CN219312413U

CN219312413U - Omnidirectional wheel set and mobile chassis

Info

Publication number: CN219312413U
Application number: CN202223536130.6U
Authority: CN
Inventors: 何林; 唐旋来; 李通
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-07-07
Anticipated expiration: 2032-12-29

Abstract

The utility model relates to the technical field of robot chassis, and discloses an omnidirectional wheel set and a mobile chassis. The omnidirectional wheel set comprises a universal wheel, a mounting part and a driving wheel, wherein the universal wheel and the driving wheel are arranged at two opposite ends of the mounting part, a steering assembly is arranged on the mounting part, and the steering assembly can drive the driving wheel to rotate around a steering axis, so that the omnidirectional wheel set moves omnidirectionally. The utility model has the advantages that the structure of the whole omnidirectional wheel set is compact, the structural complexity of the whole omnidirectional wheel set can be reduced, the occupied space of the whole omnidirectional wheel set is reduced, the steering assembly drives the driving wheel to rotate around the steering axis, and the omnidirectional wheel set is further driven to move omnidirectionally, so that the movable chassis is light and flexible, the movement flexibility of small-size robots such as meal delivery robots is improved, the movement efficiency of the robots in narrow spaces such as restaurants is improved, and the occurrence of situations of blocking people to walk is reduced.

Description

Omnidirectional wheel set and mobile chassis

Technical Field

The utility model relates to the technical field of robot chassis, in particular to an omnidirectional wheel set and a mobile chassis.

Background

With the development of unmanned transport vehicle technology, wheeled robots are also applied in the fields of catering, retail, logistics, medical care, security protection and the like, and a mobile chassis is used as an important part of the wheeled robots for realizing the movement of the wheeled robots.

The movable chassis of the existing wheeled robot is heavy in structure, large in occupied space and incapable of realizing omnidirectional movement, so that the wheeled robot is not flexible in movement and cannot adapt to narrow spaces such as restaurants, and the situation that people are blocked from walking easily occurs.

Disclosure of Invention

Based on the problems, the utility model aims to provide the omnidirectional wheel set and the mobile chassis, which are compact in structure, small in occupied space, capable of realizing omnidirectional movement, light and flexible.

In order to achieve the above object, the following technical scheme is provided:

in a first aspect, the utility model provides an omni-directional wheel set, which comprises a universal wheel, a mounting part and a driving wheel, wherein the universal wheel and the driving wheel are arranged at two opposite ends of the mounting part, a steering assembly is arranged on the mounting part, and the steering assembly can drive the driving wheel to rotate around a steering axis so that the omni-directional wheel set moves omnidirectionally.

As an alternative scheme of the omnidirectional wheel set provided by the utility model, the mounting part comprises a first swing arm, a second swing arm and a shock absorption component, the end parts of the first swing arm and the second swing arm which are connected can be rotatably connected, the driving wheel is arranged at one end of the first swing arm far away from the second swing arm, the universal wheel is arranged at one end of the second swing arm far away from the first swing arm, one end of the shock absorption component is connected with the first swing arm, and the other end of the shock absorption component is connected with the second swing arm.

As an alternative scheme of the omni-directional wheel set provided by the utility model, the steering assembly comprises a steering driving part and a steering transmission part, wherein the steering transmission part is arranged on the first swing arm, and the steering driving part is connected with the steering transmission part and drives the driving wheel to rotate around the steering axis through the steering transmission part.

As an alternative scheme of the omnidirectional wheel set, the steering transmission part comprises a reduction gear set and a transmission shaft, the reduction gear set is arranged on the first swing arm through a mounting plate, the transmission shaft is arranged on the first swing arm through a bearing, one end of the transmission shaft is connected with an output shaft of the reduction gear set, and the other end of the transmission shaft is connected with a rotating frame of the driving wheel.

As an alternative scheme of the omnidirectional wheel set provided by the utility model, the damping component comprises a sliding rod, a mounting cylinder, a limit nut, a stop ring and a spring, wherein the sliding rod movably penetrates through the limit nut and stretches into the mounting cylinder, the limit nut is in threaded connection with the internal thread of the mounting cylinder, the stop nut is in threaded connection with the external thread of the mounting cylinder, the stop ring is arranged on the sliding rod, and the spring is clamped between the stop ring and the stop nut.

As an alternative scheme of the omnidirectional wheel set provided by the utility model, the mounting part further comprises a mounting frame, the mounting frame is arranged on the second swing arm, the sliding rod is hinged with the first swing arm, and the mounting cylinder is hinged with the mounting frame.

As an alternative scheme of the omnidirectional wheel set provided by the utility model, the first swing arm and the second swing arm are rotatably connected through the hinge assembly, the hinge assembly comprises a hinge seat and a hinge shaft, and the hinge shaft sequentially penetrates through the hinge seat, the end part of the first swing arm and the end part of the second swing arm, so that the first swing arm and the second swing arm are rotatably connected.

In a second aspect, the utility model further provides a mobile chassis, which comprises a chassis body and the omni-directional wheel set, wherein the omni-directional wheel set is arranged on the chassis body and can drive the mobile chassis to move omnidirectionally.

As an alternative scheme of the mobile chassis provided by the utility model, two groups of the omnidirectional wheel sets are arranged on the chassis body in parallel, and each group of the omnidirectional wheel sets is arranged on the chassis body through a hinged seat.

As an alternative scheme of the mobile chassis provided by the utility model, the chassis body is also provided with the driving universal wheels, and the driving universal wheels and the omnidirectional wheel sets can be used for adjusting the movement direction of the mobile chassis.

The beneficial effects of the utility model are as follows:

according to the omnidirectional wheel set and the mobile chassis, as the universal wheels and the driving wheels are arranged at the two opposite ends of the mounting part, the structure of the whole omnidirectional wheel set is compact, the structural complexity of the whole omnidirectional wheel set can be reduced, the occupied space of the whole omnidirectional wheel set is reduced, the driving wheels are driven to rotate around the steering axis through the steering assembly, and then the omnidirectional wheel set is driven to move omnidirectionally, so that the mobile chassis is light and flexible, the movement flexibility of small-size robots such as meal delivery robots is improved, the movement efficiency of the robots in narrow spaces such as restaurants is improved, and the occurrence of situations of blocking people to walk is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following description will briefly explain the drawings needed in the description of the embodiments of the present utility model, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the contents of the embodiments of the present utility model and these drawings without inventive effort for those skilled in the art.

Fig. 1 is a schematic structural diagram of an omni-directional wheel set according to an embodiment of the present utility model;

fig. 2 is a schematic structural view of a universal wheel and a shock absorbing assembly in an omni-directional wheel set according to an embodiment of the present utility model;

fig. 3 is a schematic structural view of a steering assembly and a first swing arm in an omni-directional wheelset according to an embodiment of the present utility model;

fig. 4 is a schematic cross-sectional view of a shock absorbing assembly in an omni-directional wheelset provided in an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a mobile chassis including an omni-directional wheel set according to an embodiment of the present utility model.

In the figure:

1. a steering assembly; 2. a universal wheel; 21. a mounting base; 3. a mounting part; 4. a driving universal wheel;

11. a driving wheel; 12. a rotating shaft; 13. a rotating frame; 14. a transmission shaft; 15. a bearing; 16. a steering driving section; 17. a mounting plate; 18. a reduction gear set;

31. a hinge base; 32. a first swing arm; 33. a second swing arm; 34. a shock absorbing assembly; 35. a hinge shaft;

36. a mounting frame;

341. a slide bar; 342. a mounting cylinder; 343. a limit nut; 344. a stop nut; 345. stop block

A ring; 346. a spring;

100. a chassis body.

Detailed Description

In order to make the technical problems solved by the present utility model, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present utility model will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 4, the present embodiment provides an omni-wheel set, which can be used for a moving chassis of a robot, and includes a universal wheel 2, a mounting portion 3 and a driving wheel 11, wherein the universal wheel 2 and the driving wheel 11 are disposed at two opposite ends of the mounting portion 3, a steering assembly 1 is disposed on the mounting portion 3, and the steering assembly 1 is used as a driving source, and can drive the driving wheel 11 to rotate around a steering axis a, so that the omni-wheel set performs omni-directional movement. The universal wheel 2 acts as a driven wheel, relieving the load pressure of the steering assembly 1.

Because universal wheel 2 and action wheel 11 locate the relative both ends on installation department 3 for whole qxcomm technology wheelset compact structure can reduce the structure complexity of whole qxcomm technology wheelset, reduces whole qxcomm technology wheelset's occupation space, and through turning to subassembly 1 drive action wheel 11 and revolute axis A and rotate, and then drive qxcomm technology wheelset and carry out the qxcomm technology removal, make the mobile chassis light nimble, improve the motion flexibility of small-size robots such as meal delivery robot, improve the motion efficiency of robot in narrow spaces such as dining room, reduce the condition emergence that hinders people's walking.

Optionally, the mounting portion 3 includes a first swing arm 32, a second swing arm 33, and a shock absorbing assembly 34, where the ends of the first swing arm 32 and the second swing arm 33 are rotatably connected, the driving wheel 11 is disposed at one end of the first swing arm 32 far away from the second swing arm 33, the universal wheel 2 is disposed at one end of the second swing arm 33 far away from the first swing arm 32, one end of the shock absorbing assembly 34 is connected with the first swing arm 32, and the other end is connected with the second swing arm 33. The impact force of the driving wheel 11 is transmitted to the damping component 34 through the first swing arm 32, the impact force of the universal wheel 2 is transmitted to the damping component 34 through the second swing arm 33, and the stability of the movable chassis is improved.

To facilitate the rotation of the driving wheel 11 about the steering axis a, the steering assembly 1 optionally includes a steering driving portion 16 and a steering transmission portion, the steering transmission portion is provided on the first swing arm 32, and the steering driving portion 16 is connected to the steering transmission portion and drives the driving wheel 11 to rotate about the steering axis a through the steering transmission portion.

Optionally, the steering transmission part comprises a reduction gear set 18 and a transmission shaft 14, the reduction gear set 18 is arranged on the first swing arm 32 through a mounting plate 17, the transmission shaft 14 is arranged on the first swing arm 32 through a bearing 15, the resistance when the transmission shaft 14 and the first swing arm 32 relatively rotate is reduced, one end of the transmission shaft 14 is connected with an output shaft of the reduction gear set 18, and the other end is connected with a rotating frame 13 of the driving wheel 11. The high-speed rotation of the steering drive portion 16 can be regulated to an appropriate rotation speed required for the drive wheel 11 by the reduction gear set 18, providing a sufficient torque for the drive wheel 11. The steering drive 16 may be a steering engine that drives the drive shaft 14 through a reduction gear set 18.

Specifically, the driving wheel 11 is rotatably connected to the rotating frame 13 through a rotating shaft 12. The rotation shaft 12 may be disposed in a horizontal direction, and the transmission shaft 14 may be disposed in a vertical direction, thereby realizing movement of the driving wheel 11 in any direction on a horizontal plane. The omni-wheel set may further comprise a first driving member for driving the driving wheel 11 to rotate about the rotation axis 12, and the first driving member may be integrated with the driving wheel 11 into a unitary structure, such as an in-wheel motor. The hub motor is embedded in the wheel, the stator is fixed on the tire, the rotor is fixed on the axle, and the stator and the rotor move relatively after being electrified. The outer diameter of the hub motor is less than 120mm, preferably 106mm.

In this embodiment, the steering assembly 1 further includes a mounting plate 17, the mounting plate 17 is fixedly connected to the first swing arm 32, and the steering driving portion 16 is mounted on the mounting plate 17. The mounting plate 17 may be an elastic steel plate, so that the phenomenon of locking of the rotating shaft caused by insufficient precision can be avoided.

Optionally, the damper assembly 34 includes a sliding rod 341, a mounting barrel 342, a limit nut 343, a limit nut 344, a limit ring 345 and a spring 346, where the sliding rod 341 movably penetrates the limit nut 343 and extends into the mounting barrel 342, the limit nut 343 is screwed to the internal thread of the mounting barrel 342, the limit nut 344 is screwed to the external thread of the mounting barrel 342, the limit ring 345 is disposed on the sliding rod 341, and the spring 346 is sandwiched between the limit ring 345 and the limit nut 344. Because the limit nut 343 and the stop nut 344 are respectively in threaded connection with the mounting barrel 342, the mounting positions of the limit nut 343 and the stop nut 344 on the mounting barrel 342 can be adjusted, so that the processing precision requirements of other parts are reduced, the convenience of assembly is improved, and damaged parts can be replaced conveniently. When the sliding rod 341 and the mounting cylinder 342 move with each other, the force can be transmitted through the stopper nut 344 and the stopper ring 345, and the spring 346 is compressed to thereby buffer the impact force when the sliding rod 341 and the mounting cylinder 342 move with each other, thereby realizing the shock absorbing function. One of the slide shaft 341 and the mounting cylinder 342 is connected to the first swing arm 32, and the other is connected to the second swing arm 33. The impact force applied to the steering assembly 1 and the universal wheel 2 during traveling can drive the first swing arm 32 and the second swing arm 33 to swing, and thus be transmitted to the spring 346 through the sliding rod 341 and the mounting cylinder 342.

To facilitate the application of force by the first swing arm 32 and the second swing arm 33 to the damper assembly 34, the mounting portion 3 may optionally further include a mounting frame 36, the mounting frame 36 being disposed on the second swing arm 33, the sliding rod 341 being hinged to the first swing arm 32, and the mounting cylinder 342 being hinged to the mounting frame 36. One end of the second swing arm 33 is rotationally connected with the hinge shaft 35, the mounting frame 36 is fixedly connected to the other end of the second swing arm 33 through bolts, the universal wheel 2 is fixedly mounted to the other end of the second swing arm 33 through the mounting seat 21, the universal wheel 2 is located below the mounting frame 36, and when the universal wheel 2 receives impact force, the impact force can be directly transmitted to the mounting frame 36 along the vertical direction, so that quick response of buffering the impact force is realized.

Alternatively, the first swing arm 32 and the second swing arm 33 are rotatably connected by a hinge assembly including a hinge base 31 and a hinge shaft 35, and the hinge shaft 35 sequentially passes through the hinge base 31, an end of the first swing arm 32, and an end of the second swing arm 33, so that the first swing arm 32 and the second swing arm 33 are rotatably connected. Because the first swing arm 32 and the second swing arm 33 are respectively hinged on the hinge base 31, the damping component 34 does not need to be arranged along the vertical direction, and the vertical height of the whole omnidirectional wheel set can be reduced. The first swing arm 32 and the second swing arm 33 share the same hinge shaft 35, so that the structure is compact, the structural complexity of the whole omnidirectional wheel set can be further reduced, and the occupied space of the whole omnidirectional wheel set is reduced.

As shown in fig. 5, this embodiment also provides a mobile chassis, can be used to small-size robots such as food delivery robot, mobile chassis includes chassis body 100 and foretell omnidirectional wheelset, omnidirectional wheelset locates chassis body 100, can drive mobile chassis and carry out omnidirectional movement, because universal wheel 2 and action wheel 11 locate the opposite both ends on installation department 3, make whole omnidirectional wheelset compact structure, can reduce the structure complexity of whole omnidirectional wheelset, reduce the occupation space of whole omnidirectional wheelset, rotate around turning axis a through turning component 1 drive action wheel 11, and then drive omnidirectional wheelset and carry out omnidirectional movement, make mobile chassis light nimble, improve the motion flexibility of small-size robots such as food delivery robot, improve the motion efficiency of robot in narrow space such as dining room, reduce the condition emergence of hindering people's walking.

Optionally, two sets of omni-directional wheel sets are arranged on the chassis body 100 in parallel, and each set of omni-directional wheel sets is arranged on the chassis body 100 through a hinge seat 31. The omnidirectional wheel set is arranged on the chassis body 100 through the hinging seat 31, the structure is compact, the occupied space is small, and the movable chassis can move omnidirectionally under the driving of the steering assembly 1 of the omnidirectional wheel set, so that the movable chassis is light and flexible. The two sets of omnidirectional wheel sets are respectively positioned at the left side and the right side of the chassis body 100, the omnidirectional wheel set at the left side is used for driving the chassis body 100 to rotate left, and the omnidirectional wheel set at the right side is used for driving the chassis body 100 to rotate right.

Optionally, the chassis body 100 is further provided with an active universal wheel 4, and the active universal wheel 4 can adjust the movement direction of the moving chassis together with the omni-wheel set. The driving universal wheels 4 are driven by a motor, and the driving universal wheels 4 are used for assisting the left and right steering of the movable chassis, so that the load pressure of the omnidirectional wheel sets is reduced. The driving universal wheel 4 is smaller than the driving wheel 11 in size, smaller in rotation radius and suitable for more accurate direction adjustment.

Note that the above is only a preferred embodiment of the present utility model and the technical principle applied. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.

Claims

1. The omnidirectional wheel set is characterized by comprising a universal wheel (2), a mounting part (3) and a driving wheel (11), wherein the universal wheel (2) and the driving wheel (11) are arranged at two opposite ends of the mounting part (3), a steering assembly (1) is arranged on the mounting part (3), and the steering assembly (1) can drive the driving wheel (11) to rotate around a steering axis so that the omnidirectional wheel set can move omnidirectionally.

2. The omnidirectional wheel set according to claim 1, wherein the mounting portion (3) comprises a first swing arm (32), a second swing arm (33) and a shock absorbing assembly (34), the ends of the first swing arm (32) and the second swing arm (33) are rotatably connected, the driving wheel (11) is arranged at one end of the first swing arm (32) far away from the second swing arm (33), the universal wheel (2) is arranged at one end of the second swing arm (33) far away from the first swing arm (32), one end of the shock absorbing assembly (34) is connected with the first swing arm (32), and the other end of the shock absorbing assembly is connected with the second swing arm (33).

3. The omni-wheel set according to claim 2, wherein the steering assembly (1) comprises a steering driving part (16) and a steering transmission part, the steering transmission part is arranged on the first swing arm (32), the steering driving part (16) is connected with the steering transmission part, and the driving wheel (11) is driven to rotate around the steering axis through the steering transmission part.

4. An omni-directional wheel set according to claim 3, wherein the steering transmission part comprises a reduction gear set (18) and a transmission shaft (14), the reduction gear set (18) is arranged on the first swing arm (32) through a mounting plate (17), the transmission shaft (14) is arranged on the first swing arm (32) through a bearing (15), one end of the transmission shaft (14) is connected with an output shaft of the reduction gear set (18), and the other end of the transmission shaft is connected with a rotating frame (13) of the driving wheel (11).

5. The omni-directional wheel set according to claim 2, wherein the shock absorbing assembly (34) comprises a sliding rod (341), a mounting cylinder (342), a limit nut (343), a stop nut (344), a stop ring (345) and a spring (346), the sliding rod (341) movably penetrates through the limit nut (343) and stretches into the mounting cylinder (342), the limit nut (343) is in threaded connection with the internal thread of the mounting cylinder (342), the stop nut (344) is in threaded connection with the external thread of the mounting cylinder (342), the stop ring (345) is arranged on the sliding rod (341), and the spring (346) is clamped between the stop ring (345) and the stop nut (344).

6. The omni-directional wheel set according to claim 5, wherein the mounting portion (3) further comprises a mounting frame (36), the mounting frame (36) is disposed on the second swing arm (33), the sliding rod (341) is hinged to the first swing arm (32), and the mounting cylinder (342) is hinged to the mounting frame (36).

7. The omni-wheel set according to claim 2, wherein the first swing arm (32) and the second swing arm (33) are rotatably connected by a hinge assembly comprising a hinge seat (31) and a hinge shaft (35), the hinge shaft (35) passing sequentially through the hinge seat (31), an end of the first swing arm (32) and an end of the second swing arm (33), such that the first swing arm (32) and the second swing arm (33) are rotatably connected.

8. The mobile chassis is characterized by comprising a chassis body (100) and the omnidirectional wheel set according to any one of claims 1-7, wherein the omnidirectional wheel set is arranged on the chassis body (100) and can drive the mobile chassis to move omnidirectionally.

9. The mobile chassis according to claim 8, wherein two sets of the omni-wheel sets are arranged on the chassis body (100) in parallel, and each set of the omni-wheel sets is arranged on the chassis body (100) through a hinge seat (31).

10. The mobile chassis according to claim 8, characterized in that the chassis body (100) is further provided with an active universal wheel (4), the active universal wheel (4) being able to adjust the direction of movement of the mobile chassis together with the omni-wheel set.