CN112977667A - Supplementary chassis of preventing toppling of mobile robot upslope - Google Patents
Supplementary chassis of preventing toppling of mobile robot upslope Download PDFInfo
- Publication number
- CN112977667A CN112977667A CN201911283213.9A CN201911283213A CN112977667A CN 112977667 A CN112977667 A CN 112977667A CN 201911283213 A CN201911283213 A CN 201911283213A CN 112977667 A CN112977667 A CN 112977667A
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- CN
- China
- Prior art keywords
- connecting rod
- hinged
- center
- chassis
- mobile robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
Abstract
The invention relates to a mobile robot chassis, in particular to an auxiliary overturn-preventing chassis for a mobile robot to ascend a slope, wherein driving wheels are symmetrically arranged on two sides of a chassis frame, and overturn-preventing mechanisms with the same structure are symmetrically hinged on two sides of the chassis frame; the overturn preventing mechanism comprises universal wheels, a front support connecting rod, a vibration isolating spring, a middle connecting rod and a rear support connecting rod, wherein the front support connecting rod and the front end of the chassis frame are hinged to a front hinged fulcrum; the middle connecting rod is positioned between the front and the rear supporting connecting rods and is hinged with the chassis frame at a middle hinged fulcrum; one end of the front and rear supporting connecting rods is hinged with a universal wheel, and the other end of the front and rear supporting connecting rods is connected with the two ends of the middle connecting rod through vibration isolating springs. The invention can improve the climbing and obstacle crossing capability of the mobile robot in operation and reduce the overturning risk of the mobile robot while keeping the advantage of the operation stability of the conventional chassis on a flat road surface.
Description
Technical Field
The invention relates to a mobile robot chassis, in particular to an auxiliary overturn-preventing chassis for a mobile robot in ascending.
Background
In recent years, with the continuous development of the robot industry, the mobile robot service has more and more extensive applications and rapid development trend, and gradually enters the industries of home service, intelligent cleaning, industrial production, medical care, warehouse logistics, cargo inventory and the like. The mobile robot requires sensitive movement and timely braking in the walking process, and the robot can stably run. With the increasingly wide application field of the robot, the working environment of the robot is more complex, and the working environment of the robot cannot be guaranteed to be a flat ground. At present, service robots for human-computer interaction, service delivery, goods inventory and the like are often high in gravity center, and when encountering slopes or raised obstacles in the advancing process, the robots are very easy to overturn, and the climbing capability is urgently needed to be enhanced.
At present, the service type robot chassis on the market mostly adopts a driving form of two driving wheels and four universal wheels, and the form has the advantages of stable walking on a flat road surface, sensitive steering and simple process. However, when the robot encounters a slope or a raised obstacle during walking, the center of gravity shifts, and the robot upper body is easy to overturn.
Disclosure of Invention
In order to solve the problems existing when the traditional chassis of the robot ascends the slope, the invention aims to provide an uphill auxiliary overturn-preventing chassis of a mobile robot. The auxiliary overturn-preventing chassis can improve the stability of the chassis of the mobile robot in walking on the uphill, so that the mobile robot can adapt to complex working conditions, operates stably and improves the uphill obstacle-crossing capability.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a chassis frame, driving wheels and an overturn-preventing mechanism, wherein the driving wheels are symmetrically arranged on two sides of the chassis frame, and the overturn-preventing mechanism with the same structure is symmetrically hinged on two sides of the chassis frame; the overturn preventing mechanism comprises universal wheels, a front support connecting rod, a vibration isolating spring, a middle connecting rod and a rear support connecting rod, wherein the front support connecting rod and the front end of the chassis frame are hinged to a front hinged fulcrum, the rear support connecting rod and the rear end of the chassis frame are hinged to a rear hinged fulcrum, and the front support connecting rod and the rear support connecting rod are symmetrically arranged; the middle connecting rod is positioned between the front and rear supporting connecting rods and is hinged with the chassis frame at a middle hinged fulcrum; and one end of each of the front support connecting rod and the rear support connecting rod is hinged with a universal wheel, and the other end of each of the front support connecting rod and the rear support connecting rod is connected with two ends of the middle connecting rod through vibration isolation springs.
Wherein: the other end of the front support connecting rod is hinged with one end of a vibration isolation spring, and the other end of the vibration isolation spring is hinged with the front end of the middle connecting rod.
The length of the rod between the circle center of the hinge shaft hinged with the universal wheel and the circle center of the front hinge pivot is larger than that between the circle center of the front hinge pivot and the circle center of the hinge shaft hinged with the vibration isolation spring, and the included angle between the connecting rod between the circle center of the hinge shaft hinged with the universal wheel and the circle center of the front hinge pivot and the connecting rod between the circle center of the hinge shaft hinged with the vibration isolation spring is an obtuse angle.
The other end of the rear supporting connecting rod is hinged with one end of a vibration isolation spring, and the other end of the vibration isolation spring is hinged with the rear end of the middle connecting rod.
The length of the rod between the circle center of the hinge shaft hinged with the universal wheel and the circle center of the rear hinge pivot is larger than that between the circle center of the rear hinge pivot and the circle center of the hinge shaft hinged with the vibration isolation spring, and the included angle between the connecting rod between the circle center of the hinge shaft hinged with the universal wheel and the circle center of the rear hinge pivot and the connecting rod between the circle center of the hinge shaft hinged with the universal wheel and the circle center of the hinge shaft hinged with the vibration isolation spring is an obtuse angle.
The middle connecting rod is parallel to the horizontal plane when the mobile robot walks on the horizontal plane.
And a connecting line between the circle center of the middle hinge pivot and the circle center of the driving wheel is vertical to the horizontal plane.
The invention has the advantages and positive effects that:
1. according to the invention, the overturn-preventing mechanism is added on the basis of the traditional mobile chassis, the stability advantage of the traditional chassis for running on a flat road surface is kept, the climbing and obstacle-crossing capability of the mobile robot during running can be improved, and the overturn risk of the mobile robot is reduced.
2. The invention can make the mobile robot more stable when climbing and crossing obstacles, has stronger adaptability to the working environment, reduces the overturning risk of the mobile robot and improves the service performance of products.
3. The robot chassis support device is simple in principle, easy to implement, compact and reasonable in structure, and capable of achieving self-adaptive auxiliary support for the robot and improving the performance of the chassis.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is an exploded view of the present invention;
wherein: the device comprises a universal wheel 1, a front support connecting rod 2, a vibration isolation spring 3, a middle connecting rod 4, a chassis frame 5, a driving wheel 6 and a rear support connecting rod 7.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the present invention includes a chassis frame 5, driving wheels 6 and an anti-overturning mechanism, wherein the chassis frame 5 has the same structure on both sides, the driving wheels 6 are symmetrically installed on both sides to realize the whole power driving output, and the anti-overturning mechanism having the same structure is also symmetrically hinged on both sides of the chassis frame 5.
The anti-overturning mechanism of the embodiment comprises a universal wheel 1, a front support connecting rod 2, a vibration isolation spring 3, a middle connecting rod 4 and a rear support connecting rod 7, wherein the front support connecting rod 2 and the front end of a chassis frame 5 are hinged to a front hinged fulcrum and can rotate at the front hinged fulcrum, the rear support connecting rod 7 and the rear end of the chassis frame 5 are hinged to a rear hinged fulcrum and can rotate at the rear hinged fulcrum, and the front support connecting rod 2 and the rear support connecting rod 7 are symmetrically arranged. The middle connecting rod 4 is positioned between the front and the rear supporting connecting rods 2 and 7, is hinged with the chassis frame 5 at a middle hinge pivot and can rotate at the middle hinge pivot. One end of the front and the rear supporting connecting rods 2 and 7 are hinged with universal wheels 1, and the other end is connected with the two ends of the middle connecting rod 4 through vibration isolating springs 3.
The other end of the front support link 2 of the present embodiment is hinged to one end of the vibration isolating spring 3, and the other end of the vibration isolating spring 3 is hinged to the front end of the intermediate link 4. In this embodiment, the length of the rod from the center of the hinge shaft hinged to the universal wheel 1 to the center of the front hinge pivot on the front support connecting rod 2 is greater than the length of the rod from the center of the front hinge pivot to the center of the hinge shaft hinged to the vibration isolation spring 3, and the included angle between the connecting rod from the center of the hinge shaft hinged to the universal wheel 1 to the center of the front hinge pivot and the connecting rod from the center of the front hinge pivot to the center of the hinge shaft hinged to the vibration isolation spring 3 is an obtuse angle.
The other end of the rear support link 7 of the present embodiment is hinged to one end of the vibration isolating spring 3, and the other end of the vibration isolating spring 3 is hinged to the rear end of the intermediate link 4. In this embodiment, the length of the rod from the center of the hinge shaft hinged to the universal wheel 1 to the center of the rear hinge pivot on the rear support connecting rod 7 is greater than the length of the rod from the center of the rear hinge pivot to the center of the hinge shaft hinged to the vibration isolation spring 3, and the included angle between the connecting rod from the center of the hinge shaft hinged to the universal wheel 1 to the center of the rear hinge pivot and the connecting rod from the center of the rear hinge pivot to the center of the hinge shaft hinged to the vibration isolation spring 3 is an obtuse angle.
The middle connecting rod 4 of the embodiment is parallel to the horizontal plane when the mobile robot walks on the horizontal plane, and a connecting line between the circle center of the middle hinge pivot and the circle center of the driving wheel 6 is vertical to the horizontal plane.
The working principle of the invention is as follows:
the mobile robot advances by the driving action of the driving wheels 6. When the mobile robot meets an uphill or raised obstacle in the advancing direction, the front support connecting rod 2 and the front universal wheel 1 are lifted under the action of the acting force, and at the moment, the mobile robot tends to topple backwards. Meanwhile, the front support connecting rod 2 rotates clockwise around the front hinge pivot, and the middle connecting rod 4 is driven by the vibration isolation spring 3 to move anticlockwise around the middle hinge pivot; and then the rear support connecting rod 7 is driven by the vibration isolation spring 3 at the rear to do clockwise motion around the rear hinged fulcrum, so that the universal wheel 1 at the rear can support the ground, the reaction force of backward tilting of the mobile robot is generated, and the function of assisting in blocking the backward tilting of the mobile robot is realized.
On the basis of the traditional driving form, the auxiliary overturn-preventing mechanism is additionally arranged, so that the climbing and obstacle-crossing capabilities of the mobile robot are improved while the stable operation of the mobile robot is ensured.
Claims (7)
1. The utility model provides a supplementary chassis of preventing toppling of mobile robot upslope which characterized in that: the overturning prevention device comprises a chassis frame (5), driving wheels (6) and overturning prevention mechanisms, wherein the driving wheels (6) are symmetrically arranged on two sides of the chassis frame (5), and the overturning prevention mechanisms with the same structure are symmetrically hinged to two sides of the chassis frame (5); the overturning prevention mechanism comprises a universal wheel (1), a front support connecting rod (2), a vibration isolation spring (3), a middle connecting rod (4) and a rear support connecting rod (7), the front support connecting rod (2) and the front end of the chassis frame (5) are hinged to a front hinged pivot, the rear support connecting rod (7) and the rear end of the chassis frame (5) are hinged to a rear hinged pivot, and the front support connecting rod (2) and the rear support connecting rod (7) are symmetrically arranged; the middle connecting rod (4) is positioned between the front and rear supporting connecting rods (2, 7) and is hinged with the chassis frame (5) at a middle hinged fulcrum; one end of each of the front support connecting rod (2) and the rear support connecting rod (7) is hinged with a universal wheel (1), and the other end of each of the front support connecting rod and the rear support connecting rod is connected with two ends of the middle connecting rod (4) through vibration isolation springs (3).
2. The mobile robot uphill assist anti-overturning chassis of claim 1, wherein: the other end of the front support connecting rod (2) is hinged with one end of a vibration isolation spring (3), and the other end of the vibration isolation spring (3) is hinged with the front end of the middle connecting rod (4).
3. The mobile robot uphill assist anti-overturning chassis of claim 2, wherein: the length of a rod between the center of a circle of a hinge shaft hinged with the universal wheel (1) and the center of a circle of a front hinge fulcrum on the front support connecting rod (2) is larger than that between the center of a circle of the front hinge fulcrum and the center of a circle of a hinge shaft hinged with the vibration isolation spring (3), and an included angle between the connecting rod between the center of a circle of a hinge shaft hinged with the universal wheel (1) and the center of a circle of a front hinge fulcrum and the connecting rod between the center of a circle of a front hinge fulcrum and the center of a circle of a hinge shaft hinged with the vibration isolation spring (3.
4. The mobile robot uphill assist anti-overturning chassis of claim 1, wherein: the other end of the rear supporting connecting rod (7) is hinged with one end of a vibration isolation spring (3), and the other end of the vibration isolation spring (3) is hinged with the rear end of the middle connecting rod (4).
5. The mobile robot uphill assist anti-overturning chassis of claim 4, wherein: the length of a rod from the center of a circle of a hinge shaft hinged with the universal wheel (1) to the center of a circle of a rear hinge fulcrum on the rear support connecting rod (7) is larger than that from the center of the circle of the rear hinge fulcrum to the center of a circle of a hinge shaft hinged with the vibration isolation spring (3), and an included angle between the connecting rod from the center of the hinge shaft hinged with the universal wheel (1) to the center of the rear hinge fulcrum and the connecting rod from the center of the rear hinge fulcrum to the center of the hinge shaft hinged with the vibration isolation spring (3) is an obtuse angle.
6. The mobile robot uphill assist anti-overturning chassis of claim 1, wherein: the middle connecting rod (4) is parallel to the horizontal plane when the mobile robot walks on the horizontal plane.
7. The mobile robot uphill assist anti-overturning chassis of claim 1, wherein: and a connecting line between the circle center of the middle hinge pivot and the circle center of the driving wheel (6) is vertical to the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911283213.9A CN112977667A (en) | 2019-12-13 | 2019-12-13 | Supplementary chassis of preventing toppling of mobile robot upslope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911283213.9A CN112977667A (en) | 2019-12-13 | 2019-12-13 | Supplementary chassis of preventing toppling of mobile robot upslope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112977667A true CN112977667A (en) | 2021-06-18 |
Family
ID=76341722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911283213.9A Withdrawn CN112977667A (en) | 2019-12-13 | 2019-12-13 | Supplementary chassis of preventing toppling of mobile robot upslope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112977667A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114560027A (en) * | 2022-02-11 | 2022-05-31 | 奥佳华智能健康科技集团股份有限公司 | Robot chassis and robot |
| CN114590339A (en) * | 2022-04-02 | 2022-06-07 | 北京交通大学 | Virtual waist joint design for high-outbreak bouncing motion of quadruped robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1116543B (en) * | 1958-10-20 | 1961-11-02 | Erhard Lauster | Axle unit with its own drive motor |
| JPH10181368A (en) * | 1996-12-26 | 1998-07-07 | Akira Moribe | Escape drive device |
| US20070017716A1 (en) * | 2005-07-19 | 2007-01-25 | Wen-Chyan Shin | Vehicle adaptable to various terrains |
| CN202337298U (en) * | 2011-07-19 | 2012-07-18 | 何岗 | Oil-electric vehicle with detachable and mergeable six wheels |
| CN104843103A (en) * | 2015-05-26 | 2015-08-19 | 西南科技大学 | Novel operation robot in building environments |
-
2019
- 2019-12-13 CN CN201911283213.9A patent/CN112977667A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1116543B (en) * | 1958-10-20 | 1961-11-02 | Erhard Lauster | Axle unit with its own drive motor |
| JPH10181368A (en) * | 1996-12-26 | 1998-07-07 | Akira Moribe | Escape drive device |
| US20070017716A1 (en) * | 2005-07-19 | 2007-01-25 | Wen-Chyan Shin | Vehicle adaptable to various terrains |
| CN202337298U (en) * | 2011-07-19 | 2012-07-18 | 何岗 | Oil-electric vehicle with detachable and mergeable six wheels |
| CN104843103A (en) * | 2015-05-26 | 2015-08-19 | 西南科技大学 | Novel operation robot in building environments |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114560027A (en) * | 2022-02-11 | 2022-05-31 | 奥佳华智能健康科技集团股份有限公司 | Robot chassis and robot |
| CN114590339A (en) * | 2022-04-02 | 2022-06-07 | 北京交通大学 | Virtual waist joint design for high-outbreak bouncing motion of quadruped robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210618 |
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| WW01 | Invention patent application withdrawn after publication |