CN112809749A - Novel robot chassis - Google Patents
Novel robot chassis Download PDFInfo
- Publication number
- CN112809749A CN112809749A CN202110114556.3A CN202110114556A CN112809749A CN 112809749 A CN112809749 A CN 112809749A CN 202110114556 A CN202110114556 A CN 202110114556A CN 112809749 A CN112809749 A CN 112809749A
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- sensor
- robot
- positioning
- bottom plate
- chassis
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 20
- 239000000725 suspension Substances 0.000 claims abstract description 19
- 230000001681 protective effect Effects 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 abstract description 9
- 230000002411 adverse Effects 0.000 abstract description 7
- 239000003550 marker Substances 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 11
- 230000004888 barrier function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000007774 longterm Effects 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robot chassis, and discloses a novel robot chassis, which comprises a robot body and a positioning sensor arranged on the robot body, wherein the positioning sensor is arranged on a sensor fixing platform, the sensor fixing platform is connected with the robot body through a suspension device, the robot body is also provided with a measuring device for measuring the relative displacement between the sensor fixing platform and the robot body, a ground marker is sensed through the positioning sensor to determine the position of the robot chassis, so that the positioning is realized, the relative displacement between the sensor fixing platform and the robot body in a preset direction is measured in real time through the measuring device to overcome the adverse effect of chassis vibration on the positioning precision of the robot sensor when the robot walks, and meanwhile, the vehicle body chassis and the positioning sensor are further protected through arranging a protective sleeve and a crash pad, the stability and the reliability of equipment have still been increased in the time of the anticollision, make positioning accuracy higher.
Description
Technical Field
The invention relates to the technical field of robot chassis, in particular to a novel robot chassis.
Background
The existing logistics robots, AGVs, patrol robots and other products all adopt a technical scheme of positioning and navigation based on ground markers (magnetic stripes, magnetic nails, ground textures or two-dimensional codes), and the technical scheme is that a sensor fixed on a vehicle body determines the position of a chassis of the robot or reads an operating instruction of the next step by sensing the ground markers.
However, the existing solutions are all that fix the sensor rigidly to the bottom, which has two major disadvantages: (1) the shaking of the vehicle body during walking, the change of the ground clearance when the load changes and the like have great negative effects on the positioning and reading instructions of the sensor; (2) in the driving process, the sensor can be damaged when the sensor collides with an obstacle on the ground.
Disclosure of Invention
The invention aims to provide a novel robot chassis, which overcomes the influence of factors such as shaking and uneven ground on sensor positioning during the walking of a vehicle body and has the advantages of high positioning precision, small error, good stability, long service life, collision resistance and the like.
The technical purpose of the invention is realized by the following technical scheme:
the utility model provides a novel robot chassis, includes the robot automobile body and installs the position sensor on the robot automobile body, position sensor installs on the sensor fixed station, the sensor fixed station passes through linkage and robot automobile body coupling, still be equipped with the measuring device who is used for measuring relative displacement between sensor fixed station and the robot automobile body on the robot automobile body.
By adopting the technical scheme, the robot is in the process of walking, the position of the robot chassis is determined by the positioning sensor arranged on the robot body through sensing the ground marker, the sensor fixing platform is connected with the robot body by the suspension device, so that the sensor fixing platform can only move along the preset direction, meanwhile, the relative displacement between the chassis vibration sensor fixing platform and the robot body in the preset direction when the robot walks is measured by the measuring device in real time, the robot calculates and removes the positioning error caused by the vibration of the sensor fixing platform according to the measured relative displacement, and the adverse effect of the chassis vibration when the robot walks on the positioning precision of the robot positioning sensor is eliminated.
The invention is further provided with: the measuring device is a displacement sensor.
Through adopting above-mentioned technical scheme, displacement sensor can be fine carry out signal exchange with the robot, will turn into the relative position information and give the robot for the signal of telecommunication to make things convenient for the robot to carry out the analysis and calculate and correct in real time after turning into positioning error value, and measurement accuracy is high, but long-term automatic monitoring, thereby promote the positioning accuracy of robot, degree of automation is high, and stability is good.
The invention is further provided with: the sensor fixing platform comprises a bottom plate used for installing the positioning sensor and an installation column used for being connected with the robot body, the bottom plate is integrally formed with the installation column or fixedly connected with the installation column, the bottom plate is located below the robot body, and the positioning sensor is located on the lower surface of the bottom plate.
Through adopting above-mentioned technical scheme, positioning sensor installs the lower surface at the bottom plate, the erection column is connected with the robot automobile body, thereby realize being connected of positioning sensor and robot automobile body, and the relative altitude between control bottom plate and the robot automobile body can adjust the relative altitude between positioning sensor and the ground, make positioning sensor keep good positioning accuracy, and simultaneously, at the robot walking in-process, the sensor fixed station can also keep out ground barrier and eliminate partly vibrations, with the influence of vibrations when reducing the robot walking to positioning sensor, positioning sensor's precision has further been promoted.
The invention is further provided with: and the sensor fixing table is also provided with a buffer device, and the buffer device is positioned between the bottom plate of the sensor fixing table and the robot car body.
Through adopting above-mentioned technical scheme, buffer connects sensor fixed station and robot automobile body, can absorb the vibrations that slow down the relative robot automobile body of sensor fixed station to because of the positioning sensor vibrations and to the adverse effect that positioning accuracy produced when reducing the robot walking, make positioning sensor's positioning accuracy higher, also prevent simultaneously that positioning sensor from causing the damage of inside components and parts because of long-term vibrations, make positioning sensor's life longer.
The invention is further provided with: the suspension device comprises a suspension cover plate, and the mounting column penetrates through the robot body and is fixedly connected with the suspension cover plate.
By adopting the technical scheme, the suspension device is used for connecting the sensor fixing table and the robot body, and meanwhile, the sensor fixing table can only move along the preset direction, the preset direction is the direction of relative displacement between the sensor fixing table and the robot body, and the measuring device convenient for data acquisition is used for acquiring data.
The invention is further provided with: the sensor fixing table is further provided with a protective sleeve, and the protective sleeve is fixed around the bottom plate.
Through adopting above-mentioned technical scheme, the buffering robot walking in-process that the protective sheath can be fine causes measuring device and positioning sensor vibrations because of the colliding with of the barrier on ground to the sensor fixed station to influence positioning accuracy or cause the damage to components and parts such as measuring device and positioning sensor.
The invention is further provided with: the lower surface of bottom plate still is provided with the crash pad, be equipped with the groove that is used for installing positioning sensor on the crash pad, positioning sensor inlays and locates in the groove of crash pad and fixes on the bottom plate.
Through adopting above-mentioned technical scheme, the protection to positioning sensor has further been strengthened to the crashproof pad, effectively reduces the barrier on ground and directly collides with positioning sensor's risk, and simultaneously, positioning sensor inlays in the groove of locating the crashproof pad, has further improved positioning sensor's stability on the horizontal direction.
The invention has the beneficial effects that:
1. the invention has high positioning precision and good stability: the robot comprises a robot body, a sensor fixing platform, a suspension device, a measuring device, a sensor fixing platform, a measuring device and a positioning sensor, wherein the sensor fixing platform is arranged on the robot body, the sensor fixing platform is connected with the robot body through the suspension device, the sensor fixing platform can only move along a preset direction, the measuring device is used for measuring the relative displacement between the sensor fixing platform and the robot body in the preset direction when the robot walks and the height of the robot body relative to the ground changes in real time, the robot calculates and removes the positioning error caused by the vibration of the sensor fixing platform according to the measured relative displacement, and the adverse effect on the positioning accuracy of the robot positioning sensor is eliminated.
2. The positioning sensor is arranged on the lower surface of the bottom plate of the sensor fixing table and is connected with the robot body through the mounting column on the sensor fixing table, so that the positioning sensor is connected with the robot body, the relative height between the positioning sensor and the ground can be adjusted by controlling the relative height between the bottom plate and the robot body, the positioning sensor keeps good positioning accuracy, meanwhile, in the walking process of the robot, the sensor fixing table can resist ground obstacles and eliminate part of vibration, the influence of the vibration on the positioning sensor during the walking of the robot is reduced, and the accuracy of the positioning sensor is further improved.
3. According to the invention, the buffer device is arranged between the sensor fixing table and the robot body to effectively absorb and slow the vibration of the sensor fixing table relative to the robot body, so that the adverse effect on the positioning precision caused by the vibration of the positioning sensor when the robot walks is reduced, the positioning precision of the positioning sensor is higher, meanwhile, the damage of internal components caused by the long-term vibration of the positioning sensor is prevented, and the service life of the positioning sensor is longer.
4. The sensor fixing table is protected by arranging the protective sleeves around the sensor fixing table bottom plate, so that the influence of vibration of a measuring device and a positioning sensor on positioning precision or the damage to the measuring device or the positioning sensor and other components caused by the vibration of the measuring device and the positioning sensor due to the collision of ground obstacles on the sensor fixing table in the walking process of the robot is effectively reduced, meanwhile, the anti-collision pad arranged on the lower surface of the sensor fixing table bottom plate further strengthens the protection on the positioning sensor, the risk that the ground obstacles directly collide the positioning sensor is further prevented, in addition, the positioning sensor is embedded in the groove of the anti-collision pad, the stability of the positioning sensor in the horizontal direction is further improved, and the vibration of the positioning sensor in the horizontal direction in the walking process of the robot is further reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic cross-sectional structure diagram of a novel robot chassis of the invention.
In the figure, 1, a robot vehicle body; 2. a positioning sensor; 3. a sensor fixing table; 31. a base plate; 32. mounting a column; 4. a suspension device; 5. a measuring device; 6. a buffer device; 7. an anti-collision pad; 8. a ground marker.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
Referring to fig. 1, a novel robot chassis comprises a robot body 1 and a positioning sensor 2 installed on the robot body 1, wherein the positioning sensor 2 is installed on a sensor fixing table 3, the sensor fixing table 3 is connected with the robot body 1 through a suspension device 4, the robot body 1 is further provided with a measuring device 5 for measuring relative displacement between the sensor fixing table 3 and the robot body 1, the robot determines the position of the robot chassis through sensing a ground marker 8 in the walking process by the positioning sensor 2 installed on the robot body 1, the suspension device 4 connects the sensor fixing table 3 with the robot body 1, so that the sensor fixing table 3 can only move along a preset direction, and meanwhile, the measuring device 5 measures the relative position between the sensor fixing table 3 and the robot body 1 in the preset direction in real time due to vibration during robot walking and lifting change of the height of the robot body 1 relative to the ground in the preset direction And calculating and removing a positioning error caused by vibration of the sensor fixing table 3 by the robot according to the measured relative displacement so as to eliminate the adverse effect of the vibration when the robot walks and the lifting change of the height of the robot body 1 relative to the ground on the positioning precision of the robot positioning sensor 2 and ensure that the positioning precision of the robot positioning sensor 2 is higher.
Furthermore, the measuring device 5 is a displacement sensor which can be but not limited to a magnetostrictive displacement sensor, the displacement sensor has good environmental adaptability, reliability and stability, and meanwhile, the displacement sensor also has the advantages of high response, high precision, low hysteresis, long service life and the like, and has extremely high cost performance, and can perform signal exchange with the robot well, and the relative position information between the sensor fixing table 3 and the robot body 1 can be converted into an electric signal to be transmitted to the robot, so that the robot can perform analysis and calculation and real-time correction after being converted into a positioning error value, and the measurement precision is high, long-term automatic monitoring can be performed, and the positioning precision of the robot is improved, the automation degree is high, and the stability is good.
Further, the sensor fixing station 3 comprises a bottom plate 31 for mounting the positioning sensor 2 and a mounting column 32 for connecting with the robot car body 1, the bottom plate 31 and the mounting column 32 are integrally formed or fixedly connected with each other, the bottom plate 31 is located below the robot car body 1, the positioning sensor 2 is located on the lower surface of the bottom plate 31, the positioning sensor 2 is mounted on the lower surface of the bottom plate 31, and the mounting column 32 is connected with the robot car body 1, so that the positioning sensor 2 is connected with the robot car body 1, compared with a mode of directly fixing the positioning sensor 2 at the bottom of the robot car body 1, a mode of mounting the positioning sensor 2 by using the sensor fixing station 3 can realize that the relative height between the positioning sensor 2 and the ground is adjusted by controlling the relative height between the bottom plate 31 of the sensor fixing station 3 and the robot car body 1, thereby realize making position sensor 2 keep good positioning accuracy's effect, simultaneously, at the robot walking in-process, sensor fixed station 3 can also keep out ground barrier and eliminate partly vibrations to vibrations when reducing the robot walking are to position sensor 2's influence, have further promoted position sensor 2's precision.
Further, the suspension device 4 comprises a suspension cover plate, the mounting column 32 penetrates through the robot body 1 and then is fixedly connected with the suspension cover plate, the suspension device 4 is used for connecting the sensor fixing table 3 with the robot body 1, and meanwhile, the sensor fixing table 3 can only move along a preset direction, the preset direction is the direction of relative displacement between the sensor fixing table 3 and the robot body 1, and the measurement device 5 is convenient for collecting relative displacement data between the sensor fixing table 3 and the robot body 1.
Further, still be provided with buffer 6 on the sensor fixed station 3, buffer 6 is located between bottom plate 31 and the robot automobile body 1 of sensor fixed station 3, buffer 6 can be the material of spring or other compressible buffering impact, the both ends of spring are fixed respectively on sensor fixed station 3 and robot automobile body 1, and buffer 6 can absorb the vibrations that slow down sensor fixed station 3 relative robot automobile body 1 to reduce the adverse effect that the robot produced to positioning accuracy because of measuring device 5 and the vibrations of positioning sensor 2 when walking, make positioning sensor 2's positioning accuracy higher, also alleviateed simultaneously measuring device 5 and positioning sensor 2 and caused the problem of inside component damage because of long-term vibrations, make measuring device 5 and positioning sensor 2's life longer.
Further, still be provided with the protective sheath on the sensor fixed station 3, the protective sheath is fixed around bottom plate 31, and the buffering robot walking in-process that the protective sheath can be fine causes measuring device 5 and positioning sensor 2 vibrations because of the colliding with of the barrier on ground to sensor fixed station 3 to influence positioning accuracy or cause the damage to components and parts such as measuring device 5 and positioning sensor 2.
Further, the lower surface of bottom plate 31 still is provided with crash pad 7, the material of crash pad 7 can be rubber, resin, copper etc., be equipped with the groove that is used for installing positioning sensor 2 on crash pad 7, positioning sensor 2 inlays and fixes on bottom plate 31 in locating crash pad 7's groove, and crash pad 7 has further strengthened the protection to positioning sensor 2, effectively reduces the direct risk of colliding with positioning sensor 2 of barrier on ground, and simultaneously, positioning sensor 2 inlays and locates in crash pad 7's groove, has further improved positioning sensor 2 stability on the horizontal direction, has further reduced the vibrations of robot walking in-process positioning sensor 2 on the horizontal direction.
Claims (7)
1. The utility model provides a novel robot chassis, includes robot automobile body (1) and installs positioning sensor (2) on robot automobile body (1), its characterized in that: the positioning sensor (2) is installed on the sensor fixing platform (3), the sensor fixing platform (3) is connected with the robot vehicle body (1) through the suspension device (4), and the robot vehicle body (1) is further provided with a measuring device (5) used for measuring relative displacement between the sensor fixing platform (3) and the robot vehicle body (1).
2. The novel robotic chassis of claim 1, wherein: the measuring device (5) is a displacement sensor.
3. The novel robotic chassis of claim 2, wherein: sensor fixed station (3) including bottom plate (31) that are used for installing position sensor (2) and erection column (32) that are used for being connected with robot automobile body (1), bottom plate (31) and erection column (32) integrated into one piece or mutual fixed connection, bottom plate (31) are located robot automobile body (1) below, position sensor (2) are located the lower surface of bottom plate (31).
4. The novel robotic chassis of claim 3, wherein: the suspension device (4) comprises a suspension cover plate, and the mounting column (32) penetrates through the robot car body (1) and then is fixedly connected with the suspension cover plate.
5. The novel robotic chassis of claim 4, wherein: the sensor fixing table (3) is further provided with a buffer device (6), and the buffer device (6) is located between a bottom plate (31) of the sensor fixing table (3) and the robot car body (1).
6. The novel robotic chassis of claim 5, wherein: the sensor fixing table (3) is further provided with a protective sleeve, and the protective sleeve is fixed on the periphery of the bottom plate (31).
7. The novel robotic chassis of claim 6, wherein: the lower surface of bottom plate (31) still is provided with crash pad (7), be equipped with the groove that is used for installing positioning sensor (2) on crash pad (7), positioning sensor (2) inlay and locate in the groove of crash pad (7) and fix on bottom plate (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110114556.3A CN112809749A (en) | 2021-01-26 | 2021-01-26 | Novel robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110114556.3A CN112809749A (en) | 2021-01-26 | 2021-01-26 | Novel robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112809749A true CN112809749A (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110114556.3A Pending CN112809749A (en) | 2021-01-26 | 2021-01-26 | Novel robot chassis |
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| Country | Link |
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| CN (1) | CN112809749A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426214A (en) * | 2016-11-22 | 2017-02-22 | 湖北文理学院 | Suspended chassis for service robot |
| CN106863259A (en) * | 2017-04-14 | 2017-06-20 | 天津理工大学 | A kind of wheeled multi-robot intelligent ball collecting robot |
| WO2018040546A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Rescue robot for medium and low speed maglev |
| CN108556972A (en) * | 2017-12-07 | 2018-09-21 | 珠海万博科学服务有限公司 | A kind of unmanned electric vehicle for preventing from toppling over |
| CN210680984U (en) * | 2019-10-22 | 2020-06-05 | 杭州精是智能科技有限公司 | Vehicle based on RFID control traveles |
| CN212287619U (en) * | 2020-05-11 | 2021-01-05 | 河南卓启电子科技有限公司 | Automatic inspection robot |
-
2021
- 2021-01-26 CN CN202110114556.3A patent/CN112809749A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018040546A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Rescue robot for medium and low speed maglev |
| CN106426214A (en) * | 2016-11-22 | 2017-02-22 | 湖北文理学院 | Suspended chassis for service robot |
| CN106863259A (en) * | 2017-04-14 | 2017-06-20 | 天津理工大学 | A kind of wheeled multi-robot intelligent ball collecting robot |
| CN108556972A (en) * | 2017-12-07 | 2018-09-21 | 珠海万博科学服务有限公司 | A kind of unmanned electric vehicle for preventing from toppling over |
| CN210680984U (en) * | 2019-10-22 | 2020-06-05 | 杭州精是智能科技有限公司 | Vehicle based on RFID control traveles |
| CN212287619U (en) * | 2020-05-11 | 2021-01-05 | 河南卓启电子科技有限公司 | Automatic inspection robot |
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