Chassis system of omnidirectional robot

Abstract

The utility model relates to an omni-directional robot chassis system which comprises a vehicle body, a driving device and a plurality of universal wheel devices, the driving device comprises a rotating mechanism, a first driving mechanism and a second driving mechanism, the first driving mechanism and the second driving mechanism are arranged on the rotating mechanism, and the rotating mechanism is rotationally connected with the bottom face of the vehicle body. And a rotating shaft of the rotating mechanism is collinear with the central axis of the vehicle body. The first driving mechanism and the second driving mechanism are symmetrically arranged with the rotating shaft of the rotating mechanism as the symmetry axis and can drive the vehicle body to move. The multiple universal wheel devices are arranged on the bottom face of the vehicle body in an array mode so that the vehicle body can be flatly placed on the ground. The robot chassis not only keeps the advantages of simple structure and low cost of a differential chassis, but also can realize an omni-directional moving function, is high in flexibility, can be effectively applied to some environments with narrow channel width and complex docking scenes, reduces the maintenance difficulty of the robot chassis, can be better applied to factories, and has wide application prospects. And large-area popularization and use are facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot chassis technical field especially relates to a kind of omni-directional robot chassis systems. BACKGROUND

[0002] Robot is a kind of combination of multiple technologies and functions, in addition to software functions, other important parts are concentrated on the hardware of robot chassis, it carries the positioning navigation and obstacle avoidance and multiple functions of robot. The common robot chassis on market can be divided into differential chassis and omni-directional chassis according to movement mode. Differential chassis is simple in structure, low in cost, can only realize simple running track such as forward and backward rotation, cannot transverse or characteristic angle offset, and has great limitation;Omni-directional chassis realizes omni-directional movement, has enough flexibility, is applied to part channel width narrow and the environment of complex docking scene, but due to its complex structure, high cost, high maintenance difficulty, it is difficult to popularize in large area. UTILITY MODEL CONTENT

[0003] (One) technical problem to be solved

[0004] In view of the above-mentioned shortcomings and deficiencies of prior art, the utility model provides a kind of omni-directional robot chassis system.

[0005] (Two) technical scheme

[0006] In order to achieve the above-mentioned purpose, the omni-directional robot chassis system of the utility model includes vehicle body, drive device and multiple universal wheel devices;

[0007] The drive device includes rotating mechanism and first drive mechanism and second drive mechanism arranged on the rotating mechanism, the rotating mechanism is rotationally connected with the bottom surface of the vehicle body, and the rotation axis of the rotating mechanism is collinear with the central axis of the vehicle body;

[0008] The first drive mechanism and the second drive mechanism are symmetrically arranged with the rotation axis of the rotating mechanism as the axis of symmetry, and the first drive mechanism and the second drive mechanism can drive the vehicle body to move;

[0009] Multiple universal wheel devices are arrayed on the bottom surface of the vehicle body to make the vehicle body lie on the ground.

[0010] Optionally, the first drive mechanism includes first speed reducer motor and first drive wheel, the first drive wheel is connected with the output shaft of the first speed reducer motor, the second drive mechanism includes second speed reducer motor and second drive wheel, the second drive wheel is connected with the output shaft of the second speed reducer motor;

[0011] The first and second reduction motors are arranged on the rotating mechanism, the output shafts of the first and second reduction motors are collinear, and the output shafts of the first and second reduction motors are orthogonal to the rotating shaft of the rotating mechanism.

[0012] Optionally, the rotating mechanism comprises a slewing bearing and a mounting frame.

[0013] The slewing bearing is arranged on the bottom surface of the vehicle body, the mounting frame is connected with the slewing bearing, and the rotating shaft of the mounting frame is collinear with the central axis of the vehicle body.

[0014] The first and second reduction motors are symmetrically arranged on the mounting frame with the rotating shaft of the mounting frame as the axis of symmetry.

[0015] Optionally, the first and second reduction motors are symmetrically provided with first and second connecting arms, the first connecting arms are hingedly connected with the mounting frame, and the second connecting arms are elastically connected with the mounting frame.

[0016] Optionally, the rotating mechanism further comprises a locking assembly.

[0017] The locking assembly is arranged on the mounting frame, and the locking assembly can be connected with the vehicle body to fix the mounting frame relative to the vehicle body.

[0018] Optionally, the locking assembly comprises a mounting portion and a movable portion, the mounting portion is arranged on the mounting frame, and the movable portion is slidable with the mounting portion, and the movable portion can be switched between a first state and a second state.

[0019] In the first state, the movable portion protrudes out of the mounting portion, the movable portion is connected with the vehicle body, and the mounting frame is fixed relative to the vehicle body.

[0020] In the second state, the movable portion is retracted into the mounting portion, the movable portion is separated from the vehicle body, and the mounting frame is rotatable relative to the vehicle body.

[0021] Optionally, the universal wheel device comprises a universal wheel and a locking assembly.

[0022] The array of universal wheels is arranged on the bottom surface of the vehicle body to enable the vehicle body to be placed on the ground.

[0023] The locking assembly is arranged on the universal wheel, and the locking assembly is detachably connected with the wheel spindle of the universal wheel.

[0024] Optionally, the vehicle body is a cuboid, the omnidirectional robot chassis system comprises four universal wheel devices, the four universal wheel devices are arranged at four corners of the vehicle body, and at least two of the universal wheels of the four universal wheel devices are provided with locking assemblies.

[0025] Optionally, the omnidirectional robot chassis system further comprises a positioning device arranged on the vehicle body.

[0026] (III) Beneficial effects

[0027] The robot chassis of the utility model not only retains the advantages of simple structure and low cost of the differential chassis, but also enables the chassis to realize the function of omnidirectional movement, has high flexibility, can be effectively applied to environments with narrow channel width and complex docking scenes, reduces the high maintenance difficulty of the robot chassis, and can be better applied to factories and is convenient for large-area popularization and use. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a structure schematic view of the omnidirectional robot chassis system of the utility model during horizontal movement;

[0029] Figure 2 It is an installation schematic view of the first driving mechanism of the omnidirectional robot chassis system of the utility model;

[0030] Figure 3 It is a structure schematic view of the omnidirectional robot chassis system of the utility model during normal differential driving.

[0031]

Explanation of reference signs

[0032] 1: vehicle body; 2: universal wheel device; 3: mounting frame; 4: first driving mechanism; 41: first speed reduction motor; 42: first driving wheel; 43: first connecting arm; 44: second connecting arm; 5: locking assembly; 6: locking assembly; 7: rotating mechanism; 9: positioning device. DETAILED DESCRIPTION

[0033] In order to better explain the utility model, so as to facilitate understanding, the utility model is described in detail by specific implementation manners below, in combination with the drawings. In this paper, the orientation of "up", "down" and the like mentioned in this paper is referred to as the reference. Figure 1 .

[0034] Although the exemplary embodiments of the utility model are shown in the drawings, it should be understood that the utility model can be realized in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the utility model can be more clearly and thoroughly understood, and the scope of the utility model can be completely conveyed to those skilled in the art.

[0035] As Figures 1 to 3 The utility model provides a kind of omni-directional robot chassis system, it includes vehicle body 1, drive arrangement and multiple universal wheel device 2. Among them, drive arrangement includes rotating mechanism 7 and is set to first drive mechanism 4 and second drive mechanism on rotating mechanism 7, rotating mechanism 7 is rotationally connected with the center position of the bottom surface of vehicle body 1, rotating mechanism 7 is rotated relative to vehicle body 1, and the rotation axis of rotating mechanism 7 is collinear with the central axis of vehicle body 1. First drive mechanism 4 and second drive mechanism are symmetrically arranged with the rotation axis of rotating mechanism 7 as symmetry axis, first drive mechanism 4 and second drive mechanism are all equipped with complete power structure and wheel, to be able to drive vehicle body 1 movement alone. Multiple universal wheel device 2 array is set to the bottom surface of vehicle body 1, to support vehicle body 1, make vehicle body 1 lie on ground, and realize the translation of vehicle body 1 in each direction. When normal differential travel, rotating mechanism 7 is in locking state, rotation freedom is limited, vehicle body 1 and first drive mechanism 4, second drive mechanism cannot relatively rotate, and the straight line walking and turning of vehicle body 1 are realized by the differential between first drive mechanism 4 and second drive mechanism;When vehicle body 1 needs to be transversely moved, rotating mechanism 7 is in free rotation state, and vehicle body 1 and first drive mechanism 4, second drive mechanism can relatively rotate;Universal wheel device 2 is in locking state, and the adjustment of advancing direction is realized by the differential rotation between first drive mechanism 4 and second drive mechanism;After first drive mechanism 4 and second drive mechanism adjust the advancing direction, rotating mechanism 7 is locked, and universal wheel device 2 is released, and chassis completes direction adjustment.

[0036] The robot chassis of the utility model not only retains the advantages of simple structure and low cost of differential chassis, but also enables the chassis to realize omni-directional movement, has high flexibility, can be effectively applied in environments with narrow channel width and complex docking scenes, reduces the difficulty of maintaining the robot chassis, and can be better applied in factories for easy large-area popularization and use.

[0037] Further, referring to Figure 1 , first drive mechanism 4 includes first speed reducer motor and first drive wheel, and the output shaft of first speed reducer motor is connected with first drive wheel;Second drive mechanism includes second speed reducer motor and second drive wheel, and the output shaft of second speed reducer motor is connected with second drive wheel. First speed reducer motor and second speed reducer motor are both arranged on rotating mechanism 7, the axis of power output shaft of first speed reducer motor and second speed reducer motor is collinear, and the axis of power output shaft of first speed reducer motor and second speed reducer motor is orthogonal to the rotation axis of rotating mechanism 7.

[0038] The rotating mechanism 7 comprises a slewing bearing arranged on the bottom surface of the vehicle body 1 and a mounting frame 3 connected with the slewing bearing, and the rotating shaft of the mounting frame 3 is collinear with the central axis of the vehicle body 1. The first and second reduction motors are symmetrically arranged on the mounting frame 3 with the rotating shaft of the mounting frame 3 as the axis of symmetry.

[0039] Preferably, referring to Figure 2 , the first and second reduction motors are provided with first and second connecting arms on the housings of the first and second reduction motors or on the accessories connected with the housings of the first and second reduction motors, and the first and second connecting arms are symmetrically arranged with the rotating shaft of the motor as the axis of symmetry, the first connecting arm is hinged to the mounting frame 3, and the second connecting arm is elastically connected to the mounting frame 3 through a spring.

[0040] Further, the rotating mechanism 7 further comprises a locking assembly 5 arranged on the mounting frame 3, and the locking assembly 5 can be connected with the vehicle body 1 to fix the mounting frame 3 relative to the vehicle body 1. The locking assembly 5 is used to lock the mounting frame 3 on the vehicle body 1, and the mounting frame 3 and the vehicle body 1 are locked as an integral structure and cannot rotate relative to each other.

[0041] When normally differentially running, the locking assembly 5 is in the locked state, the rotating degree of freedom is limited, the mounting frame 3 and the vehicle body 1 are locked as an integral structure, and the linear walking and turning of the vehicle body 1 are realized through the differential between the first and second driving mechanisms; when the vehicle body 1 needs to be transversely moved, the locking assembly 5 is unlocked, the mounting frame 3 can freely rotate relative to the vehicle body 1, the universal wheel device 2 is in the locked state, and the adjustment of the forward direction is realized through the differential rotation between the first and second driving mechanisms; after the first and second driving mechanisms adjust the forward direction, the locking assembly 5 locks the mounting frame 3 again, the universal wheel device 2 is unlocked, the chassis completes the direction adjustment, and the transverse linear walking and turning of the vehicle body 1 are realized through the differential between the first and second driving mechanisms.

[0042] In one embodiment, the locking assembly 5 adopts a latch structure to lock the mounting frame 3, the locking assembly 5 includes a mounting part and a movable part, the mounting part is arranged on the mounting frame 3, and the movable part is slidable relative to the mounting part, and the movable part can be switched between a first state and a second state. In the first state, the movable part extends out of the mounting part, the bottom surface of the vehicle body 1 is provided with a plurality of positioning holes at an angle interval, the movable part is inserted into the positioning hole to connect the movable part with the vehicle body 1, the mounting frame 3 is relatively fixed with the vehicle body 1, the mounting frame 3 is locked on the vehicle body 1, and the mounting frame 3 cannot rotate relative to the vehicle body 1, and the first state is used for differential driving of the vehicle body 1. In the second state, the movable part is retracted into the mounting part, the movable part is pulled out of the positioning hole, the movable part is separated from the vehicle body 1, and the mounting frame 3 can rotate relative to the vehicle body 1, and the second state is used for direction adjustment when the vehicle body 1 needs to be transversely moved. In other embodiments, the locking assembly 5 can also adopt a structure similar to a brake system, that is, including a rotating disc and a caliper, the rotating disc is arranged on the mounting frame 3, and the caliper is arranged on the vehicle body 1. When the mounting frame 3 needs to be rotated, the caliper releases the rotating disc; when the mounting frame 3 needs to be locked, the caliper clamps the rotating disc.

[0043] Referring to Figure 1 and Figure 2 , the omnidirectional wheel device 2 includes an omnidirectional wheel and a locking assembly 6, and the omnidirectional wheel is arranged on the bottom surface of the vehicle body 1 to enable the vehicle body 1 to be placed on the ground. The locking assembly 6 is arranged on the omnidirectional wheel and detachably connected with the wheel spindle of the omnidirectional wheel. When the omnidirectional wheel needs to be locked, the locking assembly 6 clamps the wheel spindle of the omnidirectional wheel, and the omnidirectional wheel cannot rotate, thereby limiting the vehicle body 1 from moving and rotating. At this time, the mounting frame 3 rotates relative to the vehicle body 1 under the action of the first driving mechanism 4 and the second driving mechanism, and the driving direction of the vehicle body 1 is adjusted. In a preferred embodiment, the vehicle body 1 is a cuboid, and the omnidirectional robot chassis system includes four omnidirectional wheel devices 2, and the four omnidirectional wheel devices 2 are arranged at four corners of the vehicle body 1. At least two omnidirectional wheels of the four omnidirectional wheel devices 2 are provided with the locking assembly 6, so as to realize the locking function of the vehicle body 1.

[0044] Referring to Figure 1 and Figure 3 , the omnidirectional robot chassis system further includes a positioning device 9 arranged on the vehicle body 1. The positioning device 9 can adopt a conventional IMU (Inertial Measurement Unit) or radar positioning device 9, is used for measuring the current position of the vehicle body 1, and is used for checking an abnormality when the vehicle body 1 does not move along a specified route due to an abnormality of a driving device or the omnidirectional wheel device 2 and other components, and plays a role of safety protection and abnormality monitoring.

[0045] In the description of the utility model, it is necessary to understand that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0046] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0047] In the utility model, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature, can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature, can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is lower than that of the second feature.

[0048] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of different embodiments or examples without contradiction.

[0049] Although the embodiments of the utility model have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the utility model, and those skilled in the art can modify, modify, replace and change the above embodiments within the scope of the utility model.

Claims

1. An omnidirectional robot chassis system, characterized by, The omnidirectional robot chassis system comprises a vehicle body (1), a driving device and a plurality of universal wheel devices (2); The driving device comprises a rotating mechanism (7) and a first driving mechanism (4) and a second driving mechanism arranged on the rotating mechanism (7), the rotating mechanism (7) is rotationally connected with the bottom surface of the vehicle body (1), and the rotation axis of the rotating mechanism (7) is collinear with the central axis of the vehicle body (1); The first driving mechanism (4) and the second driving mechanism are symmetrically arranged with the rotation axis of the rotating mechanism (7) as the axis of symmetry, and the first driving mechanism (4) and the second driving mechanism can drive the vehicle body (1) to move; The plurality of universal wheel devices (2) are arrayed on the bottom surface of the vehicle body (1) to make the vehicle body (1) lie on the ground.

2. The omnidirectional robotic chassis system of claim 1, wherein, The first driving mechanism (4) comprises a first reduction motor and a first driving wheel, the first driving wheel is connected with the output shaft of the first reduction motor, the second driving mechanism comprises a second reduction motor and a second driving wheel, the second driving wheel is connected with the output shaft of the second reduction motor; The first reduction motor and the second reduction motor are arranged on the rotating mechanism (7), the output shafts of the first reduction motor and the second reduction motor are collinear, and the output shafts of the first reduction motor and the second reduction motor are orthogonal to the rotation axis of the rotating mechanism (7).

3. The omnidirectional robotic chassis system of claim 2, wherein, The rotating mechanism (7) comprises a slewing bearing and a mounting bracket (3); The slewing bearing is arranged on the bottom surface of the vehicle body (1), the mounting bracket (3) is connected with the slewing bearing, and the rotation axis of the mounting bracket (3) is collinear with the central axis of the vehicle body (1); The first reduction motor and the second reduction motor are symmetrically arranged on the mounting bracket (3) with the rotation axis of the mounting bracket (3) as the axis of symmetry.

4. The omnidirectional robotic chassis system of claim 3, wherein, The first reduction motor and the second reduction motor are symmetrically arranged with the rotation axis of the mounting bracket (3) as the axis of symmetry.

5. The omnidirectional robotic chassis system of claim 3, wherein, The first reduction motor and the second reduction motor are symmetrically arranged with the rotation axis of the mounting bracket (3) as the axis of symmetry. The rotating mechanism (7) further comprises a locking assembly (5); 6. The omnidirectional robotic chassis system of claim 5, wherein, The locking assembly (5) is arranged on the mounting bracket (3), and the locking assembly (5) can be connected with the vehicle body (1) to relatively fix the mounting bracket (3) and the vehicle body (1). The locking assembly (5) comprises a mounting portion and a movable portion, the mounting portion is arranged on the mounting bracket (3), the movable portion slides with the mounting portion, and the movable portion can be switched between a first state and a second state; In the first state, the movable portion protrudes from the mounting portion, the movable portion is connected with the vehicle body (1), and the mounting bracket (3) and the vehicle body (1) are relatively fixed; 7. The omnidirectional robotic chassis system of claim 1, wherein, In the second state, the movable portion is retracted into the mounting portion, the movable portion is separated from the vehicle body (1), and the mounting bracket (3) and the vehicle body (1) are relatively rotatable. The universal wheel device (2) comprises a universal wheel and a locking assembly (6); The array of omni-directional wheels is arranged on the bottom surface of the vehicle body (1) to make the vehicle body (1) lie on the ground; The locking assembly (6) is arranged on the omni-directional wheel, and the locking assembly (6) is detachably connected with the wheel spindle of the omni-directional wheel.

8. The omnidirectional robotic chassis system of claim 7, wherein, The vehicle body (1) is a cuboid, and the omni-directional robot chassis system comprises four omni-directional wheel devices (2), which are arranged at four corners of the vehicle body (1), and at least two of the four omni-directional wheel devices (2) are provided with the locking assembly (6).

9. The omnidirectional robotic chassis system of claim 1, wherein, The omni-directional robot chassis system further comprises a positioning device (9) arranged on the vehicle body (1).

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