CN117446052A - Multi-wheel synchronous turning chassis and robot - Google Patents

Multi-wheel synchronous turning chassis and robot Download PDF

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Publication number
CN117446052A
CN117446052A CN202311175507.6A CN202311175507A CN117446052A CN 117446052 A CN117446052 A CN 117446052A CN 202311175507 A CN202311175507 A CN 202311175507A CN 117446052 A CN117446052 A CN 117446052A
Authority
CN
China
Prior art keywords
slip ring
chassis
rotor
wheel
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311175507.6A
Other languages
Chinese (zh)
Inventor
席红霞
刘浩宇
南晓娟
张科研
欧跃发
覃蔡宏
鄂泽宇
陈嘉骏
许浩民
罗资渥
曾桌葆
黄正宁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beibu Gulf University
Original Assignee
Beibu Gulf University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beibu Gulf University filed Critical Beibu Gulf University
Priority to CN202311175507.6A priority Critical patent/CN117446052A/en
Publication of CN117446052A publication Critical patent/CN117446052A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box

Abstract

The utility model discloses a multi-wheel synchronous turning chassis and a robot, and belongs to the technical field of robots. The multi-wheel synchronous turning chassis comprises a chassis frame, a turning mechanism and a wheel set mechanism, wherein the middle part of the chassis frame is provided with a mounting hole, and the turning mechanism comprises a fixing piece, a turning motor, a central gear, a planetary gear, an electric slip ring and a turntable; the fixing piece is arranged on the chassis frame, and an output shaft of the steering motor is connected with the central gear; the periphery of the sun gear is uniformly meshed with a plurality of planetary gears; an electric slip ring is arranged at the upper part of the chassis frame, a rotary table is arranged at the lower part of the chassis frame, and the electric slip ring and the rotary table are both coaxially arranged with the planetary gears; the wheel set mechanism comprises a mounting frame, rollers, a wheel shaft, a fixed shaft bracket and a driving motor; the mounting frame is connected with the lower part of the turntable; the utility model can realize synchronous and flexible steering of the wheels and solve the problem of limiting the rotation movement range of the wheels in the running line of the chassis wheels.

Description

Multi-wheel synchronous turning chassis and robot
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a multi-wheel synchronous turning chassis and a robot.
Background
The existing robot moving chassis mainly comprises a wheel type, a crawler type, a wheel-crawler type composite type, a leg foot type, a peristaltic type and the like, and is respectively suitable for various different occasions. The wheel type movable chassis is most common, and has the advantages of high speed, good maneuverability and the like.
For an omnibearing mobile robot working in an indoor or narrow space, the mobile chassis is required to have the characteristics of small turning radius, strong flexibility and the like, and synchronous steering and in-situ steering are two common solutions. In which the in-situ 360-degree steering is mainly driven by two-wheel and four-wheel drive which are independently driven, and the steering of a preset angle is mainly realized through the revolution difference of wheels at two sides. In practical application, the omnidirectional mobile robot realizes omnidirectional movement through independent driving, namely, two motors are arranged for each wheel, one motor is responsible for walking, and the other motor is responsible for steering as a steering engine. Because all-round mobile robot every wheel all need be equipped with walking motor and steering engine to need the cooperation of two to realize all-round removal, when wheel quantity is great, too much motor not only can increase robot system's structural complexity and energy consumption, leads to occupation space bigger moreover. The Chinese patent (publication No. CN208881960U, application date: 2019.05.21) discloses a robot and a chassis structure thereof, wherein the chassis structure comprises a chassis bracket, suspension brackets symmetrically arranged on the left side and the right side of the chassis bracket, two driving wheels movably connected with the two suspension brackets respectively, two universal wheels symmetrically arranged on the front end and the rear end of the chassis bracket, two fixed wheels respectively arranged on the outer sides of the two driving wheels, and the central axes of the two fixed wheels and the central axes of the two driving wheels coincide with the central axes of the chassis bracket. According to the utility model, the fixed wheels are arranged at the left side and the right side of the chassis support and positioned at the outer sides of the two driving wheels, so that the distance between the supporting point of the ground acting on the chassis and the center of the chassis is longer, and meanwhile, under the action of the front universal wheel and the rear universal wheel of the chassis support, the robot moves more stably and is not easy to topple; the two fixed wheels and the two driving wheels are arranged on the central axis of the chassis bracket, so that the robot can rotate around the central axis and move more flexibly in a narrow space. However, this chassis structure does not take into consideration the problems of the power line and signal line mounting designs. In practical application, most wheel direction control devices adopt a direct wiring mode to realize the conduction of wire harnesses such as a power wire and a signal wire, and as a motor for driving a wheel rotates along with the wheel, a wire connected with a power supply by the motor also rotates along with the wheel, and if the wheel rotates towards one direction infinitely, the wire can be wound on the wheel, so that the steering is limited in a 360-degree range and cannot rotate towards one direction infinitely, and the wheel set needs to suddenly rotate 180 degrees or 360 degrees to be kept in the limited 360-degree range when in motion, so that the robot is inflexible in steering and unstable in operation.
Disclosure of Invention
The utility model aims to at least solve one of the technical problems in the background art, provides a multi-wheel synchronous turning chassis and a robot, can realize synchronous and flexible turning of wheels, and solves the problem that the rotation movement range of the wheels is limited due to wiring in the chassis wheels.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:
in a first aspect, the utility model provides a multi-wheel synchronous turning chassis, which comprises a chassis frame, a steering mechanism and a wheel group mechanism, wherein the middle part of the chassis frame is provided with a mounting hole, and the steering mechanism comprises a fixing piece, a steering motor, a central gear, a planetary gear, an electric slip ring and a turntable; the fixing piece is arranged on the chassis frame and corresponds to the mounting hole, the middle part of the fixing piece extends upwards to form a hollow boss, the steering motor is arranged in the hollow boss, and an output shaft of the steering motor is connected with the central gear and used for driving the central gear to steer; a plurality of planetary gears are uniformly distributed on the periphery of the central gear, and the planetary gears are meshed with the central gear; the upper part of the chassis frame is provided with an electric slip ring, the lower part of the chassis frame is provided with the turntable, and the electric slip ring and the turntable are both coaxially arranged with the planetary gears; the wheel set mechanism comprises a mounting frame, rollers, a wheel shaft, a fixed shaft bracket and a driving motor; the mounting frame is connected with the lower part of the turntable; the roller is installed in the mounting frame, one end of the roller is connected with the mounting frame through the wheel shaft, the other end of the roller is connected with the mounting frame through a driving motor, and an output shaft of the driving motor is connected with the roller to drive the roller to rotate in a rolling mode.
Further, the electric slip ring comprises a rotor component and a stator component rotationally sleeved outside the rotor component, wherein the stator component comprises a slip ring stator, a stator plug connector and a mounting flange; the slip ring stator is fixedly connected with the stator plug connector, and the mounting flange is fixedly arranged on the peripheral wall of the slip ring stator and is fixedly connected with the chassis frame; the rotor component comprises a slip ring rotor and a rotor plug connector; the slip ring rotor is connected with the turntable; the slip ring rotor is hollow, the rotor plug connector is arranged in the slip ring rotor in a penetrating mode, and the slip ring rotor is connected with the turntable.
Further, the end face of the hollow boss is provided with a plurality of heat dissipation holes.
Further, the number of the planetary gears is four, and the four planetary gears are distributed in a matrix.
Further, the mounting frame comprises a transverse plate, an inner side plate and an outer side plate, wherein the inner side plate and the outer side plate are vertically arranged on two sides of the bottom of the transverse plate, and the tops of the inner side plate and the outer side plate are connected with the bottoms of the planetary gears.
In a second aspect, the present utility model provides a robot comprising the multiple wheel synchronous steer chassis of the first aspect.
Compared with the prior art, the utility model has the following beneficial effects:
according to the multi-wheel synchronous turning chassis, the chassis frame, the steering mechanism and the wheel group mechanism are arranged to construct a robot chassis structure capable of infinitely rotating at 360 degrees; the steering motor is utilized to drive the sun gear and the planetary gear to synchronously rotate, four-wheel drive is achieved, synchronous rotation capacity is improved, power sources can be saved, and the internal structure is compact and concise. Furthermore, through setting up the electric slip ring in chassis frame's upper portion, can effectively avoid the winding problem of wheel wire, the problem of the restriction wheel rotation range of motion that does not have the inside line of walking of wheel existence, can realize the 360 continuity simultaneous movement of wheelset mechanism moreover.
The electric slip ring comprises a rotor component and a stator component rotationally sleeved outside the rotor component; the stator component is fixedly connected with the chassis frame; the rotor component is fixedly connected with the turntable; the rotor component and the stator component which are electrically connected are used for realizing the conduction of the wire harnesses such as the power wire, the signal wire and the like, and the stator component and the rotor component can relatively rotate, so that the problem of line winding caused by the rotation of the wheel can be avoided, the infinite rotation is realized, the movement range of the wheel is enlarged, and the steering flexibility and the running stability of the robot are improved. And moreover, the wire harness cannot be repeatedly twisted back and forth, so that the reliability and the service life of the connecting wire are improved.
The utility model can adapt to steering movement in a narrow space, each wheel is vector drive output, no speed loss is caused, the operation is stable, the omnidirectional movement can be realized, the translational rotation is stable, and no jolt is caused.
Drawings
FIG. 1 is a schematic view of the structure of a multi-wheel synchronous turning chassis of the present utility model;
FIG. 2 is a schematic view of another angular configuration of a multi-wheeled synchronous reversing chassis of the present utility model;
FIG. 3 is a perspective cross-sectional view of a multiple wheel synchronous reversing chassis of the present utility model;
FIG. 4 is a schematic structural view of an electrical slip ring of the present utility model;
FIG. 5 is a schematic view of the structure of the mounting bracket of the present utility model;
wherein, the reference numerals in the drawings are as follows: 1. a chassis frame; 2. a fixing member; 3. a steering motor; 4. a sun gear; 5. a planetary gear; 6. an electrical slip ring; 7. a turntable; 8. a mounting frame; 9. a roller; 10. a wheel axle; 11. a bearing; 12. a driving motor; 13. a slip ring stator; 14. a stator plug; 15. a mounting flange; 16. a slip ring rotor; 17. a rotor plug; 18. a heat radiation hole; 19. a cross plate; 20. an inner side plate; 21. an outer panel;
Detailed Description
The utility model will be further described with reference to the drawings and examples. It should be noted that the specific embodiments of the present utility model are only for describing the technical solution more clearly, and should not be taken as limiting the scope of the present utility model.
In a first aspect, the present utility model provides a multi-wheel synchronous turning chassis, referring to fig. 1-5, including a chassis frame 1, a steering mechanism and a wheel set mechanism, where the middle part of the chassis frame 1 has a mounting hole, and the steering mechanism includes a fixing piece 2, a steering motor 3, a sun gear 4, a planetary gear 5, an electric slip ring 6 and a turntable 7; the fixing piece 2 is arranged on the chassis frame 1 and corresponds to the mounting hole, the middle part of the fixing piece 2 extends upwards to form a hollow boss, the steering motor 3 is arranged in the hollow boss, and an output shaft of the steering motor 3 is connected with the sun gear 4 and is used for driving the sun gear 4 to steer; the sun gear 4 comprises a wheel body and gear teeth, the gear teeth are circumferentially arranged on the circumferential surface of the wheel body, a plurality of planetary gears 5 are uniformly distributed on the periphery of the sun gear 4, and the planetary gears 5 are meshed with the sun gear 4; an electric slip ring 6 is arranged at the upper part of the chassis frame 1, the turntable 7 is arranged at the lower part of the chassis frame 1, and the electric slip ring 6 and the turntable 7 are coaxially arranged with the planetary gears 5; the wheel set mechanism comprises a mounting frame 8, a roller 9, a wheel shaft 10, a fixed shaft bracket and a driving motor 12; the mounting frame 8 is connected with the lower part of the turntable 7; the roller 9 is arranged in the mounting frame 8, one end of the roller 9 is connected with the mounting frame 8 through a wheel shaft 10, and a bearing 11 is arranged on the wheel shaft 10; the other end of the roller 9 is connected with the mounting frame 8 through a driving motor 12, and an output shaft of the driving motor 12 is connected with the roller 9 for driving the rolling rotation.
According to the utility model, the chassis frame 1, the steering mechanism and the wheel group mechanism are arranged to construct the robot chassis structure capable of infinitely rotating at 360 degrees, each roller 9 is internally provided with an independent walking power source, the influence of blocking of individual rollers 9 on the whole is small, and the chassis has the advantages of good universality and stable and flexible walking.
The electric slip ring 6 is a rotary joint used for conducting electricity and is used for realizing signal and power transmission between a rotary part and a static part, and in the embodiment, the electric slip ring 6 comprises a rotor part and a stator part rotationally sleeved outside the rotor part, and the stator part comprises a slip ring stator 13, a stator plug connector 14 and a mounting flange 15; the slip ring stator 13 is fixedly connected with the stator plug connector 14, and the mounting flange 15 is fixedly arranged on the peripheral wall of the slip ring stator 13 and is fixedly connected with the chassis frame 1; the rotor components include a slip ring rotor 16 and a rotor plug 17; the slip ring rotor 16 is connected with the turntable 7; the slip ring rotor 16 is hollow, the rotor plug connector 17 is arranged in the slip ring rotor 16 in a penetrating way, and the slip ring rotor 16 is connected with the inner wheel of the turntable 7. The electric slip ring 6 of the utility model comprises a rotor part and a stator part rotationally sleeved outside the rotor part; the stator component is fixedly connected with the chassis frame 1; the rotor component is fixedly connected with the turntable 7; when the electric slip ring 6 rotates, the stator part is not moved, and the stator plug connector 14 is connected with an external power supply or control equipment through wire harnesses such as a power line, a signal line and the like; the slip ring rotor 16 in the rotor part rotates and drives the turntable 7 connected with the slip ring rotor to rotate together, the rotor plug connector 17 is connected with the driving motor 12 through wire harnesses such as a power wire and a signal wire, the wire harnesses such as the power wire and the signal wire are conducted through the rotor part and the stator part which are electrically connected, the stator part and the rotor part can rotate relatively, the problem of line winding caused by wheels in the rotating process can be avoided, infinite rotation is achieved, the movement range of the wheels is enlarged, and the steering flexibility and the running stability of the robot are improved. And moreover, the wire harness cannot be repeatedly twisted back and forth, so that the reliability and the service life of the connecting wire are improved.
The chassis frame 1 is made of transparent hard plastic, the bottom frame is provided with a plurality of hollowed holes so as to lighten the weight of the chassis frame, and the end face of the hollow boss is provided with a plurality of heat dissipation holes 18 so as to facilitate heat dissipation of the steering motor 3.
The number of the planetary gears 5 is four, and the four planetary gears 5 are distributed in a matrix, so that four-wheel synchronous motion of the chassis can be ensured, and the safety performance is improved.
The mounting frame 8 comprises a transverse plate 19, an inner side plate 20 and an outer side plate 21, wherein the inner side plate 20 and the outer side plate 21 are vertically arranged on two sides of the bottom of the transverse plate 19, the wheel axle 10 is arranged on the inner side plate 20, the driving motor 12 is arranged on the outer side plate 21, the tops of the inner side plate 20 and the outer side plate 21 are connected with the bottom of the planetary gear 5, and the mounting frame 8 is stable in structure and can improve the bearing capacity of the turntable 7.
The working principle of the multi-wheel synchronous turning chassis is as follows: according to the utility model, the steering motor 3 is utilized to drive the sun gear 4 and the planetary gears 5 to synchronously rotate, so that four-wheel drive is realized, the synchronous rotation capacity is improved, only one steering motor 3 is arranged, the internal steering components are reduced, the power source and the installation procedure can be saved, and the internal structure is more compact and concise. Furthermore, by arranging the electric slip ring 6 on the upper part of the chassis frame 1, the problem of winding of wheel wires can be effectively avoided, the problem of limiting the rotation movement range of wheels due to wiring in the wheels is avoided, and the 360-degree continuous simultaneous movement of the wheel set mechanism can be realized.
In a second aspect, the present utility model provides a robot comprising the multiple wheel synchronous steer chassis of the first aspect.
The foregoing description is directed to the preferred embodiments of the present utility model, but the embodiments are not intended to limit the scope of the utility model, and all equivalent changes or modifications made under the technical spirit of the present utility model should be construed to fall within the scope of the present utility model.

Claims (6)

1. The utility model provides a synchronous diversion chassis of many wheels, includes chassis frame (1), steering mechanism and wheelset mechanism, its characterized in that: the middle part of the chassis frame (1) is provided with a mounting hole, and the steering mechanism comprises a fixing piece (2), a steering motor (3), a central gear (4), a planetary gear (5), an electric slip ring (6) and a turntable (7); the fixing piece (2) is arranged on the chassis frame (1) and corresponds to the mounting hole, the middle part of the fixing piece (2) extends upwards to form a hollow boss, the steering motor (3) is arranged in the hollow boss, and an output shaft of the steering motor (3) is connected with the central gear (4) and is used for driving the central gear (4) to steer; a plurality of planetary gears (5) are uniformly distributed on the periphery of the central gear (4), and the planetary gears (5) are meshed with the central gear (4); an electric slip ring (6) is arranged at the upper part of the chassis frame (1), the rotary table (7) is arranged at the lower part of the chassis frame (1), and the electric slip ring (6) and the rotary table (7) are coaxially arranged with the planetary gear (5); the wheel set mechanism comprises a mounting frame (8), rollers (9), a wheel shaft (10), a fixed shaft bracket and a driving motor (12); the mounting frame (8) is connected with the lower part of the turntable (7); the roller (9) is installed in the mounting frame (8), one end of the roller (9) is connected with the mounting frame (8) through a wheel shaft (10), the other end of the roller (9) is connected with the mounting frame (8) through a driving motor (12), and an output shaft of the driving motor (12) is connected with the roller (9) to drive the roller to rotate.
2. A multiple wheel synchronous turning chassis according to claim 1, wherein: the electric slip ring (6) comprises a rotor part and a stator part rotationally sleeved outside the rotor part, and the stator part comprises a slip ring stator (13), a stator plug connector (14) and a mounting flange (15); the slip ring stator (13) is fixedly connected with the stator plug connector (14), and the mounting flange (15) is fixedly arranged on the peripheral wall of the slip ring stator (13) and is fixedly connected with the chassis frame (1); the rotor component comprises a slip ring rotor (16) and a rotor plug (17); the slip ring rotor (16) is connected with the rotary table (7); the slip ring rotor (16) is hollow, the rotor plug connector (17) is arranged in the slip ring rotor (16) in a penetrating mode, and the slip ring rotor (16) is connected with the rotary disc (7).
3. A multiple wheel synchronous turning chassis according to claim 1, wherein: the end face of the hollow boss is provided with a plurality of radiating holes (18).
4. A multiple wheel synchronous turning chassis according to claim 1, wherein: the number of the planetary gears (5) is four, and the four planetary gears (5) are distributed in a matrix.
5. A multiple wheel synchronous turning chassis according to claim 1, wherein: the mounting frame (8) comprises a transverse plate (19), and an inner side plate (20) and an outer side plate (21) which are vertically arranged on two sides of the bottom of the transverse plate (19), wherein the tops of the inner side plate (20) and the outer side plate (21) are connected with the bottom of the planetary gear (5).
6. A robot, characterized in that: comprising a multiple wheel synchronous steer chassis as claimed in any of claims 1-5.
CN202311175507.6A 2023-09-12 2023-09-12 Multi-wheel synchronous turning chassis and robot Pending CN117446052A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311175507.6A CN117446052A (en) 2023-09-12 2023-09-12 Multi-wheel synchronous turning chassis and robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311175507.6A CN117446052A (en) 2023-09-12 2023-09-12 Multi-wheel synchronous turning chassis and robot

Publications (1)

Publication Number Publication Date
CN117446052A true CN117446052A (en) 2024-01-26

Family

ID=89595522

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311175507.6A Pending CN117446052A (en) 2023-09-12 2023-09-12 Multi-wheel synchronous turning chassis and robot

Country Status (1)

Country Link
CN (1) CN117446052A (en)

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