CN109109974B - Mobile robot chassis and mobile robot - Google Patents
Mobile robot chassis and mobile robot Download PDFInfo
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- CN109109974B CN109109974B CN201810957955.4A CN201810957955A CN109109974B CN 109109974 B CN109109974 B CN 109109974B CN 201810957955 A CN201810957955 A CN 201810957955A CN 109109974 B CN109109974 B CN 109109974B
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- chassis
- mobile robot
- locking
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- rotating frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a mobile robot chassis and a mobile robot. The mobile robot chassis includes: the chassis frame is internally provided with a rotating frame, a first driving device arranged on the rotating frame and a traveling mechanism which is connected with the driving device and driven by the driving device to move; the traveling mechanism comprises a first driving wheel, a second driving wheel and a driven wheel, wherein the first driving wheel and the second driving wheel are differential wheels, and the driven wheel is a universal wheel; the first driving wheel and the second driving wheel are arranged on two opposite sides of the lower end of the rotating frame, and the driven wheel is arranged at the bottom of the chassis frame. The chassis of the mobile robot adopts the differential wheel as the driving wheel and the universal wheel as the driven wheel, so that the manufacturing cost is low and the control technology is simpler; meanwhile, an original point locking mechanism is designed, and when the original point locking mechanism locks the rotating frame, the chassis of the mobile robot becomes a differential motion chassis; when the locking is released, the chassis of the mobile robot is changed into an omnidirectional mobile chassis, so that the switching of different motion modes is realized, and the flexibility is higher.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a mobile robot chassis and a mobile robot with the same.
Background
In the current mobile robot industry, when an omnidirectional mobile robot is manufactured, a chassis wheel train consisting of a motor and a Mecanum wheel is mostly selected as a driving force so as to drive the robot to move in an omnidirectional manner. However, the mecanum wheel is complex in manufacturing process and expensive in cost, and meanwhile, the control technology of the chassis of the mobile robot is complex, so that the popularization and the use of the chassis of the omnidirectional mobile robot are limited.
Disclosure of Invention
The invention aims to provide an improved mobile robot chassis and a mobile robot with the same.
The technical scheme adopted by the invention for solving the technical problems is as follows: constructing a mobile robot chassis comprising:
the chassis frame is internally provided with a rotating frame;
the first driving device is arranged on the rotating frame;
the traveling mechanism is connected with the driving device and is driven by the driving device to move; the travelling mechanism comprises a first driving wheel, a second driving wheel and a driven wheel driven by the first driving wheel and the second driving wheel to move, the first driving wheel and the second driving wheel are differential wheels, and the driven wheel is a universal wheel; the first driving wheel and the second driving wheel are arranged on two opposite sides of the lower end of the rotating frame, and the driven wheel is arranged at the bottom of the chassis frame;
an origin locking mechanism for locking the rotating frame at an origin position; when the origin locking mechanism locks the rotating frame, the mobile robot chassis is a differential motion chassis; when the original point locking mechanism is unlocked, the mobile robot chassis is an omnidirectional mobile chassis.
Preferably, in the mobile robot chassis according to the present invention, the origin locking mechanism includes: the locking disk is arranged on the chassis frame, the second driving device drives the locking disk to rotate, and the position detection assembly is used for detecting the position of the locking disk;
the rotating frame is connected with a rotating disc through a connecting rod, and the rotating disc is provided with a notch which is in concave-convex fit with the locking disc corresponding to the locking disc;
when the locking disc rotates to be matched with the notch in a concave-convex mode, the rotating frame is locked at the original position; when the locking disk rotates to be disengaged from the notch, the rotating frame is unlocked.
Preferably, in the mobile robot chassis of the present invention, the position detecting assembly includes: the proximity switch comprises a first proximity switch arranged at a locking position and a second proximity switch arranged at an unlocking position; the first proximity switch, the second proximity switch and the second driving device are electrically connected with the first controller respectively.
Preferably, the mobile robot chassis of the present invention further includes a module bottom plate located above the rotating frame, the module bottom plate is mounted on the chassis frame, and the locking plate, the second driving device and the position detection assembly are disposed on a surface of the module bottom plate facing away from the rotating frame;
one end of the connecting rod is connected with the rotating frame, and the other end of the connecting rod penetrates through the module bottom plate and then is connected with the rotating disc.
Preferably, the mobile robot chassis of the present invention further includes a bearing and a bearing mounting block, the bearing mounting block is connected to the module bottom plate, the bearing is mounted on the bearing mounting block, and the bearing is sleeved on the periphery of the connecting rod.
Preferably, in the mobile robot chassis of the present invention, the first driving device includes a first driving motor, a second driving motor, and a motor controller electrically connected to the first controller, and the first driving motor and the second driving motor are disposed on the rotating frame; the first driving motor is connected with the first driving wheel through a wheel axle and drives the first driving wheel to move, and the second driving motor is connected with the second driving wheel through another wheel axle and drives the second driving wheel to move;
the motor controller is respectively connected with the first driving motor and the second driving motor and controls the rotating speed of the first driving motor and the rotating speed of the second driving motor.
Preferably, the mobile robot chassis of the present invention further includes an origin calibration mechanism for calibrating an origin, where the origin calibration mechanism includes an induction block disposed on the rotating disk and a photoelectric sensor disposed on the module bottom plate and used for detecting the induction block, and the photoelectric sensor is electrically connected to the first controller.
Preferably, in the mobile robot chassis of the present invention, the photoelectric sensor is a U-shaped photoelectric sensor, a light emitter and a light receiver of the U-shaped photoelectric sensor are disposed opposite to each other, and a gap for the induction block to enter is formed between the light emitter and the light receiver; and/or
The mobile robot chassis further comprises a limiting column, and the limiting column is used for resisting the induction block so as to prevent the rotating frame from rotating excessively.
Preferably, the mobile robot chassis of the present invention further comprises: a rotation angle acquiring mechanism for acquiring a rotation angle of the rotating frame;
the rotating angle acquiring mechanism comprises the rotating disc, a first gear, a second gear and a first encoder; the first gear is sleeved on the side wall of the rotating disc, and the first gear is meshed with the second gear and drives the second gear to rotate; the second gear is coaxially and directly connected with the first encoder, and the first encoder is electrically connected with the first controller.
Preferably, the mobile robot chassis of the present invention further comprises: and the buffer spring is sleeved on the periphery of the connecting rod.
Preferably, the mobile robot chassis of the present invention further comprises a chassis housing and a first navigation mechanism, wherein the chassis housing and the first navigation mechanism are covered on the periphery of the chassis frame, and the first navigation mechanism comprises a laser radar arranged on the outer surface of the chassis housing and two second encoders respectively and directly connected with the two wheel shafts through a coupler;
the laser radar is in communication connection with a second controller, the two second encoders are respectively electrically connected with the first controller, and the first controller is electrically connected with the second controller.
Preferably, the mobile robot chassis of the present invention further includes a second navigation mechanism, the second navigation mechanism includes a magnetic navigation sensor disposed on the rotating frame and a card reader disposed on the rotating frame and used for reading information in the RFID card, and the magnetic navigation sensor and the card reader are electrically connected to the first controller, respectively.
Preferably, the mobile robot chassis of the present invention further comprises a battery for supplying power to the chassis and a charging module for charging the battery; and/or
The mobile robot chassis further comprises a reset button, a start/stop button and an emergency stop button which are arranged on the chassis shell, and the reset button, the start/stop button and the emergency stop button are electrically connected with the first controller respectively.
The mobile robot chassis and the mobile robot have the following beneficial effects: the mobile robot chassis adopts the differential wheel as the driving wheel and the universal wheel as the driven wheel, so that the manufacturing cost is low, and the control technology of the mobile robot chassis is simpler; meanwhile, an original point locking mechanism for locking the rotating frame at the original point position is also designed, so that when the rotating frame is locked by the original point locking mechanism, the chassis of the mobile robot becomes a differential motion chassis; when the original point locking mechanism is unlocked, the chassis of the mobile robot is changed into an omnidirectional mobile chassis, and the mobile robot can move transversely, so that different motion modes can be switched, the flexibility is higher, and the mobile robot can move freely in narrow places.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural diagram of a mobile robot chassis of the present invention;
FIG. 2 is a bottom view of the mobile robot chassis of the present invention;
FIG. 3 is a schematic structural view of the mobile robot chassis of the present invention without a chassis housing;
FIG. 4 is a front view of the mobile robot chassis of the present invention with the chassis housing omitted;
5-6 are schematic structural diagrams of a chassis frame in the mobile robot chassis of the invention;
FIG. 7 is a schematic view of a partial structure of a mobile robot chassis of the present invention;
FIG. 8 is a top view of the mobile robot chassis shown in FIG. 7;
fig. 9 is a cross-sectional view a-a of the mobile robot chassis shown in fig. 8;
fig. 10 is a B-B sectional view of the mobile robot chassis shown in fig. 8.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
As shown in fig. 1 to 4, the mobile robot chassis of the present invention includes a chassis frame 100, a first driving device, a traveling mechanism, and an origin locking mechanism. Wherein, a rotating frame 35 is arranged in the chassis frame 100, and the first driving device is arranged on the rotating frame 35; the traveling mechanism is connected with the driving device and is driven by the driving device to move; the traveling mechanism comprises a first driving wheel 2, a second driving wheel 2 ' and a driven wheel 1 driven by the first driving wheel 2 and the second driving wheel 2 ' to move, the first driving wheel 2 and the second driving wheel 2 ' are differential wheels, and the driven wheel 1 is a universal wheel; the first driving wheel 2 and the second driving wheel 2' are arranged at two opposite sides of the lower end of the rotating frame 35, and the driven wheel 1 is arranged at the bottom of the chassis frame 100; the original point locking mechanism is used for locking the rotating frame 35 at an original point position, and when the original point locking mechanism locks the rotating frame 35, the chassis of the mobile robot is a differential motion chassis; when the original point locking mechanism is unlocked, the chassis of the mobile robot is an omnidirectional mobile chassis.
The chassis frame 100 serves to support and fix the rotating frame 35 and to mount the driven wheel 1. As shown in fig. 5 and 6, the chassis frame 100 may include a top plate 101, a bottom plate 102, and a supporting column 103 disposed between the top plate 101 and the bottom plate 102 for connecting the two. Wherein, a top plate through hole is arranged on the top plate 101, a bottom plate through hole is arranged on the bottom plate 102, and the rotating frame 35 is positioned between the top plate 101 and the bottom plate 102. In the present embodiment, four driven wheels 1 are provided, and the four driven wheels 1 are respectively disposed at four corners of the bottom plate 102 of the chassis frame 100. Of course, the number of the driven wheels 1 is not limited to four, and may be set according to specific requirements, and the invention is not limited thereto. Further, the chassis further includes a chassis housing 200, the chassis housing 200 covers the chassis frame 100, and the rotating frame 35, the first driving device, the traveling mechanism, the origin locking mechanism, and the like are all located in the chassis housing 200.
The rotating frame 35 rotates under the differential motion of the first driving wheel 2 and the second driving wheel 2', and the rotating frame 35 is preferably located at a middle position of the chassis frame 100. As shown in fig. 9 and 10, the swivel frame 35 includes a swivel frame bottom plate 351 and a swivel frame body 352 disposed on the swivel frame bottom plate 351, the swivel frame body 352 of the swivel frame 35 is connected to the rotary plate 30 by a vertically disposed connecting rod 22, and the swivel frame bottom plate 351 of the swivel frame 35 is located in the bottom plate through hole of the chassis frame 100 and is not connected to the bottom plate 102 of the chassis frame 100. Specifically, as shown in fig. 2, 3, 4 and 7, the first driving device is installed on the rotating frame body 352, the first driving wheel 2 and the second driving wheel 2 'are disposed on two opposite sides of the rotating frame body 352, a through hole is disposed on the rotating frame bottom plate 351 corresponding to the first driving wheel 2 and the second driving wheel 2', and the bottom ends of the first driving wheel 2 and the second driving wheel 2 'pass through the through hole, so that the first driving wheel 2 and the second driving wheel 2' contact the ground.
As shown in fig. 4, in the preferred embodiment of the mobile robot chassis of the present invention, the first driving means includes a first driving motor 14, a second driving motor 14 ', and a motor controller 9 electrically connected to the first controller 12, the first driving motor 14 and the second driving motor 14' being provided on the rotating frame 35; the first driving motor 14 is connected with the first driving wheel 2 through a wheel shaft 16 and drives the first driving wheel 2 to move, and the first driving wheel 2 is sleeved on the wheel shaft 16; the second driving motor 14 'is connected with the second driving wheel 2' through another wheel axle 16 and drives the second driving wheel 2 'to move, and the second driving wheel 2' is sleeved on the wheel axle 16; the motor controller 9 is connected to the first driving motor 14 and the second driving motor 14 'respectively and controls the rotation speed of the first driving motor 14 and the second driving motor 14'. In the present invention, the first controller 12 may adopt an STM32 single chip controller.
Further, the mobile robot chassis of the present invention further includes a module base plate 20 located above the rotating frame 35, the module base plate 20 is mounted on the chassis frame 100, and the locking plate 28, the second driving device 23 and the position detecting assembly are disposed on a side of the module base plate 20 facing away from the rotating frame 35. The module bottom plate 20 is provided with a through hole for the connecting rod 22 to pass through, one end of the connecting rod 22 is connected with the rotating frame 35, and the other end of the connecting rod passes through the through hole of the module bottom plate 20 and then is connected with the rotating disc 30. Further, the mobile robot chassis of the present invention further includes a bearing 19 and a bearing mounting block 18. The bearing mounting block 18 is connected to the module bottom plate 20, the bearing 19 is mounted on the bearing mounting block 18, and the bearing 19 is sleeved on the periphery of the connecting rod 22.
The origin locking mechanism includes a lock disk 28 provided on the chassis frame 100, a second driving device 23 that drives the lock disk 28 to rotate, and a position detecting member for detecting the position of the lock disk 28; since the rotating frame 35 is connected to the rotating disc 30 through the connecting rod 22, when the rotating frame 35 rotates under the differential motion of the first driving wheel 2 and the second driving wheel 2', the connecting rod 22 rotates and the rotating disc 30 also rotates with the connecting rod 22. Specifically, as shown in fig. 7, the locking disk 28 is disposed on the module base plate 20, the rotating disk 30 is located above the module base plate 20, and the outer diameter of the rotating disk 30 is larger than the diameter of the through hole on the module base plate 20. The rotating disc 30 is provided with a notch corresponding to the locking disc 28 and matched with the locking disc 28 in a concave-convex mode, and when the locking disc 28 rotates to be matched with the notch in the concave-convex mode, the rotating frame 35 is locked at the original position; when the locking disk 28 is rotated out of engagement with the notch, the rotating bracket 35 is unlocked. The second driving device 23 may be a motor, and the locking disk 28 may be an eccentric cam, which is engaged with the notch of the rotating disk 30 via a cam structure thereon. According to the mobile robot chassis, by designing the original point locking structure, when the original point locking mechanism locks the rotating frame 35, the mobile robot chassis becomes a general direct-connection differential motion robot chassis, and can perform all motions of the chassis, including forward movement, backward movement, in-situ left rotation, in-situ right rotation or left rotation, right rotation and the like; when the original point locking mechanism is unlocked, the mobile robot chassis is changed into an omnidirectional mobile robot chassis, can be shifted in all directions, comprises transverse movement, has high flexibility and can move freely in a narrow place.
Preferably, the position detection assembly comprises a sensing post provided on the locking disk 28 and a proximity switch for sensing the sensing post, the proximity switch comprising a first proximity switch 29 provided in the locked position and a second proximity switch 29' provided in the unlocked position (as shown in fig. 4, 7 and 9); the first proximity switch 29, the second proximity switch 29', and the second driving device 23 are electrically connected to the first controller 12, respectively. Wherein a first proximity switch 29 and a second proximity switch 29' may be provided above the locking disk 28 by a bracket. When the rotating frame 35 needs to be locked, the first driving wheel 2 and the second driving wheel 2' drive the rotating frame 35 to rotate through differential motion, and the position of the rotating frame 35 is adjusted to reach the original position; the second driving device 23 drives the locking disk 28 to rotate, when the first proximity switch 29 detects a sensing column on the locking disk 28, the first proximity switch 29 sends a signal to the first controller 12, and then the first controller 12 controls the second driving device 23 to stop driving the locking disk 28 to rotate, so that the locking disk 28 is in concave-convex fit with a notch on the rotating disk 30, namely, the notch of the locking disk 28 on the rotating disk 30 is clamped, and the rotating frame 35 is locked at the original position. When the locking of the rotating frame 35 needs to be released, the second driving device 23 drives the locking disc 28 to rotate, when the second proximity switch 29 'detects the sensing column on the locking disc 28, the second proximity switch 29' sends a signal to the first controller 12, then the first controller 12 controls the second driving device 23 to stop driving the locking disc 28 to rotate, and at the moment, the locking disc 28 is released from being matched with the concave-convex of the notch on the rotating disc 30, so that the locking of the rotating frame 35 is released.
Preferably, the mobile robot chassis of the present invention further includes an origin calibration mechanism 21 for calibrating an origin, and the origin calibration mechanism 21 includes a sensing block (not shown) and a photoelectric sensor 33 (shown in fig. 7) for detecting the sensing block. Wherein the sensing blocks are disposed on the rotating disk 30, the photo sensor 33 is disposed on the module base plate 20, and the photo sensor 33 is electrically connected with the first controller 12. Preferably, in the mobile robot chassis of the present invention, the photo sensor 33 is a U-shaped photo sensor. The light emitter and the light receiver of the photoelectric sensor 33 are oppositely arranged, and a gap for the sensing block to enter is formed between the light emitter and the light receiver, when the sensing block enters the gap between the light emitter and the light receiver of the photoelectric sensor 33, the light emitted by the light emitter of the photoelectric sensor 33 is blocked, which indicates that the rotating frame 35 reaches the original position.
In order to prevent the rotating frame 35 from rotating excessively, which may cause the cable to be wound excessively, the mobile robot chassis of the present invention further includes a limiting pillar 34 (as shown in fig. 7 and 8), and the limiting pillar 34 is disposed on the module base plate 20 and is used for resisting the sensing block. When the sensing block is blocked by the limiting column 34, the rotating frame 35 cannot continue to rotate in the current direction, and can only rotate in the reverse direction, so that the purpose of preventing the cable from being excessively wound due to the excessive rotation of the rotating frame 35 is achieved.
As shown in fig. 4 and 9, the mobile robot chassis of the present invention further includes a buffer spring 17, and the buffer spring 17 is sleeved on the outer periphery of the connecting rod 22. The connecting rod 22 is sleeved with the buffer spring 17 to ensure that the first driving wheel 2 and the second driving wheel 2' are always grounded and simultaneously buffer the uneven road surface, so that the chassis of the mobile robot runs stably.
The mobile robot chassis of the present invention further includes a rotation angle acquisition mechanism for acquiring a rotation angle of the rotating frame 35. The rotational angle acquiring mechanism includes a rotating disk 30, a first gear 27, a second gear 32, and a first encoder 31. The first gear 27 is sleeved on the side wall of the rotating disc 30, the second gear 32 can be arranged on the module bottom plate 20 through a bracket, and the first gear 27 is meshed with the second gear 32 and drives the second gear 32 to rotate; the second gear 32 is coaxially and directly connected with the first encoder 31, and the first encoder 31 is electrically connected with the first controller 12. Specifically, when the rotating frame 35 rotates under the differential motion of the first driving wheel 2 and the second driving wheel 2', the connecting rod 22 rotates along with the same, the rotating disc 30 is rigidly connected with the connecting rod 22 through the screw 24 and also rotates along with the rotating frame 35, the stepped screw 25 fixed on the rotating disc 30 drives the first gear 27 to rotate along with the same, the first gear 27 drives the second gear 32 to rotate, and the first encoder 31 and the second gear 32 are coaxially and directly connected, so that the rotation angle of the rotating frame 35 can be obtained through calculation.
Preferably, the mobile robot chassis of the present invention further comprises a first navigation mechanism and a second navigation mechanism. Wherein, the first navigation mechanism comprises a laser radar 5 (shown in fig. 1) arranged on the outer surface of the chassis shell 200 and two second encoders 15 (shown in fig. 9) respectively and directly connected with two axles 16 through couplings; the laser radar 5 is in communication connection with the second controller 13, the two second encoders 15 are respectively electrically connected with the first controller 12, and the first controller 12 is electrically connected with the second controller 13. Specifically, the second controller 13 is a computer controller, the laser radar 5 is arranged on the top of the outer surface of the chassis shell 200, and the first driving motor 14 and the second driving motor 14 'are transmitted to the wheel shaft 16 through parallel keys to respectively drive the first driving wheel 2 and the second driving wheel 2' to move; the wheel shaft 16 is directly connected with the second encoder 15 through a coupler, and the second encoder 15 provides mileage data for the chassis to perform SLAM navigation.
The second navigation mechanism comprises a magnetic navigation sensor 3 and a card reader 4 which are arranged on the rotating frame 35, and the magnetic navigation sensor 3 and the card reader 4 are respectively electrically connected with the first controller 12. Specifically, the magnetic navigation sensors 3 are disposed on the front and rear sides of the chassis of the rotating frame 35, and the card readers 4 are disposed on the bottom of the rotating frame 35. The magnetic navigation sensor 3 is used for ensuring that the chassis travels along a magnetic stripe, the card reader 4 is used for reading information in an RFID (Radio Frequency Identification) card, and then the chassis executes corresponding actions according to the information in the RFID card, so that the chassis can perform magnetic track guiding motion. The corresponding actions performed by the chassis include, but are not limited to: the system can accelerate, decelerate, reverse, left, right, pause and the like, and can be specifically set according to requirements.
Preferably, the mobile robot chassis of the present invention further includes a battery 10 for supplying power to the chassis, and a charging module 11 for charging the battery 10, and all the electricity-consuming components of the chassis are supplied with power by the battery, and the electricity-consuming components include the magnetic navigation sensor 3, the card reader 4, the laser radar 5, the first driving motor 14, the second driving motor 14', the first controller 12, the second controller 13, the motor controller 9, the second driving device 23, the first encoder 31, the second encoder 15, the photoelectric sensor 33, and the like; and/or a reset button 6, a start/stop button 7 and an emergency stop button 8 which are arranged on the chassis housing 200, wherein the reset button 6, the start/stop button 7 and the emergency stop button 8 are respectively electrically connected with the first controller 12. Specifically, the battery 10, the charging module 11, the first controller 12, the second controller 13, and the motor controller 9 are disposed on the ceiling of the chassis frame 100.
The invention also constructs a mobile robot which comprises the mobile robot chassis.
In conclusion, the mobile robot chassis adopts the differential wheels as the driving wheels and the universal wheels as the driven wheels, so that the manufacturing cost is low, and the control technology of the mobile robot chassis is simpler; meanwhile, an origin locking mechanism for locking the rotating frame 35 at the origin position is also designed, so that when the origin locking mechanism locks the rotating frame 35, the chassis of the mobile robot becomes a differential motion chassis; when the original point locking mechanism is unlocked, the chassis of the mobile robot is changed into an omnidirectional mobile chassis, the mobile robot can move transversely, different motion modes can be switched, the flexibility is higher, and the mobile robot can move freely in a narrow place.
It is to be understood that the foregoing examples, while indicating the preferred embodiments of the invention, are given by way of illustration and description, and are not to be construed as limiting the scope of the invention; it should be noted that, for those skilled in the art, the above technical features can be freely combined, and several changes and modifications can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention; therefore, all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (12)
1. A mobile robot chassis, comprising:
the chassis frame (100), wherein a rotating frame (35) is arranged in the chassis frame (100);
a first drive device arranged on the rotating frame (35);
the traveling mechanism is connected with the driving device and is driven by the driving device to move; the walking mechanism comprises a first driving wheel (2), a second driving wheel (2 ') and a driven wheel (1) driven by the first driving wheel (2) and the second driving wheel (2 ') to move, the first driving wheel (2) and the second driving wheel (2 ') are differential wheels, and the driven wheel (1) is a universal wheel; the first driving wheel (2) and the second driving wheel (2') are arranged on two opposite sides of the lower end of the rotating frame (35), and the driven wheel (1) is arranged at the bottom of the chassis frame (100);
an origin locking mechanism for locking the rotating frame (35) at an origin position; when the origin locking mechanism locks the rotating frame (35), the mobile robot chassis is a differential motion chassis; when the original point locking mechanism is unlocked, the mobile robot chassis is an omnidirectional mobile chassis;
the origin locking mechanism includes: a locking disc (28) arranged on the chassis frame (100), a second driving device (23) for driving the locking disc (28) to rotate and a position detection assembly for detecting the position of the locking disc (28);
the rotating frame (35) is connected with a rotating disc (30) through a connecting rod (22), and the rotating disc (30) is provided with a notch which is matched with a cam structure on the locking disc (28) in a concave-convex mode corresponding to the locking disc (28);
when the locking disc (28) rotates to be matched with the notch in a concave-convex mode, the rotating frame (35) is locked at an original position; when the locking disk (28) is rotated out of engagement with the notch, the rotating frame (35) is unlocked;
the position detection assembly comprises an induction column arranged on the locking disc (28) and a proximity switch used for inducing the induction column, wherein the proximity switch comprises a first proximity switch (29) arranged at a locking position and a second proximity switch (29') arranged at an unlocking position; the first proximity switch (29), the second proximity switch (29') and the second driving device (23) are respectively electrically connected with the first controller (12);
when the rotating frame (35) needs to be locked, the first driving wheel (2) and the second driving wheel (2') drive the rotating frame (35) to rotate through differential motion, and the position of the rotating frame (35) is adjusted to reach the original position; the second driving device (23) drives the locking disk (28) to rotate, when the first proximity switch (29) detects an induction column on the locking disk (28), the first proximity switch (29) sends a signal to the first controller (12), then the first controller (12) controls the second driving device (23) to stop driving the locking disk (28) to rotate, so that the locking disk (28) is in concave-convex fit with a notch on the rotating disk (30), namely the notch on the rotating disk (30) is clamped by the locking disk (28), so that the rotating frame (35) is locked at the original position, when the locking of the rotating frame (35) needs to be released, the second driving device (23) drives the locking disk (28) to rotate, when the second proximity switch (29) 'detects the induction column on the locking disk (28), the second proximity switch (29)' sends a signal to the first controller (12), and then the first controller (12) controls the second driving device (23) to stop driving the locking disk (28) to rotate, at this time, the lock disk (28) is disengaged from the recess and projection of the notch on the rotary disk (30), and the lock of the rotary frame (35) is released.
2. The mobile robot chassis according to claim 1, further comprising a module floor (20) above the swivel frame (35), the module floor (20) being mounted on the chassis frame (100), the locking disc (28), the second drive arrangement (23) and the position detection assembly being arranged on a side of the module floor (20) facing away from the swivel frame (35);
one end of the connecting rod (22) is connected with the rotating frame (35), and the other end of the connecting rod penetrates through the module bottom plate (20) and then is connected with the rotating disc (30).
3. The mobile robot chassis of claim 2, further comprising a bearing (19) and a bearing mounting block (18), wherein the bearing mounting block (18) is connected to the module bottom plate (20), the bearing (19) is mounted on the bearing mounting block (18), and the bearing (19) is sleeved on the periphery of the connecting rod (22).
4. The mobile robot chassis according to claim 1, characterized in that the first driving means comprises a first driving motor (14), a second driving motor (14 '), and a motor controller (9) electrically connected to the first controller (12), the first driving motor (14) and the second driving motor (14') being provided on the swivel frame (35);
the first driving motor (14) is connected with the first driving wheel (2) through an axle (16) and drives the first driving wheel (2) to move, and the second driving motor (14 ') is connected with the second driving wheel (2 ') through another axle (16) and drives the second driving wheel (2 ') to move;
the motor controller (9) is respectively connected with the first driving motor (14) and the second driving motor (14 ') and controls the rotating speed of the first driving motor (14) and the second driving motor (14').
5. The mobile robot chassis of claim 2, further comprising an origin calibration mechanism (21) for calibrating an origin, wherein the origin calibration mechanism (21) comprises a sensing block disposed on the rotating disk (30) and a photoelectric sensor (33) disposed on the module base plate (20) for detecting the sensing block, and the photoelectric sensor (33) is electrically connected to the first controller (12).
6. The mobile robot chassis of claim 5, wherein the photoelectric sensor (33) is a U-shaped photoelectric sensor, a light emitter and a light receiver of the U-shaped photoelectric sensor are arranged oppositely, and a gap for the induction block to enter is formed between the light emitter and the light receiver; and/or
The mobile robot chassis further comprises a limiting column (34), and the limiting column (34) is used for resisting the induction block so as to prevent the rotating frame (35) from excessively rotating.
7. The mobile robot chassis according to claim 1, further comprising a rotation angle acquisition mechanism for acquiring a rotation angle of the rotating frame (35);
the rotation angle acquisition mechanism comprises the rotating disc (30), a first gear (27), a second gear (32) and a first encoder (31); the first gear (27) is sleeved on the side wall of the rotating disc (30), and the first gear (27) is meshed with the second gear (32) and drives the second gear (32) to rotate; the second gear (32) is coaxially and directly connected with the first encoder (31), and the first encoder (31) is electrically connected with the first controller (12).
8. The mobile robot chassis of claim 1, further comprising a buffer spring (17), wherein the buffer spring (17) is sleeved on the periphery of the connecting rod (22).
9. The mobile robot chassis according to claim 4, further comprising a first navigation mechanism and a chassis housing (200) covering the periphery of the chassis frame (100), wherein the first navigation mechanism comprises a laser radar (5) arranged on the outer surface of the chassis housing (200) and two second encoders (15) respectively directly connected with the two axles (16) through shaft couplings;
the laser radar (5) is in communication connection with a second controller (13), the two second encoders (15) are respectively electrically connected with the first controller (12), and the first controller (12) is electrically connected with the second controller (13).
10. The mobile robot chassis according to claim 9, characterized by further comprising a second navigation mechanism, wherein the second navigation mechanism comprises a magnetic navigation sensor (3) arranged on the rotating frame (35) and a card reader (4) arranged on the rotating frame (35) for reading information in an RFID card, and the magnetic navigation sensor (3) and the card reader (4) are respectively electrically connected with the first controller (12).
11. The mobile robot chassis according to claim 9, further comprising a battery (10) for powering the chassis and a charging module (11) for charging the battery (10); and/or
The mobile robot chassis further comprises a reset button (6), a start/stop button (7) and an emergency stop button (8) which are arranged on the chassis shell (200), wherein the reset button (6), the start/stop button (7) and the emergency stop button (8) are electrically connected with the first controller (12) respectively.
12. A mobile robot comprising a mobile robot chassis according to any of claims 1-11.
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| CN201810957955.4A CN109109974B (en) | 2018-08-22 | 2018-08-22 | Mobile robot chassis and mobile robot |
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| EP3712102B1 (en) * | 2019-03-20 | 2022-05-11 | Asti Mobile Robotics, S.A.U. | Omnidirectional autonomous vehicle |
| CN111924752B (en) * | 2020-08-12 | 2022-04-01 | 深圳市佳顺智能机器人股份有限公司 | Fork truck formula automated guided transporting vehicle |
| CN115028118B (en) * | 2022-08-11 | 2022-12-13 | 天津赛象科技股份有限公司 | Servo module type omnibearing driving mechanism and method and automatic guide vehicle |
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| CN101885351A (en) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | Split-type differential drive device and omnibearing movable automatic guided vehicle thereof |
| CN108297967A (en) * | 2018-03-28 | 2018-07-20 | 湖南万为智能机器人技术有限公司 | A kind of wheeled robot chassis |
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| JPS6231524A (en) * | 1985-08-02 | 1987-02-10 | Toshiba Corp | Robot transport vehicle |
| JPS62128884A (en) * | 1985-11-28 | 1987-06-11 | Usac Electronics Ind Co Ltd | Traveling mechanism for unmanned transport vehicle |
| JPS62225422A (en) * | 1986-03-28 | 1987-10-03 | Agency Of Ind Science & Technol | Carrier vehicle |
| JPH0741603Y2 (en) * | 1986-10-27 | 1995-09-27 | 株式会社アマダ | Castor device |
| JPH0641868Y2 (en) * | 1987-01-24 | 1994-11-02 | 神鋼電機株式会社 | Omnidirectional trolley |
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| CN101885351A (en) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | Split-type differential drive device and omnibearing movable automatic guided vehicle thereof |
| CN108297967A (en) * | 2018-03-28 | 2018-07-20 | 湖南万为智能机器人技术有限公司 | A kind of wheeled robot chassis |
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