CN108323306A - Automatic walking robot - Google Patents
Automatic walking robot Download PDFInfo
- Publication number
- CN108323306A CN108323306A CN201710037565.0A CN201710037565A CN108323306A CN 108323306 A CN108323306 A CN 108323306A CN 201710037565 A CN201710037565 A CN 201710037565A CN 108323306 A CN108323306 A CN 108323306A
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- Prior art keywords
- wheel
- traveling wheel
- automatic walking
- walking robot
- traveling
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- 238000001514 detection method Methods 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims description 29
- 238000007667 floating Methods 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000003825 pressing Methods 0.000 description 12
- 244000025254 Cannabis sativa Species 0.000 description 8
- 239000000853 adhesive Substances 0.000 description 8
- 230000001070 adhesive effect Effects 0.000 description 8
- 238000005520 cutting process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241001416181 Axis axis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Rehabilitation Tools (AREA)
- Harvester Elements (AREA)
Abstract
Present invention is disclosed a kind of automatic walking robots, are used for automatically walk and work on the ground, including：Body, the control module for being installed on the walking module of body and being connect with walking module, walking module includes the running motor of the traveling wheel group being mounted on body and driving traveling wheel group, along the direction of travel of automatic walking robot, traveling wheel group includes that preceding two front-wheels and opposite two trailing wheels are arranged, each traveling wheel has and the relatively-stationary wheel shaft of the traveling wheel, front wheels and rear wheels positioned at the same side are set as rotating synchronously, it is respectively provided with detection sensor between the wheel shaft and body of each traveling wheel, when at least two traveling wheels leave ground, at least two detection sensors offset to detection trigger signal with body and feed back to control module, control module is controlled accordingly according to the detection signal received.The automatic walking robot of the present invention, can be controlled accordingly when traveling wheel is liftoff, prevented robot unilateral hanging and overturned.
Description
Technical field
It can be moved outdoors the present invention relates to a kind of automatic walking robot, especially one kind and independently execute work and appointed
The automatic walking robot of business.
Background technology
With the development of science and technology, intelligent automatic running device is well known, since automatic running device can
Pre-set inter-related task is executed with automatic pre-set program, is answered without artificial operation and intervention, therefore in industry
With and family product on be widely used it is general.The robot that industrial application such as performs various functions, on family product
Using such as grass trimmer, dust catcher etc., these smart machines dramatically save the time of people, give industrial production and home life
All bring great convenience.Compared with traditional product, automatic walking robot has automatically walk function, can prevent from touching
Hit, within the scope of prevent outlet, auto-returned charging has safety detection and battery capacity detection, has certain climbing capacity,
The places such as especially a kind of suitable family's garden, public lawn carry out turf-mown maintenance.Automatic walking robot can be autonomous
The work that cuts the grass on a lawn of completion, without artificially directly controlling and operate, and power is low, noise is small, pollution-free, shape is exquisite
Manual operation is greatly lowered in beauty.
The automatic walking robot of the prior art, especially automatically walk grass-removing robot, in ground out-of-flatness of passing through
When meadow, each traveling wheel of grass-removing robot and the frictional traction on ground are unbalanced, are easy to cause the skidding of traveling wheel original place
Phenomenon；And since each traveling wheel of grass-removing robot and the frictional traction on ground are unbalanced, turn in grass-removing robot
When, it turns to and is difficult to control, steering is easy to happen deviation.In addition, at the meadow for ground out-of-flatness of passing through, chassis is with landing ground
Height fluctuating correspondingly jolt, the device for being also easy to cause to be arranged on chassis shakes, and influences the performance of device, thus
The job stability of grass-removing robot is reduced, in addition grass-removing robot is deliberately lifted or toppled over by people when overturning, because of the mowing
The cutting mechanism of robot still can continuous running, so grass-removing robot is lifted or overturns and exposed cutting mechanism just very may be used
Other people, have safety doubt in use around capable of hurting, and still have much room for improvement.
Invention content
High and better working stability the automatic walking robot the purpose of the present invention is to provide a kind of safety coefficient.
For achieving the above object, the present invention provides a kind of automatic walking robot, for automatically walk on the ground
And work, including：Body, the control module for being installed on the walking module of body and being connect with walking module, the walking mould
Block includes the traveling wheel group being mounted on body and drives the running motor of the traveling wheel group, along automatic walking robot
Direction of travel, the traveling wheel group, which includes preceding two front-wheels of setting and opposite two trailing wheels, each traveling wheel, to be had
With the relatively-stationary wheel shaft of the traveling wheel, the front wheels and rear wheels positioned at the same side are set as rotating synchronously, the wheel of each traveling wheel
It is respectively provided with detection sensor between axis and the body, when at least two traveling wheels leave ground, at least two detection sensings
Device is triggered so that will detect signal feeds back to the control module, and the control module is carried out according to the detection signal received
Corresponding control.
As being further improved for an embodiment of the present invention, the wheel shaft of each traveling wheel is rotatably supported on holder
In mechanism, the bracket institution is movably installed in the body, when contacting the height difference on ground between two traveling wheels, until
A few traveling wheel and its wheel shaft drive the bracket institution to change relative to the position of body, so that the body is kept
Leveling off to the equilibrium state of horizontal position.
As being further improved for an embodiment of the present invention, the detection sensor is mounted on the bracket institution.
As being further improved for an embodiment of the present invention, the detection sensor includes compression spring, the compression spring and machine
Body offsets compression, and the control module can receive the pressure signal that the compression spring generates.
As being further improved for an embodiment of the present invention, the bracket institution includes before supporting two front-wheel wheel shafts
Holder and the after-poppet for supporting two rear axles, the fore-stock drive two front-wheels and its corresponding wheel shaft opposite together
In the body movement, the after-poppet drives two trailing wheels and its corresponding wheel shaft together relative to the body movement.
As being further improved for an embodiment of the present invention, the fore-stock connect corresponding hinged with after-poppet
Structure, the fore-stock and after-poppet are surrounded by the opposite body of corresponding articulated structure and automatic walking robot is advanced
The parallel axis in direction pivots.
As being further improved for an embodiment of the present invention, the fore-stock and the corresponding articulated structure of after-poppet
Include being pivoted on the hinge axis on corresponding holder and the traveller with hinge axis connection, one end of the traveller with it is described
Hinge axis connection, the other end of the traveller pass through the location hole being vertically arranged on body, the fore-stock and rear branch
Frame bears the power on the ground walked towards automatic walking robot.
As being further improved for an embodiment of the present invention, between the fore-stock and body and the after-poppet and
Elastic device is respectively provided between body, the elastic device is applied to power of the corresponding holder towards ground, the elastic device packet
Two are included, is pressed on respectively on corresponding holder close to the position of both sides traveling wheel.
As being further improved for an embodiment of the present invention, the bracket institution includes two support left side traveling wheel wheels
It is right with it that the right support of the left socle of axis and two supports right side traveling wheel wheel shafts, each traveling wheel and its wheel shaft drive
The holder answered can be independent relative to body movement.
As being further improved for an embodiment of the present invention, the left socle and right support of the same side are connected to same hinged
Structure, each left socle is surrounded respectively with respect to body by corresponding articulated structure with corresponding right support and automatically walk
The parallel axis of robot direction of travel pivots.
As being further improved for an embodiment of the present invention, the articulated structure includes the rotation being mounted on body
Axis, left socle corresponding with the articulated structure and right support are all connected to rotation axis and can surround the axis of rotation axis respectively
Rotation.
As being further improved for an embodiment of the present invention, the rotation axis is fixed on corresponding with the articulated structure
On one in left socle and right support, another in left socle corresponding with the articulated structure and right support is pivotally connected
In rotation axis, the rotation axis rotation is installed on body.
As being further improved for an embodiment of the present invention, each left socle and each right support are all connected to respectively right
The floating structure answered, each left socle and each right support are by corresponding floating structure with respect to body along vertical
Direction moves.
As being further improved for an embodiment of the present invention, the floating structure include the slide bar that is fixed on body with
And the location hole passed through for slide bar on corresponding holder is set, the corresponding holder is moved by location hole along slide bar.
As being further improved for an embodiment of the present invention, the floating structure includes the cunning being fixed on corresponding holder
Bar and the location hole passed through for slide bar is set on body, the corresponding holder is moved by slide bar along location hole.
As being further improved for an embodiment of the present invention, the slide bar and location hole are all respectively set two simultaneously mutually
It is corresponding, two slide bars along the direction of travel of automatic walking robot be arranged at least one traveling wheel wheel shaft two
Side.
As being further improved for an embodiment of the present invention, the floating structure includes two parallel isometric connecting rods,
One end of two connecting rods is hinged at least one traveling wheel, and the other end of two connecting rods is hinged with the body, institute
At least one traveling wheel is stated to move along vertical direction with respect to body by two connecting rods.
As being further improved for an embodiment of the present invention, the wheel of the running motor and at least one traveling wheel
Bulb transmission shaft is connected between axis, rotary power is driven to described at least one by the running motor by bulb transmission shaft
The wheel shaft of traveling wheel, two connecting rods are vertically located at the both sides of the bulb transmission shaft.
As being further improved for an embodiment of the present invention, the wheel shaft of at least one traveling wheel and the body it
Between position limiting structure is set, the wheel shaft that the position limiting structure can limit at least one traveling wheel is movable within a preset range.
As being further improved for an embodiment of the present invention, the wheel shaft of at least one traveling wheel and the body it
Between elastic device is set, the elastic device is used to provide the power towards ground at least one traveling wheel.
Compared with prior art, the beneficial effects of the present invention are：The automatic walking robot of the present invention, traveling wheel is liftoff
When can be controlled accordingly, prevent robot unilateral hanging and overturn.And its traveling wheel can rise according to ground height
Volt carries out position adjustment, avoids the frictional traction that traveling wheel vacantly causes each traveling wheel and ground unbalanced, and make guarantor
It holds chassis and is in substantially horizontal arrangement always, do not generate skew back, severe jolt, sent out during avoiding automatic walking robot from passing through
Life shakes and influences device performance, so as to improve the operation is stable performance of grass-removing robot.
Description of the drawings
Fig. 1 is the stereogram of grass-removing robot in currently preferred first embodiment；
Fig. 2 is the decomposed schematic diagram of the grass-removing robot in Fig. 1；
Fig. 3 is the assembly structure diagram of the grass-removing robot traveling wheel and chassis in Fig. 1；
Fig. 4 is the enlarged diagram of the parts a in Fig. 3；
Fig. 5 is the vertical view of the grass-removing robot in Fig. 1；
Fig. 6 is the sectional view along line A-A in Fig. 5；
Fig. 7 is the sectional view along line B-B in Fig. 5；
Fig. 8 is the decomposed schematic diagram of grass-removing robot in currently preferred second embodiment；
Fig. 9 is the assembly structure diagram of the wheel shaft and chassis of the grass-removing robot traveling wheel in Fig. 8；
Figure 10 is the schematic cross-sectional view of grass-removing robot in currently preferred second embodiment；
Figure 11 is the decomposed schematic diagram of grass-removing robot in currently preferred third embodiment；
Figure 12 is the assembly structure diagram of the wheel shaft and chassis of the grass-removing robot traveling wheel in Figure 11；
Figure 13 is the schematic cross-sectional view of grass-removing robot in currently preferred third embodiment；
Figure 14 is the decomposed schematic diagram of grass-removing robot in currently preferred 4th embodiment；
Figure 15 is the elevational schematic view of grass-removing robot in currently preferred 4th embodiment；
Figure 16 is the sectional view along line C-C in Figure 15.
Specific implementation mode
Below with reference to specific implementation mode shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously
The present invention is not limited, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation is included within the scope of protection of the present invention.
Shown in Fig. 7, in currently preferred first embodiment, automatic walking robot is preferably grass trimmer
Device people is used for automatically walk on the ground and work, and walking and work capacity are provided by battery.Grass-removing robot includes
Body 10, the operational module 20 and walking module 30 for cutting the grass on a lawn for being installed on body 10, walking module is for walking
And steering, operational module include cutting motor, the transmission shaft being connect with cutting motor and the cutter device being coupled with transmission shaft
（It is not shown）, cutter device, which can be cutting blade, cutting line etc., can realize the cutting element trimmed to lawn.Separately
Outside, grass-removing robot further includes control module, is used for co-ordination module and walking module, and control module can make grass cutter
People walks and mows on lawn automatically in the case of left unguarded.In the description of the present invention, unless otherwise noted, it is related to
Direction term such as front, back, left, right, up and inferior normally advanced when driving with the grass-removing robot as shown in Fig. 1
Direction be reference.
Wherein, the walking module 30 of grass-removing robot, including traveling wheel group and the running motor for driving traveling wheel group
33.Wherein, body 10 includes chassis 13, and traveling wheel group is installed on chassis 13.In the present embodiment, traveling wheel group includes four rows
It walks and takes turns 31a, 31b, 32a, 32b, be respectively arranged in front walking wheel 31a, 31b of front part of a body both sides and setting in After-Body
Rear walking wheel 32a, 32b of both sides, each traveling wheel have mutually independent wheel shaft, and the traveling wheel of body both sides is about body
Symmetry axis X is symmetrical.
Next it being specifically described by taking front walking wheel 31a, 31b as an example, left front traveling wheel 31a has left front wheel shaft 34a,
One end of left front wheel shaft 34a connects running motor 33, the other end and the left front circumferentially fixed connections of traveling wheel 31a, from running motor
33 rotary powers transmitted can pass to left front traveling wheel 31a by left front wheel shaft 34a, to which left front traveling wheel 31a is driven
Dynamic rotation.Also relatively-stationary on left front wheel shaft 34a to be equipped with driving pulley 42, driving pulley 42 is located at running motor 33 and a left side
Between front walking wheel 31a.Left back traveling wheel 32a has left back wheel shaft 35a, on left back wheel shaft 35a it is relatively-stationary be equipped with from
Transmission belt 44 is installed on movable belt pulley 43, driving pulley 42 and driven pulley 43, therefore, running motor 33 can pass through main belt
Wheel 42, transmission belt 44 and driven pulley 43 drive left back wheel shaft 35a to rotate, between left front traveling wheel 31a and left back traveling wheel 32a
By V belt translation, to realize the synchronous rotation of left front traveling wheel 31a and left back traveling wheel 32a.Right side traveling wheel can pass through
Another running motor and tape handler carry out the synchronous rotation of right front walking wheel 31b and right rear walking wheel 32b, in order to make row
Walk that module is compacter, the running motor on right side could be provided as that right rear walking wheel 32b is directly driven to rotate, and pass through V belt translation band
Dynamic right front walking wheel 31b rotations, specific structure is similar with left side traveling wheel, and which is not described herein again.The steering of grass-removing robot
Different rotating speeds can be exported by the running motor of control both sides to realize.
Further, left front wheel shaft 34a and front right axle 34b is hinged by articulated structure and chassis 13, i.e., left front wheel shaft
34a and front right axle 34b can independently by articulated structure relative to chassis 13 rotate, to realize left front traveling wheel 31a and
Right front walking wheel 32a's floats up and down.Certainly, articulated structure can be arranged two, i.e., the left front hinged knot of wheel shaft 34a connections one
Structure, front right axle 34b also connect an articulated structure, and two articulated structures can be arranged side by side or front and back arrangement.This implementation
In example, left front wheel shaft 34a and front right axle 34b share an articulated structure.Specifically, articulated structure includes being supported on chassis 13
On rotation axis 51, running motor 33 be mounted on left socle 36a on, one end and the left socle 36a of rotation axis 51 are relatively fixed, turn
The other end of moving axis 51 is supported on by bearing 52 on chassis 13, and bearing 52 is installed on chassis 13 by bearing plate 53, in this way,
The axis that left socle 36a can drive running motor 33, left front wheel shaft 34a to surround rotation axis 51 together rotates, left front traveling wheel
31a and left front wheel shaft 34a are circumferentially fixed, and therefore, left front traveling wheel 31a can surround rotation axis together with left front wheel shaft 34a
51 axis rotation.
In addition, there is right front walking wheel 31b front right axle 34b, one end rotation of front right axle 34b to be supported on right support
On 36b, the other end and the right circumferentially fixed connections of front walking wheel 31b.Right support 36b has axially extending along front right axle 34b
Pivotal arm 361b, pivotal arm 361b are pivotally connected on the rotating shaft 51, therefore, right support 36b can drive front right axle 34b,
The axis that right front walking wheel 31b surrounds rotation axis 51 together rotates.Each corresponding holder of traveling wheel constitutes grass-removing robot
Bracket institution.
Above-mentioned is the scheme that left front traveling wheel and right front walking wheel are pivoted respectively by the same articulated structure, certainly,
Can also be that left front traveling wheel and right front walking wheel are pivoted respectively by respective articulated structure, i.e., left front traveling wheel connects one
Articulated structure, right front walking wheel connect another articulated structure, and two articulated structure intervals are independently arranged.In left front traveling wheel or
When right front walking wheel is pivoted by articulated structure, left front traveling wheel or right front walking wheel vertically not only generate position
It moves, and left front traveling wheel or the angle of right front walking wheel and vertical direction also will produce variation, because of left front traveling wheel and the right side
The position adjustment of front walking wheel is ground-angle difference that is relatively independent, being contacted with right front walking wheel according to left front traveling wheel,
Left front traveling wheel or right front walking wheel also can be different from the angle of vertical direction.
In order to keep left front traveling wheel 31a and right front walking wheel 31b more steady reliable around the rotation of 51 axis of rotation axis,
Articulated structure can be arranged two, along the direction of travel of grass-removing robot, relative to left front wheel shaft 34a or front right axle
The axis of 34b is symmetricly set on the both sides of left socle 36a or right support 36b.Left back traveling wheel 32a and right rear walking wheel 32b
Between the articulated structure that is arranged it is similar with the articulated structure between left front traveling wheel 31a and right front walking wheel 32b, it is no longer superfluous here
It states.In addition, in order to limit scope of activities of the traveling wheel relative to chassis 13, grass-removing robot also sets up limiting device, the limit
Device is used to limit the scope of activities that traveling wheel is rotated around the axis of rotation axis 51, that is to say, that traveling wheel is in limiting device
It can only be movable within a preset range under effect.It is preferred in the present embodiment by taking left front traveling wheel 31a as an example, limiting device device
Including limiting pressing plate 61, limit pressing plate 61 is configured to semi-circular, and ring is located on left socle 36a, and the both ends of limit pressing plate 61 pass through
Screw is fixed on chassis 13, and limiting has prepsetting gap between pressing plate 61 and left socle 36a, and left socle 36a can be default
It is movable in interstice coverage, therefore, left front traveling wheel 31a with left socle 36a also can only limit pressing plate 61 and left socle 36a it
Between prepsetting gap within the scope of activity.
By the way that articulated structure is arranged, at the meadow for ground out-of-flatness of passing through, traveling wheel can adapt to grass-removing robot
The variation that ground height rises and falls, 51 axis of rotation axis for surrounding articulated structure in the vertical direction pivot so as in vertical side
To up and down, avoid the frictional traction that traveling wheel vacantly causes each traveling wheel and ground unbalanced.Especially mowing
It when robot turns, such as turns to the left, due to the effect of centripetal force, the earth-grasping force of left side traveling wheel increases, while right side row
The earth-grasping force for walking wheel reduces.When encountering uneven ground when cornering, unconventional variation, grass trimmer occur for both sides traveling wheel earth-grasping force
The central processing unit of device people's control module will be difficult to accurately calculate steering angle, cause course changing control inaccurate.By in setting
Articulated structure is stated, realizes that traveling wheel is adjusted according to the floating of topography, the unconventional variation of both sides traveling wheel earth-grasping force can be reduced and made
At influence, and so that holding chassis is generally in always and level off to the equilibrium state of horizontal position, do not generate skew back, acutely top
It winnows with a dustpan, vibrations occurs and influence device performance during avoiding grass-removing robot from passing through, it is steady so as to improve the work of grass-removing robot
Qualitative energy.For traveling wheel is with respect to the constant situation in chassis position, the relative angle of chassis and horizontal plane more levels off to
Zero.
Further, in order to increase the adhesive force of grass-removing robot traveling wheel and ground, grass-removing robot also sets up elasticity
Device, the elastic device are used to provide the power towards ground to traveling wheel.Preferred in the present embodiment, elastic device includes torsional spring
80, by taking left front traveling wheel 31a as an example, torsional spring 80 is mounted on left socle 36a, and one end is connected on holder 36a, and the other end supports
It is connected on chassis 13, and torsional spring is made to be in energy storage state, in this way, no matter left front traveling wheel 31a is in any position, torsional spring 80 is equal
By oppressing left socle 36a the left front traveling wheel 31a can be made to bear the power towards ground always, to keep connecing with ground
It touches.Likewise, being also provided with torsional spring on right support 36b, torsional spring can make right front walking wheel 32b mono- by oppressing right support 36b
The straight power born towards ground, to keep the contact with ground.Certainly, those skilled in the art can be easy to think of,
Same function can also be realized by the way that compression spring is arranged.
Torsional spring is arranged in the present embodiment to be not only simple in structure, production and assembly are convenient, and can further strengthen traveling wheel
With the adhesive force on ground, traveling wheel is made reliably to grab ground, vehicle body is kept to stablize；In addition, adhesive force is by rotational angle（I.e. traveling wheel exists
Around the amplitude that the rotation axis axis of articulated structure is up and down on vertical direction）Influence is smaller, to ensure four traveling wheels
It is smaller with the adhesive force difference on ground, it avoids making vehicle body generate shake since adhesive force differs greatly, causes vehicle body operation unstable.
Further, which is additionally provided with the liftoff detection sensor whether detection traveling wheel leaves ground
70.Detection sensor 70 that this is liftoff may be provided on wheel shaft and close to the position on chassis 13, when traveling wheel leaves ground, from
Ground detection sensor 70 offsets with chassis 13, and then detection trigger signal.When grass-removing robot passes through complicated ground, Ke Nengfa
Raw traveling wheel is detached from the fortuitous event on ground, and whether setting detection traveling wheel leaves the liftoff detection sensor 70 on ground, can
The fortuitous event is fed back to the control module of grass-removing robot, so that the fortuitous event obtains timely processing.
With reference to shown in Fig. 8 to Figure 10, in currently preferred second embodiment, the main composition part of grass-removing robot with
First embodiment is identical, and which is not described herein again.It is still illustrated by taking front walking wheel as an example in the present embodiment.Left front wheel shaft 234a by
Running motor 233 drives, and front right axle 234b is supported with running motor commonly through fore-stock 236, to which fore-stock 236 will be left
Front axle 234a, running motor 233 and front right axle 234b are configured to an entirety.The top setting of fore-stock 236 is limited
Position pressing plate 261, limit pressing plate 261 are connected by screw on chassis 213, can only be in preset model for limiting fore-stock 236
Enclose interior activity.Wherein, articulated structure includes the hinge axis 251 being connected on fore-stock 236, and 251 axis of hinge axis is along mowing
The direction of travel of robot arranges that hinge axis 251 is arranged two, is located at close to the position of both sides traveling wheel on fore-stock 236, often
It is pivotally connected on a hinge axis 251 there are one traveller 263, traveller 263 passes through the location hole 262 on limit pressing plate 261 and can
Slided up and down along location hole 262, while traveller 263 slides up and down, the both ends of fore-stock 236 also can with grass cutter
It moves up and down or rotates in the vertical plane of people's direction of travel, that is to say, that left front wheel shaft 234a and front right axle 234b difference
Drive left front traveling wheel 231a and right front walking wheel 231b upper and lower in the plane vertical with grass-removing robot direction of travel together
Mobile or rotation.In addition, mounting hole 252 is arranged on fore-stock 236, mounting hole 252 is more than hinge along the distance of left side axle axial
The outer diameter of chain rivet 251, hinge axis 251 can be moved and be rotated in mounting hole 252.Certainly, those skilled in the art can be very
Readily expect, left front traveling wheel 31a and right front walking wheel 31b can share the same wheel shaft, wheel shaft can with grass cutter
It moves up and down or rotates in the vertical plane of people's direction of travel, holder is such as set outside wheel shaft, be arranged at the middle part of holder and pivot
Structure etc..
It in above-described embodiment, limits and elastic device is set between pressing plate 261 and fore-stock 236, for being provided to traveling wheel
Towards the power on ground.Elastic device includes compressed spring 280, and compression bullet 280 is positioned close to the position of traveller 263, compresses bullet
Spring 280 is used to provide the elastic force towards ground to the both ends of fore-stock 236, so as to be provided towards ground to traveling wheel
Power is to increase the adhesive force of grass-removing robot traveling wheel and ground.Compressed spring 280 is arranged two, faces on fore-stock 236
The position of nearly both sides traveling wheel.In addition, in the present embodiment, which is again provided with whether detection traveling wheel leaves ground
The liftoff detection sensor 270 in face, detection sensor 270 that this is liftoff may be provided on fore-stock 236 close to the position on chassis 213
It sets, when traveling wheel leaves ground, liftoff detection sensor 270 offsets with chassis 213, and then detection trigger signal.Liftoff inspection
The quantity for surveying sensor 270 is identical as the quantity of traveling wheel, and each liftoff detection sensor is for detecting its corresponding traveling wheel
The corresponding traveling wheel of liftoff situation or the other side liftoff situation.
1 to shown in Figure 13 referring to Fig.1, in currently preferred 3rd embodiment, the main composition part of grass-removing robot
It is identical with the first embodiment, which is not described herein again.It is still illustrated by taking front walking wheel as an example in the present embodiment, left front wheel shaft and machine
Floating structure is connected between body, left front wheel shaft 334a is moved by floating structure with respect to body along vertical direction.Left front wheel shaft
334a is driven by running motor 333, and left front traveling wheel 331a and right front walking wheel 331b use separate wheel shaft.Floating junction
Structure includes being equipped at least one location hole 372 and across location hole on the left front holder 336a for support left front wheel shaft 334a
One end of 372 at least one slide bar 374, slide bar 374 is fixed on chassis 313, and the other end is fixed on chassis 313
Limit pressing plate 361 on, left front wheel shaft 334a can under the drive of left front holder 336a along slide bar 374 with grass-removing robot
It is moved up and down in the vertical plane of direction of travel.Preferably, the traveling wheel per side is preferably configured two mutually matched positioning
Hole 372 and slide bar 374, so that moving up and down for wheel shaft is more steady.
In the present embodiment, compressed spring 380 is equally set between limit pressing plate 361 and left front holder 336a, compresses bullet
Spring 380 closes on the setting of location hole 372, for providing the elasticity towards ground to left front traveling wheel 331a by left front holder 336a
Power, to increase the adhesive force of grass-removing robot traveling wheel and ground.In addition, being arranged between left front holder 336a and chassis 313
Liftoff detection sensor 370, liftoff detection sensor 370 are configured to compression spring, when traveling wheel leaves ground, compression spring and chassis
313 offset, and then detection trigger signal.
In the deformable scheme of above-described embodiment, it can be arranged on the left front holder for supporting left front wheel shaft fixed thereto
Location hole is arranged on the limit pressing plate being fixed on chassis or chassis in the slide bar of connection, i.e. floating structure includes being fixed on
On left front holder and the location hole passed through for slide bar is arranged on chassis, slide bar passes through location hole and can be along location hole
It slides up and down, can also equally realize left front wheel shaft under the drive of left front holder vertical with grass-removing robot direction of travel
It is moved up and down in plane.
4 to shown in Figure 16 referring to Fig.1, in currently preferred fourth embodiment, in the present embodiment, and the drive of right side traveling wheel
Dynamic walking drives right rear walking wheel 432b, right rear walking wheel 432b to drive right front walking wheel by the first running motor 433a
431b, the first running motor 433a is arranged between left back traveling wheel 431b and right rear walking wheel 432b, close to left back traveling wheel
431b.The driving of left side traveling wheel is walked, and left front traveling wheel 431a drives left back traveling wheel by the second running motor 433b
432a, the second running motor 433b is arranged between left front traveling wheel 431a and right front walking wheel 432a, close to right front walking wheel
432a.In the traveling wheel of left side, front left side traveling wheel 431a is that actively, left rear side traveling wheel 432a is driven；In the traveling wheel of right side,
Right lateral side traveling wheel 432b is that actively, forward right side traveling wheel 431b is driven.By taking right side as an example, right rear walking wheel 432b has the right side
Hind axle 434b, the first running motor 433a communicate rotational motion to off hind wheel axis 434b by belt wheel transmission.Specifically, the
One running motor 433a is configured to motor, and first pulley 91 is fixedly installed on the output shaft 4331 of motor, and off hind wheel axis 434b is logical
Cross bulb transmission shaft 438 and first band wheel shaft 921 can transmitting rotary power connection, the is fixedly installed on first band wheel shaft 921
Two belt wheels 92, are connected with the first transmission belt 911 between first pulley 91 and the second belt wheel 92, the rotary power of motor output passes through
First pulley 91, the first transmission belt 911, the second belt wheel 92 pass to first band wheel shaft 921, and first band wheel shaft 921 passes through bulb
Transmission shaft 438 communicates rotational motion to off hind wheel axis 434b, in this way, just realizing motor drives right rear walking wheel 432b rows
It walks.
Further, third belt wheel 93, third belt wheel 93 and the second belt wheel 92 are further fixedly arranged on first band wheel shaft 921
It is arranged side by side on first band wheel shaft 921, it is rotatable on chassis 413 to be supported by the second pulley shaft 922, the second pulley shaft 922
It is arranged parallel and close to right rear walking wheel 432b with first band wheel shaft 921, the both ends of the second pulley shaft 922 are fixedly installed respectively
4th belt wheel 94 and the 5th belt wheel 95, wherein connect the second transmission belt 912 between third belt wheel 93 and the 4th belt wheel 94, transmit
Rotary power to first band wheel shaft 921 passes to the second band by third belt wheel 93, the second transmission belt 912 and the 4th belt wheel 94
Wheel shaft 922.With the second pulley shaft 922 it is spaced and parallel be provided with third pulley shaft 923, third pulley shaft 923 moves ahead close to right
Walk to take turns 431b settings, and the 6th belt wheel 96 and the 7th belt wheel 97, the 5th band is fixedly installed in the both ends of third pulley shaft 923 respectively
Setting third transmission belt 913 between wheel 95 and the 6th belt wheel 96, the rotary power of the second pulley shaft 922 output can pass through the 5th
Belt wheel 95, third transmission belt 913 and the 6th belt wheel 96 pass to third pulley shaft 923.Right front walking wheel 431b has off-front wheel
Axis, front right axle can be connect to transmitting rotary power by bulb transmission shaft with the 4th pulley shaft 924, on the 4th pulley shaft 924
It is fixedly installed the 8th belt wheel 98, the 4th transmission belt 914, third pulley shaft are connected between the 7th belt wheel 97 and the 8th belt wheel 98
The rotary power of 923 outputs can pass to the 4th pulley shaft by the 7th belt wheel 97, the 4th transmission belt 914 and the 8th belt wheel 98
924, the 4th pulley shaft 924 drives front right axle to rotate by bulb transmission shaft.The above-mentioned biography from off hind wheel axis to front right axle
Dynamic to may be summarized to be, driving wheel drives driven wheel, driving wheel and driven wheel synchronous rotation/stopping by synchronous belt, and rotating speed, turns
To identical.The transmission in left side is similar with right side, and which is not described herein again.Above-described embodiment controls a left side respectively by two running motors
The walking of side and right side traveling wheel, and grass-removing robot can be controlled by controlling the rotating speed difference of two running motors
It turns to.
In the present embodiment, the wheel shaft of traveling wheel passes through bulb transmission shaft and inputs the belt wheel axis connection of rotary power so that
Traveling wheel does not interfere with the rotation of traveling wheel during being moved up and down relative to chassis, i.e. bulb power transmission shaft constitutes
Connect the floating structure of the wheel shaft and body of traveling wheel.Further, floating structure further includes cantilever design, cantilever design connection
Between the wheel shaft and the pulley shaft of input rotary power of traveling wheel, by taking right rear walking wheel 432b as an example, cantilever design includes peace
The cantilever support arm 437 of 434b on off hind wheel axis, the cantilever inner support 436 being mounted on first band wheel shaft 921, is connected to
Cantilever between cantilever support arm 437 and cantilever inner support 436, one end and the cantilever support arm 437 of cantilever are pivotally connected, cantilever
The other end be pivotally connected with cantilever inner support 436.Preferably, cantilever is arranged two, is located at the upper of 438 upside of bulb transmission shaft
The both ends of cantilever 491 and the lower cantalever 492 on the downside of bulb transmission shaft, upper cantilever and lower cantalever are respectively equipped with axis hole, lean on
One end of nearly right rear walking wheel 432b is pivotally connected across axis hole with cantilever support arm 437 by axis pin 494, and the other end passes through pin
Axis 493 is pivotally connected across axis hole with cantilever inner support 436.By the way that upper cantilever and lower cantalever is arranged so that above and below traveling wheel
Movement is more steady.
The position setting cantilever receiving portion of upper cantilever and lower cantalever is corresponded on chassis 413, the position of corresponding running motor is set
Have a motor receiving portion, when ease of assembly each module positioning.In addition, mounting hole 498 is arranged on upper cantilever 491, mounting hole 498 is used
It being positioned in the installation of compressed spring 380,380 one end of compressed spring is connected on body, and the other end is connected on upper cantilever 491,
For providing the elastic force towards ground to right rear walking wheel 432b by upper cantilever 491, to increase grass-removing robot walking
The adhesive force of wheel and ground.In addition, in the present embodiment, liftoff detection sensor 470 is arranged on body, liftoff detection sensor
470 are configured to compression spring, and when traveling wheel leaves ground, compression spring offsets with cantilever support arm 437, and then detection trigger signal.When
So, those skilled in the art are also readily able to relatively, liftoff detection sensor 470 can also be arranged cantilever support arm 437,
On upper cantilever or lower cantalever, and liftoff detection sensor can also be configured to other structures form, as long as inspection can be realized
Survey the state that traveling wheel leaves ground.
It is currently preferred, it is respectively provided with liftoff detection sensor between the wheel shaft and body of each traveling wheel, and ought be extremely
When few two traveling wheels leave ground, at least two liftoff detection sensors offset to detection trigger signal and feed back with body
To control module, control module is controlled accordingly according to the detection signal received, such as executes shutdown action, it is therefore an objective to anti-
Only grass-removing robot is unilateral vacantly overturns.Be described in detail by taking the 4th embodiment as an example, set on body there are four
Liftoff detection sensor 470 is located at 491 top of upper cantilever being connect with front left side traveling wheel 431a, walks with forward right side
It walks above 491 top of upper cantilever for taking turns 431b connections, the upper cantilever 491 being connect with left rear side traveling wheel 432a and with right lateral side
Take turns 491 top of upper cantilever of 432b connections.In this way, when any one traveling wheel is in liftoff state, it is its corresponding liftoff
Liftoff signal will be passed to control module by detection sensor 70.When being only in liftoff state there are one traveling wheel, machine
Generally there is no the danger for toppling over overturning by people, so control module will not make halt instruction at this time.And when two or two
When above traveling wheel is liftoff, when especially the traveling wheel of homonymy is all in liftoff state, such as front left side traveling wheel 431a and a left side
Rear side traveling wheel 432a is liftoff simultaneously, then just there is the danger toppled over to the left in robot；Again such as front left side traveling wheel 431a and
Forward right side traveling wheel 431b is liftoff simultaneously, then just there is the danger to dump forward in robot, and control module can make shutdown and refer at this time
It enables, the generation for preventing robot from toppling over.Furthermore work as robot（Especially grass-removing robot）It is lifted away from ground, if there are one only
Traveling wheel is lifted, then is installed on the mowing blade of 413 lower section of chassis and will not generally expose, so control module will not be done at this time
Go out halt instruction.And when two or more traveling wheels are lifted, mowing blade will expose in front of the user, exist tight
The security risk of weight, at this time control module can make halt instruction, prevent the dangerous of touching mowing blade from occurring.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiment of understanding.
The series of detailed descriptions listed above only for the present invention feasible embodiment specifically
Bright, they are all without departing from equivalent implementations made by technical spirit of the present invention not to limit the scope of the invention
Or change should all be included in the protection scope of the present invention.
Claims (20)
1. a kind of automatic walking robot is used for automatically walk and work on the ground, including：Body（10）, it is installed on body
（10）Walking module（30）And and walking module（30）The control module of connection, the walking module（30）Including being mounted on
Body（10）On traveling wheel group and drive the running motor of the traveling wheel group, along the traveling side of automatic walking robot
To the traveling wheel group includes that preceding two front-wheels and opposite two trailing wheels are arranged, and is located at the front-wheel of the same side with after
Wheel is set as rotating synchronously, it is characterised in that：It is respectively provided with detection sensor between the wheel shaft and the body of each traveling wheel
（70,270,370,470）, when at least two traveling wheels leave ground, at least two detection sensors are triggered to examine
It surveys signal and feeds back to the control module, the control module is controlled accordingly according to the detection signal received.
2. automatic walking robot according to claim 1, which is characterized in that the wheel shaft of each traveling wheel rotates
It is supported on bracket institution, the bracket institution is movably installed in the body, and the height on ground is contacted between two traveling wheels
When spending different, at least one traveling wheel and its wheel shaft drive the bracket institution to change relative to the position of body, so that
The body, which is maintained at, levels off to the equilibrium state of horizontal position.
3. automatic walking robot according to claim 2, which is characterized in that the detection sensor is mounted on the branch
On frame mechanism.
4. automatic walking robot according to claim 3, which is characterized in that the detection sensor includes compression spring, institute
It states compression spring and body to offset compressions, the control module can receive the pressure signal of the compression spring generation.
5. automatic walking robot according to claim 2, which is characterized in that the bracket institution includes before supporting two
It takes turns the fore-stock of wheel shaft and the after-poppet of two rear axles, the fore-stock is supported to drive two front-wheels and its corresponding wheel
For axis together relative to the body movement, the after-poppet drives two trailing wheels and its corresponding wheel shaft together relative to the machine
Body moves.
6. automatic walking robot according to claim 5, which is characterized in that the fore-stock is connect respectively with after-poppet
Corresponding articulated structure, the fore-stock and after-poppet are surrounded by the opposite body of corresponding articulated structure and automatically walk
The parallel axis of robot direction of travel pivots.
7. automatic walking robot according to claim 6, which is characterized in that the fore-stock is respectively corresponding with after-poppet
Articulated structure include being pivoted on hinge axis on corresponding holder（251）And and hinge axis（251）The traveller of connection
（263）, the traveller（263）One end and the hinge axis（251）Connection, the traveller（263）The other end pass through body
On the location hole that is vertically arranged（262）, the fore-stock bears to be gone towards automatic walking robot with after-poppet
The power on the ground walked.
8. automatic walking robot according to claim 7, which is characterized in that between the fore-stock and body and institute
It states and is respectively provided with elastic device between after-poppet and body（280）, the elastic device（280）Corresponding holder is applied to towards ground
Power, the elastic device（280）Including two, it is pressed on respectively on corresponding holder close to the position of both sides traveling wheel.
9. automatic walking robot according to claim 2, which is characterized in that the bracket institution includes that two supports are left
The right support of the left socle of side traveling wheel wheel shaft and two supports right side traveling wheel wheel shafts, each traveling wheel and its wheel shaft
Drive corresponding holder independent relative to body movement.
10. automatic walking robot according to claim 9, which is characterized in that the left socle and right support of the same side connect
It is connected to same articulated structure, each left socle is enclosed by corresponding articulated structure with respect to body respectively with corresponding right support
It is pivoted around the axis parallel with automatic walking robot direction of travel.
11. automatic walking robot according to claim 10, which is characterized in that the articulated structure includes the machine that is mounted on
Rotation axis on body（51）, left socle corresponding with the articulated structure（36a）And right support（36b）It is all connected to rotation axis
（51）And rotation axis can be surrounded respectively（51）Axis rotation.
12. automatic walking robot according to claim 11, which is characterized in that the rotation axis（51）It is fixed on and institute
It states on one in the corresponding left socle of articulated structure and right support, in left socle corresponding with the articulated structure and right support
Another be pivotally connected to rotation axis（51）, what the rotation axis rotated is installed on body.
13. automatic walking robot according to claim 9, which is characterized in that each left socle and each right support are equal
It is connected to corresponding floating structure, each left socle and each right support are opposite by corresponding floating structure
Body moves along vertical direction.
14. automatic walking robot according to claim 13, which is characterized in that the floating structure includes being fixed on machine
Slide bar on body（374）And it is arranged on corresponding holder for slide bar（374）The location hole passed through（372）, the corresponding holder
（336a）Pass through location hole（372）Along slide bar（374）It is mobile.
15. automatic walking robot according to claim 13, which is characterized in that the floating structure includes being fixed on pair
It answers the slide bar on holder and the location hole passed through for slide bar is set on body, the corresponding holder is by slide bar along positioning
It moves in hole.
16. the automatic walking robot according to claims 14 or 15, which is characterized in that the slide bar and location hole all divide
It two and She Zhi not correspond, two slide bars are arranged along the direction of travel of automatic walking robot at least one row
Walk the both sides of the wheel shaft of wheel.
17. automatic walking robot according to claim 13, which is characterized in that the floating structure includes two parallel
Isometric connecting rod（491,492）, two connecting rods（491,492）One end and at least one traveling wheel it is hinged, two
Connecting rod（491,492）The other end and the body it is hinged, at least one traveling wheel passes through two connecting rods（491,
492）Opposite body moves along vertical direction.
18. automatic walking robot according to claim 17, which is characterized in that the running motor and described at least one
Bulb transmission shaft is connected between the wheel shaft of a traveling wheel（438）, the running motor passes through bulb transmission shaft（438）It will rotation
Power transmission gives the wheel shaft of at least one traveling wheel, two connecting rods to be vertically located at the bulb transmission shaft
Both sides.
19. automatic walking robot according to claim 2, which is characterized in that the wheel shaft of at least one traveling wheel
Position limiting structure is set between the body（61,261,361）, the position limiting structure can limit at least one traveling wheel
Wheel shaft it is movable within a preset range.
20. automatic walking robot according to claim 2, which is characterized in that the wheel shaft of at least one traveling wheel
Elastic device is set between the body（80,280,380,480）, the elastic device is for at least one walking
Wheel provides the power towards ground.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710037565.0A CN108323306A (en) | 2017-01-19 | 2017-01-19 | Automatic walking robot |
| PCT/CN2018/072625 WO2018133760A1 (en) | 2017-01-19 | 2018-01-15 | Automatic travel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710037565.0A CN108323306A (en) | 2017-01-19 | 2017-01-19 | Automatic walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108323306A true CN108323306A (en) | 2018-07-27 |
Family
ID=62922624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710037565.0A Pending CN108323306A (en) | 2017-01-19 | 2017-01-19 | Automatic walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108323306A (en) |
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| WO2021031418A1 (en) * | 2019-08-20 | 2021-02-25 | 苏州科瓴精密机械科技有限公司 | Autonomous walking robot and control method thereof |
| CN112400449A (en) * | 2019-08-20 | 2021-02-26 | 苏州科瓴精密机械科技有限公司 | Automatic walking robot and control method thereof |
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