WO2021000900A1

WO2021000900A1 - Multifunctional universal robot chassis

Info

Publication number: WO2021000900A1
Application number: PCT/CN2020/099845
Authority: WO
Inventors: 白大鹏; 张斌; 杨华勇; 季清华; 马梁
Original assignee: 浙江大学
Priority date: 2019-07-03
Filing date: 2020-07-02
Publication date: 2021-01-07
Also published as: CN110217299A

Abstract

Provided is a multifunctional universal robot chassis, using a wheel type and crawler type combined robot chassis structure that integrates the advantages of the wheel type structure and the crawler type structure and overcomes the defects of the two structures, when the robot chassis needs to rapidly travel, a crawler mechanism is controlled to be folded, wheels (2) are landed, to achieve rapid movement; when the robot chassis needs to climb stairs or cross obstacles, the crawler mechanism is controlled to be put down, the crawler mechanism is driven by the wheels to move together, so that the stair climbing and obstacle crossing functions are achieved. Compared with the prior composite robot chassis, the robot chassis is small in appearance sizes, capable of riding an elevator and entering and exiting indoor and outdoor doors, is relatively simple in structure, complete in function, high in universality and wide in application range.

Description

Multifunctional universal robot chassis

Technical field

The invention relates to the technical field of robots, in particular to a multifunctional universal robot chassis.

Background technique

At present, there are three main structural types of robot chassis: wheeled structure is simple and flexible, fast, stable, and low energy consumption, but it can adapt to less terrain, has limited obstacle crossing ability, and cannot climb stairs; crawler structure adapts to terrain The ability is relatively strong, and the performance of climbing obstacles is better than that of other structural forms of obstacle climbing devices. It has the characteristics of large supporting area, good obstacle passing performance, and small sag. In addition, there are grousers on the track support surface. It is not easy to slip during the movement and has good traction and adhesion performance. During the process of climbing and crossing obstacles, it can ensure that the movement trajectory of the center of gravity of the robot is always parallel to the line of the stairs, with almost no or small fluctuations, and the movement is relatively stable. However, the structure of the site is relatively heavy, large in size, relatively poor in movement flexibility, low in speed, and large in energy consumption; the composite structure can achieve functions such as climbing stairs and crossing obstacles, but the structure is complex, the control system is complex, and the size is large. , Self-heavy, high energy consumption.

The existing robot chassis can only be used for a certain type of robot, and cannot be used in different road conditions, different weather conditions, and different application scenarios, and its versatility is poor.

Summary of the invention

In order to solve the above technical problems, the present invention provides a wheeled + crawler type composite robot chassis, which combines the advantages of the wheel type and the crawler type, complements the disadvantages of the two structures, and can be used as different types of robot chassis.

The present invention adopts the following technical solutions:

A multifunctional universal robot chassis, comprising a chassis body, a motor assembly arranged on the chassis body, four wheel assemblies with the same structure, and a transmission assembly for driving the wheel assembly to move;

The wheel assembly includes a wheel and a crawler swing arm mechanism connected to the hub of the wheel; the motor assembly includes a first swing arm drive motor, a second swing arm drive motor, a first wheel drive motor, and a second wheel drive motor ；

The crawler swing arm mechanism includes a crawler, a driving crawler wheel, a driven crawler wheel and a swing arm; the driving crawler wheel and the driven crawler wheel are connected by the crawler, and one end of the swing arm is connected with the driven crawler wheel;

The transmission assembly includes a first transmission mechanism at the front end of the chassis body and a second transmission mechanism at the rear end of the chassis body; the first transmission mechanism and the second transmission mechanism have the same structure, and both include an auxiliary sprocket, a swing arm shaft and a symmetrical arrangement The two wheel axles are installed with auxiliary sprockets, wheels and active crawler wheels in order from the inside to the outside. The swing arm axle is coaxially installed inside the wheel axle and runs through the two wheel axles arranged symmetrically;

Wherein, the two ends of the swing arm shaft of the first transmission mechanism are respectively connected to the other ends of the respective swing arms of the two wheel assemblies located at the front end of the chassis body; the first swing arm drive motor is used to drive the swing arm shaft of the first transmission mechanism to rotate; Two ends of the swing arm shaft of the second transmission mechanism are respectively connected to the other ends of the respective swing arms of the two wheel assemblies located at the rear end of the chassis main body; the second swing arm drive motor is used to drive the swing arm shaft of the second transmission mechanism to rotate;

The output shafts of the first wheel drive motor and the second wheel drive motor are both sleeved with a main sprocket, wherein the main sprocket connected to the first wheel drive motor is connected to the first transmission mechanism and the first transmission mechanism through a chain. The auxiliary sprocket on the right side of the second transmission mechanism is connected; the main sprocket connected with the second wheel driving motor is connected with the auxiliary sprocket on the left side of the first transmission mechanism and the second transmission mechanism through a chain.

Further, the radius of the wheel is larger than the radius of the active crawler wheel.

Further, the radius of the wheel is smaller than the sum of the length of the swing arm and the radius of the driven crawler wheel.

The present invention has the following beneficial effects:

The robot chassis can adapt to various complex grounds, such as dirt roads, gravel roads, snow, grass, etc.; the protection level is IP65, which can be made into IP67 level, and can be used in high temperature, rain, snow, thunderstorms and other weather conditions; The working environment temperature for normal operation is -15℃～+50℃; it can realize autonomous obstacle avoidance, two-way climbing stairs, obstacle crossing, and slope climbing. The maximum climbing ability reaches 40°; the maximum operating speed is 3m/s; the endurance time is ≥8h ; The overall size is smaller than the existing composite robot chassis, and it can take the elevator to enter and exit indoor and outdoor doors; the structure is relatively simple, the function is complete, the versatility is strong, and the application range is wide.

Description of the drawings

Figure 1 is a front view of the multifunctional universal robot chassis provided by the present invention;

Figure 2 is a partial cross-sectional view of the wheel assembly in the upper left corner of Figure 1;

Figure 3 is a block diagram of the control system;

Figure 4 is an expanded view of the swing arm;

Figure 5 is a stowed view of the swing arm;

Figure 6 is a demonstration diagram of climbing stairs;

In the picture: crawler swing arm mechanism 1, wheel 2, transmission assembly 3, first swing arm drive motor 4, first swing arm drive motor reducer 5, chain 6, first wheel drive motor reducer 7, first wheel drive Motor 8, second swing arm drive motor reducer 9, second swing arm drive motor 10, chain 11, second wheel drive motor 12, second wheel drive motor reducer 13, crawler 14, driven crawler wheel 15, pendulum Arm 16, wheel hub 17, screw 18, active track wheel 19, dust cover 20, seal ring 21, lip seal ring 22, wheel shaft 23, lip seal ring 24, auxiliary sprocket 25, swing arm shaft 26, Main sprocket 27, auxiliary sprocket 28, box 29.

Detailed ways

The technical solution of the present invention will be described in detail below with reference to the drawings and specific implementations.

As shown in Figures 1 to 2, the multifunctional universal robot chassis includes a chassis body, a motor assembly arranged on the chassis body, four wheel assemblies with the same structure, and a transmission assembly for driving the wheel assembly to move;

The wheel assembly includes a wheel 2, a crawler swing arm mechanism 1 connected to the hub 17 of the wheel 2, and the motor assembly includes a first swing arm drive motor 4, a second swing arm drive motor 10, and a first wheel drive motor 8 and the second wheel drive motor 12;

The crawler belt swing arm mechanism includes a crawler belt 14, a driving crawler wheel 19, a driven crawler wheel 15 and a swing arm 16. The driving crawler wheel 19 and the driven crawler wheel 15 are connected by the crawler belt 14, and one end of the swing arm 16 is connected to the driven crawler belt. Wheel 15 connection;

The transmission assembly 3 includes a first transmission mechanism at the front end of the chassis body and a second transmission mechanism at the rear end of the chassis body; the first transmission mechanism and the second transmission mechanism have the same structure, and both include auxiliary sprocket, swing arm shaft 26, and left and right Two wheel axles are arranged symmetrically. The wheel axle 23 is successively installed with auxiliary sprockets, wheels 2 and active crawler wheels 19 from the inside to the outside. The swing arm axle 26 is coaxially installed inside the wheel axle 23 and penetrates the two symmetrically arranged left and right Wheel axles

Among them, the two ends of the swing arm shaft of the first transmission mechanism are respectively connected to the other ends of the respective swing arms of the two wheel assemblies located at the front end of the chassis body; the first swing arm drive motor 4 is used to drive the swing arm shaft of the first transmission mechanism to rotate The two ends of the swing arm shaft of the second transmission mechanism are respectively connected to the other ends of the swing arms of the two wheel assemblies located at the rear end of the chassis body; the second swing arm drive motor 10 is used to drive the swing arm shaft of the second transmission mechanism to rotate;

The output shafts of the first wheel drive motor 8 and the second wheel drive motor 12 are both sleeved with a main sprocket 27, wherein the main sprocket connected to the first wheel drive motor is connected to the first drive motor through a chain. The mechanism is connected to the auxiliary sprocket on the right side of the second transmission mechanism; the main sprocket connected to the second wheel drive motor is connected to the auxiliary sprocket 25, on the left side of the first transmission mechanism and the second transmission mechanism through the chains 6, 11 respectively. 28 connected.

In a preferred embodiment of the present invention, the first swing arm drive motor 4, the second swing arm drive motor 10, the first wheel drive motor 8 and the second wheel drive motor 12 are respectively connected to the first swing arm drive motor reducer 5 , The second swing arm drive motor reducer 9, the first wheel drive motor reducer 7 and the second wheel drive motor reducer 13 are used together; among them the first swing arm drive motor reducer and the second swing arm drive motor reducer The output shafts are respectively connected with the swing arm shaft of the first transmission mechanism and the swing arm shaft of the second transmission mechanism, and drive the swing arm shaft to rotate to drive the swing arm to move, thereby making the crawler swing arm mechanism rotate; the first wheel drive motor decelerates The output shafts of the gear 7 and the second wheel drive motor reducer 13 are both sleeved with a main sprocket.

As shown in Figures 4 to 5, the radius of the wheel is larger than the radius of the driving crawler wheel, and the radius of the wheel is smaller than the sum of the length of the swing arm and the radius of the driven crawler wheel. In a preferred embodiment of the present invention, a key connection is adopted between the swing arm and the swing arm shaft, and the active crawler wheel is connected with the hub of the wheel through a screw 18.

In a preferred embodiment of the present invention, the robot chassis further includes a box body 29. The connection between the wheel shaft 23 and the box body 29 is sealed by a lip seal ring 24, which passes between the wheel shaft 23 and the swing arm shaft 26. The lip seal 22 seals.

In a preferred embodiment of the present invention, a dustproof end cover 20 is installed on the outer side of the active crawler wheel 19, and a sealing ring 21 is provided between the dustproof end cover 20 and the active crawler wheel 19.

Figure 3 shows the principle block diagram of the control system of the present invention. The lithium battery is used to supply power to the motor, the motor driver and the upper computer. The upper computer controls various movements of the robot chassis system. Specifically, the upper computer receives and installs on the robot. The information from the sensors around the chassis is converted into motor control signals and transferred to the motor driver to control the operation of the motor, thereby controlling the movement of the wheel or crawler arm mechanism, and finally achieving autonomous obstacle avoidance, autonomous climbing, and autonomous obstacle crossing of the robot chassis , Autonomous patrol and other functions.

Working mode 1: Fast driving

When fast driving is required, the upper computer controls the swing arm mechanism to rotate to a position of 90° with the ground. Figure 5 shows the retracted view of the swing arm. Only the wheels are on the ground to achieve rapid movement. Drive by controlling the first wheel The rotation speeds of the motor 8 and the second wheel drive motor 12 realize the turning function of the vehicle body; the rotation of the swing arm is realized by controlling the operation of the first swing arm drive motor 4 and the second swing arm drive motor 10, thereby controlling the entire crawler The rotation angle of the swing arm mechanism relative to the ground, for example, FIG. 4 shows an expanded view of the swing arm. Because the crawler swing arm mechanism and the wheels are fixed together, the wheels drive the crawler swing arm mechanism to move together when moving, so as to achieve the functions of climbing stairs and crossing obstacles. In addition, rolling bearings are arranged between the swing arm shaft and the wheel shaft, so the movement of the wheel shaft and the swing arm shaft are relatively independent.

The power of the entire robot chassis is transmitted by the first wheel drive motor 8 and the second wheel drive motor 12 to the wheels and the crawler swing arm mechanism through the transmission assembly to move together. When the angle of the crawler swing arm mechanism relative to the ground is to be adjusted, only Just control the corresponding swing arm drive motor.

Working mode 2: climbing, obstacle crossing and stairs climbing

The upper computer controls the swing arm mechanism to rotate to an angle suitable for the robot chassis to climb, obstacle and climb stairs. Driven by the wheels, the wheels and the swing arm mechanism move at the same time to complete the corresponding functions, as shown in Figure 6. Demonstration diagram of climbing stairs.

Description of each stage of climbing stairs:

(a) Adjust the rotation of the swing arm shaft of the first transmission mechanism through the first swing arm drive motor, so that the front crawler swing arm mechanism contacts the first step, and continue to shrink the swing arm of the first transmission mechanism through the first swing arm drive motor The angle between the axle and the ground is driven by the front crawler swing arm mechanism and wheels to drive the entire car body upward;

(b) When the rear wheel touches the first step, the second swing arm drive motor adjusts the rotation of the swing arm axis of the second transmission mechanism to increase the angle between the swing arm axis of the second transmission mechanism and the ground. The arm mechanism and wheels drive the entire body to climb upward;

(c) In the process of climbing stairs, the entire car body is driven to climb upward through the use of front and rear crawler swing arm mechanisms and wheels;

(d) The front wheels climb up to the flat ground, the front crawler swing arm mechanism is slowly retracted, and the rear crawler swing arm mechanism and wheels drive the entire body to climb;

(e) The rear wheels climb on the flat ground, the rear crawler swing arm mechanism is slowly retracted, while the front and rear wheels continue to drive the entire car body forward;

(f) The entire robot chassis moves to flat ground, the front and rear crawler swing arm mechanism is completely retracted, and the entire vehicle body is driven forward by the wheels.

In the first working mode, the wheels drive the robot chassis to move; in the second working mode, the front and rear crawler swing arm mechanisms are used in conjunction to complete the robot chassis's stairs climbing, obstacle crossing and climbing functions.

The transmission mode of the transmission mechanism in this example is not limited to the use of sprocket transmission, but can also use transmission modes such as gears and synchronous toothed belts, all of which fall within the protection scope of the present invention.

Claims

A multifunctional universal robot chassis, which is characterized by comprising a chassis body, a motor assembly arranged on the chassis body, four wheel assemblies with the same structure, and a transmission assembly for driving the wheel assembly to move;

The wheel assembly includes a wheel and a crawler swing arm mechanism connected to the hub of the wheel; the motor assembly includes a first swing arm drive motor (4), a second swing arm drive motor (10), and a first wheel drive motor (8) and the second wheel drive motor (12);

The crawler swing arm mechanism includes a crawler, a driving crawler wheel, a driven crawler wheel and a swing arm; the driving crawler wheel and the driven crawler wheel are connected by the crawler, and one end of the swing arm is connected with the driven crawler wheel;

The transmission assembly includes a first transmission mechanism at the front end of the chassis body and a second transmission mechanism at the rear end of the chassis body; the first transmission mechanism and the second transmission mechanism have the same structure, and both include an auxiliary sprocket, a swing arm shaft and a symmetrical arrangement The two wheel axles are installed with auxiliary sprockets, wheels and active crawler wheels in order from the inside to the outside. The swing arm axle is coaxially installed inside the wheel axle and runs through the two wheel axles arranged symmetrically;

Among them, the two ends of the swing arm shaft of the first transmission mechanism are respectively connected to the other ends of the respective swing arms of the two wheel assemblies located at the front end of the chassis body; the first swing arm drive motor (4) is used to drive the swing arms of the first transmission mechanism The shaft rotates; both ends of the swing arm shaft of the second transmission mechanism are respectively connected to the other end of the respective swing arms of the two wheel assemblies located at the rear end of the chassis body; the second swing arm drive motor (10) is used to drive the swing of the second transmission mechanism Arm shaft rotation;

The output shafts of the first wheel drive motor (8) and the second wheel drive motor (12) are both sleeved with a main sprocket, wherein the main sprocket connected to the first wheel drive motor (8) passes through the chain Are respectively connected to the auxiliary sprocket on the right side of the first transmission mechanism and the second transmission mechanism; the main sprocket connected to the second wheel drive motor (10) is respectively connected to the left side of the first transmission mechanism and the second transmission mechanism through a chain The auxiliary sprocket is connected.
The multifunctional universal robot chassis according to claim 1, wherein the radius of the wheel is larger than the radius of the active crawler wheel.
The multifunctional universal robot chassis according to claim 1, wherein the radius of the wheel is smaller than the sum of the length of the swing arm and the radius of the driven crawler wheel.
The multifunctional universal robot chassis according to claim 1, wherein the swing arm and the swing arm shaft are connected by a key.
The multifunctional universal robot chassis according to claim 1, wherein the active crawler wheel is connected to the hub of the wheel by screws.
The multifunctional universal robot chassis according to claim 1, characterized in that the robot chassis further comprises a box body (29), and the connection between the wheel shaft and the box body is sealed by a lip seal ring (24).
The multifunctional universal robot chassis according to claim 1, wherein a lip-shaped sealing ring (22) is provided between the wheel shaft (23) and the swing arm shaft (26).
The multifunctional universal robot chassis according to claim 1, characterized in that: a dustproof end cover is installed on the outer side of the active crawler wheel, and a seal is provided between the dustproof end cover (20) and the active crawler wheel. Circle (21).