Self-balancing mobile robot chassis

Abstract

The utility model belongs to robot technical field discloses a kind of self-balancing mobile robot chassis, including equipment box, equipment posture detection mechanism, main drive mechanism, auxiliary drive mechanism and barycenter adjusting mechanism, equipment posture detection mechanism includes the protective box being set on equipment box and the sensor unit for detection being installed in protective box;Main drive mechanism is provided with three groups and three groups main drive mechanism annular array is set on the bottom surface of equipment box, and each group of main drive mechanism includes elastic support part and omnidirectional moving part being installed on elastic support part;Auxiliary drive mechanism is installed on equipment box and is located at the center of three groups main drive mechanism, and auxiliary drive mechanism includes lifting control part and moving support part being installed on the bottom surface of lifting control part;Barycenter adjusting mechanism is installed in equipment box;Through the detection of chassis state by sensor unit, barycenter adjusting mechanism starts compensation mechanism, guarantees the stability of chassis.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a self-balancing mobile robot chassis. Background Technology

[0002] In the field of mobile robotics, chassis stability and environmental adaptability are core technical challenges. Traditional mobile robot chassis often employ rigid support structures, which are prone to tilting, slipping, or even overturning in complex terrain or during dynamic movements due to ground undulations, center of gravity shifts, or insufficient coordination of drive units. Stability issues are particularly pronounced in scenarios involving load changes or multi-directional movement. While some existing chassis incorporate single shock absorption or drive adjustment mechanisms, they lack the dynamic balance control capabilities of multi-mechanism coordination, making it difficult to achieve real-time and accurate compensation for chassis posture. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. Therefore, one objective of this invention is to propose a self-balancing mobile robot chassis that improves stability and environmental adaptability through a multi-mechanism collaborative design.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a self-balancing mobile robot chassis, comprising: an equipment box; an equipment posture detection mechanism, the equipment posture detection mechanism including a protective box mounted on the equipment box and a sensor unit installed in the protective box for detection; a main drive mechanism, the main drive mechanism having three sets arranged in a circular array on the bottom surface of the equipment box, each set of the main drive mechanism including an elastic support part and an omnidirectional moving part mounted on the elastic support part; an auxiliary drive mechanism, the auxiliary drive mechanism being mounted on the equipment box and located at the center of the three sets of the main drive mechanism, the auxiliary drive mechanism including a lifting control part and a moving support part mounted on the bottom surface of the lifting control part; and a center of gravity adjustment mechanism, the center of gravity adjustment mechanism being mounted in the equipment box; through the detection of the chassis state by the sensor unit, the center of gravity adjustment mechanism activates a compensation mechanism to ensure the stability of the chassis.

[0005] Preferably, the elastic support includes an electric push rod installed on the bottom surface of the equipment box. The telescopic end of the electric push rod is connected to a fixed plate. The fixed plate has a through hole and a connecting rod is provided through the through hole. An L-shaped mounting plate is fixedly connected to the bottom surface of the connecting rod. A spring is sleeved on the connecting rod between the fixed plate and the L-shaped mounting plate. The omnidirectional moving part is provided on the side wall of the L-shaped mounting plate.

[0006] Preferably, the omnidirectional moving part includes a hub motor rotatably mounted on the L-shaped mounting plate and an omnidirectional wheel mounted on the output shaft of the hub motor.

[0007] Preferably, the center of gravity adjustment mechanism includes a pair of first horizontal moving parts installed on the top surface of the inner cavity of the equipment box, a second horizontal moving part between the two sets of first horizontal moving parts, a vertical moving part on the second horizontal moving part, and each of the first horizontal moving part, the second horizontal moving part, and the disposal moving part includes a mounting frame. An adjusting screw is rotatably mounted on the mounting frame. A first motor is mounted on one end of the mounting frame, and the output of the first motor is drivenly connected to the adjusting screw. A moving block threadedly connected to the adjusting screw is slidably mounted in the mounting frame. The two sets of first horizontal moving parts are symmetrically arranged on both sides of the top surface of the inner cavity of the equipment box. The second horizontal moving part is mounted on two of the moving blocks in the first horizontal moving part, and the vertical moving part is mounted on the moving block in the second horizontal moving part. A counterweight is mounted on the moving block on the vertical moving part.

[0008] Preferably, the lifting control unit includes a mounting plate disposed in the equipment box, a second motor is provided on the mounting plate, the output shaft of the second motor passes through the mounting plate and is connected to a lifting screw, a fixing rod is threadedly connected to the lifting screw and passes through the bottom surface of the equipment box, a limiting strip is provided on the side wall of the fixing rod along its axial direction, and a limiting groove is provided on the bottom plate of the equipment box to slide with the limiting strip.

[0009] Preferably, the movable support includes a connecting seat disposed on the bottom surface of the fixed rod. The connecting seat is hollow and has an opening on its bottom surface. A rolling ball is embedded in the top surface of the inner cavity of the connecting seat. A movable ball with its top abutting against the rolling ball is embedded in the hollow part of the connecting seat. At least three sets of driving units are disposed on the inner wall of the connecting seat. The three sets of driving units are arranged in a circular array on the inner wall of the connecting seat.

[0010] Preferably, each drive unit includes a U-shaped frame disposed on the inner wall of the connecting seat, a drive wheel rotatably mounted on the U-shaped frame and abutting against the moving ball, and a third motor disposed on the U-shaped frame, the drive shaft of the third motor being connected to the drive wheel.

[0011] With the above structure, this utility model has the following advantages:

[0012] This application uses a sensor unit inside the protective box to monitor the chassis's tilt angle, center of gravity offset, and motion status in real time, providing accurate data support for dynamic balance control. The center of gravity adjustment mechanism drives the counterweight to move rapidly in three-dimensional space through the coordinated movement of three sets of moving parts, adjusting the center of gravity position, counteracting tilting torque, achieving real-time attitude compensation, and avoiding the risk of overturning.

[0013] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of this utility model. Figure 1 .

[0016] Figure 2 This is a schematic diagram of the structure of this utility model. Figure 2 .

[0017] Figure 3 yes Figure 2 A magnified structural diagram of part A in the middle.

[0018] Figure 4 This is the front view of this utility model.

[0019] Figure 5 yes Figure 4 A schematic diagram of the cross-sectional structure of AA.

[0020] Figure 6 This is a schematic diagram of the center of gravity adjustment mechanism.

[0021] As shown in the figure:

[0022] 1. Equipment box; 2. Protective box; 3. Sensor unit; 4. Electric push rod; 5. Fixing plate; 6. L-shaped mounting plate; 7. Omnidirectional wheel; 8. Hub motor; 9. Connecting rod; 10. Spring; 11. Connecting seat; 12. Moving ball; 13. U-shaped frame; 14. Third motor; 15. Drive wheel; 16. Fixing rod; 17. Limiting strip; 18. Second motor; 19. Lifting screw; 20. Rolling ball; 21. Mounting frame; 22. First motor; 23. Moving block; 24. Counterweight. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0024] 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] Combination Figures 1-2 As shown, a self-balancing mobile robot chassis includes an equipment box 1, an equipment posture detection mechanism, a main drive mechanism, an auxiliary drive mechanism, and a center of gravity adjustment mechanism.

[0026] The equipment attitude detection mechanism includes a protective box 2 mounted on the equipment housing 1 and a sensor unit 3 installed in the protective box 2 for detection. The main drive mechanism consists of three sets arranged in a circular array on the bottom surface of the equipment housing 1. Each set of main drive mechanisms includes an elastic support and an omnidirectional moving part mounted on the elastic support. The auxiliary drive mechanism is mounted on the equipment housing 1 and located at the center of the three sets of main drive mechanisms. The auxiliary drive mechanism includes a lifting control and a moving support mounted on the bottom surface of the lifting control. The center of gravity adjustment mechanism is installed in the equipment housing 1. By detecting the chassis status through the sensor unit 3, the center of gravity adjustment mechanism activates a compensation mechanism to ensure the stability of the chassis.

[0027] In one embodiment of this utility model, the elastic support includes an electric push rod 4 installed on the bottom surface of the equipment box 1. A fixed plate 5 is connected to the telescopic end of the electric push rod 4. A through hole is provided on the fixed plate 5, and a connecting rod 9 passes through the through hole. An L-shaped mounting plate 6 is fixedly connected to the bottom surface of the connecting rod 9. A spring 10 is sleeved on the connecting rod 9 between the fixed plate 5 and the L-shaped mounting plate 6. An omnidirectional moving part is provided on the side wall of the L-shaped mounting plate 6. Specifically, as shown... Figure 3As shown, sensor unit 3 adopts a combined architecture of a three-axis gyroscope (such as MPU6050), a dual-axis tilt sensor (SCA60C), and a nine-axis inertial measurement unit (BNO085). The three-axis gyroscope monitors the chassis angular velocity in real time, the tilt sensor measures the tilt angle in the XY plane, and the nine-axis inertial measurement unit calculates attitude by fusing data from the accelerometer and magnetometer. After the sensor data is processed by the STM32F4 series microcontroller, when the detected chassis tilt angle exceeds the ±5° threshold, a compensation command is sent to the center of gravity adjustment mechanism via the CAN bus. When traveling on a slope, the gyroscope captures the rotational angular velocity around the X-axis, and calculates the real-time slope with the tilt sensor, triggering dynamic balance compensation. The electric actuator 4 can be a DC electric actuator 4 of model DT50, with a stroke range of 50-300mm and a thrust of up to 1000N. The extension and retraction length of the actuator can be precisely controlled by the controller. The spring 10 is a compression spring 10 made of 65Mn with an elastic coefficient of 50N / mm. When the chassis encounters bumpy roads, the spring 10 plays a role in buffering and shock absorption, reducing the impact of road impact on the chassis.

[0028] In one embodiment of this utility model, the omnidirectional moving part includes a hub motor 8 rotatably mounted on an L-shaped mounting plate 6 and an omnidirectional wheel 7 mounted on the output shaft of the hub motor 8. Specifically, as shown... Figure 3 As shown, the hub motor 8 can be a brushless DC hub motor of model X5060, with a rated power of 200W and a speed range of 0-3000rpm. It features high efficiency and low noise. The omnidirectional wheel 7 is a Mecanum wheel made of polyurethane material, with multiple small rollers evenly distributed around its circumference. The axis of the small rollers forms a 45° angle with the axis of the hub. When the hub motor 8 drives the omnidirectional wheel 7 to rotate, the chassis can be translated and rotated in any direction through the rolling of the small rollers, which greatly improves the robot's mobility and maneuverability.

[0029] In one embodiment of this utility model, the center of gravity adjustment mechanism includes a pair of first horizontal moving parts mounted on the top surface of the inner cavity of the equipment box 1, a second horizontal moving part between the two sets of first horizontal moving parts, and a vertical moving part on the second horizontal moving part. Each of the first horizontal moving part, the second horizontal moving part, and the handling moving part includes a mounting frame 21. An adjusting screw is rotatably mounted on the mounting frame 21. A first motor 22 is mounted on one end of the mounting frame 21, and the output of the first motor 22 is connected to the adjusting screw. A moving block 23, threadedly connected to the adjusting screw, is slidably mounted in the mounting frame 21. The two sets of first horizontal moving parts are symmetrically arranged on both sides of the top surface of the inner cavity of the equipment box 1. The second horizontal moving part is mounted on two moving blocks 23 in the first horizontal moving part, and the vertical moving part is mounted on the moving blocks 23 in the second horizontal moving part. A counterweight 24 is mounted on the moving blocks 23 in the vertical moving part. Specifically, as shown... Figure 6As shown, the first motor 22 is a NEMA17 stepper motor with a step angle of 1.8°. The motor's rotation angle can be precisely controlled by the driver, thereby achieving precise rotation of the adjusting screw. The adjusting screw is a trapezoidal screw with a pitch of 5mm. The moving block 23 and the adjusting screw are engaged by a trapezoidal thread, enabling the moving block 23 to move smoothly. The counterweight 24 is an iron block with a mass of 5kg. When the sensor unit 3 detects that the chassis is tilted, the center of gravity adjustment mechanism activates the compensation mechanism. The first motor 22 of the first horizontal moving part drives the adjusting screw to rotate, causing the moving block 23 to move horizontally, which in turn drives the second horizontal moving part and the vertical moving part to move, thereby adjusting the position of the counterweight 24, changing the center of gravity position of the chassis to counteract the tilting torque and ensure the stability of the chassis.

[0030] In one embodiment of this utility model, the lifting control unit includes a mounting plate disposed in the equipment box 1. A second motor 18 is disposed on the mounting plate. The output shaft of the second motor 18 passes through the mounting plate and is connected to a lifting screw 19. A fixing rod 16, which passes through the bottom surface of the equipment box 1, is threadedly connected to the lifting screw 19. A limiting strip 17 is provided on the side wall of the fixing rod 16 along its axial direction. A limiting groove that slides with the limiting strip 17 is provided on the bottom plate of the equipment box 1. Specifically, as shown... Figures 4-5 As shown, the second motor 18 is a hybrid stepper motor of model 42BYGHM809, with a rated voltage of 24V and a rated current of 2A. It features high torque and high precision. The lifting screw 19 is a ball screw with a lead of 10mm, providing high transmission efficiency and positioning accuracy. The limit bar 17 is made of stainless steel with a rectangular cross-section. The cross-section of the limit groove matches the cross-section of the limit bar 17, which restricts the rotation of the fixed rod 16, allowing the fixed rod 16 to move only along the axial direction of the lifting screw 19. When the height of the auxiliary drive mechanism needs to be adjusted, the second motor 18 drives the lifting screw 19 to rotate, and the fixed rod 16 moves axially under the restriction of the limit bar 17 and the limit groove, realizing the lifting and lowering of the moving support. When the chassis is traveling on a flat road, the moving support of the auxiliary drive mechanism rises and does not contact the ground, reducing energy consumption. When the chassis encounters an obstacle, the moving support of the auxiliary drive mechanism lowers and contacts the ground, providing additional support and driving force, improving the chassis's passability and stability.

[0031] In one embodiment of this utility model, the movable support includes a connecting seat 11 disposed on the bottom surface of the fixed rod 16. The connecting seat 11 is hollow and has an opening on its bottom surface. A rolling ball 20 is embedded in the top surface of the inner cavity of the connecting seat 11, and a movable ball 12 with its top abutting against the rolling ball 20 is embedded in the hollow part of the connecting seat 11. At least three sets of driving units are disposed on the inner wall of the connecting seat 11, and the three sets of driving units are arranged in a circular array on the inner wall of the connecting seat 11. Specifically, as shown... Figure 5As shown, both the rolling ball 20 and the moving ball 12 are made of steel balls with a hardened surface, resulting in high hardness and good wear resistance. Three sets of drive units are arranged in a circular array on the inner wall of the connecting seat 11. The included angle between adjacent sets of drive units is 120°. When the drive unit is working, the drive wheel 15 abuts against the moving ball 12, driving the moving ball 12 to rotate, thereby moving the movable support. When the drive wheels 15 of the three sets of drive units rotate at the same speed and direction, the moving ball 12 moves linearly within the connecting seat 11, driving the chassis to move. When the drive wheels 15 of the three sets of drive units rotate at different speeds and directions, the moving ball 12 can move in any direction, allowing the chassis to flexibly adjust its position in complex environments.

[0032] In one embodiment of this utility model, each drive unit includes a U-shaped frame 13 disposed on the inner wall of the connecting seat 11. A drive wheel 15 is rotatably mounted on the U-shaped frame 13 and abuts against the moving ball 12. A third motor 14 is mounted on the U-shaped frame 13, and the transmission shaft of the third motor 14 is connected to the drive wheel 15. Specifically, as shown... Figure 3 As shown, the third motor 14 is a DC geared motor of model ZGB37RG-520. This motor adopts a metal gearbox structure, which has high torque output and low speed stability, and is suitable for the driving requirements of the moving ball 12. The drive wheel 15 is made of neoprene rubber with diamond-shaped anti-slip texture pressed on the surface. Combined with the high torque output of the motor, it can provide sufficient driving force. When the third motor 14 drives the drive wheel 15 to rotate, the torque is amplified through the gear reduction mechanism. The friction between the drive wheel 15 and the moving ball 12 can overcome the chassis load and realize the precise movement of the moving support. When the chassis needs to move to the right, the third motor 14 of the right drive unit rotates forward, and the drive wheel 15 drives the moving ball 12 to rotate to the right. The third motors 14 of the two sets of drive units on the left rotate in reverse, and the drive wheel 15 drives the moving ball 12 to rotate to the left, so that the moving ball 12 moves to the right as a whole, driving the chassis to move to the right.

[0033] In summary, this self-balancing mobile robot chassis achieves stable movement in complex environments through the collaboration of multiple mechanisms: the device posture detection mechanism monitors the chassis status in real time and triggers a compensation mechanism; three main drive mechanisms are arranged in a circular array, the electric push rod 4 and spring 10 of the elastic support part realize terrain adaptation and buffering, the Mecanum wheel of the omnidirectional movement part is equipped with a hub motor 8 to support movement in any direction; the center of gravity adjustment mechanism controls the position of the counterweight 24 through a stepper motor drive screw to dynamically adjust the center of gravity to counteract the tilting torque; and the auxiliary drive mechanism improves the chassis's terrain adaptability.

[0034] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all employ conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all use conventional models in the prior art, and the circuit connections also use conventional connection methods in the prior art, which will not be detailed here. Any content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0035] The present invention and its embodiments have been described above. This description is not restrictive, and the embodiments shown throughout the text are only one of the embodiments of the present invention. The actual structure is not limited to this. In conclusion, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the inventive spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. A self-balancing mobile robot chassis, characterized in that, include: Equipment box; The equipment attitude detection mechanism includes a protective box mounted on the equipment housing and a sensor unit installed in the protective box for detection. The main drive mechanism is provided in three sets, and the three sets of main drive mechanisms are arranged in a circular array on the bottom surface of the equipment box. Each set of main drive mechanisms includes an elastic support part and an omnidirectional moving part installed on the elastic support part. An auxiliary drive mechanism is installed on the equipment box and located at the center of the three main drive mechanisms. The auxiliary drive mechanism includes a lifting control unit and a movable support unit installed on the bottom surface of the lifting control unit. A center of gravity adjustment mechanism is installed in the equipment box; By detecting the chassis status through the sensor unit, the center of gravity adjustment mechanism activates a compensation mechanism to ensure the stability of the chassis.

2. The self-balancing mobile robot chassis according to claim 1, characterized in that: The elastic support includes an electric push rod installed on the bottom surface of the equipment box. The telescopic end of the electric push rod is connected to a fixed plate. The fixed plate has a through hole and a connecting rod is provided through the through hole. An L-shaped mounting plate is fixedly connected to the bottom surface of the connecting rod. A spring is sleeved on the connecting rod between the fixed plate and the L-shaped mounting plate. The omnidirectional moving part is provided on the side wall of the L-shaped mounting plate.

3. The self-balancing mobile robot chassis according to claim 2, characterized in that: The omnidirectional moving part includes a hub motor rotatably mounted on the L-shaped mounting plate and an omnidirectional wheel mounted on the output shaft of the hub motor.

4. The self-balancing mobile robot chassis according to claim 3, characterized in that: The center of gravity adjustment mechanism includes a pair of first horizontal moving parts installed on the top surface of the inner cavity of the equipment box, a second horizontal moving part between the two sets of first horizontal moving parts, and a vertical moving part on the second horizontal moving part. Each of the first horizontal moving part, the second horizontal moving part, and the vertical moving part includes a mounting frame. An adjusting screw is rotatably mounted on the mounting frame. A first motor is mounted on one end of the mounting frame, and the output of the first motor is drivenly connected to the adjusting screw. A moving block that is threadedly connected to the adjusting screw is slidably mounted in the mounting frame. The two sets of first horizontal moving parts are symmetrically arranged on both sides of the top surface of the inner cavity of the equipment box. The second horizontal moving part is mounted on two of the moving blocks in the first horizontal moving part. The vertical moving part is mounted on the moving block in the second horizontal moving part. A counterweight is mounted on the moving block on the vertical moving part.

5. The self-balancing mobile robot chassis according to claim 4, characterized in that: The lifting control unit includes a mounting plate disposed in the equipment box. A second motor is provided on the mounting plate. The output shaft of the second motor passes through the mounting plate and is connected to a lifting screw. A fixing rod is threadedly connected to the lifting screw and passes through the bottom surface of the equipment box. A limiting strip is provided on the side wall of the fixing rod along its axial direction. A limiting groove is provided on the bottom plate of the equipment box to slide with the limiting strip.

6. The self-balancing mobile robot chassis according to claim 5, characterized in that: The movable support includes a connecting seat disposed on the bottom surface of the fixed rod. The connecting seat is hollow and has an opening on its bottom surface. A rolling ball is embedded in the top surface of the inner cavity of the connecting seat. A movable ball with its top abutting against the rolling ball is embedded in the hollow part of the connecting seat. At least three sets of driving units are disposed on the inner wall of the connecting seat. The three sets of driving units are arranged in a circular array on the inner wall of the connecting seat.

7. The self-balancing mobile robot chassis according to claim 6, characterized in that: Each of the drive units includes a U-shaped frame disposed on the inner wall of the connecting seat, a drive wheel rotatably mounted on the U-shaped frame and abutting against the moving ball, and a third motor disposed on the U-shaped frame, the drive shaft of the third motor being connected to the drive wheel.

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