CN106515340A - Robot chassis - Google Patents
Robot chassis Download PDFInfo
- Publication number
- CN106515340A CN106515340A CN201611117339.5A CN201611117339A CN106515340A CN 106515340 A CN106515340 A CN 106515340A CN 201611117339 A CN201611117339 A CN 201611117339A CN 106515340 A CN106515340 A CN 106515340A
- Authority
- CN
- China
- Prior art keywords
- base plate
- motor
- baffle
- plate
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
Abstract
The invention discloses a robot chassis. The robot chassis comprises a base plate, and at least one anti-collision device is installed on the base plate; each anti-collision device comprises a motor, the motor is fixedly installed on a motor installing plate, an output shaft of the motor penetrates through the motor installing plate and then is connected with a driving wheel, the motor installing plate is installed on a connecting plate, the connecting plate is installed on the base plate through a sliding mechanism, a trigger shaft is further connected to the connecting plate, the trigger shaft is sleeved with a trigger compressed spring, the two ends of the trigger compressed spring are matched with a first baffle and a second baffle correspondingly, the first baffle is fixed to the base plate, and the second baffle is located between the trigger compressed spring and the connecting plate, the base plate is further provided with a microswitch, and the microswitch is matched with the trigger shaft and connected with the motor in a signal mode. When an outer shell of a robot installed on the base plate is subjected to collision, the connecting plate slides frontwards under the effect of impact force, the trigger shaft overcomes the stress of the trigger compressed spring to trigger the microswitch, and the microswitch controls the motor to close.
Description
Technical field
The present invention relates to a kind of robot chassis.
Background technology
Robot needs collision free body of wall, furniture and human body etc. in the process of moving, prevents that damage is occurred by collision object
Bad phenomenon, for the appearance for solving the above problems, existing robot employs the side that sensor and mechanical anticollision are combined
Formula, wherein mechanical anticollision is used as the safety measures after the failure of sensor anticollision.In existing mechanical anticollision measure at present,
Protruding parts mostly in shell increase triggering projection, as the raised height of triggering is fixed, therefore do not adapt to the wall of complexity
Situations such as body and furniture, and then affect the effect of mechanical anticollision.
On the other hand, for driving two driving wheels of robot ride, with identical level height, but by ground not
Equality limit when, robot can run-off the straight, or two driving wheels cannot close proximity to ground problem, and then affect robot operation
Stationarity.
The content of the invention
Object of the present invention is to provide a kind of being collided and robot chassis out of service.
To reach object above, the invention provides a kind of robot chassis, including a base plate, arrange on the base plate
There is an at least anticollision device, collision-prevention device, the anticollision device, collision-prevention device includes motor, motor mounting plate, driving wheel, connecting plate, slide mechanism, triggering
Axle, triggering stage clip, first baffle, second baffle and microswitch, the motor are fixed on the motor mounting plate, and described
The output shaft of motor connects the driving wheel through the motor mounting plate, and the motor mounting plate is arranged on the connecting plate
On, the connecting plate is arranged on the base plate by the slide mechanism, and the connecting plate can be along the slide mechanism
Axis direction movement, the triggering axle, axis and the slide mechanism of the triggering axle are also associated with the connecting plate
Axis be parallel to each other, be arranged with the triggering stage clip on the triggering axle, the two ends of the triggering stage clip are respectively with described the
One baffle plate and the second baffle coordinate, wherein the first baffle mutually can be slided with the triggering axle, and described first
Baffle plate is fixed on the base plate, and the second baffle is located between the triggering stage clip and the connecting plate, on the base plate
The microswitch coordinated with the triggering axle is additionally provided with, the microswitch and the connecting plate are located at described touching respectively
Send out the two ends of axle, the microswitch and motor signal connection.
Further, be arranged with two fairleads on the connecting plate respectively, one is arranged respectively in each described fairlead and is led
Xiang Zhu, is arranged with each described lead column respectively described in one and drives stage clip, and the two ends of the driving stage clip are respectively with described
Three baffle plates and the sleeve coordinate, wherein the sleeve and the lead column mutually can be slided, and the sleeve is positioned at described
Drive between stage clip and the base plate, outside each sleeve, be arranged with mounting blocks respectively, two mounting blocks are arranged on motor mounting plate
On.
Further, the third baffle is nut, and the nut is threadedly coupled with the lead column.
Further, the second baffle be nut, the nut with it is described triggering axle thread be connected.
Further, the first limited block is provided between the microswitch and the base plate.
Further, the second limited block, first limited block and second limited block point are additionally provided with the base plate
Not Wei Yu the connecting plate two ends.
Further, the avoidance hole that the motor mounting plate is passed through is provided with the connecting plate, and avoidance Kong Conglian
Extend on fishplate bar on the base plate, the driving wheel passes through the avoidance hole, and the base plate both sides are exposed independent from the driving
Wheel, the motor pass through the avoidance hole, and the base plate both sides are exposed independent from the motor.
Further, the slide mechanism includes two first guide rails and one second guide rail, and the length of second guide rail is longer than
The length of first guide rail, described in two, the first guide rail is coaxially disposed, and the axis of first guide rail and second guide rail
Axis be parallel to each other, the first guide rail described in two is arranged on the first side of the driving wheel, and first guide rail is set respectively described in two
The both sides in the avoidance hole are put, second guide rail is arranged on the second side of the driving wheel.
Further, the quantity of the anticollision device, collision-prevention device is two.
Further, universal wheel is additionally provided with the base plate, the universal wheel and the slide mechanism are respectively positioned at described
The both sides of base plate.
The invention provides following advantage：
(1), when the robot shells on base plate of the invention are collided, connecting plate is in the presence of impulsive force
Forward slip, now triggers axle and overcomes triggering stage clip pressure to touch microswitch, and microswitch controlled motor is closed, and makes driving wheel
It is out of service, and then control robot and halt, high degree of automation, and impingement position do not limited with shape by height.
(2) two driving wheels of the invention can overcome driving stage clip pressure to move up or down, it is seen that two driving wheels
Level height can be different, thus two driving wheels can close proximity to ground all the time, make robot operate steadily.
The present invention is further illustrated below in conjunction with drawings and Examples.
Description of the drawings
Fig. 1 is the structural representation on robot chassis of the present invention；
Fig. 2 is the phantom on robot chassis of the present invention；
Fig. 3 is the schematic diagram of driving wheel of the present invention, motor and motor mounting plate assembling.
Specific embodiment
Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious deformations.Define in the following description
The present invention ultimate principle can apply to other embodiments, deformation program, improvement project, equivalent and without carry on the back
From the other technologies scheme of the spirit and scope of the present invention.
Referring to Fig. 1, a kind of robot chassis according to the preferred embodiment of the present invention, including a base plate 1 are shown,
An at least anticollision device, collision-prevention device is provided with base plate 1, anticollision device, collision-prevention device includes motor 22, motor mounting plate 21, driving wheel 11, connecting plate
12nd, slide mechanism, triggering axle 4, triggering stage clip 6, first baffle 5, second baffle 7 and microswitch 3, motor 22 are fixed on motor
On installing plate 21, and the output shaft of motor 22 connects driving wheel 11 through motor mounting plate 21, and wherein motor mounting plate 21 is arranged
On connecting plate 12, connecting plate 12 is arranged on base plate 1 by slide mechanism, and connecting plate 12 can be along the axis of slide mechanism
Direction is moved, and the axis of the output shaft axis and slide mechanism of motor 22 is mutually perpendicular to, and output shaft axis and the bottom of motor 22
Plate 1 is parallel to each other, in addition, being also associated with triggering axle 4 on connecting plate 12, the axis for triggering axle 4 is mutual with the axis of slide mechanism
It is parallel, triggering stage clip 6 is arranged with triggering axle 4, the two ends for triggering stage clip 6 are coordinated with first baffle 5 and second baffle 7 respectively,
Wherein first baffle 5 mutually can be slided with triggering axle 4, and first baffle 5 is fixed on base plate 1, and second baffle 7 is located at triggering
Between stage clip 6 and connecting plate 12, the microswitch 3 coordinated with triggering axle 4, microswitch 3 and connecting plate on base plate 1, are additionally provided with
12 two ends for being located at triggering axle 4 respectively, microswitch 3 and the connection of 22 signal of motor, driving wheel 11 drive base plate 1 to triggering axle 4
Run with the direction (i.e. direction of advance) of 3 connection end of microswitch, when the robot shells on base plate 1 are collided
When, the impact force is with driving force sum more than the pressure for triggering stage clip 6, you can destruction of balance, now connecting plate 12 is in impulsive force
In the presence of forward slip, now trigger axle 4 and overcome triggering stage clip 6 pressure to touch microswitch 3,3 controlled motor of microswitch
22 close, make driving wheel 11 out of service, thus robot shells all can as trigger, therefore impingement position by height,
The restriction of shape, in addition, anticollision device, collision-prevention device is changed only on the chassis of robot relative to robot is overall, need not change machine
People's shell.
Second baffle 7 can be nut, and nut is threadedly coupled with triggering axle 4, by rotating nut, to adjust triggering stage clip 6
Length, and then adjust triggering stage clip 6 pressure.
The first limited block 2 is provided between microswitch 3 and base plate 1, the first limited block 2 is except lifting microswitch 3
Setting height(from bottom), enables outside the effect that microswitch 3 and triggering axle 4 are touched, and also moves forward with preventing from triggering axle 4,
And cause the effect of the damage of microswitch 3.
It is additionally provided with the second limited block 15 on base plate 1, the first limited block 2 and second spacing 15 pieces are located at connecting plate 12 respectively
Two ends, after the second limited block 15 is to prevent connecting plate 12 from running backward, the slide mechanism cannot reset.
With reference to Fig. 1 and Fig. 2, two fairleads 19 on connecting plate 12, are arranged with respectively, be arranged in each fairlead 19 respectively
One lead column 20, is arranged with a driving stage clip 9 respectively in each lead column 20, two drive stage clip 9 respectively positioned at connecting plate 12
The same side, drives the two ends of stage clip 9 to coordinate with third baffle 10 and sleeve 8 respectively, and sleeve 8 can be sleeve made by copper product,
Its middle sleeve 8 and lead column 20 mutually can be slided, and sleeve 8 is located at and drives between stage clip 9 and base plate 1, outer point of each sleeve 8
Mounting blocks 23 are not arranged with, two mounting blocks 23 are separately positioned on motor mounting plate 21.
In the present embodiment, two mounting blocks 23 and motor mounting plate 21 are integrated, and the difference of two mounting blocks 23 position
In the same side of motor mounting plate 21.
In other embodiments, two mounting blocks 23 and motor mounting plate 21 are package assembly.
Third baffle 10 can be nut, and nut is threadedly coupled with lead column 20, by rotating nut, to adjust driving stage clip
9 length, and then adjust the pressure for driving stage clip 9.
The line of centres of two lead columns 20 is parallel to each other with the axis of slide mechanism.
The avoidance hole 27 that motor mounting plate 21 is passed through is provided with connecting plate 12, and avoids hole 27 and extended from connecting plate 12
To base plate 1, driving wheel 11 is through avoidance hole 27, and 1 both sides of base plate are exposed independent from driving wheel 11, and motor 22 is passed through and avoids hole 27,
And 1 both sides of base plate are exposed independent from motor 22.
Slide mechanism includes two first guide rails 14 and one second guide rail 13, and the length of the second guide rail 13 is longer than the first guide rail 14
Length, two first guide rails 14 are coaxially disposed, and the axis of the axis of the first guide rail 14 and the second guide rail 13 is parallel to each other, two
One guide rail 14 is arranged on the first side of driving wheel 11, and two first guide rails 14 are separately positioned on the both sides for avoiding hole 27, and second leads
Rail 13 is arranged on the second side of driving wheel 11, wherein triggering axle 4 and the second limited block 15 can be located at the first guide rail 14 and the respectively
Between two guide rails 13.
The quantity of anticollision device, collision-prevention device can be two, and two anticollision device, collision-prevention devices can be symmetrical arranged, when ground is uneven, each driving wheel
11 move up or down along 20 axis of lead column in the case where driving stage clip 9 to act on respectively, it is seen that the level of two driving wheels 11 is high
Degree can be different, thus two driving wheels 11 can close proximity to ground all the time, make operation more steady.
Universal wheel 16 is additionally provided with base plate 1, universal wheel 16 and slide mechanism are respectively positioned at the both sides of base plate 1, universal wheel
16 quantity can be four or multiple, as long as the universal wheel of respective numbers 16 can make robot even running.
Connect for flat key 26 with reference to the output shaft of Fig. 3, driving wheel 11 and motor 22, and fixed by securing member 25, and electricity
Thrust bearing 24 is arranged with the output shaft of machine 22 also, thrust bearing 24 is located between driving wheel 11 and motor 22.
Embodiment described above is merely to illustrate the technological thought and feature of the present invention, its object is to make in the art
Technical staff will appreciate that present disclosure and implement according to this, it is impossible to limit only with the present embodiment the present invention patent model
Employing, i.e., all equal changes made according to disclosed spirit or modification are enclosed, is still fallen in the scope of the claims of the present invention.
Claims (10)
1. a kind of robot chassis, an including base plate (1), it is characterised in that be provided with an at least anticollision on the base plate (1)
Device, the anticollision device, collision-prevention device include motor (22), motor mounting plate (21), driving wheel (11), connecting plate (12), slide mechanism,
Triggering axle (4), triggering stage clip (6), first baffle (5), second baffle (7) and microswitch (3), the motor (22) are fixed on
On the motor mounting plate (21), and the output shaft of the motor (22) connects the driving through the motor mounting plate (21)
Wheel (11), the motor mounting plate (21) are arranged on the connecting plate (12), and the connecting plate (12) is by the skate machine
Structure is arranged on the base plate (1), and the connecting plate (12) can be moved along the axis direction of the slide mechanism, the company
Triggering axle (4) is also associated with fishplate bar (12), the axis of triggering axle (4) is mutually put down with the axis of the slide mechanism
OK, be arranged with triggering stage clip (6) on triggering axle (4), the two ends of triggering stage clip (6) respectively with the first gear
Plate (5) and the second baffle (7) coordinate, wherein the first baffle (5) mutually can be slided with triggering axle (4), and
The first baffle (5) is fixed on the base plate (1), and the second baffle (7) is positioned at triggering stage clip (6) and the company
Between fishplate bar (12), the microswitch (3) coordinated with triggering axle (4) on the base plate (1), is additionally provided with, it is described micro-
Dynamic switch (3) and the connecting plate (12) are located at the two ends of triggering axle (4), the microswitch (3) and the electricity respectively
Machine (22) signal connects.
2. robot chassis as claimed in claim 1, it is characterised in that be arranged with two respectively on the connecting plate (12) and lead
A lead column (20) is arranged respectively into set (19), each described fairlead (19), is covered on each described lead column (20) respectively
Be provided with described in one drive stage clip (9), it is described drive stage clip (9) two ends respectively with the third baffle (10) and the sleeve
(8) coordinate, wherein the sleeve (8) and the lead column (20) mutually can be slided, and the sleeve (8) is positioned at the driving
Between stage clip (9) and the base plate (1), each sleeve (8) is arranged with outward mounting blocks (23) respectively, and two mounting blocks (23) are arranged
On motor mounting plate (21).
3. robot chassis as claimed in claim 2, it is characterised in that the third baffle (10) is nut, the nut
It is threadedly coupled with the lead column (20).
4. robot chassis as claimed in claim 1, it is characterised in that the second baffle (7) is nut, the nut with
Triggering axle (4) threaded connection.
5. robot chassis as claimed in claim 1, it is characterised in that between the microswitch (3) and the base plate (1)
It is provided with the first limited block (2).
6. robot chassis as claimed in claim 5, it is characterised in that be additionally provided with the second limited block on the base plate (1)
(15), first limited block (2) and second spacing (15) block are respectively positioned at the two ends of the connecting plate (12).
7. robot chassis as claimed in claim 1, it is characterised in that the motor peace is provided with the connecting plate (12)
The avoidance hole (27) that plate (21) is passed through is filled, and the avoidance hole (27) is extended on the base plate (1) from connecting plate (12), institute
Driving wheel (11) is stated through the avoidance hole (27), and the base plate (1) both sides are exposed independent from the driving wheel (11), the motor
(22) through the avoidance hole (27), and the base plate (1) both sides are exposed independent from the motor (22).
8. robot chassis as claimed in claim 7, it is characterised in that the slide mechanism include two first guide rails (14) and
One second guide rail (13), the length of second guide rail (13) are longer than the length of first guide rail (14), and described in two, first leads
Rail (14) is coaxially disposed, and the axis of the axis of first guide rail (14) and second guide rail (13) is parallel to each other, two institutes
State the first side that the first guide rail (14) is arranged on the driving wheel (11), and the first guide rail (14) described in two be separately positioned on it is described
The both sides of hole (27) are avoided, second guide rail (13) is arranged on the second side of the driving wheel (11).
9. robot chassis as claimed in claim 1, it is characterised in that the quantity of the anticollision device, collision-prevention device is two.
10. robot chassis as claimed in claim 1, it is characterised in that be additionally provided with universal wheel on the base plate (1)
(16), the universal wheel (16) and the slide mechanism are respectively positioned at the both sides of the base plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117339.5A CN106515340A (en) | 2016-12-07 | 2016-12-07 | Robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117339.5A CN106515340A (en) | 2016-12-07 | 2016-12-07 | Robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106515340A true CN106515340A (en) | 2017-03-22 |
Family
ID=58341795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611117339.5A Pending CN106515340A (en) | 2016-12-07 | 2016-12-07 | Robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515340A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407564A (en) * | 2018-01-26 | 2018-08-17 | 北京启创远景科技有限公司 | A kind of shock-proof cart wheel carrier of robot car |
| CN108790649A (en) * | 2018-05-31 | 2018-11-13 | 重庆瑞耕达网络科技有限公司 | A kind of pretightning force adjustment structure, chassis suspension assembly and robot |
| CN110341635A (en) * | 2019-07-27 | 2019-10-18 | 长春光华学院 | A kind of anti-collision structure of AGV trolley |
| CN111688843A (en) * | 2020-06-29 | 2020-09-22 | 北京云迹科技有限公司 | Wheel type robot presser foot prevention device |
| CN113002662A (en) * | 2021-04-19 | 2021-06-22 | 清华大学 | Mobile robot and steering wheel device thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
| CN105818670A (en) * | 2016-05-30 | 2016-08-03 | 昆山穿山甲机器人有限公司 | Elastic damping chassis structure of wheeled robot |
| CN205601959U (en) * | 2016-05-17 | 2016-09-28 | 苏州斯锐奇机器人有限公司 | Indoor service robot removes chassis |
| CN205615640U (en) * | 2016-04-05 | 2016-10-05 | 纳恩博（北京）科技有限公司 | Automobile body buffer stop and self -balancing car |
| CN206406721U (en) * | 2016-12-07 | 2017-08-15 | 哈工大机器人集团上海有限公司 | A kind of robot chassis |
-
2016
- 2016-12-07 CN CN201611117339.5A patent/CN106515340A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
| CN205615640U (en) * | 2016-04-05 | 2016-10-05 | 纳恩博（北京）科技有限公司 | Automobile body buffer stop and self -balancing car |
| CN205601959U (en) * | 2016-05-17 | 2016-09-28 | 苏州斯锐奇机器人有限公司 | Indoor service robot removes chassis |
| CN105818670A (en) * | 2016-05-30 | 2016-08-03 | 昆山穿山甲机器人有限公司 | Elastic damping chassis structure of wheeled robot |
| CN206406721U (en) * | 2016-12-07 | 2017-08-15 | 哈工大机器人集团上海有限公司 | A kind of robot chassis |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407564A (en) * | 2018-01-26 | 2018-08-17 | 北京启创远景科技有限公司 | A kind of shock-proof cart wheel carrier of robot car |
| CN108790649A (en) * | 2018-05-31 | 2018-11-13 | 重庆瑞耕达网络科技有限公司 | A kind of pretightning force adjustment structure, chassis suspension assembly and robot |
| CN110341635A (en) * | 2019-07-27 | 2019-10-18 | 长春光华学院 | A kind of anti-collision structure of AGV trolley |
| CN111688843A (en) * | 2020-06-29 | 2020-09-22 | 北京云迹科技有限公司 | Wheel type robot presser foot prevention device |
| CN113002662A (en) * | 2021-04-19 | 2021-06-22 | 清华大学 | Mobile robot and steering wheel device thereof |
| CN113002662B (en) * | 2021-04-19 | 2022-04-29 | 清华大学 | Mobile robot and steering wheel device thereof |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170322 |