CN110695953A - Three-wheeled robot and chassis thereof - Google Patents

Three-wheeled robot and chassis thereof Download PDF

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Publication number
CN110695953A
CN110695953A CN201910848247.1A CN201910848247A CN110695953A CN 110695953 A CN110695953 A CN 110695953A CN 201910848247 A CN201910848247 A CN 201910848247A CN 110695953 A CN110695953 A CN 110695953A
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CN
China
Prior art keywords
chassis
wheeled robot
driving
driving wheels
robot
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Pending
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CN201910848247.1A
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Chinese (zh)
Inventor
姚子红
毛祖意
熊友军
白涛
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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Priority to CN201910848247.1A priority Critical patent/CN110695953A/en
Publication of CN110695953A publication Critical patent/CN110695953A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0002—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
    • B60B33/0005—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture characterised by mounting method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical

Abstract

The invention belongs to the technical field of robots, and relates to a three-wheeled robot and a chassis thereof. The mounting shell is rotatably provided with two driving wheels and a universal wheel, and the two driving wheels and the universal wheel are distributed in a triangular three-end-point manner. Two drive wheels are driven by independent drive assembly respectively and are rotated, therefore, two drive wheels can rotate in one positive rotation and the other negative rotation simultaneously, or rotate in the positive rotation simultaneously, or rotate in the negative rotation simultaneously, and then make the robot can be stable and reliable's zero radius rotation, straight line walking, high difficulty's such as quarter turn motion. The chassis of the three-wheeled robot is simple in overall structure, flexible in movement, high in control precision and low in cost. The problem that the ordinary four-wheeled robot can not turn at zero radius is solved, and the problem that the ordinary two-wheeled robot is too high in cost is solved.

Description

Three-wheeled robot and chassis thereof
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a three-wheeled robot and a chassis thereof.
Background
With the development of society and the improvement of living standard of people, the desktop type robot is more and more popular with consumers. In the actual use process, the robot is required to be low in cost, strong in motion performance, quick in movement and stable and reliable in motion. Most of the existing desktop robots adopt a four-wheel structure, a two-wheel balance car structure and a crawler-type structure. The four-wheel structure can not meet the flexible control requirement of zero-radius rotation, and the two-wheel balance car has the advantages of complex structure control and structure, high requirement, high cost, and can not meet the requirements of stability and low cost. The robot with the crawler structure can not be applied to terrains with slightly large height drop.
Disclosure of Invention
The invention aims to provide a chassis of a three-wheeled robot, and aims to solve the technical problems of complex structure, weak motion performance and insufficient agility in movement of the conventional desktop robot.
The embodiment of the invention provides a chassis of a three-wheeled robot, which comprises:
mounting a shell;
two driving wheels which are arranged at intervals and rotatably installed on the installation shell;
the driving components are used for driving the driving wheels to rotate in a one-to-one correspondence manner; and
the two driving wheels and the universal wheel are distributed in a triangular shape with three endpoints.
Optionally, both sides of the mounting shell are respectively provided with an accommodating groove for accommodating the driving wheel, and the output end of the driving assembly extends out of the bottom surface of the accommodating groove and is fixedly connected with the driving wheel.
Optionally, the driving wheel includes a hub and a tire disposed outside the hub, and the hub and the tire are formed by in-mold injection molding.
Optionally, the mounting shell includes a middle shell and two side shells respectively mounted on two sides of the middle shell, and a mounting area for accommodating one of the driving assemblies is formed between each of the side shells and the middle shell.
Optionally, each of the driving assemblies includes a driving motor mounted to the middle case and a transmission mechanism for transmitting power of the driving motor to the driving wheel.
Optionally, speed measuring code discs for rotating along with the transmission mechanism are respectively rotatably mounted on two sides of the middle shell, and photodetectors for detecting the rotating speed of the transmission mechanism are further arranged on two sides of the middle shell and correspondingly matched with the speed measuring code discs one by one.
Optionally, circuit boards are mounted at the bottoms of the middle shell and the two side shells, and the circuit boards are provided with a radio frequency identification interface, an extended function key interface, an extended control interface and/or a color sensor.
Optionally, the mounting case further includes a bottom case covering the bottom of the circuit board.
Optionally, a ratio of a center distance of the two driving wheels to a distance from a center of mass of the three-wheeled robot chassis to a grounding point connecting line of the two driving wheels is greater than or equal to 3.6, a ratio of a distance from a grounding point of the universal wheel to a grounding point connecting line of the two driving wheels to a distance from a center of mass of the three-wheeled robot chassis to a grounding point connecting line of the two driving wheels is greater than or equal to 4, and a ratio of a height from a center of mass of the three-wheeled robot chassis to a ground to a distance from a center of mass of the three-wheeled robot chassis to a grounding point connecting line of the two driving wheels is greater than or equal to 2.
The embodiment of the invention provides a three-wheeled robot, which comprises the chassis of the three-wheeled robot.
One or more technical schemes in the three-wheeled robot chassis provided by the invention have at least one of the following technical effects: the mounting shell is rotatably provided with two driving wheels and a universal wheel, and the two driving wheels and the universal wheel are distributed in a triangular three-end-point manner. Two drive wheels are driven by independent drive assembly respectively and are rotated, therefore, two drive wheels can rotate in one positive rotation and the other negative rotation simultaneously, or rotate in the positive rotation simultaneously, or rotate in the negative rotation simultaneously, and then make the robot can be stable and reliable's zero radius rotation, straight line walking, high difficulty's such as quarter turn motion. The chassis of the three-wheeled robot is simple in overall structure, flexible in movement, high in control precision and low in cost. The problem that the ordinary four-wheeled robot can not turn at zero radius is solved, and the problem that the ordinary two-wheeled robot is too high in cost is solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a perspective assembly view of a chassis of a three-wheeled robot provided by an embodiment of the present invention;
FIG. 2 is another angular perspective assembly view of the chassis of the three-wheeled robot of FIG. 1;
FIG. 3 is an exploded perspective view of the chassis of the three-wheeled robot of FIG. 1;
FIG. 4 is a schematic view of the assembly of the mounting case, the driving assembly and the circuit board applied to the chassis of the three-wheeled robot of FIG. 3;
FIG. 5 is an exploded perspective view of the chassis of the three-wheeled robot of FIG. 4;
FIG. 6 is a bottom view of the chassis of the three-wheeled robot of FIG. 1;
FIGS. 7(a) and 7(b) are diagrams of the centroid positions of the chassis of the three-wheeled robot on the horizontal plane and the vertical plane respectively;
FIG. 8 is a front force diagram of the chassis of the three-wheeled robot of FIG. 1;
FIG. 9 is a force analysis diagram of the chassis of the three-wheeled robot of FIG. 1 turning left;
fig. 10 is a force analysis diagram of the chassis of the three-wheeled robot of fig. 1 when it is advanced.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the embodiments of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
Referring to fig. 1 to 4, an embodiment of the present invention provides a chassis for a three-wheeled robot, which is suitable for a three-wheeled desktop robot or other robots, and provides the robot with moving and supporting functions. The chassis of the three-wheeled robot comprises a mounting shell 10, a driving wheel 20, a driving assembly 30 and a universal wheel 40. Two driving wheels 20 are provided at an interval, and the driving wheels 20 are rotatably mounted on the mounting case 10. The two driving assemblies 30 are used for driving the two driving wheels 20 to rotate in a one-to-one correspondence. The universal wheel 40 is movably mounted on the mounting shell 10, and the two driving wheels 20 and the universal wheel 40 are distributed in a triangular shape with three endpoints.
The mounting shell 10 is rotatably provided with two driving wheels 20 and a universal wheel 40, and the two driving wheels 20 and the universal wheel 40 are distributed in a triangular shape with three endpoints. The two driving wheels 20 are driven by the independent driving components 30 to rotate respectively, so that the two driving wheels 20 can rotate forwards and backwards simultaneously, or rotate forwards and backwards simultaneously, and further the robot can stably and reliably move with high difficulty such as zero-radius rotation, straight line walking, right-angle turning and the like. The chassis of the three-wheeled robot is simple in overall structure, flexible in movement, high in control precision and low in cost. The problem that the ordinary four-wheeled robot can not turn at zero radius is solved, and the problem that the ordinary two-wheeled robot is too high in cost is solved.
In another embodiment of the present invention, the mounting case 10 is mounted with an extension case 50, and the extension case 52 is used for mounting extension parts. The expansion parts can be functional modules such as a power supply 51 and a sensor which are necessary for the robot, and the expansion parts are different according to different requirements, so that the purpose that the robot chassis can adapt to more scenes is achieved.
In another embodiment of the present invention, a power supply 51 is mounted on the mounting case 10 for supplying power to the driving motor 31. Specifically, the power supply 51 and the wiring board 60 are connected by an electric wire 52.
In another embodiment of the present invention, the universal wheel 40 is mounted on the bottom of the mounting housing 10 to be rotatable in any direction with minimal resistance. Specifically, the universal wheel 40 can be made by grinding zirconia ceramic balls, the hardness reaches 1200HV, the surface roughness reaches Ra 5 μm, the resistance can be greatly reduced, and the repeated reliability of the robot chassis is ensured.
In another embodiment of the present invention, the two driving wheels 20 and the universal wheel 40 are distributed in three points of an isosceles triangle, wherein the connecting line of the two driving wheels 20 is the bottom side of the triangle, and the connecting line of the driving wheels 20 and the universal wheel 40 is respectively used as the two waists of the triangle.
In another embodiment of the present invention, both sides of the mounting case 10 are respectively provided with receiving grooves 121 for receiving the driving wheel 20, and the output end 30a of the driving assembly 30 protrudes out of the bottom surfaces of the receiving grooves 121 and is fixedly connected with the driving wheel 20. The structure is easy to form, is convenient for assembling the driving wheel 20 and the driving assembly 30, and can also protect the driving wheel 20 and avoid the driving wheel 20 from being exposed too much. Specifically, the shape of the receiving groove 121 is adapted to the driving wheel 20, so that most of the driving wheel 20 can be just received in the receiving groove 121. The accommodation groove 121 is formed in the surface of the below-described side case 12.
In another embodiment of the present invention, the two driving wheels 20 have the same structure, which simplifies the production and the subsequent maintenance of the product. Specifically, the driving wheel 20 includes a hub 21 and a tire 22 disposed outside the hub 21, and the hub 21 and the tire 22 are formed by in-mold injection molding. This structure is easy to form, making the tire 22 wear resistant and improving structural reliability. Specifically, the tire 22 is a rubber tire, the hub 21 is a resin hub, so that in-mold injection molding is conveniently realized, and the tire 22 is wear-resistant.
Referring to fig. 3, in another embodiment of the present invention, the circumferential surface of the hub 21 is provided with an annular groove 211, so that the injection molding material can enter the annular groove 211 to form an annular structure 221 matching with the annular groove 211 during the in-mold injection, and the tire 22 has the annular structure 221, so that the tire 22 can be tightly connected to the outside of the hub 21, and the two are firmly connected.
In another embodiment of the present invention, two driving wheels 20 need to rotate forward and backward simultaneously, so that there is a high requirement for the grip force, and the greater the grip force, the less the tire 22 is slippery, and the great help is provided for the control accuracy and the speed-up performance. The surface of the tire 22 is provided with a V-shaped pattern 222, which makes full use of the edges of the V-shaped pattern to provide greater grip.
Referring to fig. 3 to 5, in another embodiment of the present invention, the mounting case 10 includes a middle case 11 and two side cases 12 respectively mounted on two sides of the middle case 11, and a mounting area 13 for accommodating a driving assembly 30 is formed between each side case 12 and the middle case 11. This structure is easy to assemble, enables drive assembly 30 to be isolated from the outside, enables two drive assemblies 30 to be isolated, and protects drive assembly 30. Specifically, the middle shell 11 and the two side shells 12 can be connected by the fasteners 15, and the assembly is easy.
Referring to fig. 4 and 5, in another embodiment of the present invention, each driving assembly 30 includes a driving motor 31 mounted on the middle housing 11 and a transmission mechanism 32 for transmitting power of the driving motor 31 to the driving wheel 20. The transmission mechanism 32 can transmit the power of the drive motor 31 to the drive wheels 20 at a predetermined torque to control the drive wheels 20 to rotate. Two driving motors 31 are adjacently arranged, the two driving motors 31 penetrate through the middle shell 11, and output shafts of the two driving motors 31 respectively penetrate through two sides of the middle shell 11. In particular, the driving motor 31 may be a coreless motor, which is compact and easy to control.
In another embodiment of the present invention, the transmission 32 may be a gear transmission or other transmission. When the transmission mechanism 32 is a gear transmission mechanism, the rotating shafts 322 of the gear transmission mechanism 32, which are used for connecting the gears 321, are arranged along the longitudinal direction, that is, the advancing direction of the robot, two ends of the rotating shafts 322 are respectively supported on the middle shell 11 and the side shell 12, and the axis of the rotating shafts 322 is perpendicular to the advancing direction of the robot. The two ends of the rotating shaft 322 are respectively supported by the middle shell 11 and the side shell 12 through bearings, and thus the assembly is easy. Specifically, the gear transmission mechanism 32 may be a 5-stage gear transmission mechanism, and the predetermined power output is achieved, and the specific gear stage number is not limited.
In another embodiment of the present invention, two sides of the middle shell 11 are respectively rotatably installed with a speed measuring code wheel 33 for following the rotation of the transmission mechanism 32, and two sides of the middle shell 11 are further provided with a photo detector 34 for cooperating with the speed measuring code wheels 33 in a one-to-one correspondence manner to detect the rotation speed of the transmission mechanism 32. This solution enables the detection of the rotational speed of the transmission 32, i.e. of the driving wheel 20. By comparing the data detected by the two photodetectors 34 for adjustment, the rotation speeds output by the chassis of the robot to the two driving wheels 20 can be ensured to be consistent, so as to achieve the purpose of accurate control. Specifically, the photodetector 34 can be mounted on a wiring board 60 described below, and is compact.
In another embodiment of the present invention, the tachometer code disc 33 rotates synchronously with a detection gear 331, and the detection gear 331 is meshed with one of the gears 321 in the gear transmission mechanism, so that the tachometer code disc 33 rotates along with the transmission mechanism 32. Specifically, a partition plate 35 is arranged between the speed measuring coded disc 33 and the transmission mechanism 32, so that the speed measuring coded disc and the transmission mechanism are separated. The partition 35 is mounted on the inner wall of the side casing 12, and is easy to assemble.
Referring to fig. 1, 3 and 4, in another embodiment of the present invention, circuit boards 60 are mounted at the bottoms of the middle casing 11 and the two side casings 12, and the circuit boards 60 may be provided with different interfaces 60a, such as at least one of a radio frequency identification interface 61, an extended function key interface 62, an extended control interface 63 and a color sensor 64. The circuit board 60 is arranged at the bottom of the middle shell 11, so that the structure is compact and the wiring is convenient. The circuit board 60 can control the operation of the driving motor 31 and provide extended functions. Specifically, the RFID interface 61 can directly extend the RFID antenna for receiving RFID inductive signals. The extended function key interface 62 can be directly connected with the flexible circuit board 60 of the function key externally, and can extend rich key functions for system calling. The expansion control interface 63 can lead out control signals of the power supply 51 and the drive motor 31 to other robot expansion components. The circuit board 60 may extend the color sensor 64 for map tracking, automatic parking, etc. in desktop applications. These rich extended functions facilitate the utility and versatility of the robot chassis.
In another embodiment of the present invention, the interface 60a disposed on the circuit board 60 is disposed upward and outside the mounting case 10, which is convenient for wiring, and has a compact structure and a small occupied space.
In another embodiment of the present invention, the rfid interface 61 and the extended function key interface 62 are disposed at the front end of the mounting case 10 close to the driving wheel 20. The extended control interface 63 is provided at the rear side of one of the driving wheels 20 of the mounting case 10. The scheme is convenient for wiring, compact in structure and small in occupied space.
Referring to fig. 2 and 6, in another embodiment of the present invention, the mounting case 10 further includes a bottom case 14 covering the bottom of the circuit board 60. The bottom shell 14 can protect the circuit board 60 and prevent the circuit board 60 from being damaged by the ground during the moving process of the robot. When the color sensor 64 is disposed, the bottom case 14 is provided with a relief hole 141 corresponding to the color sensor 64, so that the color sensor 64 can receive signals conveniently. Specifically, the bottom case 14 may be mounted on the middle case 11 by fasteners.
Referring to fig. 2 and 7, in another embodiment of the present invention, a ratio of a center distance of the two driving wheels 20 to a distance from a centroid K of the three-wheeled robot chassis to a grounding point connecting line AB of the two driving wheels 20 is greater than or equal to 3.6, a ratio of a distance from a grounding point C of the universal wheel 40 to the grounding point connecting line AB of the two driving wheels 20 to a distance from the centroid K of the three-wheeled robot chassis to the grounding point connecting line AB of the two driving wheels 20 is greater than or equal to 4, and a ratio of a height from the centroid K of the three-wheeled robot chassis to the ground to a distance from the centroid K of the three-wheeled robot chassis to the grounding point connecting line AB of the two driving wheels 20 is greater than. The distance from the centroid K of the chassis of the three-wheeled robot to the grounding point connecting line AB of the two driving wheels 20 is the distance between the projection of the centroid K and the grounding point connecting line AB of the two driving wheels 20 on the horizontal plane. The scheme ensures that the three-wheeled robot has enough anti-rollover capacity and anti-longitudinal forward and backward tilting capacity, and ensures the stability of the chassis of the robot.
The following running performance analysis was performed with an example of a three-wheeled robot chassis that satisfies the following conditions:
the two driving wheels 20 and the universal wheel 40 are distributed in an isosceles triangle shape, the grounding points of the two driving wheels 20 are A, B respectively, and the grounding point of the universal wheel 40 is C; the center of mass K of the analyzed chassis is on the central line of the isosceles triangle;
the ratio of the center distance of the two driving wheels 20 to the distance from the center of mass K of the chassis of the three-wheeled robot to the grounding point connecting line AB of the two driving wheels 20 is equal to 3.6, namely AB is 3.6 DK;
the ratio of the distance from the grounding point C of the universal wheel 40 to the grounding point connecting line AB of the two driving wheels 20 to the distance from the mass center K of the chassis of the three-wheeled robot to the grounding point connecting line AB of the two driving wheels 20 is equal to 4, namely CD is 4. multidot. DK;
the ratio of the height of the centroid K of the three-wheeled robot chassis to the ground to the distance of the centroid K of the three-wheeled robot chassis to the grounding point connecting line AB of the two driving wheels 20 is equal to 2, i.e., EK ═ 2 × DK.
The rollover resistance of the three-wheeled robot is evaluated by a rollover threshold value, and the higher the rollover threshold value is, the stronger the rollover resistance is.
FIG. 8 is a front view of the force-bearing diagram of the three-wheeled robot, wherein m is the mass of the three-wheeled robot, and ayIs the lateral acceleration of the trolley, H is the height from the mass center K of the three-wheeled robot to the ground, FbActing force of the ground on the three-wheeled robot, S1Is the center-to-center distance between the two drive wheels 20, g is the acceleration of gravity, and β is the angle between AC and CD.
Fig. 9 is a force analysis of the three-wheeled robot when turning to the left, wherein o is a rotation center.
By
Figure BDA0002196011310000091
To obtain:
taking AC as an axis, the moment balance equation of the three-wheeled robot during turning is as follows:
mayH+FbSbm＝mg(KN)
to obtain: ma isyH+Fb(S1COSβ)＝mg(0.34S1)
When the three-wheeled robot is close to turning on the side, the ground acts on the three-wheeled robot by Fb0, this gives:
Figure BDA0002196011310000093
the rollover thresholds for a typical automobile are as follows:
vehicle model Rollover threshold/g
Sports car 1.2～1.7
Mini car 1.1～1.5
Luxury car 1.2～1.6
Pick-up truck 0.9～1.1
Passenger car 0.8～1.1
Medium truck 0.6～0.8
Heavy goods vehicle 0.4～0.6
Three-wheeled automobile 0.45
The table shows that the rollover threshold value of the three-wheeled robot provided by the embodiment of the invention exceeds that of a three-wheeled automobile and reaches the level of a medium-sized truck.
The forward tilting resistance of the three-wheeled robot is evaluated by the maximum forward tilting acceleration which can be reached, and the larger the maximum forward tilting acceleration is, the stronger the forward tilting resistance is.
As shown in FIG. 10, axIs the forward tilt acceleration. Taking AB as an axis and F as a central point of the driving wheel, the moment balance equation can be used for obtaining:
max(DF)＝mg(DK)
from the known conditions DF ═ EK ═ 2DK, we can conclude that:
the acceleration can meet the speed of 0.1 second to 49CM/S, and the speed can completely meet the requirements of desktop products.
The distance DK from the mass center K of the chassis of the three-wheeled robot to the grounding point connecting line AB of the two driving wheels 20 is kept as small as possible, and the increase of the height EK from the mass center K of the chassis of the three-wheeled robot to the ground is also kept as small as possible, so that the stability of the chassis of the three-wheeled robot is ensured. Namely, the chassis of the three-wheeled robot meets the following conditions:
the ratio of the center distance of the two driving wheels 20 to the distance from the center of mass K of the three-wheeled robot chassis to the grounding point connecting line AB of the two driving wheels 20 is greater than or equal to 3.6, the ratio of the distance from the grounding point C of the universal wheel 40 to the grounding point connecting line AB of the two driving wheels 20 to the distance from the center of mass K of the three-wheeled robot chassis to the grounding point connecting line AB of the two driving wheels 20 is greater than or equal to 4, and the ratio of the height from the center of mass K of the three-wheeled robot chassis to the ground to the distance from the center of mass K of the three-wheeled robot chassis to the grounding point connecting line AB of the two.
The chassis prototype of the three-wheeled robot provided by the invention completely verifies the described functional action through strict high-strength tests, and can prove that the chassis prototype has strong practicability.
In another embodiment of the present invention, a three-wheeled robot is provided, which includes the chassis of the three-wheeled robot. Since the three-wheeled robot adopts all the technical schemes of all the embodiments, all the beneficial effects brought by the technical schemes of the embodiments are also achieved, and are not repeated herein.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. Three-wheeled robot chassis, its characterized in that includes:
mounting a shell;
two driving wheels which are arranged at intervals and rotatably installed on the installation shell;
the driving components are used for driving the driving wheels to rotate in a one-to-one correspondence manner; and
the two driving wheels and the universal wheel are distributed in a triangular shape with three endpoints.
2. The chassis of claim 1, wherein receiving grooves for receiving the driving wheels are respectively formed at both sides of the mounting case, and the output end of the driving assembly protrudes from the bottom surfaces of the receiving grooves and is fixedly connected to the driving wheels.
3. The chassis of claim 1, wherein the driving wheel comprises a hub and a tire disposed outside the hub, the hub and the tire being formed by in-mold injection molding.
4. The chassis of claim 1, wherein the mounting case comprises a middle case and two side cases respectively mounted to both sides of the middle case, each of the side cases forming a mounting area with the middle case for accommodating one of the driving components.
5. The chassis of claim 4, wherein each of the driving units comprises a driving motor mounted to the middle case and a transmission mechanism for transmitting power of the driving motor to the driving wheels.
6. The chassis of claim 5, wherein two sides of the middle shell are respectively rotatably mounted with a speed measuring code disc for rotating along with the transmission mechanism, and two sides of the middle shell are further provided with a photo detector for matching with the speed measuring code discs in a one-to-one correspondence manner to detect the rotating speed of the transmission mechanism.
7. The chassis of the three-wheeled robot of claim 4, wherein circuit boards are mounted to the bottom of the middle housing and the two side housings, said circuit boards being provided with Radio Frequency Identification (RFID) interfaces, extended function key interfaces, extended control interfaces and/or color sensors.
8. The chassis of claim 7, wherein the mounting case further comprises a bottom case covering a bottom of the circuit board.
9. The three-wheeled robot chassis according to any one of claims 1 to 8, wherein a ratio of a center distance of two of the driving wheels to a distance from a centroid of the three-wheeled robot chassis to a line connecting grounding points of the two driving wheels is 3.6 or more, a ratio of a distance from a grounding point of the universal wheel to a line connecting grounding points of the two driving wheels to a line connecting grounding points of the three-wheeled robot chassis is 4 or more, and a ratio of a height from a centroid of the three-wheeled robot chassis to a ground to a line connecting grounding points of the two driving wheels is 2 or more.
10. A three-wheeled robot comprising the chassis of the three-wheeled robot according to any one of claims 1 to 9.
CN201910848247.1A 2019-09-09 2019-09-09 Three-wheeled robot and chassis thereof Pending CN110695953A (en)

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