CN-116572729-B - Local omnidirectional wheel chassis structure

Abstract

The invention relates to a local omni-wheel chassis structure. The local omnidirectional wheel chassis structure comprises a frame body, wherein the frame body is also connected with a front axle assembly and a rear axle assembly, the front axle assembly and the rear axle assembly respectively comprise two groups of hub motors, the hub motors respectively form a front wheel and a rear wheel, roller assemblies are fixedly connected at the notch positions of the hub motors, the roller assemblies at least comprise roller parts capable of rotating around the axis of the roller parts, the number of the roller parts is at least two, when the roller parts are at the lowest position of the rear wheel, the rotation axis of the roller parts points to the center of the front axle, namely the rotation center of the whole machine, and compared with other omnidirectional wheel chassis structures, the local omnidirectional wheel chassis structure greatly enhances the obstacle climbing performance.

Inventors

• ZHOU YUXIANG
• CHEN QINGGE
• ZHU TAOJIAN
• BAI LIN
• LIU BIAO

Assignees

• 广州高新兴机器人有限公司

Dates

Publication Date

20260508

Application Date

20230530

Claims (5)

1. 1. A local omni-wheel chassis structure is characterized by comprising a frame body (1), wherein the frame body (1) is also connected with a front axle assembly (2) and a rear axle assembly (3), the front axle assembly (2) and the rear axle assembly (3) both comprise two groups of hub motors, the hub motors respectively form a front wheel and a rear wheel, a roller assembly (4) is fixedly connected at the notch position of the hub motor, the roller assembly (4) and the notch of the hub motor jointly form a complete rolling circle, the roller assembly (4) at least comprises roller members (42) capable of rotating around the axis of the roller assembly, the number of the roller members (42) is at least two groups, when the roller members (42) are at the lowest position of the rear wheel, the self rotation axis of the roller members (42) points to the center of the front axle, namely the rotation center of the whole machine, when the chassis is required to rotate and turn round in an approximately original place, the two hub motors of the rear axle assembly (3) are matched with the hub motors (5) to enable the two hub motors of the hub motor (2) to rotate at the center point of the hub assembly (2) in a certain angle when the chassis is required to rotate in the hub motor (3), so that the omni-wheel can do oblique movement to match the whole machine for rotation.
2. 2. The local omni wheel chassis structure according to claim 1, wherein the roller assembly (4) further comprises a fixing frame (41), the fixing frame (41) is connected with a pin shaft (43), the roller member (42) is sleeved on the surface of the pin shaft (43), and a bearing member is further arranged between the roller member (42) and the pin shaft (43).
3. 3. The local omni wheel chassis structure of claim 2, wherein said bearing member is a contact seal deep groove ball bearing.
4. 4. A local omni wheel chassis structure according to claim 3, wherein a spacer is provided on the outer side of said bearing member.
5. 5. The local omni wheel chassis structure according to claim 4, wherein the front axle assembly (2) further comprises a front axle rod (21) for connecting two front wheels, a front axle shock-absorbing spring (22) is arranged between the front axle rod (21) and the frame body (1), the rear axle assembly (3) further comprises a rear axle rod (31), and a rear axle shock-absorbing spring (32) is further arranged between the rear axle rod (31) and the frame body (1).

Description

Local omnidirectional wheel chassis structure Technical Field The invention belongs to the technical field of inspection robots, and particularly relates to a local omnidirectional wheel chassis structure. Background In the prior art, the chassis steering wheel body of the inspection robot is generally arranged in a staggered way through two wheel discs with small rollers, so that the function of the omni-wheel is realized, namely, the wheel unit can slide sideways without abrasion at any angle and does not influence normal rolling straight line walking, and a three-wheel or four-wheel omni-directional mobile chassis is constructed on the basis of the wheel unit, or a circle of large and small wheel combinations are arranged on one wheel disc in a circumferential nested way through the large and small wheels, so that the function of the omni-wheel is realized, and the approximate omni-directional mobile chassis of the front wheel driving wheel and the rear wheel universal wheel is constructed on the basis of the wheel unit. However, for the former three-wheel or four-wheel omni-wheel chassis, the number of small rollers is large, the failure rate is high, the small rollers are not suitable for outdoor working conditions, the stability of the whole chassis is poor, sideslip is likely to occur when the whole chassis walks on a slope, for the latter, the failure rate of the omni-wheel is high in the front wheel driving and rear wheel omni-wheel chassis, the omni-wheel is not suitable for outdoor working conditions, and for the front wheel driving chassis, the obstacle-surmounting climbing performance has the physical limit which is far lower than that of the four-wheel driving chassis, the scheme is insufficient in stability on the slope, and the tail flicking is easy to occur when the front wheel driving and rear wheel omni-wheel chassis climbs on the slope. The application aims to solve the technical problems that the climbing and obstacle crossing performance of a chassis is not lower than that of a four-wheel drive chassis while the approximately omni-directional movement is solved by using a local omni-wheel structure, and meanwhile, the defects that the number of small rollers of the omni-wheel is large, the failure rate is high and the outdoor working condition is not applicable are overcome. Disclosure of Invention The invention aims to solve the problems and provide the local omnidirectional wheel chassis structure which is simple in structure and reasonable in design. The invention realizes the above purpose through the following technical scheme: The utility model provides a local omnidirectional wheel chassis structure, includes the frame body, the frame body still is connected with front axle subassembly and rear axle subassembly, front axle subassembly and rear axle subassembly all include two sets of in-wheel motor, in-wheel motor constitutes front wheel and rear wheel respectively, in-wheel motor's breach position fixedly connected with running roller subassembly, the running roller subassembly is including at least can around self axis pivoted running roller spare, the quantity of running roller spare is two sets of at least, when the running roller spare is in the lowest position department of rear wheel, the self axis of rotation of running roller spare points to the front axle center, also is the rotation center of complete machine. As a further optimization scheme of the invention, the roller assembly further comprises a fixing frame, the fixing frame is connected with a pin shaft, the roller piece is sleeved on the surface of the pin shaft, and a bearing piece is further arranged between the roller piece and the pin shaft. As a further optimization scheme of the invention, the bearing piece is a contact type sealed deep groove ball bearing. As a further optimization of the invention, the outer side of the bearing piece is provided with a gasket. As a further optimization scheme of the invention, the front axle assembly further comprises a front axle rod piece connected with the two front wheels, a front axle damping spring is arranged between the front axle rod piece and the frame body, the rear axle assembly further comprises a rear axle rod piece, and a rear axle damping spring is also arranged between the rear axle rod piece and the frame body. As a further optimization scheme of the invention, the frame body is also connected with an inductive switch. The second aspect of the invention provides an omni-directional wheel body, which comprises a roller assembly fixedly connected with the wheel body, wherein the roller assembly at least comprises a roller piece capable of rotating around an axis of the roller piece, and when the roller piece is at the lowest position of a rear wheel, the rotation axis of the roller piece points to the center of a front axle, namely the rotation center of the whole machine. The omni-directional wheel structure has the beneficial effects that an external d