Novel wheel type stair climbing robot chassis based on liftable driving wheels

Abstract

The utility model discloses a novel wheel type stair climbing robot chassis based on liftable driving wheels, which comprises a chassis main body, the chassis main body comprises a chassis frame, two groups of front supporting leg structures, front wheels and rear wheel structures, the front supporting leg structures are positioned at the upper end of the chassis frame, and the front supporting leg structures are symmetrically distributed; the front wheels are located in the middle of the chassis frame, and the rear wheel structures are located on the two sides of the chassis frame. The front supporting leg structure comprises a supporting leg frame and a front supporting leg driving motor, and a gear disc I is arranged at the output end of the front supporting leg driving motor, so that the use problem of an additional driving motor, the problem of insufficient power and the requirement of climbing steps with different heights in the step climbing process can be firstly solved; secondly, the indirectly-driven supporting wheel solves the problem that a shaft system of a direct-driven supporting wheel is difficult to design and maintain, and due to the retractable design, the supporting wheel cannot affect ordinary movement.

Description

Technical Field

[0001] This utility model relates to the field of robot chassis technology, and in particular to a novel wheeled stair-climbing robot chassis based on liftable drive wheels. Background Technology

[0002] Existing stair-climbing robot chassis generally use the following equipment for stair climbing:

[0003] 1. Triangular wheel carts have the advantage of simple structure, but they are large in size;

[0004] 2. The step-climbing trolley with an additional drive motor for the lifting mechanism has the advantage of stable step-climbing, but it requires an additional small motor with low torque and slow step-climbing speed.

[0005] 3. Tracked step-climbing trolleys have the advantage that the flexibility and continuity of the tracks allow them to adapt well to uneven step surfaces. However, they have a complex structure, are heavy, produce a lot of noise during operation, have a low load capacity, and the tracks are prone to damage.

[0006] 4. Direct drive support design: The shaft system of the direct drive support is difficult to design and maintain.

[0007] This necessitates a solution that addresses the need for an additional drive motor during the ascent of stairs, insufficient power, the requirement to ascend stairs of varying heights, and the challenges of designing and maintaining the shaft system of direct-drive support wheels. Utility Model Content

[0008] This utility model provides a novel wheeled stair-climbing robot chassis based on liftable drive wheels. It can first solve the problems of using additional drive motors and insufficient power during the stair-climbing process, as well as the need to climb stairs of different heights. Secondly, the indirect drive support wheels solve the problems of difficult design and maintenance of the shaft system of direct drive support wheels, and the retractable design ensures that the support wheels will not affect normal movement.

[0009] This utility model provides a novel wheeled stair-climbing robot chassis based on liftable drive wheels, comprising:

[0010] The chassis body includes a chassis frame, a front support leg structure, a front wheel, and a rear wheel structure. The front support leg structure is located at the upper end of the chassis frame, and there are two sets of front support leg structures that are symmetrically distributed. The front wheel is located in the middle of the chassis frame, and the rear wheel structure is located on both sides of the chassis frame.

[0011] The front support leg structure includes a support leg frame and a front support leg drive motor, and the output end of the front support leg drive motor is provided with a gear disk, and the upper end of the chassis frame is provided with a chain that is compatible with the gear disk.

[0012] A support wheel structure is installed at the bottom of the chassis frame, including a mounting plate. An adjustment plate is provided at the bottom of the mounting plate, and a movable shaft is provided between the mounting plate and the adjustment plate. A fixed gear is connected to the bottom of one set of the mounting plates. An adjustment drive motor is installed on one side of the adjustment plate, and the output end of the adjustment drive motor is connected to a drive gear. A connecting pipe and a rotating shaft are connected to the bottom of the adjustment plate, and a support wheel is installed on the outer side of the rotating shaft.

[0013] In a novel wheeled stair-climbing robot chassis based on a liftable drive wheel according to an embodiment of this utility model, the support leg frame and the front support leg drive motor are connected by bolts. The outer side of the support leg frame is connected to the front leg and the auxiliary wheel, and an infrared sensor is installed on the outer side of the front leg. The bottom of the front leg is equipped with the front support wheel.

[0014] In a novel wheeled stair-climbing robot chassis based on a liftable drive wheel according to an embodiment of the present invention, a slider is installed on one side of the support leg frame, and a slide rail adapted to the slider is connected to the outer side of the chassis frame.

[0015] In a novel wheeled stair-climbing robot chassis based on a liftable drive wheel according to an embodiment of this utility model, the rear wheel structure includes a rear wheel leg frame, a rear wheel leg drive motor mounted on the outside of the rear wheel leg frame, a gear disk connected to the output end of the rear wheel leg drive motor, and a chain mounted on the outside of the chassis frame.

[0016] In a novel wheeled stair-climbing robot chassis based on a liftable drive wheel according to an embodiment of this utility model, a slide rail 2 is connected to one side of the rear wheel leg frame, a slider 2 adapted to the slide rail 2 is installed on the outer side of the chassis frame, a connecting frame is installed on one side of the rear wheel leg frame, and a rear wheel is installed in the middle of the connecting frame, and a rear wheel drive motor is installed on one side of the rear wheel.

[0017] In a novel wheeled stair-climbing robot chassis based on a liftable drive wheel according to one embodiment of this utility model, a shock-absorbing mounting bracket is bolted to one side of the rear wheel leg frame, and a shock-absorbing component is installed between the shock-absorbing mounting bracket and the connecting frame.

[0018] In a novel wheeled stair-climbing robot chassis based on a liftable drive wheel according to one embodiment of this utility model, the number of shock-absorbing components is twice the number of shock-absorbing mounting frames, and a connecting shaft is provided at the connection between the shock-absorbing components and the connecting frame.

[0019] In a novel wheeled stair-climbing robot chassis based on liftable drive wheels according to one embodiment of this utility model, the mounting plate is fixedly connected to the bottom of the chassis frame, and there are four sets of mounting plates symmetrically distributed. The fixed gear and the drive gear mesh with each other.

[0020] In a novel wheeled stair-climbing robot chassis based on a liftable drive wheel according to one embodiment of this utility model, the connecting pipe and the rotating shaft are installed by locking screws, and the rotating shaft and the support wheel are connected by bearings.

[0021] The technical solutions provided in this application embodiment can include the following beneficial effects: This application designs a novel wheeled stair-climbing robot chassis based on a liftable drive wheel, which can first solve the problems of using additional drive motors, insufficient power, and the need to climb stairs of different heights during the stair-climbing process; secondly, the indirect drive support wheel solves the problems of difficult design and maintenance of the shaft system of the direct drive support wheel, and the retractable design ensures that the support wheel will not affect normal movement.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a novel wheeled stair-climbing robot chassis based on liftable drive wheels, provided in one embodiment of this application;

[0025] Figure 2 yes Figure 1 A partial disassembled structural diagram of the chassis of a novel wheeled stair-climbing robot based on liftable drive wheels;

[0026] Figure 3 yes Figure 1 A partial structural diagram of the front support leg structure in the chassis of a novel wheeled stair-climbing robot based on liftable drive wheels;

[0027] Figure 4 yes Figure 1 A partial disassembled structural diagram of the chassis of a novel wheeled stair-climbing robot based on liftable drive wheels;

[0028] Figure 5 yes Figure 1 A partial structural diagram of the rear wheel structure in the chassis of a novel wheeled stair-climbing robot based on liftable drive wheels;

[0029] Figure 6 yes Figure 1 Another perspective view;

[0030] Figure 7yes Figure 1 A schematic diagram of the middle and rear wheel structure after operation;

[0031] Figure 8 yes Figure 1 A partial structural diagram of the support wheel structure in the chassis of a novel wheeled stair-climbing robot based on liftable drive wheels;

[0032] Figure 9 yes Figure 1 A diagram showing the positioning of the chassis and steps of a novel wheeled stair-climbing robot based on liftable drive wheels.

[0033] Figure 10 yes Figure 1 A diagram showing the forward movement of a novel wheeled stair-climbing robot chassis based on liftable drive wheels on a staircase. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0035] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0037] like Figures 1 to 8As shown, this application provides a novel wheeled stair-climbing robot chassis based on liftable drive wheels, including: a chassis body 100, comprising a chassis frame 10, a front support leg structure 20, a front wheel 30, and a rear wheel structure 40. The front support leg structure 20 is located at the upper end of the chassis frame 10, and there are two sets of front support leg structures 20 symmetrically distributed. The front wheel 30 is located in the middle of the chassis frame 10, and the rear wheel structure 40 is located on both sides of the chassis frame 10. The front support leg structure 20 includes a support leg frame 21 and a front support leg drive motor 22, and the output end of the front support leg drive motor 22 is provided with a gear disk 23. The upper end of the chassis frame 10 is provided with a chain 29 that is compatible with the gear disk 23; the support wheel structure 50 is provided at the bottom of the chassis frame 10, including a mounting plate 51, an adjusting plate 53 is provided at the bottom of the mounting plate 51, and a movable shaft is provided between the mounting plate 51 and the adjusting plate 53. A fixed gear 52 is connected to the bottom of one set of mounting plates 51. An adjusting drive motor 54 is installed on one side of the adjusting plate 53, and a drive gear 55 is connected to the output end of the adjusting drive motor 54. A connecting pipe 56 and a rotating shaft 57 are connected to the bottom of the adjusting plate 53, and a support wheel 58 is installed on the outside of the rotating shaft 57.

[0038] After adopting the above technical solution, since the front support leg structure 20 is located at the upper end of the chassis frame 10 and the rear wheel structure 40 is located on both sides of the chassis frame 10, when the chassis body 100 needs to go up a step, the chassis frame 10 is driven to the front of the step by the rear wheel structure 40 and the front wheel 30. The distance is detected by infrared sensors to detect whether the drive motors on the four wheels are stalled, thereby aligning the chassis frame 10. Then, the front support leg structure 20 rises so that the front support wheel 25 contacts and aligns with the step. Then, the rear wheel structure 40 and the front support leg structure 20 are started simultaneously to move the chassis frame 10 up. The chassis body is lifted, and then the rear wheel structure 40 drives the chassis frame 10 forward. At the same time, the support wheel structure 50 is lowered. When the support wheel structure 50 reaches the ground, the rear wheel structure 40 is retracted. The rear wheel structure 40 and the front wheel 30 move forward and achieve secondary alignment. The above steps are repeated to carry out the process of the chassis body 100 going up the steps. Since the support wheel structure 50 is located at the bottom of the chassis frame 10, the chassis frame 10 needs the support wheel structure 50 for support. When going up the steps, the support wheel structure 50 needs to rotate itself through indirect drive to make the support wheel 58 contact the step, thereby playing a supporting role.

[0039] It should be noted that when the support roller structure 50 requires indirect support, the adjustment drive motor 54 is started under the support of the mounting plate 51 and the adjustment plate 53. The output end of the adjustment drive motor 54 drives the drive gear 55 to rotate, thereby causing the drive gear 55 to mesh with the fixed gear 52, which in turn drives the adjustment plate 53 to rotate. Since the adjustment plate 53 is connected through the connecting pipe 56, the connecting pipe 56 is driven to rotate, which further rotates the support roller 58. The wheel plate of the support roller 58 contacts the chassis frame 10, forming a mechanical limit, which can share the force on the support roller during support.

[0040] In an optional embodiment, the support leg frame 21 is connected to the front support leg drive motor 22 by bolts. The outer side of the support leg frame 21 is connected to the front leg 24 and the auxiliary wheel 26. An infrared sensor is installed on the outer side of the front leg 24, and the bottom of the front leg 24 is equipped with the front support wheel 25. A slider 27 is installed on one side of the support leg frame 21, and a slide rail 28 that is adapted to the slider 27 is connected to the outer side of the chassis frame 10, thereby providing support during the lifting process of the chassis frame 10.

[0041] It should be noted that during the lifting process of the two sets of front support leg structures 20, the output end of the front support leg drive motor 22 can drive the gear disk 23 to mesh and rotate along the inside of the chain 29. At the same time, under the connection between the slider 27 and the slide rail 28, the support leg frame 21 and the front leg 24 are driven to rise, which in turn drives the front support wheel 25 and the infrared sensor to rise. The step height can be identified with the assistance of the infrared sensor.

[0042] In an optional embodiment, the rear wheel structure 40 includes a rear wheel leg bracket 41, a rear wheel leg drive motor 42 mounted on the outside of the rear wheel leg bracket 41, a gear disk 43 connected to the output end of the rear wheel leg drive motor 42, and a chain 44 mounted on the outside of the chassis frame 10. During the process of the rear wheel structure 40 lifting the chassis frame 10, the output end of the rear wheel leg drive motor 42 drives the gear disk 43 to mesh along the chain 44. At the same time, the chain 44 is fixedly connected to the chassis frame 10 by screws, which can drive the chain 44 and the chassis frame 10 to rise, and further drive the slider 46 to slide along the outside of the slide rail 45.

[0043] In one optional embodiment, a slide rail 45 is connected to one side of the rear wheel leg bracket 41, and a slider 46 adapted to the slide rail 45 is installed on the outer side of the chassis frame 10. During the upward movement of the chain 44 and the chassis frame 10, the slider 46 plays an auxiliary guiding role, ensuring the stability between the chassis frame 10 and the rear wheel structure 40 during the upward movement. A connecting frame 47 is installed on one side of the rear wheel leg bracket 41, and a rear wheel 48 is installed in the middle of the connecting frame 47. A rear wheel drive motor 49 is installed on one side of the rear wheel 48, thereby driving the rear wheel 48 to move forward and backward.

[0044] In one optional embodiment, a shock absorber mounting bracket 410 is bolted to one side of the rear wheel leg bracket 41, and a shock absorber assembly 411 is installed between the shock absorber mounting bracket 410 and the connecting bracket 47. When the chassis frame 10 vibrates or is squeezed, the shock absorber mounting bracket 410 and the shock absorber assembly 411 perform shock absorption under the connection, thereby ensuring the stability of the chassis frame 10.

[0045] In an optional embodiment, the number of shock absorber components 411 is twice the number of shock absorber mounting brackets 410. A connecting shaft is provided at the connection between the shock absorber components 411 and the connecting bracket 47. During the shock absorption process of the shock absorber components 411, the rear wheel 48 can be driven to perform height buffer adjustment.

[0046] In an optional embodiment, the mounting plate 51 is fixedly connected to the bottom of the chassis frame 10, and there are four sets of mounting plates 51 symmetrically distributed. The fixed gear 52 meshes with the drive gear 55. The fixed gear 52 can provide a support effect. It can mesh with the fixed gear 52 when the drive motor 54 drives the drive gear 55 to rotate, further driving the adjustment plate 53 to rotate, which facilitates the rotation of the connecting pipe 56 and the support wheel 58, so that the support wheel 58 provides an indirect driving support effect.

[0047] In an optional embodiment, the connecting pipe 56 is installed with the rotating shaft 57 by locking screws, and the rotating shaft 57 is connected to the support wheel 58 by a bearing. The connecting pipe 56 can be connected and fixed with the adjusting plate 53. During the rotation of one set of adjusting plates 53, the force can also be transmitted to another set of adjusting plates 53, thereby causing them to rotate and ensuring that the connecting pipe 56 can be rotated.

[0048] Both sets of front wheels 30 are equipped with components with the same structure as the connecting frame 47, rear wheels 48, rear wheel drive motor 49, shock absorber mounting frame 410 and shock absorber assembly 411 between the two sets of front wheels 30 and the chassis frame 10, thereby providing shock absorption and driving for the front wheels 30.

[0049] It should be noted that, through the appendix Figure 9 and attached Figure 10It can be seen that during the alignment and step-up process of the chassis body 100, the original drive wheels can be raised to solve the step-up problem. At the same time, the power is strong and the step-up speed is fast (actually about twice as fast as the additional drive motor), making step-up more flexible.

[0050] The rear wheel structure 40 and the front support leg structure 20 are raised respectively to adapt to steps of different heights. Steps of different widths can also be adapted through prior size modifications and additional designs, such as the forward and backward movement of the rear wheel structure 40.

[0051] The Mecanum wheels are used to achieve omnidirectional movement. The front support leg structure 20 can be combined with other structures on the vehicle body that have lifting functions to share the lifting power.

[0052] It occupies little space, has little impact on other mechanisms, and the weight of the step-up mechanism is small;

[0053] Under certain special conditions, such as when the size and weight of the vehicle are limited and it needs to climb steps of different heights, it has advantages.

[0054] It should be noted that using gear transmission to achieve indirect drive is convenient to maintain and has a simple shaft system;

[0055] The rotatable and retractable design does not affect normal travel. The partial mechanical limit (mechanical limit is existing technology, so it will not be described) transmits the weight of the vehicle body to the front support wheel 25 through the support leg frame 21 and the front leg 24, reducing the force on the axle system, reducing the load, and avoiding damage to the motor.

[0056] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0057] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0058] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms 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.

[0060] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A novel wheeled step climbing robot chassis based on raisable drive wheels, characterized by, The utility model relates to a kind of chassis, including: Chassis body, including chassis frame, front support leg structure, front wheel and rear wheel structure, the front support leg structure is located at the upper end of chassis frame, and the number of front support leg structure is two groups and is symmetrically distributed, the front wheel is located in the middle of chassis frame, the rear wheel structure is located at both sides of chassis frame; The front support leg structure includes support leg frame and front support leg drive motor, and the output end of front support leg drive motor is provided with gear disc one, and the upper end of chassis frame is provided with chain one matched with gear disc one; Support wheel structure, set in the bottom of chassis frame, including mounting plate, the bottom of mounting plate is provided with adjusting plate, and mounting plate and adjusting plate are provided with movable shaft, one group of the bottom of mounting plate is connected with fixed gear, the side of adjusting plate is equipped with adjusting drive motor, and the output end of adjusting drive motor is connected with driving gear, the bottom of adjusting plate is connected with connecting pipe and rotating shaft, and the outside of rotating shaft is equipped with support wheel.

2. The novel wheeled step climbing robot chassis based on raisable drive wheels as claimed in claim 1, wherein, The support leg frame and the front support leg drive motor are connected by bolts, the outside of the support leg frame is connected with front leg and auxiliary wheel, and the outside of the front leg is equipped with infrared sensor, the bottom of the front leg is equipped with front support wheel.

3. The novel wheeled step climbing robot chassis based on raisable drive wheels according to claim 2, characterized in that, One side of the support leg frame is equipped with sliding block one, and the outside of the chassis frame is connected with sliding rail one matched with sliding block one.

4. The novel wheeled step climbing robot chassis based on raisable drive wheels as claimed in claim 1, wherein, The rear wheel structure includes rear wheel leg frame, rear wheel leg drive motor installed on the outside of rear wheel leg frame, gear disc two connected with the output end of rear wheel leg drive motor and chain two installed on the outside of chassis frame.

5. The novel wheeled step climbing robot chassis based on raisable drive wheels according to claim 4, characterized in that, One side of the rear wheel leg frame is connected with sliding rail two, the outside of the chassis frame is equipped with sliding block two matched with sliding rail two, one side of the rear wheel leg frame is equipped with connecting frame, and the middle of connecting frame is equipped with rear wheel, one side of the rear wheel is equipped with rear wheel drive motor.

6. The novel wheeled step climbing robot chassis based on raisable drive wheels according to claim 5, characterized in that, One side of the rear wheel leg frame is connected with shock mounting frame by bolts, and shock mounting frame and connecting frame are equipped with shock assembly.

7. The novel wheeled step climbing robot chassis based on raisable drive wheels according to claim 6, characterized in that, The number of shock assemblies is twice the number of shock mounting frames, and connecting shaft is arranged at the connection between the shock assembly and the connecting frame.

8. The novel wheeled step -climbing robot chassis based on raisable drive wheels according to claim 1, characterized in that, The mounting plate is fixedly connected with the bottom of the chassis frame, and the number of mounting plates is four groups and is symmetrically distributed, and the fixed gear and the driving gear are engaged.

9. The novel wheeled step -climbing robot chassis based on raisable drive wheels according to claim 1, characterized in that, The connecting pipe and the rotating shaft are installed by locking screw, and the rotating shaft and the support wheel are connected by bearing.

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