CN113650702A

CN113650702A - Universal intelligent trolley chassis

Info

Publication number: CN113650702A
Application number: CN202111069253.0A
Authority: CN
Inventors: 任彬; 高向阳; 刘琴蕾; 董学礼; 焦永刚
Original assignee: Hebei Huantie Technology Development Co ltd; Shijiazhuang Tiedao University
Current assignee: Hebei Huantie Technology Development Co ltd; Shijiazhuang Tiedao University
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2021-11-16

Abstract

The invention relates to a universal intelligent trolley chassis which comprises a chassis body, a four-wheel mechanism, a suspension mechanism and a coded disc, wherein the four-wheel mechanism, the suspension mechanism and the coded disc are arranged on the chassis body; the suspension mechanism comprises a hinge, a connecting plate, a shock absorber and a spring; one end of the hinge is fixed on the chassis body, the other end of the hinge is connected with one end of the connecting plate, and the other end of the connecting plate is connected with a bearing seat in the four-wheel mechanism; one end of the shock absorber is connected with the chassis body, and the other end of the shock absorber is connected with a bearing seat in the four-wheel mechanism; the spring is disposed outside the shock absorber. The invention can adapt to various ground conditions and effectively improve the slippage. And realize the all-round movement and effectively position the whole advancing process on the basis of skidding, assist and reduce the degree of difficulty in the aspects of controlling the motion attitude of the trolley and calculating and controlling the wheel motion.

Description

Universal intelligent trolley chassis

Technical Field

The invention relates to an intelligent trolley chassis, in particular to a universal intelligent trolley chassis applied to multiple scenes, multiple environments and multiple terrains.

Background

In recent years, artificial intelligence is concerned by more and more people, many neighborhoods apply artificial intelligence technology, and rapid development of robot technology drives improvement of economic level of China. The intelligent car is taken as a typical representative of the robot industry, and plays an important role in the industries of logistics transportation, intelligent home, automobile manufacturing and the like. For example, an Automated Guided Vehicle (AGV) is widely used as a transfer robot, and is applied to logistics systems such as an Automated storage system, a flexible transfer system, and a flexible assembly system. The intelligent cleaning trolley is used as a sweeping robot and is applied to important occasions such as sterile production workshops, enterprise companies and daily living residences. The intelligent mine removal, fire extinguishing and patrol trolley is used as an intelligent tool for replacing manpower to carry out corresponding work, the personnel risk coefficient is reduced while the property safety of people is protected, and the loss of manpower and material resources is effectively reduced. The intelligent trolley is a high intelligent device capable of carrying out autonomous information detection, autonomous decision making and autonomous driving, and relates to the subject technology mainly comprising a single chip microcomputer principle, automatic motor control, software programming, a digital circuit, an analog circuit, hardware design, information acquisition, signal processing, serial communication, artificial intelligence and the like. Along with the development of society, the intelligent trolley has to have more and more powerful functions so as to adapt to the application requirements of different environments. Under some special application environments, the intelligent vehicle must have good structural conditions, information feedback, optimal control and coordination integration theories and methods to solve practical problems. In practical application, the intelligent trolley can face different terrains and different ground conditions, encountered obstacles are various, and the intelligent trolley can slip to cause the situations of incapability of positioning, incapability of moving in all directions and incapability of flexibly avoiding obstacles.

Disclosure of Invention

In view of the above problems, the present invention provides a universal intelligent vehicle chassis, which can adapt to various ground conditions and effectively improve the skid. And realize the all-round movement and effectively position the whole advancing process on the basis of skidding, assist and reduce the degree of difficulty in the aspects of controlling the motion attitude of the trolley and calculating and controlling the wheel motion.

In order to achieve the purpose, the invention adopts the following technical scheme: a universal smart cart chassis, comprising: the chassis comprises a chassis body, and a four-wheel mechanism, a suspension mechanism and a coded disc which are arranged on the chassis body; the suspension mechanism comprises a hinge, a connecting plate, a shock absorber and a spring; one end of the hinge is fixed on the chassis body, the other end of the hinge is connected with one end of the connecting plate, and the other end of the connecting plate is connected with a bearing seat in the four-wheel mechanism; one end of the shock absorber is connected with the chassis body, and the other end of the shock absorber is connected with a bearing seat in the four-wheel mechanism; the spring is disposed outside the shock absorber.

Further, the chassis body comprises an upper bottom plate, a lower bottom plate and a supporting piece; the four top corners between the upper base plate and the lower base plate are respectively provided with one supporting piece, and the upper base plate and the lower base plate are connected into a whole through the four supporting pieces.

Furthermore, the four-wheel mechanism comprises two pairs of Mecanum wheels, the two pairs of Mecanum wheels are respectively arranged on two sides of the chassis body, and a bearing seat of each Mecanum wheel is connected with the suspension mechanism.

Furthermore, the Mecanum wheels are mounted in an O-rectangle mode, and a cross arm type suspension mounting mode is connected with the chassis body through the suspension mechanism.

Further, the number of the suspension mechanisms is four, and the four suspension mechanisms are independently arranged.

Further, the spring adopts a torsion bar spring.

Further, the shock absorber adopts a cylinder type shock absorber.

Further, the coded disc is arranged at the geometric center of the chassis body and is installed at the lower part of the lower bottom plate.

Due to the adoption of the technical scheme, the invention has the following advantages: 1. the four-wheel mechanism adopted by the invention has the advantages of simple structure, compactness and space saving, the corresponding control circuit design and control strategy are easy to realize, the four-wheel trolley moves more stably, the precision is higher, and the follow-up positioning, navigation and path planning of the trolley are facilitated. 2. In the aspect of omnibearing movement of the trolley, the intelligent trolley adopts Mecanum wheels, can realize the movement modes of advancing, transverse moving, diagonal moving, rotating, combination of the advancing, transverse moving, diagonal moving and rotating and the like based on the Mecanum wheel technology, greatly reduces the requirement on the length and width of the trolley, can realize omnibearing movement, flexibly avoids barrier functions, and is very suitable for terrains and ground conditions with limited operation space and narrow operation channels. 3. In order to prevent the trolley from slipping when the four-wheel mechanism of the trolley contacts the ground, the suspension mechanism can effectively absorb and buffer the impact force transmitted to the frame or the trolley body from an uneven road surface and attenuate the vibration caused by the impact force, so that the intelligent trolley can stably run and the slipping is avoided. 4. The independent positioning mechanism of the coded disc can realize the accurate positioning of the trolley, and the setting and the placement of the coded disc can enable the trolley to independently record pulse values in all directions during the omnibearing running, thereby effectively improving the independence and the stability of the chassis of the trolley.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 3 is a schematic view of the suspension system of the present invention.

Figure 2 is a schematic diagram of the mecanum four-wheel mechanism of the present invention.

FIG. 4 is a schematic view of the code wheel mechanism of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "inside", "outside", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The chassis of the universal intelligent trolley is a four-wheel adaptive chassis with a suspended Mecanum wheel and a coded disc combined mutually. As shown in fig. 1, the present invention includes a chassis body 1, and a four-wheel mechanism, a suspension mechanism, and a code wheel provided on the chassis body 1.

In a preferred embodiment, the chassis body 1 comprises an upper floor 2, a lower floor 3 and a support 4. The supporting pieces 4 are respectively arranged between the upper base plate 2 and the lower base plate 3 and are close to four top corners, and the upper base plate 2 and the lower base plate 3 are connected into a whole through the four supporting pieces 4.

In a preferred embodiment, as shown in fig. 2, the four-wheel mechanism includes two pairs of mecanum wheels 5, the two pairs of mecanum wheels 5 are respectively disposed on two sides of the chassis body 1, and the mecanum wheels 5 are driven by the existing driving mechanism to operate, which is not described herein again. Wherein the bearing housings of each mecanum wheel 5 are connected to the suspension mechanism.

In the above embodiment, the mecanum wheel 5 is provided with a circle of independent planetary wheels with an inclination angle (preferably 45 °) in the circumferential direction of the central wheel, and the angular planetary wheels divide the advancing speed of the central wheel into two directions of X and Y to realize advancing and traversing. The Mecanum wheel has compact structure and flexible motion, and can realize the function of omnibearing movement more flexibly and conveniently.

Two of the Mecanum wheels are left-handed wheels, and two of the Mecanum wheels are right-handed wheels. Levogyration wheel and dextrorotation wheel are chiral symmetry, and the mounting means has the multiple, mainly divide into: x-square, X-rectangular, O-square, O-rectangular. Wherein X and O represent the pattern formed by the rollers in ground contact with the four wheels; the square and the rectangle refer to the shape enclosed by the contact points of the four wheels and the ground. X-square: the moment generated by the wheel rotation will pass through the same point and so the yaw axis cannot actively rotate nor actively maintain the angle of the yaw axis. X-rectangle: wheel rotation can produce yaw axis turning torque, but the moment arm of the turning torque will typically be relatively short. O-square: four wheels are located at the four vertices of the square, and neither translation nor rotation is problematic. O-rectangle: the rotation of the wheel can generate yaw axis rotating torque, and the arm of the rotating torque is also longer. Therefore, in the present embodiment, the mecanum wheels 5 are mounted in an O-rectangular manner, and are connected to the chassis body 1 by a suspension mechanism in a cross-arm suspension manner.

In a preferred embodiment, since the non-independently suspended wheels are typically mounted at opposite ends of an integral axle, when one wheel is run out, the other wheel is affected to run out correspondingly, causing the entire vehicle body to vibrate or tilt. The present application therefore employs four independent suspension mechanisms. The suspension mechanism can effectively absorb and buffer the impact force transmitted to the frame or the vehicle body from an uneven road surface, and attenuate the vibration caused by the impact force, so that the intelligent vehicle can stably run and is prevented from slipping. The four suspension mechanisms are provided, as shown in fig. 1 and 3, and each suspension mechanism includes a hinge 6, a connecting plate 7, a damper 8, and a spring 9. One end of the hinge 6 is fixed on the upper base plate 2 and the lower base plate 3 of the chassis body 1, the other end of the hinge 6 is connected with one end of the connecting plate 7, and the other end of the connecting plate 7 is connected with a bearing seat of the Mecanum wheel 5. One end of a shock absorber 8 is connected with the supporting piece 4 of the chassis body 1, and the other end of the shock absorber 8 is connected with a bearing seat of the Mecanum wheel 5; the spring 9 is arranged outside the damper 8.

In the above embodiment, the spring 9 is a torsion bar spring. One end of a torsion bar made of a spring rod is fixed on the support piece 4, the other end of the torsion bar is connected with a bearing seat of the Mecanum wheel 5, and the torsion deformation of the torsion bar when the wheel jumps is utilized to play a role in buffering.

In the above embodiment, the damper 8 is a tube damper.

During the use, because the existence of hinge 6 and connecting plate 7, travel on uneven road when the dolly, the automobile body takes place to vibrate, under the effect of spring 9 and hinge 6, mecanum wheel 5 can hug closely ground all the time, prevent that the tire is unsettled to cause and skids, after mecanum wheel 5 fell down, vibration of automobile body can be attenuated rapidly to shock absorber 8, the resistance that utilizes self fluid flow consumes the energy of vibration, make the automobile body no longer take place obvious shake, increase dolly stationarity.

In a preferred embodiment, the code wheel is arranged at the geometric center of the chassis body 1 and is mounted on the lower part of the lower bottom plate 3. As shown in FIG. 4, the slide block 10 of the code disc is fixedly arranged on the lower bottom plate 3, and is always in contact with the ground according to the gravity of the omnidirectional wheel of the code disc, the encoder and the shell of the encoder, and can always rotate along with the movement of the vehicle body, thereby being beneficial to the acquisition of data.

In conclusion, the invention not only can effectively solve the problems that the trolley slips and cannot be accurately positioned and move in all directions through a mechanical means, but also can realize modularization of all mechanical structures, and the suspension mechanism and the code disc can be adapted to other vehicle types, thereby saving the cost, realizing quick assembly, and being convenient and quick.

The above embodiments are only for illustrating the present invention, and the structure, size, arrangement position and shape of each component can be changed, and on the basis of the technical scheme of the present invention, the improvement and equivalent transformation of the individual components according to the principle of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. The utility model provides a general intelligent vehicle chassis which characterized in that includes: the chassis comprises a chassis body, and a four-wheel mechanism, a suspension mechanism and a coded disc which are arranged on the chassis body;

the suspension mechanism comprises a hinge, a connecting plate, a shock absorber and a spring; one end of the hinge is fixed on the chassis body, the other end of the hinge is connected with one end of the connecting plate, and the other end of the connecting plate is connected with a bearing seat in the four-wheel mechanism; one end of the shock absorber is connected with the chassis body, and the other end of the shock absorber is connected with a bearing seat in the four-wheel mechanism; the spring is disposed outside the shock absorber.

2. The cart chassis of claim 1, wherein: the chassis body comprises an upper bottom plate, a lower bottom plate and a supporting piece; the four top corners between the upper base plate and the lower base plate are respectively provided with one supporting piece, and the upper base plate and the lower base plate are connected into a whole through the four supporting pieces.

3. The cart chassis of claim 1, wherein: the four-wheel mechanism comprises two pairs of Mecanum wheels, the two pairs of Mecanum wheels are respectively arranged on two sides of the chassis body, and a bearing seat of each Mecanum wheel is connected with the suspension mechanism.

4. The cart chassis of claim 3, wherein: the Mecanum wheels are mounted in an O-rectangle mode, and a cross arm type suspension mounting mode is connected with the chassis body through the suspension mechanism.

5. The cart chassis of claim 1, wherein: the four suspension mechanisms are arranged independently.

6. The cart chassis of claim 1, wherein: the spring is a torsion bar spring.

7. The cart chassis of claim 1, wherein: the shock absorber adopts a cylinder type shock absorber.

8. The cart chassis of claim 2, wherein: the coded disc is arranged at the geometric center of the chassis body and is arranged at the lower part of the lower bottom plate.