CN110217299A - Multifunctional universal humanoid robot chassis - Google Patents

Abstract

The invention discloses a multifunctional general-purpose robot chassis, which adopts a wheeled + crawler-type compound robot chassis structure, which combines the advantages of the wheel-type and the crawler-type, and complements the shortcomings of the two structures. When the robot chassis is required to drive quickly When the robot chassis is required to climb stairs or overcome obstacles, the crawler mechanism is put down by control, and the wheels drive the crawler mechanism to move together to realize climbing stairs and obstacle surmounting. Function. The outer dimension of the robot chassis is smaller than that of the existing composite robot chassis, and it can take elevators and enter and exit indoor and outdoor doors. It has a relatively simple structure, complete functions, strong versatility, and a wide range of applications.

Description

Multifunctional general-purpose 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, the robot chassis mainly has three structural types: the wheel structure has the advantages of simple and flexible, fast speed, good stability, and low energy consumption, but it can adapt to less terrain, has limited ability to overcome obstacles, and cannot climb stairs; the crawler structure is suitable for terrain adaptation. The ability is relatively strong, and the performance of climbing and surmounting obstacles is better than that of other structural forms of climbing and surmounting obstacles. It is not easy to slip during the movement, and the traction and adhesion performance is good. During the process of climbing and surmounting obstacles, it can ensure that the trajectory of the robot's center of gravity is always parallel to the connection line of the stairs, with almost no or very small fluctuations, and the movement is relatively stable. However, the site of this structure is relatively bulky, large in size, relatively poor in movement flexibility, low in speed, and high in energy consumption; the composite structure can realize functions such as climbing stairs and overcoming obstacles, but the structure is complex, the control system is complex, and the size is large. , Self-heavy and energy-consuming.

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 has poor versatility.

Contents of the invention

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

The present invention adopts following technical scheme:

A multifunctional universal robot chassis, including a chassis main body, a motor assembly arranged on the chassis main 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 track 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 track, a driving track wheel, a driven track wheel and a swing arm; the driving track wheel and the driven track wheel are connected through the track, and one end of the swing arm is connected with the driven track wheel;

The transmission assembly includes a first transmission mechanism located at the front end of the chassis main body and a second transmission mechanism located at the rear end of the chassis main body; the first transmission mechanism and the second transmission mechanism have the same structure, and both include auxiliary sprockets, swing arm shafts and left and right symmetrical arrangements. The two wheel shafts are installed in sequence from the inside to the outside with auxiliary sprockets, wheels and driving track wheels. The swing arm shaft is coaxially installed inside the wheel shaft and runs through the two symmetrically arranged wheel shafts;

Wherein, the two ends of the swing arm shaft of the first transmission mechanism are respectively connected to the other ends of the swing arms of the two wheel assemblies located at the front end of the chassis main body; the first swing arm drive motor 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 respective swing arms of the two wheel assemblies located at the rear end of the chassis main body; the second swing arm driving 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 respectively connected to the first transmission mechanism and the second drive mechanism through a chain. The auxiliary sprocket on the right side of the second transmission mechanism is connected; the main sprocket connected to the second wheel drive motor is connected with the auxiliary sprocket on the left side of the first transmission mechanism and the second transmission mechanism respectively through a chain.

Further, the radius of the wheel is larger than that of the driving track 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 track wheel.

The present invention has the following beneficial effects:

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

Description of drawings

Fig. 1 is the front view of the multifunctional universal robot chassis provided by the present invention;

Fig. 2 is a partial sectional view of the wheel assembly in the upper left corner of Fig. 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 view of the swing arm retracted;

Fig. 6 is a demonstration diagram of the process of climbing stairs;

In the figure: track 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 belt 14, driven track wheel 15, pendulum Arm 16, wheel hub 17, screw 18, driving track wheel 19, dustproof end 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, casing 29.

Detailed ways

The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 and 2, the multifunctional general-purpose 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;

Described wheel assembly comprises wheel 2, the track swing arm mechanism 1 that is connected with wheel hub 17 of wheel 2; Described motor assembly comprises 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;

Described track swing arm mechanism comprises crawler belt 14, driving track wheel 19, driven track wheel 15 and swing arm 16; Driving track wheel 19 and driven track wheel 15 are connected by track belt 14, and one end of swing arm 16 is connected with driven track wheel wheel 15 connection;

The transmission assembly 3 includes a first transmission mechanism positioned at the front end of the chassis body and a second transmission mechanism positioned 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 sprockets, swing arm shafts 26 and left and right The two wheel shafts arranged symmetrically, the wheel shaft 23 is sequentially installed with the secondary sprocket, the wheel 2 and the driving track wheel 19 from the inside to the outside, and the swing arm shaft 26 is coaxially installed inside the wheel shaft 23, and runs through the left and right symmetrically arranged two wheels. a wheel axle;

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 main body; the first swing arm driving 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 respective swing arms of the two wheel assemblies located at the rear end of the chassis main body; the second swing arm driving 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 all sleeved with a main sprocket 27, wherein the main sprocket connected to the first wheel drive motor is respectively connected to the first transmission wheel through a chain. The mechanism is connected with the auxiliary sprocket wheel on the right side of the second transmission mechanism; the main sprocket wheel connected with the second wheel drive motor is respectively connected with the auxiliary sprocket wheel 25, 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 with 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 in conjunction; wherein the first swing arm drive motor reducer and the second swing arm drive motor reducer The output shafts are respectively connected to 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 movement, so that the crawler swing arm mechanism rotates; the first wheel drives the motor to decelerate The main sprockets are sheathed on the output shafts of the gear unit 7 and the second wheel drive motor reducer 13 .

As shown in Figures 4-5, the radius of the wheel is greater than the radius of the driving track 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 track wheel. In a preferred embodiment of the present invention, a key connection is used between the swing arm and the swing arm shaft, and the driving track wheel is connected to the hub of the wheel through screws 18 .

In a preferred embodiment of the present invention, the robot chassis also includes a box body 29, which is sealed by a lip seal ring 24 at the junction of the wheel shaft 23 and the box body 29, and sealed by a lip seal ring 24 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 dust-proof end cover 20 is installed outside the driving track wheel 19 , and a sealing ring 21 is provided between the dust-proof end cover 20 and the driving track wheel 19 .

As shown in Figure 3, it is a schematic block diagram of the control system of the present invention. The lithium battery is used to supply power to the motor, motor driver and host computer, and the host computer is used to control various motions of the robot chassis system. Specifically, the host computer receives and installs on the robot. The information from the sensors around the chassis is converted into a motor control signal and transmitted to the motor driver to control the operation of the motor, thereby controlling the movement of the wheel or track swing arm mechanism, and finally realizing the autonomous obstacle avoidance, autonomous stair climbing, and autonomous obstacle surmounting of the robot chassis , Autonomous patrol and other functions.

Working mode one: fast driving

When fast driving is required, the upper computer controls the swing arm mechanism to rotate to a position of 90° to the ground, as shown in Figure 5, which shows the retracted view of the swing arm. Only the wheels touch the ground to achieve fast movement. By controlling the first wheel to drive The turning speed of the motor 8 and the second wheel drive motor 12 realizes the turning function of the car 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 track The rotation angle of the swing arm mechanism relative to the ground, for example, is shown in FIG. 4 as an unfolded 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 to realize the functions of climbing stairs and overcoming obstacles. Because rolling bearings are arranged between the swing arm shaft and the wheel shaft, the motions of the wheel shaft and the swing arm shaft are relatively independent.

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

Working mode 2: climbing, obstacle and stair climbing

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

Explanation of the stages 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 touches the first step, and continue to reduce the swing arm of the first transmission mechanism through the first swing arm drive motor The angle between the shaft and the ground drives the entire car body to climb upwards through the front crawler swing arm mechanism and wheels;

(b) When the rear wheel touches the first step, adjust the rotation of the swing arm shaft of the second transmission mechanism through the second swing arm drive motor, increase the angle between the swing arm shaft of the second transmission mechanism and the ground, and swing the front and rear crawlers The arm mechanism and the wheels drive the entire car body to climb upwards;

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

(d) When the front wheels climb onto the flat ground, the front track swing arm mechanism is slowly retracted, and the entire car body is driven upward by the rear track swing arm mechanism and wheels;

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

(f) The entire robot chassis moves to the flat ground, the front and rear crawler swing arm mechanisms are completely retracted, and the entire vehicle body is driven forward through 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 together to complete the functions of climbing stairs, overcoming obstacles and climbing slopes of the robot chassis.

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

Claims (8)

1. a kind of multifunctional universal humanoid robot chassis, which is characterized in that including chassis body and be arranged on chassis body Electric machine assembly, the identical vehicle wheel component of four structures, for drive vehicle wheel component move transmission component；

The vehicle wheel component includes wheel, the crawler belt oscillating arm mechanisms connecting with the wheel hub of wheel；The electric machine assembly includes First swing arm drive motor (4), the second swing arm drive motor (10), the first wheel drive motors (8) and the second wheel driving electricity Machine (12)；

The crawler belt oscillating arm mechanisms include crawler belt, drive sprocket, driven Athey wheel and swing arm；Drive sprocket and driven shoe Belt wheel is connected by crawler belt, and one end of swing arm is connect with driven Athey wheel；

The transmission component includes that the first transmission mechanism positioned at chassis body front end and second positioned at chassis body rear end passes Motivation structure；First transmission mechanism and the second transmission mechanism structure be identical, includes auxiliary sprocket wheel, arm shaft and is symmetrical set Two axletrees, axletree are sequentially equipped with auxiliary sprocket wheel, wheel and drive sprocket from inside to outside, and arm shaft is coaxially mounted to vehicle Axle interior, and through two axletrees being symmetrical set；

Wherein, the both ends of the arm shaft of the first transmission mechanism be separately connected positioned at chassis body front end two vehicle wheel components respectively The other end of swing arm；First swing arm drive motor (4) is for driving the arm shaft of the first transmission mechanism to rotate；Second transmission mechanism The both ends of arm shaft be separately connected the other end of the respective swing arm of two vehicle wheel components positioned at chassis body rear end；Second swing arm Driving motor (10) is for driving the arm shaft of the second transmission mechanism to rotate；

It is arranged with head sprocket on the output shaft of first wheel drive motors (8), the second wheel drive motors (12), In, the head sprocket being connected with the first wheel drive motors (8) is by chain respectively and positioned at the first transmission mechanism and the second transmission Auxiliary sprocket wheel on the right side of mechanism is connected；The head sprocket being connected with the second wheel drive motors (10) is by chain respectively and positioned at first Auxiliary sprocket wheel on the left of transmission mechanism and the second transmission mechanism is connected.

2. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: the radius of the wheel is greater than The radius of drive sprocket.

3. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: the radius of the wheel is less than The sum of the length of swing arm and the radius of driven Athey wheel.

4. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: adopted between swing arm and arm shaft With key connection.

5. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: drive sprocket passes through screw It is connect with the wheel hub of wheel.

6. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: robot chassis further includes case Body (29) is sealed in the junction of axletree and cabinet by lip-type packing (24).

7. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: axletree (23) and arm shaft (26) lip-type packing (22) are equipped between.

8. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: in the outside of drive sprocket Equipped with dust-proof end cap, sealing ring (21) are equipped between the dust-proof end cap (20) and drive sprocket.