Two-wheel differential moving chassis using omnidirectional wheels as driven wheels

Abstract

To provide a two-wheel differential moving chassis using omnidirectional wheels that can improve stability. [Solution] A motor-driven main wheel, an omnidirectional driven wheel, and a connecting seat are connected to the bottom of the mobile chassis, and a dual motor is installed inside the connecting seat. A drive rod is connected to the output end of the dual motor, and a first bevel tooth is connected to the end of the drive rod. The dual motor drives the drive rod to rotate clockwise, and the meshing relationship between the first bevel tooth and the second bevel tooth is used to drive and rotate two screw rods. As the two screw rods rotate, a screw connection block screwed to the outer wall moves and lowers the support frame, and the support plate at the bottom of the support frame contacts the ground to fix the mobile chassis, thereby improving the stability of the mobile robot.

Description

[Technical Field]

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

[0002] The movement principle of the two-wheel differential mobile chassis is based on controlling the difference in rotational speed between the two wheels. When the two wheels rotate at the same speed, the robot moves along a straight line. On the other hand, when the two wheels rotate at different speeds, the robot rotates around a center point. Therefore, by precisely controlling the difference in rotational speed between the two wheels, the robot can achieve various curved movements and direction changes.

[0003] Currently, in the process of using a conventional robot two-wheel differential moving chassis, the robot generally moves using motor-driven wheels, and after the rotation of the motor-driven wheels stops, the robot will stop in place. However, when the robot stops on a slope or is pushed by an external force, the robot chassis does not have a good fixing structure, so the chassis will move to a certain extent, reducing stability. Summary of the Invention [Problem to be solved by the invention]

[0004] The object of the present invention is to provide a two-wheel differential mobile chassis that uses omnidirectional wheels as driven wheels to solve the problem that, in the process of using a conventional robot two-wheel differential mobile chassis, the robot generally moves using motor-driven wheels, and stops in place after the rotation of the motor-driven wheels stops. However, when the robot stops on a slope or is pushed by an external force, the chassis moves to a certain extent due to the poor fixing structure of the robot chassis, thereby reducing stability. [Means for solving the problem]

[0005] To achieve the above object, the present invention provides the following technical solution: A two-wheel differential mobile chassis using omnidirectional wheels as driven wheels, comprising a mobile chassis, a motor-driven main wheel attached to the bottom of the mobile chassis, an omnidirectional driven wheel attached to the bottom of the mobile chassis, and a housing attached to the outer wall of the mobile chassis; A connecting seat is connected to the bottom of the moving chassis, a dual motor is installed inside the connecting seat, a driving rod is connected to the output end of the dual motor, a first bevel tooth is connected to the end of the driving rod, two connecting plates are connected inside the connecting seat, two threaded rods pass through the bottom of the connecting seat, one end of the two threaded rods is connected to a second bevel tooth, two connecting frames are connected to the bottom of the connecting seat, screw connection blocks are screwed to the outer walls of the two threaded 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 movement chassis using omnidirectional wheels as driven wheels of the present invention, preferably, the distance between the two screw rods is symmetrically distributed, and one end of each of the two screw rods is rotatably connected to the connecting seat via a bearing.

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

[0008] In the two-wheel differential movement chassis using omnidirectional wheels as driven wheels of the present invention, preferably, the first bevel teeth and the second bevel teeth are meshed with each other.

[0009] In the two-wheel differential movement chassis using omni-directional wheels as driven wheels of the present invention, preferably, the end of the driving rod penetrates the surface of the connecting plate.

[0010] In the two-wheel differential movement chassis using omnidirectional wheels as driven wheels of the present invention, preferably, two mounting insert blocks are connected to the top of the support plate, stopper locking grooves are opened on 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 opened at the bottom of the support frame.

[0011] In the two-wheel differential movement chassis using omnidirectional wheels as driven wheels of the present invention, preferably, the stopper locking groove is adapted to the size of one end of the stopper locking pin.

[0012] As the two-wheel differential movement chassis using omni-directional wheels as driven wheels of the present invention, preferably, the mounting insert block can penetrate the bottom of the support frame through the mounting slot.

[0013] In the two-wheel differential movement chassis using omnidirectional wheels as driven wheels of the present invention, preferably, the support frame can form an elastic engagement structure with the support plate via a mounting insert block, a stopper locking groove, a mounting seat, a return spring, a movable block, a stopper locking pin, a dial block, and a mounting slot.

[0014] In the two-wheel differential movement chassis using omnidirectional wheels as driven wheels of the present invention, preferably, anti-slip pads are attached to the bottom of the support plate. [Effects of the Invention]

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] The dual motors drive the driving rod to rotate clockwise, and the meshing relationship between the first bevel tooth and the second bevel tooth is used to drive and rotate the two screw rods. As the two screw rods rotate, the screw connection blocks screwed to the outer walls of the screw rods move and lower the support frame. At this time, the support plate at the bottom of the support frame contacts the ground to fix the mobile chassis, thereby improving the stability of the mobile robot.

[0017] The dial block is used to turn the movable block to move and contract the stopper locking pin, thereby disengaging one end of the stopper locking pin from the stopper locking groove on the outer wall of the mounting insert block, and the support plate is pulled downward to disengage it from the mounting slot, thereby easily removing the support plate from the bottom of the support frame and facilitating subsequent replacement.

[0018] By gluing an anti-slip pad to the bottom of the support plate, when the support plate comes into contact with the ground, the anti-slip pad increases the friction with the ground and prevents slipping, thereby improving grip on slippery or inclined surfaces.

[0019] The use of omnidirectional driven wheels as driven wheels improves the mobility and flexibility of the mobile robot, allowing it to be adapted to various complex terrain environments. The omnidirectional driven wheels use structures such as spherical rollers or Mecanum wheels to achieve omnidirectional movement, and the robot can also achieve lateral displacement without changing its forward direction, thereby enhancing the flexibility of the robot. [Brief explanation of the drawings]

[0020] The drawings are included to provide a further understanding of the invention, constitute a part of the specification, and together with the examples of the invention are intended to explain the invention and are not to be construed as limiting the invention. [Figure 1] FIG. 1 is a schematic diagram of the bottom structure of the present invention. [Figure 2]FIG. 2 is a schematic front view of the structure of the present invention. [Figure 3] FIG. 3 is a schematic diagram of the bottom cross-sectional structure of the mobile chassis of the present invention. [Figure 4] FIG. 4 is a schematic front cross-sectional view of the mobile chassis of the present invention. [Figure 5] FIG. 5 is an enlarged structural schematic diagram of A of the present invention. [Figure 6] FIG. 6 is an enlarged structural schematic diagram of B of the present invention. [Figure 7] FIG. 7 is an enlarged structural schematic diagram of C of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] The following clearly and completely describes the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any creative efforts are all within the protection scope of the present invention.

[0022] The technical solution according to the embodiment of the present invention will be described with reference to Figures 1 to 7. The two-wheel differential mobile chassis uses omnidirectional wheels as driven wheels, and includes a mobile chassis 1, a motor-driven main wheel 2 attached to the bottom of the mobile chassis 1, an omnidirectional driven wheel 3 attached to the bottom of the mobile chassis 1, and a housing 4 attached to the outer wall of the mobile chassis 1. It should be noted that the present application improves the mobility and flexibility of the mobile robot by using omnidirectional driven wheels 3 as driven wheels, and is applicable to various complex terrain environments. The robot includes a differential control system and a control unit. The differential control system is used to control the speed difference between the driving wheels on both sides and realize the turning of the chassis. The control unit is used to receive external commands and control the operation of the differential control system and the omnidirectional driven wheels 3. It should be further noted that the omnidirectional driven wheels 3 use structures such as spherical rollers or Mecanum wheels, which can realize omnidirectional movement, and the robot can also realize lateral displacement without changing the forward direction, thereby enhancing the flexibility of the robot. A connecting seat 5 is connected to the bottom of the moving chassis 1, a dual motor 6 is installed inside the connecting seat 5, a driving 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 driving 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, one end of the two screw rods 10 is connected to a second bevel tooth 24, two connecting frames 11 are connected to the bottom of the connecting seat 5, screw connection blocks 12 are screwed 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 thereof are connected to one screw connection block 12 respectively.

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

[0024] In concrete use, the dual motor 6 drives the driving rod 7 to rotate clockwise, and the meshing relationship between the first bevel tooth 8 and the second bevel tooth 24 drives the two threaded rods 10 to rotate. As the two threaded rods 10 rotate, the threaded connection block 12 screwed to the outer wall of the two threaded rods 10 moves and lowers the support frame 13. At this time, the support plate 14 at the bottom of the support frame 13 contacts the ground to fix the mobile chassis 1, thereby improving the stability of the mobile robot. Conversely, the dual motor 6 drives the driving rod 7 to rotate counterclockwise, and the two screw rods 10 rotate in the opposite direction at the same time. The screw connection block 12, which is screw-connected to the outer walls of the two screw rods 10, moves and raises the support frame 13, thereby lifting the bottom support plate 14. It should be noted that the terminals of the dual motor 6 are connected to the electronic control power supply of the robot.

[0025] Preferably, two mounting insert blocks 15 are connected to the top of the support plate 14, and stopper locking grooves 16 are formed on 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, and 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. Two mounting slots 22 are formed at the bottom of the support frame 13, and the stopper locking groove 16 is sized to fit one end of the stopper locking pin 20. The mounting insert block 15 can pass through the bottom of the support frame 13 through 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, stopper locking groove 16, mounting seat 17, return spring 18, movable block 19, stopper locking pin 20, dial block 21, and mounting slots 22.

[0026] In concrete use, the dial block 21 is used to rotate the movable block 19 to move and contract the stopper locking pin 20, so that one end of the stopper locking pin 20 is released from the stopper locking groove 16 on the outer wall of the mounting insert block 15, and the support plate 14 is pulled downward to release it from the mounting slot 22, so that the support plate 14 can be easily removed from the bottom of the support frame 13. Conversely, the dial block 21 is used to rotate the movable block 19, causing the stopper locking pin 20 to move and contract, and the mounting insert block 15 on the top of the support plate 14 is inserted along the mounting slot 22, so that the two mounting insert blocks 15 are positioned at both ends of the mounting seat 17, respectively. At this time, when the dial block 21 is released, 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 should be noted that before attaching or detaching the support plate 14, the support plate 14 must first be lifted up.

[0027] Preferably, a non-slip pad 23 is attached to the bottom of the support plate 14. It should be noted that the anti-slip pad 23 is adhered using K11 general-purpose waterproof adhesive, which has good waterproof properties and can be used in humid areas.

[0028] Specifically, when used, by adhering the anti-slip pad 23 to the bottom of the support plate 14, when the support plate 14 comes into contact with the ground, the anti-slip pad 23 increases the friction with the ground, preventing slipping, thereby improving grip on slippery or inclined surfaces.

[0029] Working principle: First, the dual motor 6 drives the driving rod 7 to rotate clockwise, and then the meshing relationship between the first bevel tooth 8 and the second bevel tooth 24 drives and rotates the two screw rods 10. As the two screw rods 10 rotate, the screw connection block 12 screwed to the outer wall of the two screw rods 10 moves and lowers the support frame 13. At this time, the support plate 14 at the bottom of the support frame 13 comes into contact with the ground to fix the mobile chassis 1, thereby improving the stability of the mobile robot. At the same time, the anti-slip pad 23 is attached to the bottom of the support plate 14. When the support plate 14 comes into contact with the ground, the anti-slip pad 23 increases the friction with the ground, preventing slipping, thereby improving the grip on sliding or inclined surfaces. As a driven wheel, it can be used as an omnidirectional driven wheel. The use of driving wheels 3 improves the mobility and flexibility of the mobile robot, while the omnidirectional driven wheels 3, which use structures such as spherical rollers or Mecanum wheels, can achieve omnidirectional movement and allow the robot to achieve lateral displacement without changing its forward direction, thereby enhancing the flexibility of the robot. When it is necessary to remove the support plate 14, the dial block 21 is used to turn the movable block 19 to move and contract 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 the support plate 14 can then be pulled downward to release it from the mounting slot 22, thereby easily removing the support plate 14 from the bottom of the support frame 13.

[0030] Finally, it should be noted that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention. [Explanation of symbols]

[0031] 1, moving chassis, 2, motor-driven main wheel, 3, omnidirectional driven wheel, 4, housing, 5, connecting seat, 6, dual motor, 7, driving rod, 8, first bevel tooth, 9, connecting plate, 10, threaded rod, 11, connecting frame, 12, threaded connection block, 13, support frame, 14, supporting plate, 15, mounting insert block, 16, stopper locking groove, 17, mounting seat, 18, return spring, 19, moving 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 using omnidirectional wheels as driven wheels, including a mobile chassis (1), 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 moving chassis (1), a dual motor (6) is installed inside the connecting seat (5), a driving 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 driving 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 second bevel tooth (24) is connected to one end of the connecting seat (5), two connecting frames (11) are connected to the bottom of the connecting seat (5), a screw connection block (12) is screw-connected to the outer wall 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).

2. The two-wheel differential movement chassis using omnidirectional wheels as driven wheels according to claim 1, characterized in that the two threaded rods (10) are symmetrically distributed, and one end of each of the two threaded rods (10) is rotatably connected to a connecting seat (5) via a bearing.

3. The two-wheel differential movement chassis using omnidirectional wheels as driven wheels as claimed in claim 1, characterized in that the threaded rod (10) is located inside the connecting frame (11), and one end of the threaded rod (10) forms a rotational connection structure with the connecting frame (11) through a bearing.

4. 2. The two-wheel differential movement chassis using omni-directional wheels as driven wheels according to claim 1, wherein the first bevel teeth (8) and the second bevel teeth (24) are meshed with each other.

5. The two-wheel differential movement chassis using omni-directional wheels as driven wheels according to claim 1, characterized in that the ends of the drive rods (7) penetrate the surface of the connecting plate (9).

6. 2. The two-wheel differential movement chassis using omnidirectional wheels as driven wheels according to claim 1, characterized in that: two mounting insert blocks (15) are connected to the top of the support plate (14), and stopper locking grooves (16) are opened on 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), an end of the return spring (18) is connected to a movable block (19), one end of the movable block (19) is connected to a stopper locking pin (20), a dial block (21) is connected to the outer wall of the movable block (19), and two mounting slots (22) are opened on the bottom of the support frame (13).

7. 7. The two-wheel differential movement chassis using omnidirectional wheels as driven wheels according to claim 6, wherein the stopper locking groove (16) is adapted to the size of one end of the stopper locking pin (20).

8. The two-wheel differential movement chassis using omni-directional wheels as driven wheels according to claim 6, characterized in that the mounting insert block (15) can penetrate the bottom of the support frame (13) through a mounting slot (22).

9. The two-wheel differential movement chassis using omnidirectional wheels as driven wheels according to claim 6, 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).

10. The two-wheel differential movement chassis using omni-directional wheels as driven wheels according to claim 1, characterized in that anti-skid pads (23) are glued to the bottom of the support plate (14).

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