CN113086049A

CN113086049A - Multi-wheel-train multi-degree-of-freedom mobile chassis

Info

Publication number: CN113086049A
Application number: CN202110473449.XA
Authority: CN
Inventors: 高崇金; 皮云云; 王鸿博
Original assignee: Shunde Polytechnic
Current assignee: Shunde Polytechnic
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-07-09

Abstract

The invention relates to a multi-wheel-train multi-degree-of-freedom mobile chassis, which comprises a vehicle body and a controller arranged in the vehicle body, and is characterized in that: the vehicle body is hinged to the first balance frame, one end of the first balance frame is hinged to the first wheel train group, and the other end of the first balance frame is hinged to the second balance frame; and two ends of the second balance frame are respectively hinged with the second wheel train set and the third wheel train set. According to the invention, each independent gear train is provided with a driving and steering motor, and a working mode and a steering mode are independently selected according to different scenes, so that the vehicle is ensured to stably run or cross obstacles, wheels in the running process are prevented from being suspended, all the wheels of the vehicle are in contact with the ground in a coplanar manner under the self-weight condition, and the problems that the contact ground of a plurality of gear trains is not coplanar, the vehicle slides easily on the concave-convex ground, and walks and shakes and the like in the existing market are solved.

Description

Multi-wheel-train multi-degree-of-freedom mobile chassis

Technical Field

The invention relates to the technical field of chassis for autonomous mobile robots, in particular to a multi-wheel-train multi-degree-of-freedom mobile chassis.

Background

With the rapid development of science and technology, the mobile robot is generally applied in the large environments with the rapid population aging trend and the rising labor cost, such as in the fields of intelligent agriculture, warehouse logistics, processing and manufacturing of consumer goods, cleaning, national defense and the like.

In addition, the chassis of the robot bears the basic functions of positioning, navigation, obstacle avoidance and the like of the robot, the robot can be helped to realize intelligent walking, and a moving mechanism of the mobile robot can be subdivided into various types such as a snake-walking type, a crawler type, a wheel type and the like. The typical wheeled mobile robot has the advantages of light self weight, simple mechanical structure, high working efficiency and good application prospect in the industries of service robots, industrial robots and the like, and can keep self flexibility under the condition of bearing larger weight.

The road condition of the road directly influences the motion stability of the mobile robot, and when the mobile robot runs in a complex environment, the dynamic load generated by the vibration of a chassis of the mobile robot can accelerate the abrasion and fatigue damage of parts, which can seriously influence the service life and the use safety of the robot. When the chassis of the robot vibrates, the jumping of the wheels relative to the ground can deteriorate the grounding performance of the mobile robot, which leads to the deterioration of the adhesion performance of the mobile robot, influences the trafficability and stability of the chassis, and influences the driving safety of the mobile robot. Therefore, the problem of how to realize the stable operation of the wheeled mobile robot under the condition of complex road surface needs to be solved.

Therefore, aiming at the existing problems, the invention develops a novel multi-wheel train multi-degree-of-freedom autonomous mobile chassis to realize the key technologies of multi-degree-of-freedom, multi-wheel train, multiple steering modes and the like of the vehicle chassis. Guarantee that the vehicle stably traveles or cross the barrier, avoid the wheel among the driving process unsettled, all wheels contact ground coplane under the dead weight condition of vehicle, stability is good, reduces the automobile body vibrations, increases vehicle life.

Disclosure of Invention

The invention aims to provide a multi-wheel-train multi-degree-of-freedom mobile chassis aiming at the problem of the running stability of a robot on a complex and steep road surface.

The technical scheme for solving the technical problem is as follows: the utility model provides a multi-wheel system multi freedom degree removes chassis, includes the controller that sets up in automobile body and the automobile body, its characterized in that: the vehicle body is hinged to the first balance frame, one end of the first balance frame is hinged to the first wheel train group, and the other end of the first balance frame is hinged to the second balance frame; and two ends of the second balance frame are respectively hinged with the second wheel train set and the third wheel train set.

Each gear train set comprises a steering motor, wheels, a support and a walking motor, the wheels are mounted on the support, the support is hinged with the first balance frame or the second balance frame, the steering motor is used for driving the wheels to steer relative to the first balance frame or the second balance frame, and the walking motor is used for driving the wheels to rotate and walk; the steering motor and the walking motor are connected with the controller.

The vehicle body is provided with an inclination angle sensor, and the inclination angle sensor is connected with the controller.

The controller is a PLC controller.

The invention has the beneficial effects that:

1) according to the invention, each independent gear train is provided with a driving and steering motor, a working mode and a steering mode are independently selected according to different scenes, for example, the driving mode changes, double-drive, four-drive or multi-group drive and the like can be adopted in the driving process, so that the vehicle can be ensured to stably drive or cross obstacles, the suspension of wheels in the driving process is avoided, all wheels of the vehicle are in contact with the ground to be coplanar under the dead weight condition, and the problems that the contact ground of a multi-gear train is not coplanar, the vehicle is easy to slip when passing through a concave-convex ground, the vehicle is easy to walk and shake and the like in the.

2) According to the invention, the number of the balancing frames can be increased, namely the number of the wheel trains is increased according to different loads, and the chassis structure is flexible and strong in expansibility and is more suitable for the application of the robot in complex terrains.

Drawings

Fig. 1 is a front view of the multi-train multiple degree of freedom mobile chassis of the present invention.

Fig. 2 is a schematic top view of the oblique movement mode of the multi-wheel-train multi-degree-of-freedom moving chassis according to the present invention.

Fig. 3 is a side view of the multi-wheelset multiple degree of freedom mobile chassis of the present invention.

Fig. 4 is a schematic diagram of an obstacle crossing mode of the multi-wheel-train multi-degree-of-freedom mobile chassis of the invention.

FIG. 5 is a top view of the transverse moving mode of the multi-wheel-train multi-degree-of-freedom moving chassis of the invention.

FIG. 6 is a top view of the pivot steering movement pattern of the multi-wheel multi-degree-of-freedom mobile chassis of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Referring to fig. 1-6, the invention discloses a multi-wheel-train multi-degree-of-freedom mobile chassis, which comprises a vehicle body 2 and a controller (not shown) arranged in the vehicle body, and further comprises a first balance frame 1 and a second balance frame 5, wherein the vehicle body 2 is hinged on the first balance frame, one end of the first balance frame is hinged with a first wheel train group, and the other end of the first balance frame is hinged with the second balance frame; and two ends of the second balance frame are respectively hinged with the second wheel train set and the third wheel train set. The first wheel train set includes a first wheel train 6 and a fourth wheel train 10. The second gear train set includes a second gear train 7 and a fifth gear train 11. The third gear train set includes a third gear train 8 and a sixth gear train 12. The multi-wheel train multi-degree-of-freedom mobile chassis is further provided with a first hinge point 3, a second hinge point 4, a third hinge point 9, a steering motor 13, a support 14, wheels 15, an encoder 16, a traveling motor 17 and the like, and the number of parts is symmetrically distributed relative to a vehicle body.

The vehicle body 2 is hinged with the first balance frame 1 by a pin shaft, namely, the vehicle body has the rotational freedom degree of a first hinge point 3. The second balance frame 5 is hinged with the first balance frame 1 through a pin shaft and has the rotational freedom degree of a second hinge point 4. In addition, the mobile chassis has 6 groups of independent gear trains, and has independent driving and independent steering capabilities, the steering mechanism is driven by a steering motor, as shown in fig. 2, the rotational freedom degree around a third hinge point 9 can be realized through the steering mechanism, and the third hinge point 9 of the mobile chassis is 6. The driving mechanism is driven by a motor, and the vehicle can move according to different steering modes.

The vehicle body tilts in the forward or backward direction of the chassis. In order to ensure that the vehicle body is horizontal relative to the ground in the running process, the inclination angle sensor is arranged in the middle of the vehicle body, and when the vehicle body tilts due to inertia in the acceleration or sudden stop process of the vehicle, the inclination angle sensor gives a signal to the PLC controller to control the acceleration or deceleration of the vehicle to adjust the level of the vehicle body.

The connection of the second gimbal 5 to the first gimbal 1 has a rotational freedom around the second hinge point 4. For example, when the first gear train 6 and the fourth gear train 10 are in a braking state, the second gear train 7 and the fifth gear train 11 are driven by the motor, so that the height change of the position of the second hinge point 4 can be realized to cross an obstacle, as shown in fig. 4.

The first gear train 6, the second gear train 7, the third gear train 8, the third hinge point 9, the fourth gear train 10, the fifth gear train 11 and the sixth gear train 12 are all composed of a steering motor 13, wheels 15, a support 14, a walking motor 17 and the like, the walking motor 17 is used for providing power for running of the vehicle, the steering motor 13 realizes rotation of the gear trains, and different turning radii are realized according to actual scene requirements.

According to different loads, the number of the balancing frames can be increased, namely the number of the wheel trains is increased.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims

1. The utility model provides a multi-wheel system multi freedom degree removes chassis, includes the controller that sets up in automobile body and the automobile body, its characterized in that: the vehicle body is hinged to the first balance frame, one end of the first balance frame is hinged to the first wheel train group, and the other end of the first balance frame is hinged to the second balance frame; and two ends of the second balance frame are respectively hinged with the second wheel train set and the third wheel train set.

2. The multi-train multi-degree-of-freedom mobile chassis of claim 1, wherein: each gear train set comprises a steering motor, wheels, a support and a walking motor, the wheels are mounted on the support, the support is hinged with the first balance frame or the second balance frame, the steering motor is used for driving the wheels to steer relative to the first balance frame or the second balance frame, and the walking motor is used for driving the wheels to rotate and walk; the steering motor and the walking motor are connected with the controller.

3. The multi-train multi-degree-of-freedom mobile chassis of claim 2, wherein: the vehicle body is provided with an inclination angle sensor, and the inclination angle sensor is connected with the controller.

4. The multi-train multi-degree-of-freedom mobile chassis of claim 3, wherein: the controller is a PLC controller.