Mechanical chassis capable of high speed movement and stair climbing

Abstract

The utility model discloses a can high -speed movement and mechanical chassis of climbing stairs belongs to the field of climbing robot, including frame assembly, front climbing mechanism assembly and rear climbing mechanism assembly, and front climbing mechanism assembly and rear climbing mechanism assembly are installed respectively in both ends of frame assembly, and front climbing mechanism assembly includes left front wheel and wheel hub motor assembly, right front wheel and wheel hub motor assembly installed in both ends of frame assembly, and the inside installation of frame assembly has steering motor and steering drag link assembly, through the cooperation of each device, can improve the stability of this device in the process of climbing, improve the climbing efficiency, adopt the wheel hub motor of four around front and back, and the four -wheel -drive of simultaneous is carried out when climbing, effectively improve the climbing efficiency, and the front and back double -climbing structure effectively avoids the risk of rollover, and four -wheel -drive can realize fast movement, and the ability of climbing over the tunnel is better, and the expansibility is good, and simultaneously, the device can additionally increase sensor, computing unit and realize unmanned transportation.

Description

Technical Field

[0001] This utility model relates to the field of stair-climbing robot technology, specifically a mechanical chassis that can move at high speed and climb stairs. Background Technology

[0002] A stair-climbing robot is an intelligent device that can climb stairs autonomously or semi-automatically. It is mainly used to replace human labor in carrying heavy objects and performing tasks in special environments. It is usually equipped with a walking mechanism such as tracks, wheels, and mechanical legs, and combined with sensors (such as vision sensors and infrared sensors) and a control system to realize stair recognition, obstacle crossing and stable movement.

[0003] An investigation revealed a Chinese utility model patent (publication number: CN213851523U) disclosing a manned stair-climbing robot, comprising a chassis system, a drive system, a seat system, a buffer system, and a control system. The chassis system includes a track and a chain track, with a drive motor mounted on the chassis. One end of the seat is hinged to the chassis, and the other end is threaded into an adjusting screw. The buffer system includes a buffer motor, a buffer screw, and a buffer arm, with buffer wheels mounted on the buffer arm. The control system controls the speed and direction of the drive motor, adjusting motor, and buffer motor. This structure uses a chain track and track, resulting in low resistance during movement and enabling integrated flat-ground walking and stair climbing, replacing wheeled mechanisms. To prevent tipping over when ascending or descending stairs, a leveling buffer system is designed, with the buffer accurately connecting the stair climber to a landing platform. A seat adjustment system ensures the seat remains level regardless of the stair incline, significantly improving riding comfort.

[0004] Although the aforementioned patent improves the robot's stability during stair climbing by setting up components such as chassis system, drive system, and control system, and by cooperating with each component, and by using the seat adjustment system to ensure the horizontal stability of the seat during stair climbing, since this equipment is often used during stair climbing, the tracked equipment, while improving stair climbing stability, has poor transportability, and its own weight often causes indentations and damage to the track.

[0005] Therefore, this invention provides a mechanical chassis that can move at high speed and climb stairs to solve the above problems. Summary of the Invention

[0006] (a) Technical problems to be solved This invention provides a mechanical chassis that can move at high speed and climb stairs, aiming to solve the problems mentioned in the background art.

[0007] (II) Technical Solution To achieve the above objectives, this utility model provides the following technical solution: A mechanical chassis capable of high-speed movement and climbing stairs includes a frame assembly, a front climbing mechanism assembly, and a rear climbing mechanism assembly, wherein the front climbing mechanism assembly and the rear climbing mechanism assembly are respectively installed at both ends of the frame assembly; The front climbing mechanism assembly includes a left front wheel and hub motor assembly and a right front wheel and hub motor assembly installed at both ends of the frame assembly. The frame assembly contains a steering motor and a steering tie rod assembly.

[0008] As a preferred technical solution of this application, the rear climbing mechanism assembly is installed at the end of the frame assembly away from the front climbing mechanism assembly. The rear climbing mechanism assembly includes a left rear wheel and hub motor assembly and a right rear wheel and hub motor assembly installed at both ends of the frame assembly.

[0009] As a preferred technical solution of this application, both the front climbing mechanism assembly and the rear climbing mechanism assembly are controlled by the climbing motor assembly, and the two climbing motor assemblies are respectively installed at the bottom end of the frame assembly.

[0010] As a preferred technical solution of this application, a control system for controlling the front climbing mechanism assembly and the rear climbing mechanism assembly is installed on the top of the frame assembly.

[0011] As a preferred technical solution of this application, a power battery that provides power to the two climbing motor assemblies is installed at the top of the frame assembly.

[0012] As a preferred technical solution of this application, the chassis assembly is internally equipped with a braking system assembly that controls the two climbing motor assemblies.

[0013] (III) Beneficial Effects 1. Through the coordinated operation of various components, the stability and efficiency of the device during stair climbing can be improved. High-strength tubing, through bending, welding, riveting, and bolting to the relevant motor mounting structure, forms an integrated frame, which is less expensive than sheet metal stamping and welding chassis. It employs four hub motors (front, rear, left, and right) for simultaneous four-wheel drive during stair climbing, effectively enhancing efficiency. The hub motor design results in a compact overall size, and the climbing mechanism can be loaded with cargo for rapid stair climbing. The front and rear dual climbing structure effectively avoids the risk of rollover, and the four-wheel drive enables rapid movement, better tunnel-crossing ability, and good expandability. Furthermore, the device can be equipped with additional sensors and computing units to achieve unmanned transportation.

[0014] 2. This device is not only widely applicable but also highly flexible in operation. On flat ground, it can be driven by either the front or rear wheels to improve the vehicle's range. With front and rear climbing mechanisms, it can quickly climb stairs. With a motor-controlled mechanical chassis, it can quickly turn left and right. Attached Figure Description

[0015] Figure 1 is a schematic diagram of the overall structure of a mechanical chassis that can move at high speed and climb stairs; Figure 2 is a schematic diagram of the disassembled and exploded structure of a mechanical chassis that can move at high speed and climb stairs; Figure 3 is a schematic diagram of the front climbing mechanism assembly in a mechanical chassis that can move at high speed and climb stairs; Figure 4 is a structural schematic diagram of the frame assembly in a mechanical chassis that can move at high speed and climb stairs.

[0016] In the diagram: 1. Frame assembly; 101. Steering motor and steering tie rod assembly; 2. Front climbing mechanism assembly; 201. Left front wheel hub motor assembly; 202. Right front wheel hub motor assembly; 3. Rear climbing mechanism assembly; 301. Left rear wheel hub motor assembly; 302. Right rear wheel hub motor assembly; 4. Climbing motor assembly; 5. Control system; 6. Power battery; 7. Braking system assembly. Detailed Implementation

[0017] The technology of the present invention will now be described in conjunction with the accompanying drawings of the embodiments thereof. The solution has been clearly and completely described. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0018] This utility model provides a mechanical chassis that can move at high speed and climb stairs, as shown in Figure 1- Figure 4 As shown, the mechanical chassis that can move at high speed and climb stairs includes a frame assembly 1, a front climbing mechanism assembly 2 and a rear climbing mechanism assembly 3, with the front climbing mechanism assembly 2 and the rear climbing mechanism assembly 3 respectively installed at both ends of the frame assembly 1; The front climbing mechanism assembly 2 includes the left front wheel hub motor assembly mounted at both ends of the frame assembly 1. 201. Right front wheel hub motor assembly 202. Steering motor and steering tie rod assembly 101 are installed inside the frame assembly 1.

[0019] The rear climbing mechanism assembly 3 is installed at one end of the frame assembly 1 away from the front climbing mechanism assembly 2. The rear climbing mechanism assembly 3 includes a left rear wheel hub motor assembly 301 and a right rear wheel hub motor assembly 302 installed at both ends of the frame assembly 1.

[0020] Both the front climbing mechanism assembly 2 and the rear climbing mechanism assembly 3 are controlled by the climbing motor assembly 4, and the two climbing motor assemblies 4 are respectively installed at the bottom end of the frame assembly 1.

[0021] The top of the frame assembly 1 is equipped with a control system 5 that controls the front climbing mechanism assembly 2 and the rear climbing mechanism assembly 3.

[0022] The top of the frame assembly 1 is equipped with a power battery 6 that powers the two climbing motor assemblies 4.

[0023] The frame assembly 1 includes an upper frame 102 and a lower frame 103, wherein the upper frame 102 and the lower frame 103 are connected by a support column 104.

[0024] The steering motor and steering tie rod assembly 101 includes a steering motor 104, which is connected to a left tie rod 105 and a right tie rod 106. The left tie rod 105 and the right tie rod 106 are connected to the front wheel hub through a steering plate 107.

[0025] The front climbing mechanism assembly 2 also includes a stair climbing support leg assembly, which includes a stepper motor 203, a reduction mechanism 204, a rotating shaft 205, a fixed arm 206, and a movable arm 207. The stepper motor 203 drives the reduction mechanism 204. The rotating shaft 205 is mounted on the reduction mechanism 204. Both ends of the rotating shaft 205 extend to the outside of the reduction mechanism and are fitted with fixed arms 206. The bottom end of the movable arm 207 is connected to the fixed arm 206.

[0026] The free end of the movable arm 207 is equipped with a roller 208.

[0027] The chassis assembly 1 houses the braking system assembly 7, which controls the two climbing motor assemblies 4.

[0028] The chassis assembly 1 provides sufficient stability and protection for the device, providing stable support for each component during stair climbing or transportation. The front climbing mechanism assembly 2 and the rear climbing mechanism assembly 3 can be used to lift the front of the chassis to contact the top surface of the stairs during stair climbing by moving the climbing motor assembly 4 and the front climbing mechanism assembly 2. Then, the other climbing motor assembly 4 and the rear climbing mechanism are used.

[0029] Assembly 3 moves to lift the rear of the chassis to complete the climbing work. It should be noted that during the climbing process of the mechanical chassis, the four-wheel hub motors work in coordination with the front and rear climbing motors and the climbing mechanism. The four-wheel hub motors cooperate with the braking system assembly 7 to realize the mechanical chassis going downstairs. The operation and stopping of the hub motors, climbing motors and braking system assembly 7 are all controlled by the mechanical chassis control system 5.

[0030] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A mechanical chassis capable of high-speed movement and climbing stairs, comprising a frame assembly (1), a front climbing mechanism assembly (2), and a rear climbing mechanism assembly (3), characterized in that: The front climbing mechanism assembly (2) and the rear climbing mechanism assembly (3) are respectively installed at both ends of the frame assembly (1); The front climbing mechanism assembly (2) includes a left front wheel hub motor assembly (201) and a right front wheel hub motor assembly (202) installed at both ends of the frame assembly (1). The frame assembly (1) contains a steering motor and a steering tie rod assembly (101).

2. The mechanical chassis capable of high-speed movement and climbing stairs according to claim 1, characterized in that: The rear climbing mechanism assembly (3) is installed at one end of the frame assembly (1) away from the front climbing mechanism assembly (2). The rear climbing mechanism assembly (3) includes a left rear wheel hub motor assembly (301) and a right rear wheel hub motor assembly (302) installed at both ends of the frame assembly (1).

3. The mechanical chassis capable of high-speed movement and climbing stairs according to claim 2, characterized in that: The front climbing mechanism assembly (2) and the rear climbing mechanism assembly (3) are both controlled by the climbing motor assembly (4), and the two climbing motor assemblies (4) are respectively installed at the bottom of the frame assembly (1).

4. The mechanical chassis capable of high-speed movement and climbing stairs according to claim 3, characterized in that: The upper top of the frame assembly (1) is equipped with a control system (5) that controls the front climbing mechanism assembly (2) and the rear climbing mechanism assembly (3).

5. A mechanical chassis capable of high-speed movement and climbing stairs according to claim 3, characterized in that: The top of the frame assembly (1) is equipped with a power battery (6) that provides power to the two climbing motor assemblies (4).

6. A mechanical chassis capable of high-speed movement and climbing stairs according to claim 5, characterized in that: The chassis assembly (1) houses a braking system assembly (7) that controls the two climbing motor assemblies (4).

7. A mechanical chassis capable of high-speed movement and climbing stairs according to claim 6, characterized in that: The frame assembly (1) includes an upper frame (102) and a lower frame (103), and the upper frame (102) and the lower frame (103) are connected by a support (104) welded together.

8. A mechanical chassis capable of high-speed movement and climbing stairs according to claim 7, characterized in that: The steering motor and steering tie rod assembly (101) includes a steering motor (108), which is connected to a left tie rod (105) and a right tie rod (106). The left tie rod (105) and the right tie rod (106) are connected to the front wheel hub via a steering plate (107).

9. A mechanical chassis capable of high-speed movement and climbing stairs according to claim 8, characterized in that: The front climbing mechanism assembly (2) also includes a stair climbing leg assembly, which includes a stepper motor (203), a reduction mechanism (204), a rotating shaft (205), a fixed arm (206), and a movable arm (207). The stepper motor (203) drives the reduction mechanism (204). The rotating shaft (205) is mounted on the reduction mechanism (204). Both ends of the rotating shaft (205) extend to the outside of the reduction mechanism and are fitted with fixed arms (206) at both ends. The bottom end of the movable arm (207) is connected to the fixed arm (206).

10. A mechanical chassis capable of high-speed movement and climbing stairs according to claim 9, characterized in that: The free end of the movable arm (207) is provided with a roller (208).

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