CN209257821U - It is moved forward and backward robot chassis and the robot comprising it - Google Patents
It is moved forward and backward robot chassis and the robot comprising it Download PDFInfo
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- CN209257821U CN209257821U CN201821604417.9U CN201821604417U CN209257821U CN 209257821 U CN209257821 U CN 209257821U CN 201821604417 U CN201821604417 U CN 201821604417U CN 209257821 U CN209257821 U CN 209257821U
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- sensor
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- robot chassis
- forth motion
- frame
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The utility model provides a kind of back-and-forth motion robot chassis and the robot comprising it.Being moved forward and backward robot chassis includes suspension, shell and sensor, the sensor installation on the housing, the suspension frame structure symmetric configuration, sensor symmetric configuration on the housing.Back-and-forth motion robot chassis provided by the embodiment of the utility model and robot, for full suspension symmetric configuration and sensor symmetric configuration, robot chassis can the steady walking in front and back, meet the complex works scenes such as the dining room scene more than the narrow scene of road and people, so that solve the robot unidirectionally moved in the related technology turns to mobile inconvenient technical problem caused by insufficient space in complicated working environment.
Description
Technical field
The utility model relates to robotic technology fields, in particular to a kind of back-and-forth motion robot chassis and packet
Containing its robot.
Background technique
With the rapid development of robot technology, robot application is more and more extensive, for example, guest-meeting robot, feeder
Device people and educational robot, bio-robot etc..Robot is the automatic installations for executing work, it can be with acceptor
Class commander, can also run the program of preparatory layout, the principle action that can also be formulated according to artificial intelligence technology.
Current service robot operation mostly only one direction of advance, for some special screnes, for example (,) it is narrower
Narrow path space, load-carrying article greatly dining room environment partially needs for the shape of robot to be designed as rectangular, can lead in this way
It causes robot turning radius to increase, and since scene roads space is smaller, causes robot can not spirit in limited roads space
Avoidance living.If robot can be moved forward and backward, in this way can completely pivot stud in a limited space, it is above-mentioned special to adapt to
Complex environment.It is therefore desirable to develop how one kind may be implemented the two-way robot product steadily moved in front and back in structure.
Utility model content
The main purpose of the utility model is to provide a kind of robot products, to solve the above technical problems.
To achieve the goals above, one aspect according to the present utility model, the utility model provide a kind of front and back shifting
Mobile robot chassis.
The back-and-forth motion robot chassis includes suspension, shell and sensor, and the sensor is installed on the housing,
The suspension frame structure symmetric configuration, sensor symmetric configuration on the housing.
Further, being moved forward and backward robot chassis further includes charging electrode, and there are two the charging electrode settings and right
Claim the front and rear sides for being mounted on the shell.
Further, the sensor is one of laser sensor, ultrasonic sensor, infrared sensor and camera
Or it is a variety of.
Further, the sensor includes multiple ultrasonic sensors, and the ultrasonic sensor symmetric configuration is described outer
Four side all around of shell.
Further, the sensor includes multiple cameras, and the camera symmetric configuration is before and after the shell
Two sides.
Further, the suspension includes upper layer frame, lower layer's frame, shock absorber, frame connecting column and drive wheel bracket,
The upper layer frame is fixedly connected with lower layer's frame by the frame connecting column, the upper layer frame and the driving wheel
Bracket is connected by the shock absorber, and the driving wheel is mounted in the drive wheel bracket, is equipped on lower layer's frame
Supporting roller, the quantity of the driving wheel are two, and the quantity of the supporting roller is four, and the driving wheel and supporting roller are on chassis
Bottom surface symmetric configuration.
Further, the shock absorber is arranged there are four and is symmetrical set in space.
Further, being moved forward and backward robot chassis further includes balancing pole, and the balancing pole includes seamless steel pipe and difference
Be connected to the articulated joint at the seamless steel pipe both ends, the articulated joint is rubber elastic material, the balancing pole be obliquely installed and
The articulated joint is hinged with the upper layer frame and drive wheel bracket respectively, and the balancing pole is symmetrically set with two.
Further, the upper layer frame and the opposite side of the drive wheel bracket are respectively and fixedly provided with balance pole socket, described
Articulated joint and the balance pole socket are hinged.
To achieve the goals above, one aspect according to the present utility model, the utility model additionally provide a kind of machine
People.
The robot includes above-mentioned back-and-forth motion robot chassis provided by the utility model.
In back-and-forth motion robot chassis provided by the embodiment of the utility model and robot, be full suspension symmetric configuration and
Sensor symmetric configuration, robot chassis can the steady walking in front and back, meet the dining room scene etc. more than the narrow scene of road and people
Complex work scene, so that solving the robot unidirectionally moved in the related technology turns to space not in complicated working environment
Mobile inconvenient technical problem caused by foot.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, so that this reality
It is become more apparent upon with novel other features, objects and advantages.The illustrative examples attached drawing of the utility model and its illustrate to use
In explaining the utility model, do not constitute improper limits to the present invention.In the accompanying drawings:
Fig. 1 is a kind of positive structure schematic on back-and-forth motion robot chassis of the utility model embodiment；
Fig. 2 is a kind of side structure schematic diagram on back-and-forth motion robot chassis of the utility model embodiment；
Fig. 3 is a kind of suspension frame structure schematic diagram on back-and-forth motion robot chassis of the utility model embodiment；And
Fig. 4 is the structural schematic diagram of the balancing pole of the offer of the utility model embodiment.
Specific embodiment
In order to make those skilled in the art better understand the scheme of the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model a part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
It should be noted that the specification and claims of the utility model and term " first " in above-mentioned attached drawing,
" second " etc. is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that in this way
The data used are interchangeable under appropriate circumstances, so as to the embodiments of the present invention described herein.In addition, term " packet
Include " and " having " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps
Or the process, method, system, product or equipment of unit those of are not necessarily limited to be clearly listed step or unit, but can wrap
Include other step or units being not clearly listed or intrinsic for these process, methods, product or equipment.
In the present invention, term " on ", "lower", "inner", " in ", "outside", the instructions such as "front", "rear" orientation or position
Setting relationship is to be based on the orientation or positional relationship shown in the drawings.These terms primarily to better describe the utility model and
Embodiment, is not intended to limit indicated device, element or component must have particular orientation, or with particular orientation
It is constructed and is operated.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " setting ", " connection ", " being equipped with ", " fixation ", " encapsulation " shall be understood in a broad sense.For example, " connection " can
To be to be fixedly connected, it is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected,
It either indirectly connected through an intermediary, or is two connections internal between device, element or component.For
For those of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment 1
The utility model embodiment is related to a kind of back-and-forth motion robot chassis.Referring to Fig. 1 and Fig. 2, it is moved forward and backward machine
People chassis includes suspension, shell 1 and sensor, and sensor is mounted on shell 1, and suspension frame structure symmetric configuration, sensor is outside
Symmetric configuration on shell 1.The back-and-forth motion robot chassis is full suspension symmetric configuration and sensor symmetric configuration, robot chassis
Can the steady walking in front and back, meet the complex works scenes such as the dining room scene more than the narrow scene of road and people
As shown in Figure 1, being moved forward and backward robot chassis further includes charging electrode 2, there are two the settings of charging electrode 2 and symmetrical
It is mounted on the front and rear sides of shell 1.Front and back is designed with charging electrode, can satisfy carry out in the case of robot bidirectional walking it is two-way
Charging, when charging, do not need to turn to, and being respectively provided with charging pile by front side or rear side can be completed charging.To the rest area of charging pile
Domain is flexible, and by turning to, limitation is small, and especially the confined space in dining room is more practical flexible.
Charging electrode can be completed with docking for charging pile in the present invention for human assistance, can also be relied on by passing
The positioning unit of sensor composition is completed, below by illustrating a kind of realization for both realizing docking by positioning unit
Mode: positioning unit is selected as laser sensor, and in specific works, the general direction of charging pile is sought in laser sensor realization
It looks for, laser sensor extracts the approximate location and planning path that characteristic curve match cognization finds out charging pile using laser signal, (swashs
Light extraction features lines matching identification technology is the linear fit for the Eigenvector that laser sensor scans in robot motion
After carry out matching treatment, obtain the planning path of location information and robot, be the prior art, do not repeat in the present embodiment),
Then it carries out docking and distance signal and routing information is sent to processing unit (may be selected to be ARM32 control chip), processing
Unit generates control instruction according to feedback information of the laser sensor to charging pile approximate location and is sent to driving unit, makes machine
People position is adjusted to the charge sheet of charging electrode face charging pile, and then the approximate location to the charging pile judged is close.When
After charging pile, processing unit control camera shoots current picture, by computer vision technique to captured
Picture analyzed, handled, using Fuzzy Thought and successive approximation algorithm control make robot to charging pile direction move
It moves and charging electrode is made to precisely align charge sheet, complete robot Automatic-searching charging pile and using charging pile to non-Full Charge Capacity
Electricity accumulating unit (may be selected to be battery) charges, in case next time uses.
In some embodiments, sensor use but be not limited to laser sensor, ultrasonic sensor 3, infrared sensor and
One of camera 4 is a variety of.
In some embodiments, sensor includes multiple ultrasonic sensors 3, and 3 symmetric configuration of ultrasonic sensor is in shell 1
Four side all around.
In some embodiments, sensor includes multiple cameras 4, and 4 symmetric configuration of camera is two before and after shell 1
Side.
The stable operation of robot may be implemented in symmetric configuration, and the ultrasonic sensor and camera of front and back setting can satisfy
The ultrasonic sensor of path planning before and after robot, left and right settings can be used for Real Time Obstacle Avoiding.
It should be noted that innovation is the innovation on the symmetrical structure on robot chassis in the utility model.
It is only to list back-and-forth motion robot chassis to realize the necessary structure that front and back is steadily moved, but robot bottom in the utility model
The practical structures of disk are not limited to this, and can also include other structures, such as attached drawing 3 gives and is moved forward and backward robot chassis
A kind of suspension frame structure.As seen from the figure, suspension includes upper layer frame 7, lower layer's frame 8, shock absorber 9, frame connecting column 10 and drives
Driving wheel bracket 11, upper layer frame 7 and lower layer frame 8 are fixedly connected by frame connecting column 10, upper layer frame 7 and drive wheel bracket
11 are connected by shock absorber 9, and driving wheel 5 is mounted in drive wheel bracket 11, and supporting roller 6, driving wheel are equipped on lower layer's frame 8
5 quantity is two, and the quantity of supporting roller 6 is four, the bottom surface symmetric configuration of driving wheel 5 and supporting roller 6 on chassis.By upper
Load is delivered separately to shock absorber 9 and frame connecting column 10 by layer frame 7, and then passes to driving wheel 5 by shock absorber 9, is led to
It crosses frame connecting column 10 and lower layer's frame 8 passes to supporting roller 6, the train distribution of normal load is realized, so that driving wheel 5
Distribution load is greater than supporting roller 6 and loads, and guarantees 5 output driving power of driving wheel.Realize driving wheel system and servo-actuated wheel system
Load reasonable distribution.The bottom surface symmetric configuration of driving wheel 5 and supporting roller 6 on chassis further ensures the flat of chassis back-and-forth motion
Stability.
As a preferred embodiment, the both ends of shock absorber 9 are cut with scissors with upper layer frame 7 and drive wheel bracket 11 respectively
It connects, upper layer frame 7 and the opposite side of drive wheel bracket 11 are respectively and fixedly provided with shock absorber hinge seat 15, the both ends difference of shock absorber 9
It is hinged with shock absorber hinge seat 15.On the one hand the setting of shock absorber hinge seat 15 can be convenient the hinged peace for realizing shock absorber 9
Dress, the tilt angle setting for the realization shock absorber 9 that on the other hand can be convenient.It is excellent between shock absorber 9 and shock absorber hinge seat 15
The pivot for gating rubber material carries out hingedly, to realize the flexibility of shock absorber 9 and upper layer frame 7 or drive wheel bracket 11
Connection.
As a preferred embodiment, 7 upper surface of upper layer frame protrusion is provided with multiple load points 14, and load
Point 14 is arranged in a one-to-one correspondence with the shock absorber hinge seat 13 being arranged on upper layer frame 7.Load point 14 and shock absorber hinge base pair
Position is answered, multiple shock absorber parallel configurations can be with the load percentage of reasonable distribution driving wheel, and structure is simple, and suspension is stablized.
In some embodiments, shock absorber 9 is obliquely installed, and shock absorber 9 is tilting can to distribute driving wheel load again, simultaneously
The sensibility that shock absorber is disposed vertically is avoided, for loading big or big inertia running environment, the shock absorber of multiple parallel connections
It may be implemented adaptively to adjust, have good adjustment effect to the stationarity of suspension.
Preferably, shock absorber 9 is provided with multiple and is symmetrical set in space.More preferably, shock absorber 9, setting
In the shock absorber hinge seat 15 on upper layer frame 7 and there are four load point 14 is respectively provided with, and spatially it is symmetrical set.Symmetrically
The suspension frame structure of setting can keep the even running of chassis structure, improve charging electrode in charging process and be butted into charging pile
The probability of function.
As shown in figure 3, being moved forward and backward robot chassis further includes balancing pole 12.As shown in figure 4, balancing pole 12 includes seamless
Steel pipe 1201 and the articulated joint 1202 for being connected to 1201 both ends of seamless steel pipe, articulated joint 1202 are rubber elastic material, are put down
Weighing apparatus bar 12 is obliquely installed and articulated joint 1202 is hinged with upper layer frame 7 and drive wheel bracket 11 respectively, 12 bilateral symmetry of balancing pole
There are two settings.The balancing pole 12 is applied in suspension, 12 rod piece of balancing pole can set specific ruler according to practical suspension travel
Balancing pole 12 can be rotated arc trajectory and swung to substitute the linear motion of suspension or more by very little and setting angle.Balancing pole
12 is hinged with upper layer frame 7, drive wheel bracket 11, when robot adds and subtracts fast mode in scene operation avoidance, due to velocity jump
Cause pitch angle posture it is serious it is bigger than normal in the case where, swung by balancing pole 12, be converted into moving up and down for suspension, to guarantee
Robot smoothly runs posture.And then it can solve the technical problem that robot runs anti-pitching ability difference in complex environment.
As shown in figure 3, upper layer frame 7 and the opposite side of drive wheel bracket 11 are respectively and fixedly provided with balance pole socket 13, articulated joint
1202 is hinged with balance pole socket 13.Preferably, balance pole socket 13 is fixed by screws in upper layer frame 7 or drive wheel bracket 11
On.On the one hand the setting of balance pole socket 13 can be convenient the hinged installation for realizing balancing pole 12, the reality that on the other hand can be convenient
The tilt angle setting of existing balancing pole 12.It is preferably carried out by the pivot of rubber material between articulated joint 1202 and balance pole socket 13
Hingedly, to realize the flexible connection of balancing pole 12 and upper layer frame 7 or drive wheel bracket 11.
Embodiment 2
The utility model embodiment provides a kind of robot, the back-and-forth motion robot chassis provided including embodiment 1.
The machine of the present embodiment artificially full suspension symmetric configuration and sensor symmetric configuration, robot chassis can front and back it is flat
Steady walking meets the complex works scenes such as the dining room scene more than the narrow scene of road and people, to solve single in the related technology
Mobile inconvenient technical problem caused by insufficient space is turned in complicated working environment to mobile robot.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included in the protection scope of the utility model.
Claims (9)
1. a kind of back-and-forth motion robot chassis, which is characterized in that including suspension, shell (1) and sensor, the sensor peace
On the shell (1), the suspension frame structure symmetric configuration, sensor symmetric configuration on the shell (1)；
The suspension includes upper layer frame (7), lower layer's frame (8), shock absorber (9), frame connecting column (10) and drive wheel bracket
(11), the upper layer frame (7) is fixedly connected with lower layer's frame (8) by the frame connecting column (10), the upper layer
Frame (7) and the drive wheel bracket (11) are connected by the shock absorber (9), and the driving wheel (5) is mounted on the driving
It on wheel support (11), is equipped with supporting roller (6) on lower layer's frame (8), the quantity of the driving wheel (5) is two, described
The quantity of supporting roller (6) is four, the bottom surface symmetric configuration of the driving wheel (5) and supporting roller (6) on chassis.
2. back-and-forth motion robot chassis according to claim 1, which is characterized in that it further include charging electrode (2), it is described
There are two charging electrode (2) settings and is symmetrically mounted on the front and rear sides of the shell (1).
3. back-and-forth motion robot chassis according to claim 1, which is characterized in that the sensor is laser sensing
One of device, ultrasonic sensor (3), infrared sensor and camera (4) are a variety of.
4. back-and-forth motion robot chassis according to claim 3, which is characterized in that the sensor includes multiple ultrasounds
Sensor (3), ultrasonic sensor (3) symmetric configuration is in four side all around of the shell (1).
5. back-and-forth motion robot chassis according to claim 3, which is characterized in that the sensor includes multiple camera shootings
Head (4), front and rear sides of camera (4) symmetric configuration in the shell (1).
6. back-and-forth motion robot chassis according to claim 1, which is characterized in that the shock absorber (9) is provided with four
It is a and be symmetrical set in space.
7. back-and-forth motion robot chassis according to claim 1, which is characterized in that it further include balancing pole (12), it is described
Balancing pole (12) includes seamless steel pipe (1201) and the articulated joint (1202) for being connected to the seamless steel pipe (1201) both ends,
The articulated joint (1202) be rubber elastic material, the balancing pole (12) be obliquely installed and the articulated joint (1202) respectively with
Hingedly, the balancing pole (12) is symmetrically set with two for the upper layer frame (7) and drive wheel bracket (11).
8. back-and-forth motion robot chassis according to claim 7, which is characterized in that the upper layer frame (7) and described
The opposite side of drive wheel bracket (11) is respectively and fixedly provided with balance pole socket (13), the articulated joint (1202) and the balance pole socket
(13) hinged.
9. a kind of robot, which is characterized in that including the described in any item back-and-forth motion robot chassis claim 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821604417.9U CN209257821U (en) | 2018-09-29 | 2018-09-29 | It is moved forward and backward robot chassis and the robot comprising it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821604417.9U CN209257821U (en) | 2018-09-29 | 2018-09-29 | It is moved forward and backward robot chassis and the robot comprising it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209257821U true CN209257821U (en) | 2019-08-16 |
Family
ID=67552213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821604417.9U Active CN209257821U (en) | 2018-09-29 | 2018-09-29 | It is moved forward and backward robot chassis and the robot comprising it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209257821U (en) |
-
2018
- 2018-09-29 CN CN201821604417.9U patent/CN209257821U/en active Active
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| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |