variations, modifications, substitutions, and modifications made by those skilled in the art to the above embodiments within the scope of information available through public channels and in conjunction with the technical teachings given in this application are still covered within the protection scope of this application.

Claims

1. A wheel-leg chassis suitable for all terrains, characterized in that: include: The main chassis (1) has wheels (2) on the lower side and two obstacle-crossing motors (3) on both sides. Multiple leg-like linkage mechanisms (4), the first end of each leg-like linkage mechanism (4) corresponds to and is fixedly connected to the output shaft of an obstacle-crossing motor (3), the middle part of the leg-like linkage mechanism (4) is provided with a joint, the second end of the leg-like linkage mechanism (4) can rotate around the joint along a plane perpendicular to the output shaft of the obstacle-crossing motor (3), the second ends of two leg-like linkage mechanisms (4) located on the same side of the main chassis (1) are rotatably connected to each other; The obstacle-crossing wheels (5) are located on both sides of the main chassis (1) and are rotatably connected to the second end of the leg-like linkage mechanism (4); the two obstacle-crossing wheels (5) are coplanar with the center of gravity of the main chassis (1).

2. The all-terrain wheel-leg chassis according to claim 1, characterized in that: The second end of the leg-like linkage mechanism (4) is also provided with a hub motor (6), and the output end of the hub motor (6) is fixedly connected to the obstacle-crossing wheel (5).

3. The all-terrain wheel-leg chassis according to claim 2, characterized in that: The leg-like linkage mechanism (4) includes a first plate (41) and a second plate (42). The first end of the first plate (41) is fixedly connected to the output shaft of the obstacle-crossing motor (3), and the second end of the first plate (41) is rotatably connected to the first end of the second plate (42). The second ends of the two second plates (42) located on the same side of the main chassis (1) are rotatably connected to each other, and the second end of one of the second plates (42) is fixedly connected to the fixed end of the hub motor (6).

4. The all-terrain wheel-leg chassis according to claim 3, characterized in that: A flange bearing (43) and a connecting block (44) are provided between the second ends of the two second plates (42) located on the same side of the main chassis (1). The outer ring of the flange bearing (43) is connected to one of the second plates (42), the inner ring of the flange bearing (43) is connected to the middle of the connecting block (44), the connecting block (44) is connected to the other second plate (42), and the other second plate (42) is fixedly connected to the fixed end of the hub motor (6).

5. The all-terrain wheel-leg chassis according to claim 4, characterized in that: The connecting block (44) has a convex shaft in the middle, which extends into the inner ring of the flange bearing (43). The convex shaft passes through the connecting block (44), the other second plate (42), and the hub motor (6) in sequence by bolts and fixes the three together.

6. The all-terrain wheel-leg chassis according to claim 3, characterized in that: The second end of the first plate (41) is provided with a shaft hole, and a connecting bearing (45) is provided in the shaft hole. The inner ring of the connecting bearing (45) is connected to the first end of the second plate (42).

7. The all-terrain wheel-leg chassis according to claim 6, characterized in that: The first plate (41) has an outer ring plate (46) and an inner connecting plate (47) on both sides of its second end. The outer ring plate (46) is connected to the first plate (41) by bolts. The solid part of the outer ring plate (46) covers the outer ring of the connecting bearing (45). The two inner connecting plates (47) are connected to the second plate (42) by bolts.

8. The all-terrain wheel-leg chassis according to claim 3, characterized in that: The first end of the first plate (41) is rotatably connected to the side wall of the main chassis (1).

9. The all-terrain wheel-leg chassis according to claim 8, characterized in that: The main chassis (1) has a bearing seat (11) on its side wall, and a thin-walled bearing (12) is provided inside the bearing seat (11). The first end of the first plate (41) is connected to the inner ring of the thin-walled bearing (12).

10. The all-terrain wheel-leg chassis according to claim 9, characterized in that: The thin-walled bearing (12) is also provided with an embedded ring (13), and a connecting ring (14) is provided between the embedded ring (13) and the first end of the first plate (41). The four are fixedly connected by bolts passing through the first end of the first plate (41), the connecting ring (14), the embedded ring (13) and the output shaft of the obstacle crossing motor (3) in sequence.

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