A two-wheel differential drive chassis using omnidirectional wheels as driven wheels.

Abstract

We provide a two-wheel differential drive chassis that uses omnidirectional wheels to improve stability. [Solution] Motor-driven main wheels, omnidirectional driven wheels, and a connecting seat are connected to the bottom of the mobile chassis. A dual motor is mounted inside the connecting seat, and a drive rod is connected to the output end of the dual motor. A first bevel tooth is connected to the end of the drive rod. The dual motor moves the drive rod and rotates it clockwise, and by utilizing the meshing relationship between the first and second bevel teeth, two screw rods are moved and rotated. As the two screw rods rotate, the screw connection block, which is screw-connected to the outer wall, moves the support frame and lowers, and the support plate at the bottom of the support frame comes into contact with the ground, thereby fixing the mobile chassis and improving the stability of the mobile robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of mobile robots, and specifically relates to a two-wheel differential movement chassis that uses omnidirectional wheels as driven wheels.

Background Art

[0002] The movement principle of a two-wheel differential movement chassis is based on controlling the difference in the rotational speeds of two wheels. When the two wheels rotate at the same speed, the robot moves straight. On the other hand, when the rotational speeds of the two wheels are different, the robot rotates around the center point. Therefore, by accurately controlling the difference in the rotational speeds of the two wheels, the robot can achieve various curvilinear motions and direction-changing operations.

[0003] Currently, in the process of using a conventional robot two-wheel differential movement chassis, generally, it moves using motor-driven wheels, and after the rotation of the motor-driven wheels stops, the robot stops in place. However, when the robot stops on an inclined plane or is pushed by an external force, due to the poor fixed structure of the robot chassis, the chassis moves to some extent, reducing the stability.

Summary of the Invention

Problems to be Solved by the Invention

[0004] The object of the present invention is to solve the problem that in the process of using a conventional robot two-wheel differential movement chassis, generally, it moves using motor-driven wheels, and after the rotation of the motor-driven wheels stops, the robot stops in place. However, when the robot stops on an inclined plane or is pushed by an external force, due to the poor fixed structure of the robot chassis, the chassis moves to some extent, reducing the stability. The present invention provides a two-wheel differential movement chassis that uses omnidirectional wheels as driven wheels.

Means for Solving the Problems

[0005] To achieve the above objective, the present invention provides the following technical solution: A two-wheel differential mobile chassis using omnidirectional wheels as driven wheels, comprising a mobile chassis, wherein a motor-driven main wheel is attached to the bottom of the mobile chassis, an omnidirectional driven wheel is attached to the bottom of the mobile chassis, and a housing is attached to the outer wall of the mobile chassis. A connecting seat is connected to the bottom of the mobile chassis, a dual motor is mounted inside the connecting seat, a drive rod is connected to the output end of the dual motor, a first bevel tooth is connected to the end of the drive rod, two connecting plates are connected inside the connecting seat, two screw rods pass through the bottom of the connecting seat, a second bevel tooth is connected to one end of the two screw rods, two connecting frames are connected to the bottom of the connecting seat, screw connection blocks are screwed to the outer walls of the two screw rods, a support frame is connected to the outer wall of the screw connection block, and a support plate is installed at the bottom of the support frame.

[0006] In the two-wheel differential moving chassis of the present invention, which uses omnidirectional wheels as driven wheels, preferably the distance between the two screw rods is symmetrically distributed, and one end of each screw rod is rotatably connected to a connecting seat via a bearing.

[0007] In the two-wheel differential moving chassis of the present invention, which uses omnidirectional wheels as driven wheels, preferably, the screw rod is located inside the connecting frame, and one end of the screw rod forms a rotational connection structure with the connecting frame via a bearing.

[0008] In the two-wheel differential drive chassis of the present invention, which uses omnidirectional wheels as driven wheels, preferably, the first bevel teeth and the second bevel teeth are meshed together.

[0009] In the two-wheel differential drive chassis of the present invention, which uses omnidirectional wheels as driven wheels, preferably, the end of the drive rod penetrates the surface of the connecting plate.

[0010] In the present invention, as a two-wheel differential moving chassis using omnidirectional wheels as driven wheels, preferably, two mounting insert blocks are connected to the top of the support plate, stopper locking grooves are provided in the outer walls of the two mounting insert blocks, a mounting seat is connected to the inside of the support frame, a return spring is installed inside the mounting seat, a movable block is connected to the end of the return spring, a stopper locking pin is connected to one end of the movable block, a dial block is connected to the outer wall of the movable block, and two mounting slots are provided in the bottom of the support frame.

[0011] In the two-wheel differential moving chassis of the present invention, which uses omnidirectional wheels as driven wheels, the stopper locking groove is preferably sized to fit one end of the stopper locking pin.

[0012] In the two-wheel differential moving chassis of the present invention, which uses omnidirectional wheels as driven wheels, preferably, the mounting insert block is capable of penetrating the bottom of the support frame through the mounting slot.

[0013] In the present invention, as a two-wheel differential moving chassis using omnidirectional wheels as driven wheels, the support frame can preferably be configured to elastically engage with a support plate via a mounting insert block, stopper locking groove, mounting seat, return spring, movable block, stopper locking pin, dial block, and mounting slot.

[0014] In the two-wheel differential drive chassis of the present invention, which uses omnidirectional wheels as driven wheels, an anti-slip pad is preferably attached to the bottom of the support plate. [Effects of the Invention]

[0015] Compared to conventional technology, the beneficial effects of the present invention are as follows:

[0016] Dual motors drive the drive rod, which rotates clockwise. The meshing relationship between the first and second bevel teeth is used to move and rotate two screw rods. As the two screw rods rotate, the screw connection block, which is screw-connected to its outer wall, moves the support frame downward. At this time, the support plate at the bottom of the support frame comes into contact with the ground, fixing the mobile chassis and improving the stability of the mobile robot.

[0017] The dial block rotates the movable block, moving and retracting the stopper locking pin, which releases one end of the stopper locking pin from the stopper locking groove on the outer wall of the mounting insert block. By pulling the support plate downwards and releasing it from the mounting slot, the support plate can be easily removed from the bottom of the support frame, facilitating subsequent replacements.

[0018] By attaching anti-slip pads to the bottom of the support plate, the anti-slip pads improve the frictional force with the ground when the support plate comes into contact with the ground, thereby preventing slippage and improving grip on slippery or inclined surfaces.

[0019] By using omnidirectional driven wheels as driven wheels, the mobility and flexibility of mobile robots are improved, making them applicable to various complex terrain environments. Furthermore, omnidirectional driven wheels, using structures such as spherical rollers or Mecanum wheels, can achieve movement in all directions, and the robot can achieve lateral displacement without changing its forward direction, thereby reinforcing the robot's flexibility. [Brief explanation of the drawing]

[0020] The drawings are provided to provide a further understanding of the present invention and constitute part of the specification, and are intended to illustrate the present invention together with the embodiments of the present invention, and are not intended to limit the present invention. [Figure 1] Figure 1 is a schematic diagram of the bottom structure of the present invention. [Figure 2]Figure 2 is a schematic front view of the structure of the present invention. [Figure 3] Figure 3 is a schematic bottom cross-sectional view of the moving chassis of the present invention. [Figure 4] Figure 4 is a schematic front cross-sectional view of the moving chassis of the present invention. [Figure 5] Figure 5 is a schematic enlarged view of the structure of A of the present invention. [Figure 6] Figure 6 is a schematic enlarged view of the structure of B of the present invention. [Figure 7] Figure 7 is a schematic enlarged view of the structure of C of the present invention.

Embodiments for Carrying Out the Invention

[0021] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in connection with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0022] Referring to FIGS. 1 to 7, the technical solutions according to the embodiments of the present invention will be described. It is a two-wheel differential moving chassis using an omnidirectional wheel as a driven wheel, including a moving chassis 1. At the bottom of the moving chassis 1, a motor-driven driving wheel 2 is attached. At the bottom of the moving chassis 1, an omnidirectional driven wheel 3 is attached. On the outer wall of the moving chassis 1, a housing 4 is attached. It should be noted that in this application, by using an omnidirectional driven wheel 3 as a driven wheel, the mobility and flexibility of the mobile robot are improved, and it is applicable to various complex terrain environments. Inside the robot, a differential control system and a control unit are included. The differential control system controls the speed difference between the driving wheels on both sides and is used to realize the direction change of the chassis. The control unit receives external commands and is used to control the operations of the differential control system and the omnidirectional driven wheel 3. Furthermore, it should be noted that the omnidirectional driven wheel 3 uses a structure such as a spherical roller or a Mecanum wheel to achieve movement in all directions, and the robot can also achieve lateral displacement without changing its forward direction, thereby reinforcing the robot's flexibility. A connection seat 5 is connected to the bottom of the mobile chassis 1, a dual motor 6 is mounted inside the connection seat 5, a drive rod 7 is connected to the output end of the dual motor 6, a first bevel tooth 8 is connected to the end of the drive rod 7, two connection plates 9 are connected inside the connection seat 5, two screw rods 10 pass through the bottom of the connection seat 5, a second bevel tooth 24 is connected to one end of the two screw rods 10, two connection frames 11 are connected to the bottom of the connection seat 5, screw connection blocks 12 are screw-connected to the outer walls of the two screw rods 10, a support frame 13 is connected to the outer wall of the screw connection block 12, and a support plate 14 is installed at the bottom of the support frame 13. It should be noted that the support frame 13 is U-shaped, and both ends are connected to a single screw connection block 12.

[0023] Preferably, the two screw rods 10 are distributed symmetrically, and one end of each screw rod 10 is rotatably connected to the connecting seat 5 via a bearing, the screw rods 10 are located inside the connecting frame 11, and one end of each screw rod 10 forms a rotatable connection structure with the connecting frame 11 via a bearing, the first bevel teeth 8 and the second bevel teeth 24 are meshed, and the end of the drive rod 7 penetrates the surface of the connecting plate 9.

[0024] In specific use, the dual motor 6 moves the drive rod 7 to rotate clockwise, and the meshing relationship between the first bevel tooth 8 and the second bevel tooth 24 is used to move and rotate the two screw rods 10. As the two screw rods 10 rotate, the screw connection block 12, which is screw-connected to its outer wall, moves the support frame 13 downwards, and at this time the support plate 14 at the bottom of the support frame 13 comes into contact with the ground, thereby fixing the mobile chassis 1 and improving the stability of the mobile robot. Conversely, the dual motors 6 move the drive rod 7 to rotate it counterclockwise, causing the two screw rods 10 to rotate simultaneously in opposite directions. The screw connection block 12, which is screw-connected to the outer walls of the two screw rods 10, moves the support frame 13 to raise it, thereby lifting the support plate 14 at the bottom. It should be noted that the terminals for the dual motor 6 are connected to the robot's electronic control power supply.

[0025] Preferably, two mounting insert blocks 15 are connected to the top of the support plate 14, stopper locking grooves 16 are provided in the outer walls of the two mounting insert blocks 15, a mounting seat 17 is connected to the inside of the support frame 13, a return spring 18 is installed inside the mounting seat 17, a movable block 19 is connected to the end of the return spring 18, a stopper locking pin 20 is connected to one end of the movable block 19, and a dial block 21 is connected to the outer wall of the movable block 19. The bottom of the support frame 13 has two mounting slots 22, the stopper locking groove 16 is sized to fit one end of the stopper locking pin 20, and the mounting insert block 15 can pass through the bottom of the support frame 13 via the mounting slots 22. The support frame 13 can form an elastic engagement structure with the support plate 14 via the mounting insert block 15, the stopper locking groove 16, the mounting seat 17, the return spring 18, the movable block 19, the stopper locking pin 20, the dial block 21, and the mounting slots 22.

[0026] When actually using it, the dial block 21 rotates the movable block 19 to move and retract the stopper locking pin 20, allowing one end of the stopper locking pin 20 to be released from the stopper locking groove 16 on the outer wall of the mounting insert block 15, and by pulling the support plate 14 downwards and releasing it from the mounting slot 22, the support plate 14 can be easily removed from the bottom of the support frame 13. Conversely, the dial block 21 rotates the movable block 19, moving and retracting the stopper locking pin 20, and the mounting insert block 15 at the top of the support plate 14 is inserted along the mounting slot 22, positioning the two mounting insert blocks 15 at both ends of the mounting seat 17. When the dial block 21 is released at this point, the stopper locking pin 20 is ejected by the action of the return spring 18 and inserted into the stopper locking groove 16, thereby attaching the support plate 14 to the bottom of the support frame 13. It is important to note that before attaching or detaching the support plate 14, you must first lift the support plate 14.

[0027] Preferably, an anti-slip pad 23 is attached to the bottom of the support plate 14. It should be noted that the anti-slip pad 23 is bonded using K11 general-purpose waterproof adhesive, and bonding with general-purpose waterproof adhesive provides good waterproofing and can be used in humid areas.

[0028] When actually using the support plate 14, by attaching the anti-slip pad 23 to the bottom of the support plate 14, the anti-slip pad 23 improves the frictional force with the ground when the support plate 14 comes into contact with the ground, thereby preventing slippage and improving grip on slippery or inclined surfaces.

[0029] Operating principle: First, the dual motor 6 moves the drive rod 7 to rotate clockwise, and the meshing relationship between the first bevel tooth 8 and the second bevel tooth 24 is used to move and rotate the two screw rods 10. As the two screw rods 10 rotate, the screw connection block 12, which is screw-connected to its outer wall, moves the support frame 13 and lowers. At this time, the support plate 14 at the bottom of the support frame 13 contacts the ground, fixing the mobile chassis 1 and improving the stability of the mobile robot. Furthermore, by attaching anti-slip pads 23 to the bottom of the support plate 14, when the support plate 14 contacts the ground, the anti-slip pads 23 improve the frictional force with the ground and prevent slipping, thereby improving grip on slippery or inclined surfaces, and acting as a driven wheel in all directions. The use of the drive wheels 3 improves the mobility and flexibility of the mobile robot. The omnidirectional drive wheels 3 use structures such as spherical rollers or Mecanum wheels to achieve omnidirectional movement, and the robot can achieve lateral displacement without changing its forward direction, thereby reinforcing the robot's flexibility. When it is necessary to remove the support plate 14, the dial block 21 rotates the movable block 19 to move and retract the stopper locking pin 20, allowing one end of the stopper locking pin 20 to be released from the stopper locking groove 16 on the outer wall of the mounting insert block 15. The support plate 14 can then be easily removed from the bottom of the support frame 13 by pulling it downwards and releasing it from the mounting slot 22.

[0030] Finally, it should be noted that the foregoing are merely preferred embodiments of the present invention and are not intended to limit it. While the present invention has been described in detail with reference to the embodiments described above, it is still possible for those skilled in the art to modify the technical proposals described in the embodiments above, or to replace some of their technical features with equivalents. Any modifications, equivalent replacements, improvements, etc., made within the spirit and principles of the present invention should be within the scope of protection of the present invention. [Explanation of Symbols]

[0031] 1. Mobile chassis, 2. Motor-driven main wheel, 3. Omnidirectional driven wheel, 4. Housing, 5. Connection seat, 6. Dual motor, 7. Drive rod, 8. First bevel tooth, 9. Connection plate, 10. Screw rod, 11. Connection frame, 12. Screw connection block, 13. Support frame, 14. Support plate, 15. Mounting insert block, 16. Stopper locking groove, 17. Mounting seat, 18. Return spring, 19. Movable block, 20. Stopper locking pin, 21. Dial block, 22. Mounting slot, 23. Anti-slip pad, 24. Second bevel tooth

Claims

1. A two-wheel differential mobile chassis, including a mobile chassis (1), using omnidirectional wheels as driven wheels, wherein a motor-driven main wheel (2) is attached to the bottom of the mobile chassis (1), an omnidirectional driven wheel (3) is attached to the bottom of the mobile chassis (1), and a housing (4) is attached to the outer wall of the mobile chassis (1). A connecting seat (5) is connected to the bottom of the mobile chassis (1), a dual motor (6) is mounted inside the connecting seat (5), a drive rod (7) is connected to the output end of the dual motor (6), a first bevel tooth (8) is connected to the end of the drive rod (7), two connecting plates (9) are connected inside the connecting seat (5), two screw rods (10) pass through the bottom of the connecting seat (5), and the two screw rods ( A two-wheel differential drive chassis using omnidirectional wheels as driven wheels, characterized in that a second bevel tooth (24) is connected to one end of the 10), two connecting frames (11) are connected to the bottom of the connecting seat (5), screw connecting blocks (12) are screw-connected to the outer walls of the two screw rods (10), a support frame (13) is connected to the outer wall of the screw connecting block (12), and a support plate (14) is installed at the bottom of the support frame (13).

2. A two-wheel differential drive chassis using omnidirectional wheels as driven wheels, characterized in that the two screw rods (10) are distributed symmetrically between them, and one end of each screw rod (10) is rotatably connected to a connecting seat (5) via a bearing.

3. The two-wheel differential drive chassis using omnidirectional wheels as driven wheels, characterized in that the screw rod (10) is located inside the connecting frame (11), and one end of the screw rod (10) is connected to the connecting frame (11) via a bearing to form a rotational connection structure, as described in claim 1.

4. The two-wheel differential drive chassis according to claim 1, characterized in that the first bevel teeth (8) and the second bevel teeth (24) are meshed together, and an omnidirectional wheel is used as the driven wheel.

5. The two-wheel differential drive chassis according to claim 1, characterized in that the end of the drive rod (7) penetrates the surface of the connecting plate (9), and uses omnidirectional wheels as driven wheels.

6. The two-wheel differential drive chassis according to claim 1, characterized in that two mounting insert blocks (15) are connected to the top of the support plate (14), stopper locking grooves (16) are provided in the outer walls of the two mounting insert blocks (15), a mounting seat (17) is connected to the inside of the support frame (13), a return spring (18) is installed inside the mounting seat (17), a movable block (19) is connected to the end of the return spring (18), a stopper locking pin (20) is connected to one end of the movable block (19), a dial block (21) is connected to the outer wall of the movable block (19), and two mounting slots (22) are provided in the bottom of the support frame (13).

7. The two-wheel differential drive chassis using omnidirectional wheels as driven wheels according to claim 6, characterized in that the stopper locking groove (16) is sized to fit one end of the stopper locking pin (20).

8. The two-wheel differential drive chassis using omnidirectional wheels as driven wheels, characterized in that the mounting insert block (15) can penetrate the bottom of the support frame (13) via a mounting slot (22), as described in claim 6.

9. The two-wheel differential drive chassis using omnidirectional wheels as driven wheels, characterized in that the support frame (13) can form an elastic engagement structure with the support plate (14) via a mounting insert block (15), a stopper locking groove (16), a mounting seat (17), a return spring (18), a movable block (19), a stopper locking pin (20), a dial block (21), and a mounting slot (22), as described in claim 6.

10. A two-wheel differential drive chassis using omnidirectional wheels as driven wheels, characterized in that a non-slip pad (23) is attached to the bottom of the support plate (14) according to claim 1.

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