CN109080733A - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
- Publication number
- CN109080733A CN109080733A CN201811151776.8A CN201811151776A CN109080733A CN 109080733 A CN109080733 A CN 109080733A CN 201811151776 A CN201811151776 A CN 201811151776A CN 109080733 A CN109080733 A CN 109080733A
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- China
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- robot
- frame
- chassis
- interconnecting piece
- upper layer
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- 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
- B62D63/04—Component parts or accessories
Abstract
This application provides a kind of robot chassis and robots.Robot chassis includes drive wheel bracket, upper layer frame, lower layer's frame, shock absorber, balancing pole, driving wheel, supporting roller and shell, and upper layer frame is fixedly connected with lower layer's frame, and supporting roller is mounted on lower layer's frame, and driving wheel is mounted in drive wheel bracket.The balancing pole is applied in robot, balancing pole can be rotated arc trajectory and swung to substitute the linear motion on chassis or more by balancing pole rod piece according to practical chassis travel settings specific size and setting angle.Balancing pole and upper layer frame, drive wheel bracket are hinged, when robot scene operation avoidance plus-minus fast mode due to velocity jump cause pitch angle posture it is serious it is bigger than normal in the case where, swung by balancing pole, it is converted into moving up and down for chassis, to guarantee that robot smoothly runs posture.And then solves the technical problem that robot in the related technology runs anti-pitching and concussion ability difference in complex environment.
Description
Technical field
This application involves robotic technology fields, in particular to a kind of robot chassis, further relate to be equipped with the machine
The robot on device people chassis.
Background technique
With the rapid development of robot technology, robot application is more and more extensive, for example, guest-meeting robot, feeder
Device people and educational robot, bio-robot etc..Robot is the automatic installations for executing work, it can be with acceptor
Class commander, can also run the program of preparatory layout, the principle action that can also be formulated according to artificial intelligence technology.With country
The attention of Macroscopic Strategy, the research of China's mobile robot come into the period of unprecedented hot topic.Various mobile machines
People's sight is gradually mirrored on people chassis, and in the prior art, the mobile robot chassis with chassis is varied, substantially
Meet function, but still comes with some shortcomings.
Traditional robot chassis structure mainly plays a part of carrying fuselage, decaying vibration, the even running to robot
There is decisive significance.And recently as the universal of more and more robot products, high movement velocity adds with frequent
Deceleration mode proposes more requirements to the control stability on chassis.In existing robot 6 wheel chassis, such as AGV is small
Chassis, dining room meal delivery robot etc., chassis driving wheel, supporting roller is higher to ground handling flatness requirement without chassis, very
Hardly possible adapts to road surface in the more landform rooms of varying load.Interlock on hotel, the dining room ground Deng Yingruan, elevator perpendicular steps, ground line gradient etc.
It can not be adapted in running environment, it is therefore desirable to chassis structure is arranged to supporting roller, driving wheel, so that it is multiple indoors to meet robot
The operation of miscellaneous landform.Even in the existing robot with chassis entirety chassis structure, when fast mode is added and subtracted in operation, by
In the mutation of speed, individual chassis structure can be arranged in You Dian robot supporting roller in addition, and inertia will lead to robot operation appearance
State pitch angle is seriously bigger than normal, influences the stationarity of robot, finally results in robot and is unable to operate normally.To robot multiple
Miscellaneous indoor operation, it is necessary to which the freedom degree for removing the pitch angle rotation of robot guarantees robot chassis overall operation, only hangs down
1 dynamic freedom degree of translation, is just able to satisfy robot even running condition in this way.
The problem for running anti-pitching and concussion ability difference in complex environment for robot in the related technology, not yet mentions at present
Effective solution scheme out.
Summary of the invention
The main purpose of the application is to provide a kind of freedom degree of pitch angle rotation that can remove robot, guarantee machine
Device people chassis overall operation, meets the structure of robot even running condition, with solve in the related technology robot in complicated ring
Border runs the technical problem of anti-pitching and concussion ability difference.
To achieve the goals above, according to the one aspect of the application, this application provides a kind of robot chassis.
The robot chassis include drive wheel bracket, upper layer frame, lower layer's frame, shock absorber, balancing pole, driving wheel, with
Driving wheel and shell, the upper layer frame are fixedly connected with lower layer's frame, and the supporting roller is mounted on lower layer's frame,
The driving wheel is mounted in the drive wheel bracket, wherein
The shock absorber includes sequentially connected upper interconnecting piece, hydraulic damper and lower interconnecting piece, the hydraulic damper
It is arranged with variable stiffness coil spring outside, one end of the variable stiffness coil spring is connect with the upper interconnecting piece, the other end and institute
It states lower interconnecting piece and connects upper interconnecting piece and the upper layer frame articulation, the lower interconnecting piece and the drive wheel bracket are hinged；
The balancing pole includes seamless steel pipe and the articulated joint for being connected to the seamless steel pipe both ends, the articulated joint
For rubber elastic material, the balancing pole is obliquely installed and the articulated joint is cut with scissors with the upper layer frame and drive wheel bracket respectively
It connects；
Multiple sensors are installed on the shell.
Further, the articulated joint is connect by interconnecting piece with the seamless steel pipe, the interconnecting piece with it is described seamless
Steel-pipe welding connection；
The upper interconnecting piece includes upper binding head and overhead gage, and the lower interconnecting piece includes lower union joint and lower baffle plate, institute
It states variable stiffness coil spring to be arranged between the overhead gage and lower baffle plate, the upper binding head and lower union joint are that rubber connects
Head.
Further, the hydraulic damper includes that the outer cylinder connecting with the lower interconnecting piece and the upper interconnecting piece connect
The piston roofbolt that connects, the piston valve that the piston post end is arranged in, the piston valve and the outer tube inner wall slide
Connection, the outer barrel is divided into upper working chamber and lower working chamber by the piston valve, if being formed on the piston valve
The damping hole of the upper working chamber and the lower working chamber is led in involvement.
Further, the drive wheel bracket and driving wheel are provided with two groups, pass through between two drive wheel brackets
Support tube rigid connection.
Further, the support tube is arranged in parallel with two, and the both ends of the support tube are connected to the driving
The end of wheel support, two drive wheel brackets and two support tubes surround to form rectangular configuration.
Further, robot chassis symmetric configuration, sensor symmetric configuration on the housing are described outer
Charging electrode is additionally provided on shell, there are two the charging electrode settings and is symmetrically mounted on the front and rear sides of the shell.
Further, shock absorber there are two being respectively provided between the upper layer frame and each drive wheel bracket, four shock-absorbings
Device is obliquely installed, and four shock absorbers are symmetrical arranged, and four shock absorbers are in the truncated rectangular pyramids shape of handstand in space.
Further, a balancing pole, two balances are provided between the upper layer frame and each drive wheel bracket
Bar is symmetrical set.
Further, the upper layer frame upper surface protrusion is provided with multiple load points, and the load point is kept away with described
Articulated position of the device on the upper layer frame is shaken to be arranged in a one-to-one correspondence
To achieve the goals above, according to further aspect of the application, present invention also provides a kind of robots.
The robot includes above-mentioned robot chassis provided by the present application.
The balancing pole is applied in robot chassis provided by the embodiments of the present application and robot, balancing pole rod piece can
Balancing pole can be rotated to arc trajectory and swung to substitute according to practical chassis travel settings specific size and setting angle
Linear motion above and below chassis.Balancing pole and upper layer frame, drive wheel bracket are hinged, when robot is in scene operation avoidance plus-minus
Fast mode, due to velocity jump cause pitch angle posture it is serious it is bigger than normal in the case where, swung by balancing pole, be converted into chassis
It moves up and down, to guarantee that robot smoothly runs posture.And then it solves robot in the related technology and is transported in complex environment
The technical problem of the anti-pitching of row and concussion ability difference.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the schematic diagram of internal structure according to a kind of robot chassis of the embodiment of the present application；
Fig. 2 is the side view of the robot chassis external structure provided according to a kind of embodiment of the application；
Fig. 3 is the structural schematic diagram of the shock absorber provided according to a kind of embodiment of the application；
Fig. 4 is the structural schematic diagram of the balancing pole provided according to a kind of embodiment of the application；
Fig. 5 is the top view according to a kind of robot chassis portion structure of embodiment of the application；
Fig. 6 is the front view of the robot chassis external structure provided according to a kind of embodiment of the application；
Fig. 7 is according to the top view under a kind of robot chassis of embodiment of the application and charging pile mated condition；
Fig. 8 is the connection block diagram according to a kind of robot chassis portion structure of embodiment of the application；
Fig. 9 is the robot chassis portion structural schematic diagram (not including upper layer frame) according to a kind of embodiment of the application；
And
Figure 10 is the robot chassis portion structural schematic diagram according to a kind of embodiment of the application；
In figure:
1, drive wheel bracket；2, upper layer frame；3, lower layer's frame；4, shock absorber；401, upper interconnecting piece；4011, upper connection
Head；4012, overhead gage；402, hydraulic damper；4021, outer cylinder；4022, piston roofbolt；4023, piston valve；4024, upper work
Make chamber；4025, lower working chamber；4026, damping hole；403, lower interconnecting piece；4031, lower union joint；4032, lower baffle plate；404, become
Stiffness helix spring；5, balancing pole；501, seamless steel pipe；502, articulated joint；503, interconnecting piece；6, driving wheel；7, supporting roller；8,
Shell；9, support tube；10, charging electrode；11, point is loaded；12, shock absorber hinge seat；13, pole socket is balanced；14, frame connects
Column；15, camera；16, ultrasonic sensor；17, charging pile.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "inner", " in ", "outside", the orientation of the instructions such as "front", "rear" or position close
System is to be based on the orientation or positional relationship shown in the drawings.These terms are primarily to better describe the application and its implementation
Example, is not intended to limit indicated device, element or component must have particular orientation, or carries out structure with particular orientation
It makes and operates.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " setting ", " connection ", " fixation " shall be understood in a broad sense.For example, " connection " may be a fixed connection,
It is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected, or pass through centre
Medium is indirectly connected, or is two connections internal between device, element or component.For ordinary skill
For personnel, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.1-10 and it is described in detail the application in conjunction with the embodiments below with reference to the accompanying drawings.
Embodiment 1
As illustrated in fig. 1 and 2, a kind of robot chassis is present embodiments provided.The robot chassis includes drive wheel bracket
1, upper layer frame 2, lower layer's frame 3, shock absorber 4, balancing pole 5, driving wheel 6, supporting roller 7 and shell 8, upper layer frame 2 and lower layer
Frame 3 is fixedly connected, and supporting roller 7 is mounted on lower layer's frame 3, and driving wheel 6 is mounted in drive wheel bracket 1.
Load is delivered separately to by shock absorber 4 and lower layer by upper layer frame 2 in chassis structure provided by the above embodiment
Frame 3, and then driving wheel 6 is passed to by shock absorber 4, supporting roller 7 is passed to by lower layer's frame 3, realizes normal load
Train distribution so that driving wheel 6 distribution load be greater than supporting roller 7 load, guarantee 6 output driving power of driving wheel.Realize driving
The load reasonable distribution of wheel system and servo-actuated wheel system.Preferably, upper layer frame 2 and lower layer's frame 3 pass through frame connecting column 14
Connection, frame connecting column 14 are connect with upper layer frame 2 with lower layer frame 3 respectively by screw.
As shown in figure 3, shock absorber 4 includes sequentially connected upper interconnecting piece 401, hydraulic damper 402 and lower interconnecting piece
403, hydraulic damper 402 is arranged with variable stiffness coil spring 404, one end of variable stiffness coil spring 404 and upper interconnecting piece outside
401 connections, interconnecting piece 401 is connect with lower interconnecting piece 403 for the other end and upper layer frame 2 is hinged, lower interconnecting piece 403 and driving wheel
Bracket 1 is hinged.
The structure that variable stiffness coil spring cooperation hydraulic damper is used in shock absorber structure realizes damping effect, avoids
Since robot runs plus-minus fast mode, generation is shaken repeatedly, to guarantee the stationarity of robot motion.Above-mentioned robot
Chassis can produce variation rigidity by the particular design of variable stiffness coil spring self structure, can satisfy and is supported on a certain range
It is adjustable, after being applied to chassis structure, a kind of specification chassis can be can satisfy to avoid chassis fixed load phenomenon, be suitable for more
Kind load or several scenes；It is adjustable that initial precompression can also be met, can satisfy same chassis, in different loads or different fields
Initial precompression under scape is adjustable, guarantees the stationarity on chassis.
Wherein, in variable stiffness coil spring 404 implementation of variation rigidity can have it is a variety of, such as can be along spiral
Pitch of the direction from one end to the other end is gradually increased the variation to realize rigidity；It can also be by changing obstructed position spring silk
Thickness realize the variation of rigidity.Preferably, it is generated in the embodiment of the present application by the central diameter of the spiral coil of consecutive variations
Variation rigidity.Rigidity linear change of generation with deformation quantity change that spring may be implemented is arranged such, can satisfy and be supported on one
It is adjustable to determine range, avoids fixed load phenomenon.As shown in figure 3, variable stiffness coil spring 404 is from centre to both ends in the present embodiment
The central diameter of spiral coil is gradually reduced.More preferably, the both ends of variable stiffness coil spring 404 are symmetrical arranged.Above structure can be with
Variable stiffness coil spring is realized for taper layout, to guarantee the stability of variable stiffness coil spring.
As shown in Figure 1, upper interconnecting piece 401 includes upper binding head 4011 and overhead gage 4012, lower interconnecting piece 403 includes lower company
Connector 4031 and lower baffle plate 4032, variable stiffness coil spring 404 are arranged between overhead gage 4012 and lower baffle plate 4032, wherein on
Connector 4011 is used to accept the load on the frame of upper layer, and lower union joint 4031 is for connecting drive wheel bracket, overhead gage 4012
With lower baffle plate 4032 for fixing variable stiffness coil spring 4.
In order to further enhance anti-seismic performance, upper binding head 4011 and lower union joint 4031 in the present embodiment are rubber
Connector.
As shown in figure 3, hydraulic damper 402 includes the outer cylinder 4021 connecting with lower interconnecting piece 403 and upper interconnecting piece 401
The piston roofbolt 4022 of connection, the piston valve 4023 that 4022 end of piston roofbolt is set, piston valve 4023 and outer cylinder
4021 inner walls are slidably connected, and piston valve 4023 will be divided into upper working chamber 4024 and lower working chamber 4025 inside outer cylinder 4021, living
The damping hole 4026 of working chamber 4024 and lower working chamber 4025 in several connections is formed on plug valve piece 4023.Wherein, upper work
Working media in chamber 204 and lower working chamber 205 is hydraulic oil.
In specific work process, when the load carried on upper binding head shakes, upper interconnecting piece can be close to lower connection
Portion, variable stiffness coil spring compression since the rigidity of variable stiffness coil spring changes with deformation quantity and occur linear change, make it
Itself has damping action, can reduce the deformation quantity of variable stiffness coil spring, deformational displacement is further transferred to hydraulic damper
402, piston roofbolt 402 declines, and piston valve 4023 is driven to move downward in outer cylinder 4021, compresses lower working chamber 4025, makes
Damping hole 4026 of the hydraulic oil that must be descended in working chamber 4025 on piston valve 4023 returns in upper working chamber 4024, hydraulic oil
Frictional damping is generated during by damping hole, so that the stopping concussion that variable stiffness coil spring 404 is exceedingly fast, keeps setting
Steady posture during received shipment is dynamic.
As shown in figure 4, balancing pole 5 includes seamless steel pipe 501 and the articulated joint for being connected to 501 both ends of seamless steel pipe
502, articulated joint 502 be rubber elastic material, balancing pole 5 be obliquely installed and articulated joint 502 respectively with upper layer frame 2 and driving wheel
Bracket 1 is hinged.Preferably, articulated joint 502 is connect by interconnecting piece 503 with seamless steel pipe 501, interconnecting piece 503 and seamless steel pipe
501 are welded to connect.
The articulated joint 502 of balancing pole 5 provided by the above embodiment may be implemented to be flexibly connected using rubber material, Ke Yiqi
To damping action, big tolerance installation can be realized, the straight line up and down of chassis structure can be guaranteed by being applied in chassis structure
Movement.Specifically, robot chassis structure applies the balancing pole 5,5 rod piece of balancing pole can shake stroke according to practical chassis
Specific size and setting angle are set, balancing pole 5 can be rotated to arc trajectory and swung to substitute the straight line on chassis or more and transport
It is dynamic.Balancing pole 5 and upper layer frame 2, drive wheel bracket 1 are hinged, when robot adds and subtracts fast mode in scene operation avoidance, due to speed
Degree mutation cause pitch angle posture it is serious it is bigger than normal in the case where, swung by balancing pole 5, be converted into moving up and down for chassis, from
And guarantees robot and smoothly run posture, the anti-pitching ability that enhancing robot is run in complex environment.
As shown in Fig. 2, being equipped with multiple sensors on shell 8.Sensor uses but is not limited to laser sensor, ultrasound passes
One of sensor, infrared sensor and camera are a variety of.Sensor can satisfy the path planning of robot and for real
When avoidance.In Fig. 2 and Fig. 6 of the application, sensor includes camera 15 and ultrasonic sensor 16, a kind of only citing,
Include for non-exclusive, the sensor of variety classes and quantity can be set in different embodiments.
In some embodiments, as shown in figure 5, drive wheel bracket 1 and driving wheel 6 are provided with two groups, two driving wheel branch
It is rigidly connected between frame 1 by support tube 9.Using the connection structure form of two drive wheel brackets and two support tubes, knot
Structure is simple, and rigidity is good, easily guarantees the concentric steering of two driving wheels, the stationarity for guaranteeing operation and turning to.Preferably, support tube
9 are arranged in parallel with two, and the both ends of support tube 9 are connected to the end of drive wheel bracket 1, two drive wheel brackets 1 and two
A support tube 9 surrounds to form rectangular configuration.The type of attachment of two support tubes, so that the connection of two drive wheel brackets is more firm
Gu and two support tubes are easily achieved the stability of chassis structure by symmetrical layout versions.
Current service robot operation mostly only one direction of advance, for some special screnes, for example (,) it is narrower
Narrow path space, load-carrying article greatly dining room environment partially needs for the shape of robot to be designed as rectangular, can lead in this way
It causes robot turning radius to increase, and since scene roads space is smaller, causes robot can not spirit in limited roads space
Avoidance living.If robot can be moved forward and backward, in this way can completely pivot stud in a limited space, it is above-mentioned special to adapt to
Complex environment.It designs obstacle and is, balance and running stability requirement of the way moving robot for robot chassis
High, needing overall structure is that holohedral symmetry is laid out or is laid out close to holohedral symmetry, makes its stable structure, keeps in the process of running
Steadily.To achieve the above object, in some embodiments, robot chassis symmetric configuration, sensor symmetrical cloth on shell 8
Office.The robot chassis is full chassis symmetric configuration and sensor symmetric configuration, robot chassis can the steady walking in front and back, it is full
The complex works scenes such as the dining room scene more than the narrow scene of sufficient road and people.
In some embodiments, as shown in Fig. 2,6 and 7, charging electrode 10 is additionally provided on shell 8, charging electrode 10 is set
Set there are two and be symmetrically mounted on the front and rear sides of shell 8.Front and back is designed with charging electrode, can satisfy robot bidirectional walking
In the case of carry out two-way charging, when charging, does not need to turn to, and being respectively provided with charging pile by front side or rear side can be completed charging.It is right
The placement region of charging pile is flexible, and by turning to, limitation is small, and especially the confined space in dining room is more practical flexible.
Charging electrode can be completed with docking for charging pile in this application for human assistance, can also rely on automatic control
Device complete, below by illustrating a kind of implementation for both realizing docking by automatically controlling:
As shown in figure 8, robot chassis further includes electricity accumulating unit, positioning unit, control unit and driving unit, wherein filling
Electrode connect with electricity accumulating unit and there are two being arranged, and is located at the front-end and back-end of shell；Positioning unit finds charging pile
And the position of charging pile is positioned, and charging pile location information is sent to control unit；Control unit receives charging pile position letter
After breath, control instruction is sent to driving unit；Driving unit adjusts robot chassis position according to control instruction, makes charging electrode
The charge sheet of face charging pile simultaneously drives robot chassis close to charging pile.
During the work time, robot chassis is needing to charge on front and back charging provided by the embodiments of the present application robot chassis
When begin look for charging pile 17 (after work after a period of time, electricity accumulating unit is not Full Charge Capacity).Robot chassis passes through
After the positioning unit being arranged thereon finds out the approximate location of charging pile 17, feedback information to control unit, control unit control is driven
Moving cell work, adjusts robot chassis position, makes the charge sheet of charging electrode face charging pile 17 and drive robot chassis
Close to charging pile, i.e. adjusts path to specified point, straight trip approaches charging pile 17, until the charge sheet of charging electrode and charging pile 17
It comes into full contact with, reaches state as shown in Figure 7.
In some embodiments, positioning unit uses but is not limited to ultrasonic sensor, radio frequency sensor, laser sensing
One of device, ultrasonic sensor and camera or a variety of combinations.
In some embodiments, electricity accumulating unit uses but is not limited to battery or supercapacitor.
In some embodiments, control unit uses but is not limited to MCU single-chip microcontroller.
In the embodiment of the present application, driving unit may include driving motor and driving wheel.
Above-mentioned innovation is to be respectively provided with charging electrode in the front and rear sides on robot chassis, and robot charging is without turning
Innovation in this structure.For the specific choice and work of the positioning unit, control unit machine driving unit that are directed to
Principle is suitable for the prior art, and those skilled in the art can make different selections according to the prior art.Such as MCU monolithic
Machine, which can choose, controls chip for ARM32, and positioning unit is selected as laser sensor, and in specific works, laser sensor is real
Now the general direction of charging pile is found, laser sensor extracts characteristic curve match cognization using laser signal and finds out charging pile
Approximate location and planning path, (it is the laser sensor scanning in robot motion that laser, which extracts characteristic curve match cognization technology,
To Eigenvector linear fit after carry out matching treatment, obtain the planning path of location information and robot, be existing skill
Art does not repeat in the present embodiment), it then carries out docking and that distance signal and routing information are sent to processing unit is (optional
It is selected as ARM32 control chip), processing unit generates control according to feedback information of the laser sensor to charging pile approximate location and refers to
Order is sent to driving unit, adjust robot location to the charge sheet of charging electrode face charging pile, then to judging
The approximate location of charging pile is close.After close to charging pile, processing unit control camera shoots current picture, passes through
Computer vision technique is analyzed captured picture, is handled, and is controlled using Fuzzy Thought and successive approximation algorithm
Keep robot mobile to charging pile direction and charging electrode is made to precisely align charge sheet, completes robot Automatic-searching charging pile simultaneously
It is charged using electricity accumulating unit (may be selected to be battery) of the charging pile to non-Full Charge Capacity, in case next time uses.
In some embodiments, it is provided with the state of charge indicator light connecting with electricity accumulating unit on shell, is filled for showing
Electricity condition, such as the flashing of state of charge indicator light, mark automatic charging terminate.
In some embodiments, in order to improve the bearing capacity for transporting class robot, people's effect is improved, as shown in fig. 7, robot
Being preferably shaped to for chassis is rectangular.
In order to further such that the structure on robot chassis can also do embodiment following excellent close to holohedral symmetry layout
Change:
In some embodiments, it as shown in Fig. 5, Fig. 9 and Figure 10, is all provided between upper layer frame 2 and each drive wheel bracket 1
It sets there are two shock absorber 4, four shock absorbers are obliquely installed, and four shock absorbers 4 are symmetrical arranged, and four shock absorbers 4 are in space
In in stand upside down truncated rectangular pyramids shape.Shock absorber 4 is obliquely installed, and shock absorber 4 is tilting can to distribute driving wheel load again, is kept away simultaneously
The sensibility that shock absorber is disposed vertically is exempted from, for loading big or big inertia running environment, the shock absorber of multiple parallel connections can
To realize adaptive adjustment, there is good adjustment effect to the stationarity on chassis.Specifically, upper layer frame 2 and drive wheel bracket 1
Opposite side is respectively and fixedly provided with shock absorber hinge seat 12, and the both ends of shock absorber 4 are hinged with shock absorber hinge seat 12 respectively.Shock absorber
On the one hand the setting of hinge seat 12 can be convenient the hinged installation for realizing shock absorber 4, the realization shock-absorbing that on the other hand can be convenient
The tilt angle of device 4 is arranged.It is preferably carried out hingedly by the pivot of rubber material between shock absorber 4 and shock absorber hinge seat 12,
To realize the flexible connection of shock absorber 4 and upper layer frame 2 or drive wheel bracket 1.
In some embodiments, it as shown in Fig. 5, Fig. 9 and Figure 10, is all provided between upper layer frame 2 and each drive wheel bracket 1
It is equipped with a balancing pole 5, two balancing poles 5 are symmetrical set.Specifically, it is preferred that upper layer frame 2 and drive wheel bracket 1
Opposite side is respectively and fixedly provided with balance pole socket 13, and articulated joint 502 and balance pole socket 13 are hinged.Balance pole socket 13 is fixed by screw
On upper layer frame 2 or drive wheel bracket 1.On the one hand the setting of balance pole socket 13 can be convenient the hinged peace for realizing balancing pole 5
Dress, the tilt angle setting for the realization balancing pole 5 that on the other hand can be convenient.Between articulated joint 502 and balance pole socket 13 preferably
It is carried out hingedly by the pivot of rubber material, to realize the flexible connection of balancing pole 5 and upper layer frame 2 or drive wheel bracket 1.
In some embodiments, 2 upper surface of upper layer frame protrusion is provided with multiple load points 11, and loads point 11 and shock-absorbing
Articulated position (i.e. shock absorber hinge seat 12) of the device on upper layer frame 2 is arranged in a one-to-one correspondence.Load point 11 and shock absorber hinge
Seat is correspondingly arranged, and multiple shock absorber parallel configurations can be with the load percentage of reasonable distribution driving wheel, and structure is simple, and chassis is steady
It is fixed.
Preferably, shock absorber 4, the shock absorber hinge seat 12 that is arranged on upper layer frame 2 and load point 11 are provided with four
It is a, and be spatially symmetrical set.
In some embodiments, the quantity of supporting roller 7 and shock absorber 4 is 4.And between supporting roller 7 and lower layer's frame 3
It is provided with spring damping.The spring damping being arranged on 4 supporting rollers, the impact force generated when can reduce perpendicular steps and
Motional inertia load can be born, the damping self-balancing with 4 shock absorbers connected in drive wheel bracket keeps chassis to run posture
It is steady.
Embodiment 2
A kind of robot is present embodiments provided, which includes any one robot chassis that embodiment 1 provides.
The robot has the following technical effect that
In the process of running, normal load is applied on the upper layer frame on chassis chassis for robot, is delivered separately to shock-absorbing
Device and frame connecting column, bottom frame；The load for completing driving wheel and supporting roller distributes, and driving wheel is generated with the earth friction and led
Gravitation drives robot ambulation.The steady posture fortune of robot is maintained by the shock absorber between upper layer frame and driving wheel chassis
Row；
Due to the setting of support tube, robot can guarantee that two drive wheel brackets turn to one heart；
It is provided with charging electrode before and after robot, when charging does not need to turn to, and directly travels, passes through by point planning path
Front side or rear side, which is respectively provided with charging pile, can be completed charging.Flexible to the placement region of charging pile, by turning to, limitation is small, especially
Be dining room the confined space more it is practical flexibly；
Robot is in heavy duty, when fast mode or robot pitch attitude bigger than normal are added and subtracted in operation, by setting thereon
The shock absorber set can be eliminated to be shaken repeatedly, so that robot is stable.
Robot is in heavy duty, when fast mode or robot pitch attitude bigger than normal are added and subtracted in operation, by setting thereon
It can eliminate after the balancing pole cooperation shock absorber set and shake repeatedly, chassis is converted for pitching movement by the swing of balancing pole
It moves up and down, so that robot is stable；
Machine artificially full chassis symmetric configuration and sensor symmetric configuration, robot chassis can the steady walking in front and back, it is full
The complex works scenes such as the dining room scene more than the narrow scene of sufficient road and people.
The above is only preferred embodiment of the present application, are not intended to limit this application, for those skilled in the art
For member, various changes and changes are possible in this application.Within the spirit and principles of this application, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of robot chassis, which is characterized in that including drive wheel bracket (1), upper layer frame (2), lower layer's frame (3), keep away
Shake device (4), balancing pole (5), driving wheel (6), supporting roller (7) and shell (8), the upper layer frame (2) and lower layer's frame
(3) it is fixedly connected, the supporting roller (7) is mounted on lower layer's frame (3), and the driving wheel (6) is mounted on the driving
On wheel support (1), wherein
The shock absorber (4) includes sequentially connected upper interconnecting piece (401), hydraulic damper (402) and lower interconnecting piece (403),
It is arranged with variable stiffness coil spring (404) outside the hydraulic damper (402), one end of the variable stiffness coil spring (404)
It is connect with the upper interconnecting piece (401), the other end connect interconnecting piece (401) and the upper layer with the lower interconnecting piece (403)
Hingedly, the lower interconnecting piece (403) and the drive wheel bracket (1) are hinged for frame (2)；
The balancing pole (5) includes seamless steel pipe (501) and the articulated joint for being connected to the seamless steel pipe (501) both ends
(502), the articulated joint (502) is rubber elastic material, and the balancing pole (5) is obliquely installed and the articulated joint (502) point
It is not hinged with the upper layer frame (2) and drive wheel bracket (1)；
Multiple sensors are installed on the shell (8).
2. robot chassis according to claim 1, which is characterized in that the articulated joint (502) passes through interconnecting piece (503)
It is connect with the seamless steel pipe (501), the interconnecting piece (503) and the seamless steel pipe (501) are welded to connect；
The upper interconnecting piece (401) includes upper binding head (4011) and overhead gage (4012), under the lower interconnecting piece (403) includes
Connector (4031) and lower baffle plate (4032), variable stiffness coil spring (404) setting is in the overhead gage (4012) under
Between baffle (4032), the upper binding head (4011) and lower union joint (4031) are elastomer connector.
3. robot chassis according to claim 1, which is characterized in that the hydraulic damper (402) include with it is described
The outer cylinder (4021) of lower interconnecting piece (403) connection, the piston roofbolt (4022) connecting with the upper interconnecting piece (401), setting exist
The piston valve (4023) of piston roofbolt (4022) end, the piston valve (4023) and the outer cylinder (4021) inner wall
It is slidably connected, the piston valve (4023) will be divided into upper working chamber (4024) and lower working chamber inside the outer cylinder (4021)
(4025), several connections upper working chamber (4024) and the lower working chamber are formed on the piston valve (4023)
(4025) damping hole (4026).
4. robot chassis according to claim 1, which is characterized in that the drive wheel bracket (1) and driving wheel (6) are set
Two groups are equipped with, is rigidly connected between two drive wheel brackets (1) by support tube (9).
5. robot chassis according to claim 4, which is characterized in that the support tube (9) is arranged in parallel with two, institute
The both ends for stating support tube (9) are connected to the end of the drive wheel bracket (1), two drive wheel brackets (1) and two
A support tube (9) surrounds to form rectangular configuration.
6. robot chassis according to claim 5, which is characterized in that robot chassis symmetric configuration, the biography
Sensor symmetric configuration on the shell (8) is additionally provided with charging electrode (10), the charging electrode on the shell (8)
(10) it is arranged there are two and is symmetrically mounted on the front and rear sides of the shell (8).
7. robot chassis according to claim 6, which is characterized in that the upper layer frame (2) and each driving wheel branch
It being respectively provided between frame (1) there are two shock absorber (4), four shock absorbers are obliquely installed, and four shock absorbers (4) are symmetrical arranged, and
Four shock absorbers (4) are in space in the truncated rectangular pyramids shape stood upside down.
8. robot chassis according to claim 6, which is characterized in that the upper layer frame (2) and each driving wheel branch
A balancing pole (5) is provided between frame (1), two balancing poles (5) are symmetrical set.
9. robot chassis according to claim 8, which is characterized in that upper layer frame (2) the upper surface protrusion setting
There are multiple load points (11), and load point (11) and articulated position one of the shock absorber on the upper layer frame (2)
One is correspondingly arranged.
10. a kind of robot, which is characterized in that including the described in any item robot chassis claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811151776.8A CN109080733A (en) | 2018-09-29 | 2018-09-29 | Robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811151776.8A CN109080733A (en) | 2018-09-29 | 2018-09-29 | Robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109080733A true CN109080733A (en) | 2018-12-25 |
Family
ID=64843046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811151776.8A Pending CN109080733A (en) | 2018-09-29 | 2018-09-29 | Robot chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109080733A (en) |
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| CN110334648A (en) * | 2019-07-02 | 2019-10-15 | 北京云迹科技有限公司 | Charging pile identifying system and method suitable for robot |
| CN110561445A (en) * | 2019-08-16 | 2019-12-13 | 深圳优地科技有限公司 | Transfer robot and chassis structure thereof |
| CN110561446A (en) * | 2019-08-16 | 2019-12-13 | 深圳优地科技有限公司 | Transfer robot |
| CN111228778A (en) * | 2020-02-18 | 2020-06-05 | 丁赫 | Skateboard with steering function and adjustable posture and height |
| CN112407087A (en) * | 2020-11-17 | 2021-02-26 | 安徽欧浦思科技有限公司 | High-precision open type robot moving carrier and high-precision moving method thereof |
| CN112429111A (en) * | 2020-11-23 | 2021-03-02 | 佳木斯大学 | Robot based on computer control |
| CN113414769A (en) * | 2021-07-15 | 2021-09-21 | 中国科学院长春光学精密机械与物理研究所 | Flexible six-degree-of-freedom motion platform protection method |
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