CN109850031B - Chassis and robot - Google Patents
Chassis and robot Download PDFInfo
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- CN109850031B CN109850031B CN201910190546.0A CN201910190546A CN109850031B CN 109850031 B CN109850031 B CN 109850031B CN 201910190546 A CN201910190546 A CN 201910190546A CN 109850031 B CN109850031 B CN 109850031B
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Abstract
The invention provides a chassis and a robot. Wherein, the chassis includes: a chassis body; the rolling wheel is arranged on the chassis body in a length-adjustable manner through a connecting mechanism; the power assembly is arranged on the chassis body and can drive the chassis body to move; and the detection device can send a braking signal to the power assembly to brake the power assembly when the elongation of at least one rolling wheel is greater than the preset elongation. The invention effectively solves the problem that the robot in the prior art cannot accurately judge the road condition.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a chassis and a robot.
Background
In the prior art, a drop-proof sensor is generally adopted to detect a pit or a step ground, so that a machine is prevented from falling or being clamped on a high-low step road surface.
The existing mode of detecting dangerous grounds such as pits, high and low steps and the like by using a fall-prevention sensor can be used for pre-judging the falling risk, but the mode depends on the installation precision of the sensor on a robot, factors such as unevenness of the ground, ambient light and the like have certain interference influence on the sensor, the risk still exists, and when the pre-judging fails, the robot directly falls the pits or the high and low steps.
From the above, the problem that the robot cannot accurately judge the road condition exists in the prior art.
Disclosure of Invention
The invention mainly aims to provide a chassis and a robot, and aims to solve the problem that the robot in the prior art cannot accurately judge road conditions.
In order to achieve the above object, according to one aspect of the present invention, there is provided a chassis including: a chassis body; the rolling wheel is arranged on the chassis body in a length-adjustable manner through a connecting mechanism; the power assembly is arranged on the chassis body and can drive the chassis body to move; and the detection device can send a braking signal to the power assembly to brake the power assembly when the elongation of at least one rolling wheel is greater than the preset elongation.
Further, the power assembly includes: a drive wheel; the driving device can provide power for the driving wheel and is also provided with a band-type brake; and the controller is in signal connection with the detection device and can receive a braking signal sent by the detection device so as to control the band-type brake to brake the driving wheel.
Furthermore, the number of the driving wheels is one or more, the number of the rolling wheels is more than that of the driving wheels.
Furthermore, two opposite sides of the chassis body are respectively provided with at least one driving wheel, four corners of the chassis body are respectively provided with a rolling wheel, and the rolling wheels are universal wheels.
Further, the power assembly includes: the driving device can provide power for the rolling wheels and is also provided with a band-type brake; and the controller is in signal connection with the detection device and can receive a braking signal sent by the detection device so as to control the band-type brake to brake the rolling wheel.
Furthermore, the connecting mechanism comprises connecting rods with the same number of rolling wheels, each rolling wheel is correspondingly arranged at the first end of each connecting rod, and the second end of each connecting rod penetrates through the chassis body and is arranged on the chassis body in a sliding manner; the chassis further comprises triggering parts with the same number with the rolling wheels, each triggering part is arranged on the corresponding connecting rod or the corresponding rolling wheel, when the rolling wheel extends out in the direction far away from the chassis body, the triggering parts move along with the connecting rods and the rolling wheels and trigger the detection device, so that the detection device sends a braking signal, when the chassis normally runs, the triggering parts are separated from the detection device, and the preset extension amount is the distance between the triggering parts and the detection device when the chassis normally runs.
Further, coupling mechanism still includes the link with the number of rolling wheel is unanimous, and the rolling wheel passes through the link to be connected with the connecting rod, and the first end of triggering the piece is fixed on the link and is extended along the length direction of connecting rod, and the second end of triggering the piece has triggers the arch, when the rolling wheel stretches out towards the one side of keeping away from chassis body, triggers the arch and can trigger detection device.
Further, the chassis still includes the mount unanimous with the number of the wheel that rolls, the mount setting is on the surface of the wheel one side of keeping away from of chassis body and to the direction protrusion of keeping away from the wheel that rolls to form the accommodation space between messenger's mount and the chassis body, the position department that corresponds the wheel that rolls on the chassis body is provided with dodges the opening, the connecting rod passes dodge the opening, be provided with backstop structure in the second end department of connecting rod behind the mount, in order to prevent that connecting rod and mount from breaking away from, trigger piece and detection device all are located the accommodation space.
Furthermore, the connecting mechanism also comprises a spring which is sleeved on the connecting rod and is abutted between the rolling wheel and the fixed frame.
Further, the mount includes first shape of falling U support body and the second shape of falling U support body of superpose each other, the second shape of falling U support body is fixed on the chassis body through first shape of falling U support body, form first space of stepping down between first shape of falling U support body and the chassis body, form the second space of stepping down between second shape of falling U support body and the first shape of falling U support body, first space of stepping down and second space of stepping down constitute the accommodation space, the wheel that rolls is located first space of stepping down and when the wheel that rolls to chassis body one side motion with first shape of falling U support body backstop, detection device is located the second space of stepping down.
According to another aspect of the present invention, there is provided a robot comprising the above-described chassis.
By applying the technical scheme of the invention, the chassis comprises a chassis body, at least one rolling wheel, a power assembly and a detection device; the rolling wheels are arranged on the chassis body in a length-adjustable manner through a connecting mechanism; the power assembly is arranged on the chassis body and can drive the chassis body to move; when the elongation of at least one rolling wheel is greater than the preset elongation, the detection device can send a braking signal to the power assembly to brake the power assembly.
When the chassis with the structure is used, the power assembly can drive the chassis body to normally move. When the chassis meets a pit or a step from high to low, the rolling wheel entering the pit or the step extends towards the lower part of the chassis, and when the extension amount of the rolling wheel is larger than the preset extension amount, the detection device is triggered to send a signal to the power assembly and brake the power assembly. In the process, as the power assembly is braked as long as the elongation of one rolling wheel is greater than the preset elongation, the whole chassis stops moving at the moment that the rolling wheel falls into a pit or a step, and the chassis can be effectively prevented from being damaged. Therefore, the chassis can be ensured to effectively make accurate judgment on road conditions, particularly effective judgment on pits, steps and other similar structures.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a schematic structural view of a chassis according to an embodiment of the present invention;
FIG. 2 shows a schematic view of the chassis of FIG. 1 with the rolling wheels fully extended;
FIG. 3 is a schematic view showing the position relationship between the rolling wheels and the fixed frame when the rolling wheels of the chassis in FIG. 1 are not extended;
FIG. 4 is a schematic view showing the position relationship between the rolling wheels and the fixing frame when the rolling wheels of the chassis in FIG. 1 are extended;
fig. 5 shows a flow chart of a chassis braking method implementation.
Wherein the figures include the following reference numerals:
10. a chassis body; 20. a rolling wheel; 30. a power assembly; 31. a drive wheel; 32. a drive device; 40. a detection device; 50. a connecting mechanism; 51. a connecting rod; 52. a connecting frame; 60. a trigger; 70. a fixed mount; 71. a first inverted U-shaped frame body; 72. a second inverted U-shaped frame body; 80. an accommodating space; 90. a spring; 100. a stop structure.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like, generally refer to the orientation as shown in the drawings, or to the component itself in a vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.
In order to solve the problem that the robot can not accurately judge the road condition in the prior art, the application provides a chassis and a robot.
Among them, the robot in the present application has a chassis described below.
As shown in fig. 1 to 4, the chassis of the present application includes a chassis body 10, at least one rolling wheel 20, a power assembly 30, and a detection device 40; the rolling wheel 20 is arranged on the chassis body 10 with adjustable length through a connecting mechanism 50; the power assembly 30 is arranged on the chassis body 10 and can drive the chassis body 10 to move; when the elongation of at least one of the rolling wheels 20 is greater than the preset elongation, the detecting means 40 can send a braking signal to the power assembly 30 to brake the power assembly 30.
When the chassis with the structure is used, the power assembly 30 can drive the chassis to normally move. When the chassis meets a pit or a step from high to low, the rolling wheel 20 entering the pit or the step extends back to the lower part of the chassis, and when the extension amount of the rolling wheel 20 is larger than the preset extension amount, the detection device 40 is triggered to send a signal to the power assembly 30 and brake the power assembly 30. In this process, since the power assembly 30 is braked as long as the extension amount of one rolling wheel 20 is greater than the preset extension amount, the entire chassis stops moving at the moment when the rolling wheel 20 is sunk into a pit or a step, thereby effectively preventing the chassis from being damaged. Therefore, the chassis can be ensured to effectively make accurate judgment on road conditions, particularly effective judgment on pits, steps and other similar structures.
In the present application, the preset elongation may be set according to an actual use condition.
Specifically, the power assembly 30 includes a driving wheel 31, a driving device 32, and a controller; the driving device 32 can provide power for the driving wheel 31, and the driving device 32 is also provided with a band-type brake; the controller is in signal connection with the detection device 40 and can receive a braking signal sent by the detection device 40 to control the brake to brake the driving wheel 31. Through the arrangement, in the normal movement process of the chassis, the driving device 32 drives the driving wheel 31 to realize the movement of the chassis, when the extension amount of the rolling wheel 20 is greater than the preset extension amount, the detection device 40 can send a signal to the controller, and the controller controls the brake of the driving device 32, so that the power assembly 30 is braked, and the chassis stops moving.
In this embodiment, the controller is an MCU.
Alternatively, the number of the driving wheels 31 is one or more, the number of the rolling wheels 20 is plural, and the number of the rolling wheels 20 is larger than that of the driving wheels 31. Since the rolling wheels 20 are driven by the driving wheels 31 to rotate during the chassis movement, and the road surface condition around the chassis is detected by the rolling wheels 20, a plurality of rolling wheels 20 are required to be arranged to detect the periphery of the chassis. And the greater the number of scroll wheels 20, the higher the accuracy of the detection.
In the present embodiment, as shown in fig. 1 and 2, the number of the driving wheels 31 is 2, and the number of the rolling wheels 20 is 4.
Specifically, two opposite sides of the chassis body 10 are respectively provided with at least one driving wheel 31, four corners of the chassis body 10 are respectively provided with one rolling wheel 20, and the rolling wheels 20 are universal wheels. Through setting up like this, can guarantee that the motion of chassis is more stable. And, the rolling wheels 20 are arranged as universal wheels, which makes the movement of the chassis more flexible.
In another embodiment, the drive means 32 in the power assembly 30 directly drives the rolling wheels 20. The power assembly 30 includes, among other things, a drive device 32 and a controller. The driving device 32 can provide power for the rolling wheels 20, and the driving device 32 is also provided with an internal contracting brake; the controller is in signal connection with the detection device 40 and can receive a braking signal sent by the detection device 40 to control the band-type brake to brake the rolling wheels 20. By such an arrangement, the band-type brake can directly brake the rolling wheel 20. It should be noted, however, that when such a braking mode is selected, it is necessary to take into account that the band-type brake has to have a sufficient braking effect on the elongated rolling wheel 20.
Specifically, the connecting mechanism 50 includes connecting rods 51 with the same number as the rolling wheels 20, each rolling wheel 20 is correspondingly arranged at a first end of the connecting rod 51, and a second end of each connecting rod 51 passes through the chassis body 10 and is slidably arranged on the chassis body 10; the chassis further comprises triggering parts with the same number with the rolling wheels 20, each triggering part is arranged on the corresponding connecting rod 51 or the corresponding rolling wheel 20, when the rolling wheels 20 extend out in the direction far away from the chassis body, the triggering parts move along with the connecting rods 51 and the rolling wheels 20 and trigger the detection device 40, so that the detection device 40 sends a braking signal, when the chassis normally runs, the triggering parts are separated from the detection device 40, and the preset extension amount is the distance between the triggering parts and the detection device 40 when the chassis normally runs. With this arrangement, since the connecting rod 51 is slidably provided on the chassis body 10, when the rolling wheel 20 encounters a pit or a high-low step, the rolling wheel 20 can be elongated in a direction away from the chassis body by the sliding of the connecting rod 51. And, during the extension of the rolling wheel 20, the trigger simultaneously starts the detecting device 40, so that the detecting device 40 can send a signal to the controller for braking.
The extension of the rolling wheel 20 mentioned in this application is that the rolling wheel 20 is extended in a direction away from the chassis body 10, i.e. the distance between the rolling wheel 20 and the chassis body 10 becomes larger, while the length of the connecting rod 51 can be kept constant in the process.
Specifically, the connection mechanism 50 further includes a connection frame 52 having the same number as the rolling wheels 20, the rolling wheels 20 are connected to the connection rod 51 through the connection frame 52, a first end of the trigger is fixed on the connection frame 52 and extends along the length direction of the connection rod 51, and a second end of the trigger has a trigger protrusion, and when the rolling wheels 20 extend out toward the side away from the chassis body 10, the trigger protrusion can trigger the detection device 40. By providing the connection frame 52, the rolling wheel 20 can be more easily connected to the connection rod 51. And, set up on triggering the piece and trigger protruding, can avoid triggering the mistake of piece to detection device 40 and touch like this to guarantee that the chassis is more accurate to the judgement of road conditions around.
Specifically, the chassis further includes a fixing frame 70 having the same number as the rolling wheels 20, the fixing frame 70 is disposed on the surface of the chassis body 10 on the side far away from the rolling wheels 20 and protrudes toward the direction far away from the rolling wheels 20, so that an accommodating space 80 is formed between the fixing frame 70 and the chassis body 10, an avoiding opening is disposed at a position on the chassis body 10 corresponding to the rolling wheels 20, the connecting rod 51 passes through the avoiding opening, a stopping structure 100 is disposed at a second end of the connecting rod 51 after the connecting rod 51 passes through the fixing frame 70, so as to prevent the connecting rod 51 from being separated from the fixing frame 70, and the triggering element and the detecting device 40 are both located in the accommodating space 80. By such an arrangement, it is possible to prevent an external object from contacting the detection device 40 and causing a false touch to the detection device 40, thereby reducing interference of the external object with the detection device 40. In addition, in the process of extending the rolling wheel 20, as long as the triggering member can trigger the detecting member, the stop structure 100 can prevent the rolling wheel 20 from extending outwards too long, thereby avoiding unnecessary damage to the rolling wheel 20.
In the present embodiment, the stop structure 100 is a self-locking nut. Correspondingly, the connection is a threaded rod.
Specifically, the connecting mechanism 50 further includes a spring 90, and the spring 90 is sleeved on the connecting rod 51 and abuts between the rolling wheel 20 and the fixing frame 70. Through setting up spring 90, at chassis normal operating's in-process, roll wheel 20 can make spring 90 be in compression state, and when roll wheel 20 extends, compressed spring 90 will extend simultaneously, so thereby can guarantee through spring 90 that the extension effect of roll wheel 20 guarantees that the chassis is more sensitive to the judgement of road conditions on every side.
Specifically, the fixing frame 70 includes a first inverted U-shaped frame 71 and a second inverted U-shaped frame 72 that are stacked on each other, the second inverted U-shaped frame 72 is fixed on the chassis body 10 through the first inverted U-shaped frame 71, a first abdicating space is formed between the first inverted U-shaped frame 71 and the chassis body 10, a second abdicating space is formed between the second inverted U-shaped frame 72 and the first inverted U-shaped frame 71, the first abdicating space and the second abdicating space constitute an accommodating space 80, the rolling wheel 20 is located in the first abdicating space and is stopped by the first inverted U-shaped frame 71 when the rolling wheel 20 moves to one side of the chassis body 10, and the detecting device 40 is located in the second abdicating space. Through setting up first inverted U-shaped support body 71 and second inverted U-shaped support body 72, can keep apart rolling wheel 20 and detection device 40 like this, prevent that the chassis from when moving the bellied road surface, rolling wheel 20 produces influence and destruction to detection device 40. And, set up the wheel 20 that rolls in the first space of stepping down, can reduce the overall height of chassis like this effectively to can reduce the focus of chassis, make the chassis more stable in the course of moving.
As shown in fig. 5, which is a flowchart of an implementation of a chassis braking method, the MCU monitors a trigger state of the detection device 40, and determines that any detection device 40 is triggered, if yes, the MCU controls the driving band-type brake to start braking, and the chassis brakes, and if not, the MCU continues to be in a state of monitoring the detection device 40.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
1. the structure is simple, and the judgment on the pits is accurate and reliable;
2. the device requires low installation precision and is convenient to install;
3. low cost and convenient mass production.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A chassis, comprising:
a chassis body (10);
at least one rolling wheel (20), wherein the rolling wheel (20) is arranged on the chassis body (10) in a length-adjustable manner through a connecting mechanism (50);
the power assembly (30) is arranged on the chassis body (10) and can drive the chassis body (10) to move;
-detection means (40), said detection means (40) being able to send a braking signal to said power assembly (30) to brake said power assembly (30) when the extension of at least one of said rolling wheels (20) is greater than a preset extension;
the connecting mechanism (50) comprises connecting rods (51) with the same number as the rolling wheels (20), each rolling wheel (20) is correspondingly arranged at the first end of each connecting rod (51), and the second end of each connecting rod (51) penetrates through the chassis body (10) and is arranged on the chassis body (10) in a sliding manner; the chassis further comprises triggering pieces with the same number as the rolling wheels (20), each triggering piece is arranged on the corresponding connecting rod (51) or the corresponding rolling wheel (20), when the rolling wheels (20) extend out in the direction far away from the chassis body (10), the triggering pieces move along with the connecting rods (51) and the rolling wheels (20) and trigger the detection device (40) so that the detection device (40) sends the braking signal, when the chassis normally operates, the triggering pieces are separated from the detection device (40), and the preset extension amount is the distance between the triggering pieces and the detection device (40) when the chassis normally operates;
the chassis further comprises a fixed frame (70) with the rolling wheels (20) in the same number, the fixed frame (70) is arranged on the surface of one side, far away from the rolling wheels (20), of the chassis body (10) and protrudes towards the direction far away from the rolling wheels (20), so that an accommodating space (80) is formed between the fixed frame (70) and the chassis body (10), an avoiding opening is formed in the position, corresponding to the rolling wheels (20), of the chassis body (10), the connecting rod (51) penetrates through the avoiding opening, a stopping structure (100) is arranged at the second end of the connecting rod (51) behind the fixed frame (70), and therefore the connecting rod (51) is prevented from being separated from the fixed frame (70), and the trigger piece and the detection device (40) are located in the accommodating space (80).
2. The chassis of claim 1, wherein the power assembly (30) comprises:
a drive wheel (31);
a drive device (32), the drive device (32) being capable of powering the drive wheel (31), and the drive device (32) further having a band-type brake;
the controller is in signal connection with the detection device (40) and can receive a braking signal sent by the detection device (40) so as to control the band-type brake to brake the driving wheel (31).
3. Chassis according to claim 2, characterized in that said driving wheel (31) is one or more, said rolling wheel (20) is a plurality, and the number of said rolling wheels (20) is greater than the number of said driving wheel (31).
4. The chassis according to claim 2, wherein at least one driving wheel (31) is respectively disposed on two opposite sides of the chassis body (10), one rolling wheel (20) is respectively disposed at four corners of the chassis body (10), and the rolling wheels (20) are universal wheels.
5. The chassis of claim 2, wherein the power assembly (30) comprises:
a drive device (32), the drive device (32) being capable of powering the rolling wheel (20), and the drive device (32) further having a band-type brake;
the controller is in signal connection with the detection device (40) and can receive a braking signal sent by the detection device (40) so as to control the band-type brake to brake the rolling wheel (20).
6. Chassis according to claim 1, characterized in that said connection mechanism (50) further comprises a connection frame (52) corresponding to the number of said rolling wheels (20), said rolling wheels (20) being connected to said connection rod (51) through said connection frame (52), said triggering member having a first end fixed to said connection frame (52) and extending along the length direction of said connection rod (51), and a second end having a triggering protrusion capable of triggering said detecting means (40) when said rolling wheels (20) are extended towards the side away from said chassis body (10).
7. The chassis according to claim 1, wherein the connecting mechanism (50) further comprises a spring (90), the spring (90) is sleeved on the connecting rod (51) and abuts between the rolling wheel (20) and the fixed frame (70).
8. Chassis according to claim 1, characterized in that said fixed frame (70) comprises a first (71) and a second (72) inverted U-shaped frame placed one on top of the other, the second inverted U-shaped frame body (72) is fixed on the chassis body (10) through the first inverted U-shaped frame body (71), a first abdicating space is formed between the first inverted U-shaped frame body (71) and the chassis body (10), a second abdicating space is formed between the second inverted U-shaped frame body (72) and the first inverted U-shaped frame body (71), the first yielding space and the second yielding space form the accommodating space (80), the rolling wheel (20) is located in the first yielding space and the rolling wheel (20) moves towards one side of the chassis body (10) and stops the first inverted U-shaped frame body (71), and the detection device (40) is located in the second yielding space.
9. A robot, characterized in that it comprises a chassis according to any of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910190546.0A CN109850031B (en) | 2019-03-13 | 2019-03-13 | Chassis and robot |
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| CN201910190546.0A CN109850031B (en) | 2019-03-13 | 2019-03-13 | Chassis and robot |
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| CN109850031B true CN109850031B (en) | 2021-03-30 |
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| CN112744530A (en) * | 2021-02-26 | 2021-05-04 | 广东利元亨智能装备股份有限公司 | AGV dolly |
| CN114906267B (en) * | 2022-06-16 | 2023-11-28 | 湖南山地电动车有限公司 | Electric vehicle suitable for climbing mountain land |
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| CN205018960U (en) * | 2015-09-02 | 2016-02-10 | 科沃斯机器人有限公司 | Automatic mobile robot |
| CN208342825U (en) * | 2018-05-17 | 2019-01-08 | 张敬 | A kind of wheeled crusing robot fall-proofing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005028971A (en) * | 2003-07-10 | 2005-02-03 | Toshiba Corp | Traveling device |
| CN206578809U (en) * | 2017-03-06 | 2017-10-24 | 陈乐颜 | A kind of indoor mobile robot system positioned based on RFID |
| CN108608440A (en) * | 2018-07-19 | 2018-10-02 | 深圳市寒武纪智能科技有限公司 | Service robot and service robot system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205018960U (en) * | 2015-09-02 | 2016-02-10 | 科沃斯机器人有限公司 | Automatic mobile robot |
| CN208342825U (en) * | 2018-05-17 | 2019-01-08 | 张敬 | A kind of wheeled crusing robot fall-proofing device |
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