A robot chassis and robot

Abstract

The utility model provides a kind of robot chassis and robot.The robot chassis includes chassis frame, steering drive component and at least two rudder wheel components;Rudder wheel component includes: slewing bearing, rudder wheel and travel drive motor, slewing bearing is connected to the chassis frame, travel drive motor is connected with rudder wheel, and provides travel power for rudder wheel;Steering drive component is connected with slewing bearing, for driving slewing bearing rotation to drive rudder wheel change movement direction.The utility model provides the robot chassis, the steering of two rudder wheels on robot chassis is controlled using same steering drive component, so that two rudder wheels always maintain same steering angle when steering, which makes on the basis of realizing robot omni-directional movement, improve the synchronism of two rudder wheels when steering, while reduce the motor quantity of robot chassis installation, reduce the power consumption of robot chassis work.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a robot chassis and a robot. Background Technology

[0002] With the widespread adoption of Industry 4.0, artificial intelligence has penetrated all sectors, and as a key product of this process, robots have been widely applied in multiple fields. To meet the high requirements for robot mobility in specific scenarios, omnidirectional robot chassis have emerged.

[0003] In existing technologies, robot chassis drive methods mainly include dual-wheel differential, steering wheels, and differential units. Dual-wheel differential cannot achieve omnidirectional movement, resulting in poor maneuverability. While steering wheel and differential unit solutions can achieve omnidirectional movement, each steering wheel requires two motors, leading to a robot chassis needing at least four motors and prone to poor synchronization between wheel sets. Poor synchronization not only significantly increases the robot chassis's power consumption but also causes energy waste due to power cancellation issues between wheel sets. Utility Model Content

[0004] The present invention aims to provide a robot chassis and robot to solve the problem of poor synchronization between robot chassis wheel sets in the prior art.

[0005] To solve the above-mentioned technical problems, this utility model is implemented as follows: In a first aspect, this utility model embodiment provides a robot chassis, comprising: Chassis frame, steering drive assembly, and steering wheel assembly; The steering wheel assembly includes: a slewing bearing, a steering wheel, and a travel drive motor. The slewing bearing is connected to the chassis frame, and the travel drive motor is connected to the steering wheel and provides travel power to the steering wheel. The steering drive assembly is connected to the slewing bearing and is used to drive the slewing bearing to rotate so as to cause the steering wheel to change its direction of motion.

[0006] Optionally, the number of steering wheel assemblies is two, and the robot chassis also includes two omnidirectional wheels connected to the chassis frame; The steering wheel assembly and the omnidirectional wheel are spaced apart on the chassis frame, and the line connecting the steering wheel assembly and the omnidirectional wheel forms a rectangle, with the two steering wheel assemblies distributed diagonally.

[0007] Optionally, the steering drive assembly is located between the two steering wheel assemblies.

[0008] Optionally, the steering drive assembly includes: a steering drive motor, a worm gear, and two worm wheels; One of the worm gears is mounted on one of the slewing bearings; Both ends of the worm are provided with external threads, which mesh with the worm wheel; The steering drive motor is connected to the worm gear, and the steering drive motor is used to drive the worm gear to rotate, thereby driving the worm wheel and the slewing bearing connected to the worm wheel to rotate.

[0009] Optionally, the steering drive assembly further includes a transmission device connected between the steering drive motor and the worm gear, the transmission device being used to transmit power from the steering drive motor to the worm gear.

[0010] Optionally, the transmission device includes: a driving pulley, a driven pulley, and a synchronous belt; wherein, The driving wheel is connected to the output end of the steering drive motor, the driven wheel is sleeved on the worm gear, and the synchronous belt is wound around the driving wheel and the driven wheel.

[0011] The optional slewing bearing includes: an inner ring and an outer ring that can rotate relative to each other; wherein, The inner ring is fixedly connected to the chassis frame, and the worm gear is sleeved on the outer ring.

[0012] Optionally, the worm gear and the outer ring are integrally formed.

[0013] Optionally, the steering wheel assembly further includes a mounting bracket; both the slewing bearing and the travel drive motor are connected to the mounting bracket, which is fixed to the chassis frame.

[0014] Secondly, the present invention provides a robot, the robot including the robot chassis described in any one of the first aspects.

[0015] The robot chassis and robot provided in this embodiment control the steering of the two steering wheels on the robot chassis with the same steering drive component, so that the two steering wheels always maintain the same steering angle when steering. This improves the synchronization of the two steering wheels when steering while achieving omnidirectional movement of the robot, and at the same time reduces the number of motors installed on the robot chassis and reduces the power consumption of the robot chassis. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the external structure of the robot chassis provided in this embodiment of the utility model; Figure 2This is a schematic diagram of the bottom structure of the robot chassis provided in this embodiment of the utility model; Figure 3 This is a schematic diagram of the steering wheel assembly structure provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the steering drive assembly structure provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the steering wheel position of the robot chassis when moving in a straight line, provided in this embodiment of the utility model; Figure 6 This is a schematic diagram of the steering wheel position of the robot chassis during lateral movement, provided in this embodiment of the utility model. Figure 7 This is a schematic diagram of the steering wheel position when the robot chassis provided in this embodiment rotates at an angle or in place.

[0017] Figure label: 1-Chassis frame; 2-Steering wheel assembly; 3-Steering drive assembly; 4-Wheel; 20-Slewing bearing; 21-Mounting bracket; 22-Steering wheel; 23-Propeller drive motor; 30-Worm gear; 31-Driven wheel; 32-Synchronous belt; 33-Steering drive motor; 34-Drive wheel. Detailed Implementation

[0018] 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 fixed scope of the present utility model.

[0019] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0020] This utility model embodiment provides a robot chassis, see reference Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the robot chassis's external structure. Figure 2This is a schematic diagram of the bottom structure of the robot chassis. The robot chassis includes: a chassis frame 1, a steering drive assembly 3, and at least two steering wheel assemblies 2. The steering wheel assembly 2 includes: a slewing bearing 20, a steering wheel 22, and a travel drive motor 23. The slewing bearing 20 is connected to the chassis frame 1, and the travel drive motor 23 is connected to the steering wheel 22 and provides travel power to the steering wheel 22. The steering drive assembly 3 is connected to the slewing bearing 20 and is used to drive the slewing bearing 20 to rotate so as to drive the steering wheel 22 to change the direction of movement.

[0021] The robot chassis provided in this embodiment controls the steering of the two steering wheels on the robot chassis using the same steering drive component, so that the two steering wheels always maintain the same steering angle when steering. This improves the synchronization of the two steering wheels when steering while achieving omnidirectional movement of the robot, and at the same time reduces the number of motors installed on the robot chassis and reduces the power consumption of the robot chassis.

[0022] Specifically, the chassis frame 1 is rigidly connected by multiple crossbeams and multiple longitudinal beams, serving as the basic support structure for the entire robot chassis. It can also be any other structural form, as long as it does not contradict the technical features of this invention. The edges of the chassis frame 1 are also provided with multiple standardized mounting interfaces for easy connection to other structures of the robot. At least two steering wheel assemblies 2 are mounted below the chassis frame 1. Each steering wheel assembly 2 includes a slewing bearing 20 (e.g., a turntable bearing), which is fixedly connected to the chassis frame 1. Each steering wheel assembly 2 also includes a steering wheel 22 for movement and a drive motor 23. The steering wheel 22 is connected to the slewing bearing 20, and the output end of the drive motor 23 is connected to the steering wheel 22, thereby directly driving the steering wheel 22 and providing the power required for the robot chassis to move forward, backward, or stop.

[0023] The steering drive assembly 3 is connected to the slewing bearing 20 and is set independently of the travel drive motor 23. Its function is to control the direction of the steering wheels 22. When the steering drive assembly 3 is working, it transmits the steering driving force to the slewing bearing 20, causing the slewing bearing 20 to rotate and drive the steering wheels 22 to deflect synchronously, thereby realizing the direction adjustment of the robot chassis. Since the steering power of the two steering wheel assemblies 2 originates from the same steering drive assembly 3 and is rigidly connected, the disadvantage of response difference between wheel sets in the traditional dual-motor scheme is eliminated from the power source, and the power consumption caused by the asynchronous wheel sets is eliminated. At the same time, compared with the traditional dual-motor scheme, that is, the two steering wheels are equipped with four motors, this utility model reduces the number of motors, so that the two steering wheels 22 are equipped with only 3 motors. This optimization reduces the number of key drive components of the robot chassis, that is, reduces the probability of component failure, and at the same time reduces structural costs and maintenance costs.

[0024] The standardized mounting interface on the chassis frame 1 allows for expansion into a four-wheeled or multi-wheeled chassis simply by adding the same steering wheel assembly or other types of wheel sets to the chassis frame 1, as long as it does not contradict the technical features of this invention. Since the drive motor 23 is connected to the steering wheel 22, the added wheel sets will not interfere with the existing power transmission chain. This expandability allows the robot chassis of this invention to be adapted to various robots, reducing development costs.

[0025] Optional, refer to Figure 1 , Figure 2 and Figure 3 In this embodiment of the utility model, there are two steering wheel assemblies 2, and the robot chassis also includes two universal wheels 4, which are connected to the chassis frame 1; the line connecting the steering wheel assembly 2 and the universal wheels 4 forms a rectangle, and the two steering wheel assemblies 2 are distributed diagonally.

[0026] This design provides excellent support and stability for the robot chassis, preventing it from tilting or wobbling and improving its overall stability. Furthermore, the diagonal arrangement of the two steering wheel assemblies 2 ensures a more balanced load on the robot chassis, resulting in more agile steering.

[0027] Specifically, the omnidirectional wheel 4 can be a rubber-coated wheel or other types of pulleys, as long as it can rotate in any direction. Given the free rotation characteristic of the omnidirectional wheel 4, when the robot turns or moves on uneven ground, the omnidirectional wheel passively adjusts its direction to adapt to terrain changes, absorbs the impact caused by uneven ground, and reduces bumps.

[0028] Optional, refer to Figure 1 , Figure 2 and Figure 3 In this embodiment of the invention, the steering drive assembly 3 is located between the two steering wheel assemblies 2.

[0029] This configuration prevents torsional deformation of the robot chassis, improving steering accuracy; it also lowers the robot chassis's center of gravity, enhancing its stability. Specifically, the steering drive assembly 3 is located between the two steering wheel assemblies 2, in the central area of ​​the chassis frame 1, rather than on one side, and is equidistant from both steering wheel assemblies 2. This ensures that the steering drive force acts simultaneously on the steering wheel assemblies 2, forming equal and opposite force couples. The chassis frame 1 only bears the torque, without lateral bending stress, thus preventing torsional deformation of the robot chassis caused by uneven drive force.

[0030] Optional, refer to Figure 4In this embodiment of the present invention, the steering drive assembly 3 includes: a steering drive motor 33, a worm 30, and two worm wheels (not shown in the figure); one worm wheel is sleeved on a slewing bearing 20; both ends of the worm 30 are provided with external threads, which mesh with the worm wheel; the steering drive motor 33 is connected to the worm 30, and the steering drive motor 33 is used to drive the worm 30 to rotate, so as to drive the worm wheel and the slewing bearing 20 connected to the worm wheel to rotate.

[0031] This configuration improves the synchronization of steering wheel assembly 2 during steering. At the same time, compared with the common practice of using four motors for two steering wheels in the prior art, this embodiment of the utility model only installs three motors, reducing the number of motors and lowering the energy consumption of the robot chassis.

[0032] Specifically, the worm 30 engages with the worm wheel through the external threads at both ends, so that when the steering drive motor 33 works, it only drives the worm 30 to rotate in place instead of moving along the direction of the worm 30 itself. This improves the overall integrity. At the same time, one steering drive assembly 3 connects two steering wheel assemblies 2. The mechanical connection ensures that the angles of the two steering wheel assemblies are absolutely synchronized when they turn, eliminating the angle errors that may occur between the two independent steering wheels and improving the motion accuracy. Optional, refer to Figure 4 In this embodiment of the present invention, the steering drive assembly 3 further includes a transmission device, which is connected between the steering drive motor 33 and the worm gear 30. The transmission device is used to transmit the power of the steering drive motor 33 to the worm gear 30.

[0033] The transmission device is a key structure connecting the steering drive motor 33 and the worm gear 30. Using a transmission device can significantly reduce or eliminate the gaps between the robot chassis structures, allowing the rotation angle of the steering drive motor 33 to be accurately converted into the steering angle of the steering wheel assembly 2, thus improving the positioning accuracy of the robot chassis during steering. Simultaneously, the transmission device provides a more direct and rigid power transmission path, reducing the elastic deformation of the worm gear 30 and enabling the steering wheel assembly 2 to respond more quickly during steering.

[0034] Specifically, when the robot chassis moves, the steering drive component 3 controls the direction of travel of the steering wheel component 2 to achieve omnidirectional movement of the robot chassis. When the robot chassis moves forward or backward, the steering wheel component 2 faces the forward direction, such as... Figure 5 As shown (the arrow in the diagram indicates the forward direction of the robot chassis). When the robot chassis needs to move laterally in the left or right direction, the steering drive motor 33 starts to operate, thereby driving the transmission device. The worm gear 30 starts to rotate under the drive of the transmission device, ultimately driving the slewing bearing 20 to rotate the steering wheel assembly 2. The steering wheel assembly 2 rotates 90°, and the direction of movement of the steering wheel 22 is arranged at 90° with the forward direction of the robot chassis, as shown. Figure 6As shown (the arrow in the diagram indicates the direction of the robot chassis's movement), the robot chassis can move laterally. The omnidirectional wheels 4 adaptively adjust their angles according to the direction of movement and terrain conditions during the robot chassis's movement. When the robot chassis needs to move at an angle, the principle is the same; the steering wheel 22 rotates at a certain angle under the action of the steering drive assembly 2, and the steering wheel 22 forms an angle between 0° and 90° with the direction of the robot chassis's movement. Figure 7 As shown (the arrow in the diagram indicates the direction of the robot chassis's movement), the robot chassis can move at a certain angle. If the robot chassis needs to turn around on the spot, Figure 7 Taking the robot chassis shown as an example, as long as the steering wheel 22 and the chassis are at a 45° angle in the front-to-back direction, and one steering wheel 22 is controlled to rotate in the forward direction while the other steering wheel 22 rotates in the reverse direction, the robot chassis can be rotated in place.

[0035] Optional, refer to Figure 4 In this embodiment of the utility model, the transmission device includes: a driving wheel 34, a driven wheel 31, and a synchronous belt 32; wherein, the driving wheel 34 is connected to the output end of the steering drive motor 33, the driven wheel 34 is sleeved on the worm gear 30, and the synchronous belt 32 is wound around the driving wheel 34 and the driven wheel 31.

[0036] The synchronous belt 32 is elastic and can absorb the vibration generated when the steering drive motor 33 is working, reduce the operating noise of the transmission device, and extend the service life of the components. In addition, the synchronous belt transmits power by tooth meshing, and there is no relative slippage compared with ordinary belts. This ensures strict synchronization between the rotation angle of the steering drive motor 33 and the rotation angle of the steering wheel assembly 2, eliminating the angle difference in the transmission path.

[0037] In this embodiment of the invention, the transmission device further includes another implementation, comprising: a first gear and a second gear. The first gear is connected to the output end of the steering drive motor 33, and the second gear is sleeved on the worm gear 30. The first gear and the second gear mesh to transmit the kinetic energy of the steering drive motor 33 to the worm gear 30. This enables the transmission of steering kinetic energy and ensures that the rotation angle of the steering drive motor 33 is synchronized with the rotation angle of the steering wheel assembly 2.

[0038] In addition, the transmission device may include other implementations, which are not limited in this embodiment. For example, a set of parallel connecting rods are used, one end of which is connected to the slewing bearing 20, and the other end is connected to a steering rod, which is connected to the output end of the steering drive motor 33. When the steering drive motor 33 is working, it drives the steering rod to change its angle, pulling the two connecting rods to move along the connecting rod direction, thereby driving the slewing bearing to rotate. The connecting rods remain parallel to each other during the movement to ensure the synchronicity of the steering wheel assembly 2 when it turns.

[0039] Optional, refer to Figure 3 In this embodiment of the utility model, the slewing bearing 20 includes an inner ring and an outer ring that can rotate relative to each other; wherein the inner ring is fixedly connected to the chassis frame 1, and the worm gear is sleeved on the outer ring.

[0040] This configuration results in a more rational load distribution on the steering wheel assembly, making steering wheel assembly 2 easier to steer and responding faster. Specifically, the inner ring of the slewing bearing 20 is rigidly fixed to the robot chassis, bearing most of the vertical load; the outer ring of the slewing bearing 20 is fitted with a worm gear, responsible for transmitting steering torque, and only bears the weight of the rotating part and the ground reaction force. The steering drive motor 33 only needs to overcome the inertia of the outer ring of the slewing bearing 20 and the steering wheel 22 during steering, as well as the friction between the steering wheel 22 and the ground, without having to overcome the huge static friction force generated by the weight of the entire robot chassis pressing on the steering shaft.

[0041] Optional, refer to Figure 3 In this embodiment of the utility model, the worm gear and the outer ring are integrally formed.

[0042] By designing the worm gear and outer ring as a single molded structure, the structure is more compact compared to the traditional split structure. This eliminates the connection interface, preventing uneven load distribution on the worm gear tooth surface caused by minor movements of the connecting parts, and reducing uneven wear. Furthermore, the meshing force of the worm 30's external thread is directly transmitted to the outer ring of the slewing bearing 20, minimizing the load transmission path and avoiding shear and bending stresses that may occur during load transmission in a split structure.

[0043] Optional, refer to Figure 3 In this embodiment of the utility model, the steering wheel assembly 2 also includes a mounting bracket 21; the slewing bearing 20 and the travel drive motor 23 are both connected to the mounting bracket 21, and the mounting bracket 21 is fixed on the chassis frame 1.

[0044] The presence of the mounting bracket 21 integrates the ground reaction force, the overturning moment of the slewing bearing 20, and the motor vibration generated during the robot chassis's movement into a single load path transmitted to the chassis frame 1, preventing localized deformation of the chassis frame 1. Simultaneously, the mounting bracket ensures that the rolling surface of the steering wheel 22 remains perpendicular to the ground, resulting in uniform wear of the steering wheel 22.

[0045] On the other hand, this utility model embodiment also provides a robot, including any of the robot chassis in the above embodiments. Specific descriptions of the robot chassis embodiments are not repeated here. The structure and connection relationships of the robot are known to those skilled in the art and will not be described in detail here.

[0046] In summary, this embodiment of the invention possesses an efficient and reliable steering synchronization mechanism, improving the wheel synchronization of the robot chassis during steering and eliminating response differences between wheel sets. The design of a single motor driving dual steering wheels reduces the number of motors installed on the robot chassis, improving power utilization and lowering overall costs. The diagonally arranged steering wheels enable the robot to move flexibly in confined spaces and even rotate in place, significantly enhancing its mobility in complex environments. Furthermore, the arrangement of components fully utilizes the space in the central area of ​​the robot chassis, making the structure more compact and helping to lower the center of gravity and improve overall stability. These features directly improve the overall performance of the robot using this chassis, enabling it to meet mobility requirements in various scenarios.

[0047] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0048] Although alternative embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make further changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the alternative embodiments as well as all changes and modifications falling within the scope of the present invention.

[0049] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used merely to distinguish one entity from another, and do not necessarily require or imply any such actual relationship or order between these entities. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or terminal device that includes that element.

[0050] The technical solution provided by this utility model has been described in detail above. Specific examples have been used to illustrate the principle and implementation of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the principle and implementation of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robot chassis, characterized in that, The robot chassis includes: a chassis frame, a steering drive assembly, and at least two steering wheel assemblies; The steering wheel assembly includes: a slewing bearing, a steering wheel, and a travel drive motor. The slewing bearing is connected to the chassis frame, and the travel drive motor is connected to the steering wheel and provides travel power to the steering wheel. The steering drive assembly is connected to the slewing bearing and is used to drive the slewing bearing to rotate so as to cause the steering wheel to change its direction of motion.

2. The robot chassis according to claim 1, characterized in that, The number of steering wheel assemblies is two, and the robot chassis also includes two omnidirectional wheels, which are connected to the chassis frame; The steering wheel assembly and the omnidirectional wheel are spaced apart on the chassis frame, and the line connecting the steering wheel assembly and the omnidirectional wheel forms a rectangle, with the two steering wheel assemblies distributed diagonally.

3. The robot chassis according to claim 2, characterized in that, The steering drive assembly is located between the two steering wheel assemblies.

4. The robot chassis according to claim 3, characterized in that, The steering drive assembly includes: a steering drive motor, a worm gear, and two worm wheels; One of the worm gears is mounted on one of the slewing bearings; Both ends of the worm are provided with external threads, which mesh with the worm wheel; The steering drive motor is connected to the worm gear, and the steering drive motor is used to drive the worm gear to rotate, thereby driving the worm wheel and the slewing bearing connected to the worm wheel to rotate.

5. The robot chassis according to claim 4, characterized in that, The steering drive assembly further includes a transmission device connected between the steering drive motor and the worm gear, the transmission device being used to transmit power from the steering drive motor to the worm gear.

6. The robot chassis according to claim 5, characterized in that, The transmission device includes: a driving pulley, a driven pulley, and a synchronous belt; wherein... The driving wheel is connected to the output end of the steering drive motor, the driven wheel is sleeved on the worm gear, and the synchronous belt is wound around the driving wheel and the driven wheel.

7. The robot chassis according to claim 4, characterized in that, The slewing bearing includes: an inner ring and an outer ring that can rotate relative to each other; wherein, The inner ring is fixedly connected to the chassis frame, and the worm gear is sleeved on the outer ring.

8. The robot chassis according to claim 7, characterized in that, The worm gear and the outer ring are integrally formed.

9. The robot chassis according to any one of claims 1-8, characterized in that, The steering wheel assembly also includes a mounting bracket; the slewing bearing and the travel drive motor are both connected to the mounting bracket, which is fixed to the chassis frame.

10. A robot, characterized in that, The robot includes the robot chassis as described in any one of claims 1-9.

Images