CN217649519U

CN217649519U - Obstacle-crossing bridge type inspection robot line control chassis and robot

Info

Publication number: CN217649519U
Application number: CN202221967126.2U
Authority: CN
Inventors: 周泽华
Original assignee: Xiaolv Robot Wuhan Co ltd
Current assignee: Xiaolv Robot Wuhan Co ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2022-10-25
Anticipated expiration: 2032-07-28

Abstract

The utility model discloses a wire control chassis of an obstacle-crossing bridge type inspection robot and a robot, wherein the chassis comprises a frame assembly, a suspension assembly and a control assembly, the front end and the rear end of the frame assembly are respectively provided with a steering assembly and a driving assembly, the suspension assembly comprises two longitudinal swing rods, a transverse thrust rod, a transverse fixed rod and two rear suspension springs which are arranged at the rear end of the frame assembly, the two longitudinal swing rods are symmetrically arranged at the two ends of a rear axle, one end of each longitudinal swing rod is hinged with a section bar frame, and the other end of each longitudinal swing rod is connected with one end of the rear axle; the transverse thrust rod is connected between the two longitudinal swing rods, each longitudinal swing rod is also provided with a rear suspension spring, one end of each rear suspension spring is hinged with the section bar frame, and the other end of each rear suspension spring is hinged with the corresponding longitudinal swing rod. The utility model discloses a chassis adopts the combination form of vertical pendulum rod and horizontal push rod, has realized the steady function of crossing the bank in small-size robot chassis, adopts the reliability when horizontal dead lever has strengthened crossing the bank simultaneously.

Description

Obstacle-crossing bridge type inspection robot line control chassis and robot

Technical Field

The utility model relates to the technical field of robots, especially a robot drive-by-wire chassis and robot are patrolled and examined to obstacle-crossing type bridge.

Background

The inspection robot is a systematic device with automatic navigation and real-time environment detection, and can realize all-weather environment detection by combining with the existing image recognition technology. The chassis of the small robot in the prior art is mostly not suitable for outdoor environments and the like, and the robot has no over-threshold capability or weak over-threshold capability and cannot be well adapted to the external more complex environment, so that the requirements of most outdoor patrol tasks cannot be met.

The utility model aims at providing a can steadily cross the bank, cross deceleration strip etc. control sensitively, the automobile body is steady, shakes little chassis and robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's not enough, provide a robot drive-by-wire chassis and robot are patrolled and examined to obstacle-crossing type bridge to solve the problem that provides in the above-mentioned technical background.

In order to achieve the above object, the present invention provides the following technical solutions:

a wire control chassis of an obstacle-crossing bridge type inspection robot comprises a frame assembly, a steering assembly, a driving assembly, a suspension assembly and a control assembly, wherein the steering assembly and the driving assembly are respectively installed at the front end and the rear end of the frame assembly;

the suspension assembly comprises two longitudinal swing rods, a transverse thrust rod and two rear suspension springs, the two longitudinal swing rods are arranged at the rear end of the frame assembly and are symmetrically arranged at two ends of the rear axle, one end of each longitudinal swing rod is hinged with the section bar frame, and the other end of each longitudinal swing rod is supported with one end of the rear axle; the transverse thrust rod is connected between the two longitudinal swing rods, and two ends of the transverse thrust rod are respectively hinged with the longitudinal swing rods at the corresponding ends of the transverse thrust rod;

each longitudinal swing rod is also provided with one rear suspension spring, one end of each rear suspension spring is hinged with the profile frame, and the other end of each rear suspension spring is hinged with the corresponding longitudinal swing rod. With this setting to make the robot chassis can stabilize and cross the bank, reduce present small-size robot chassis tire wearing and tearing when crossing the bank simultaneously.

In the technical scheme, the longitudinal swing rods and the section bar frame as well as the transverse thrust rods and the longitudinal swing rods are hinged by joint bearings.

In the technical scheme, a transverse fixing rod is further arranged between the two longitudinal oscillating rods and is arranged in parallel with the transverse thrust rod, and two ends of the transverse fixing rod are respectively hinged with the longitudinal oscillating rod at the corresponding end; or one end of the transverse fixed rod is hinged with one of the longitudinal swing rods, and the other end of the transverse fixed rod is hinged with an aluminum profile close to the other longitudinal swing rod on the profile frame.

In the above technical solution, the suspension assembly further includes two upper swing arms, two lower swing arms and two front suspension springs symmetrically mounted at the front end of the frame assembly;

one end of each upper swing arm is hinged with the upper part of the section frame, and the other end of each upper swing arm is hinged with a steering knuckle on one side of the steering assembly corresponding to the upper swing arm;

one end of each lower swing arm is hinged with the lower part of the section frame, the other end of each lower swing arm is hinged with a steering knuckle on one side of the steering assembly corresponding to the lower swing arm, one end of each front suspension spring is hinged with the section frame, and the other end of each front suspension spring is hinged with the corresponding lower swing arm.

In the above technical solution, the steering assembly includes an Electric Power Steering (EPS) and two steering knuckles symmetrically arranged at two ends of the EPS; the electric power steering system is fixedly arranged on the section bar frame, and two ends of the electric power steering system are respectively connected with one steering knuckle, so that the steering knuckles can rotate along with the expansion and contraction of the electric power steering system.

In the above technical solution, the electric power steering system (EPS) includes an integrated steering motor and steering gear.

In the above technical solution, the frame assembly further includes a battery component, and the battery component is disposed on the section frame in a transverse arrangement or a longitudinal arrangement.

The invention also provides a robot, which comprises the obstacle-crossing bridge type inspection robot line control chassis.

In the technical scheme, the robot further comprises a shell assembly, wherein the shell assembly comprises a shell, and a camera device, a steering lamp, an ultrasonic device and a laser navigation device which are arranged on the shell;

the camera device comprises a plurality of cameras arranged on the front, the back, the left and the right of the robot shell and is used for comprehensively detecting the surrounding environment of the robot; the ultrasonic device comprises a plurality of ultrasonic probes arranged in the front, back, left and right directions of the robot shell and is used for detecting the peripheral wall of the robot; the laser navigation device is arranged on the central axis of the shell along the advancing direction of the robot so as to realize accurate navigation of the robot.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a chassis adopts the combination form of vertical pendulum rod and horizontal push rod, has realized the steady function of crossing the bank in small-size robot chassis, adopts the reliability when horizontal dead lever has strengthened crossing the bank simultaneously.

2. The robot and the front wheels of the chassis adopt the EPS assembly, so that the whole chassis can be accurately linearly controlled, the control precision is high, the steering angle position of the front wheels and the speed of the rear wheels accord with the Ackerman corner theory, the additional resistance generated by a road surface to the running of the security robot during steering is avoided, and the tire is prevented from being worn too fast;

3. the utility model discloses the front suspension device on robot and chassis adopts independent suspension, and the rear axle adopts the combination suspension, and the four-wheel all has the shock attenuation, keeps away the barrier ability reinforce, and the automobile body is steady when making the robot hinder more, and vibrations are little, guarantee electric control element's safety.

Drawings

Fig. 1 is a schematic structural view of a rearview angle of a wire control chassis of the obstacle-crossing bridge type inspection robot in embodiment 1;

fig. 2 is a schematic structural view of a front view angle of a wire control chassis of the obstacle-crossing bridge inspection robot in embodiment 1;

fig. 3 is a driving principle diagram of a wire control chassis of the obstacle-crossing bridge inspection robot in the embodiment 1;

FIG. 4 is a schematic structural view of a robot according to embodiment 2;

in the figure, 1, a frame assembly; 11. a profile frame; 12. a battery assembly; 2. a steering assembly; 21. an electric power steering system; 211. a steering motor; 22. a knuckle; 3. a drive assembly; 31. a rear axle; 4. a suspension assembly; 41. an upper swing arm; 42. a lower swing arm; 43. a front suspension spring; 44. a longitudinal swing link; 45. a lateral thrust rod; 46. a transverse fixing rod; 47. a rear suspension spring; 5. a control assembly; 51. a rear axle driver; 52. a steering motor driver; 6. a housing assembly; 61. a housing; 62. a camera device; 63. a turn signal light; 64. an ultrasonic device; 65. an anti-collision strip; 66. provided is a laser navigation device.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic concept of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.

Example 1

Referring to fig. 1 and fig. 2, the present embodiment provides a wire control chassis of an obstacle-crossing bridge inspection robot, including a frame assembly 1, a steering assembly 2, a driving assembly 3, a suspension assembly 4, and a control assembly 5, where the steering assembly 2 and the driving assembly 3 are respectively installed at the front end and the rear end of the frame assembly 1.

The frame assembly 1 comprises a section frame 11 for stabilizing various parts of a vehicle body and a battery assembly 12, wherein the battery assembly 12 is arranged in the middle of the section frame 11.

In a specific application example, the battery assembly 12 is selectively disposed on the profile frame 11 in a transverse arrangement or a longitudinal arrangement according to actual requirements.

As a preferred embodiment, the steering assembly 2 includes an Electric Power Steering (EPS) 21 and two steering knuckles 22 symmetrically disposed at both ends of the EPS 21; the electric power steering system 21 is fixedly installed on the profile frame 11, and two ends of the electric power steering system 21 are respectively connected with one steering knuckle 22, so that the steering knuckle 22 rotates along with the expansion and contraction of the electric power steering system 21. Specifically, the electric power steering system (EPS) 21 can extend and retract, a tie rod ball is arranged at the extension end of the electric power steering system (EPS) 21, the tie rod ball is connected with a knuckle 22, and the knuckle 22 is driven by the tie rod ball of the electric power steering system (EPS) 21 to rotate along with the extension and retraction of the electric power steering system (EPS) 21; the two steering knuckles 22 are respectively fixed with two front wheels on the front side of the robot chassis to realize steering of the robot chassis.

As a further embodiment, the electric power steering system (EPS) 21 includes an integrated steering motor 211 and a steering gear, wherein the steering motor is provided with an encoder, which can accurately know the specific position of the steering gear, and since the electric power steering system (EPS) 21 is directly connected to the knuckle 22, the error caused by the existence of the gap between the parts of the existing split type steering assembly can be effectively reduced.

The drive assembly 3 comprises a rear axle 31, and the rear axle 31 is fixed on the profile frame 11; the extension shafts at the two ends of the rear axle 31 are respectively connected with the two rear wheels at the rear side of the robot chassis, so that the arrangement of the robot chassis can be more compact, the manufacturing cost is effectively reduced, and the chassis design is simplified;

as a preferred embodiment, referring to fig. 1, the suspension assembly 4 includes two longitudinal swing links 44, a transverse thrust rod 45 and two rear suspension springs 47 mounted at the rear end of the frame assembly 1, the two longitudinal swing links 44 are symmetrically disposed at two ends of the rear axle 31 and are respectively arranged along the advancing direction of the robot, one end of each longitudinal swing link 44 is hinged with the profile frame 11, and the other end is connected with one end of the rear axle 31; the transverse thrust rod 45 is received between the two longitudinal swing rods 44, two ends of the transverse thrust rod 45 are respectively hinged with the longitudinal swing rods 44 at the corresponding end, and the transverse fixing rod 46 is used for enhancing the installation rigidity of the rear axle 31; further, a transverse fixing rod 46 is further arranged between the two longitudinal swing rods 44, the transverse fixing rod 46 is arranged in parallel with the transverse thrust rod 45, and two ends of the transverse fixing rod 46 are respectively hinged with the longitudinal swing rods 44 at the corresponding ends; or one end of the transverse fixing rod 46 is hinged with one of the longitudinal swing rods 44, and the other end is hinged with the aluminum profile on the profile frame 11 close to the other longitudinal swing rod 44.

Each longitudinal swing rod 44 is further provided with one rear suspension spring 47, one end of each rear suspension spring 47 is hinged with the profile frame 11, and the other end of each rear suspension spring 47 is hinged with the corresponding longitudinal swing rod 44; the rear suspension spring 47 is used for supporting the section bar frame 11 and the rear axle 31, so that the section bar frame 11 is kept parallel to the ground and is kept stable, and the rear suspension spring is arranged to ensure that one end of the rear axle 31 can be lifted at a smaller angle to smoothly pass through the bank when the robot passes through the bank, and the other end of the rear axle 31 can be kept at a stable height, so that the robot can be kept stable when the robot passes through the bank, the problem that the bank cannot be passed through due to the suspended skidding of the wheels at one side when the small robot chassis passes through the bank is solved, and the problem that the tires are easily worn by the existing small robot chassis when the bank is passed through is solved.

As a further embodiment, a joint bearing is adopted between each longitudinal swing rod 44 and the profile frame 11, and between the transverse thrust rod 45 and each longitudinal swing rod 44, so that the robot chassis can smoothly pass through the threshold. Traditional pendulum rod adopts ordinary bearing, can only realize the rotation along its axis direction, however to small-size robot chassis when crossing the bank, one side tire is vertical to be lifted up, and the opposite side tire also need lift up slightly, because structural design, this side tire needs lateral rotation, consequently uses joint bearing to make the more steady obstacle that crosses of robot. The whole suspension structure can play a role in guiding, transferring force and damping for the whole vehicle, and the stability of the vehicle is better. The swing arm is used for playing connecting, guiding and transferring force functions.

Referring to fig. 2, the suspension assembly 4 further includes two upper swing arms 41, two lower swing arms 42 and two front suspension springs 43 symmetrically mounted on the front end of the frame assembly 1;

one end of each upper swing arm 41 is hinged with the upper part of the section frame 11, and the other end is hinged with the steering knuckle 22 at the side of the steering assembly 2 corresponding to the upper swing arm;

one end of each lower swing arm 42 is hinged with the lower part of the profile frame 11, the other end of each lower swing arm is hinged with the steering knuckle 22 on the side, corresponding to the lower swing arm, of the steering assembly 2, one end of each front suspension spring 43 is hinged with the profile frame 11, and the other end of each front suspension spring 43 is hinged with the corresponding lower swing arm 42; go up swing arm 41 with under swing arm 42's combined action, the chassis of robot can pass through deceleration strip etc. smoothly, and suspension system 4 can bear the transverse force simultaneously, has improved the anti ability of sideslipping of robot when the turn. Meanwhile, under the action of the spring, the robot can effectively reduce the bounce of the robot when passing through the depression and other terrain.

Referring to fig. 3, the control assembly 5 includes driving devices such as a rear axle driver 51 for driving the rear axle 31 and a steering motor driver 52 for driving a steering motor of the Electric Power Steering (EPS) 21, so as to realize accurate control of the robot chassis. In particular, the entire vehicle chassis employs a wire-controlled chassis.

Example 2

Referring to fig. 4, the embodiment 1 provides a robot, including the wire control chassis and the housing assembly 6 of the obstacle-crossing bridge inspection robot of the embodiment 1;

the housing assembly 6 includes a housing 61, and an imaging device 62, a turn signal light 63, an ultrasonic device 64, and a laser navigation device 66 provided on the housing 61.

In a preferred embodiment, the camera device 62 includes a plurality of cameras disposed at the front, the back, the left, and the right of the robot housing 61, and is used for comprehensively detecting the surrounding environment of the robot; the ultrasonic device 64 comprises a plurality of ultrasonic probes arranged in the front, back, left and right directions of the robot shell 61 and is used for detecting the peripheral wall of the robot; the laser navigation device 66 is arranged on the central axis of the shell 61 along the traveling direction of the robot to realize accurate navigation of the robot, for example, the model of the laser navigation device 66 is suttening RS-Ruby;

in this embodiment, the foremost edge and the rearmost edge of the robot are respectively provided with one bumper strip 65, and the two bumper strips 65 are arranged on the front edge and the rear edge of the profile frame 11.

In a preferred embodiment, the charging electrode is provided on the lower plane of the bumper strip 65 disposed at the front edge or the rear edge, and in the automatic charging mode, the robot can advance along a preset path under the control of the navigation system until the bumper strip 65 is triggered, and the robot can effectively stop and start charging accordingly.

The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims

1. A wire control chassis of an obstacle-crossing type bridge inspection robot comprises a frame assembly (1), a steering assembly (2), a driving assembly (3), a suspension assembly (4) and a control assembly (5), wherein the steering assembly (2) and the driving assembly (3) are respectively installed at the front end and the rear end of the frame assembly (1), and the wire control chassis is characterized in that the frame assembly (1) comprises a section bar frame (11), the driving assembly (3) comprises a rear axle (31), and the rear axle (31) is fixed on the section bar frame (11);

the suspension assembly (4) comprises two longitudinal swing rods (44), a transverse thrust rod (45) and two rear suspension springs (47) which are arranged at the rear end of the frame assembly (1), the two longitudinal swing rods (44) are symmetrically arranged at two ends of the rear axle (31), one end of each longitudinal swing rod (44) is hinged with the section bar frame (11), and the other end of each longitudinal swing rod is connected with one end of the rear axle (31); the transverse thrust rod (45) is connected between the two longitudinal swing rods (44), and two ends of the transverse thrust rod (45) are hinged with the longitudinal swing rods (44) at the corresponding ends of the transverse thrust rod respectively;

each longitudinal swing rod (44) is also provided with one rear suspension spring (47), one end of each rear suspension spring (47) is hinged with the profile frame (11), and the other end is hinged with the corresponding longitudinal swing rod (44).

2. The drive-by-wire chassis of the obstacle-crossing bridge inspection robot according to claim 1, wherein each longitudinal swing rod (44) is hinged with the profile frame (11) and each transverse thrust rod (45) is hinged with each longitudinal swing rod (44) by adopting a joint bearing.

3. The wire control chassis of the obstacle-crossing bridge inspection robot according to claim 1, wherein a transverse fixing rod (46) is further arranged between the two longitudinal swing rods (44), the transverse fixing rod (46) is arranged in parallel with a transverse thrust rod (45), and two ends of the transverse fixing rod (46) are respectively hinged with the longitudinal swing rod (44) at the corresponding end; or one end of the transverse fixing rod (46) is hinged with one longitudinal swing rod (44), and the other end of the transverse fixing rod is hinged with an aluminum profile close to the other longitudinal swing rod (44) on the profile frame (11).

4. The drive-by-wire chassis of the obstacle-crossing bridge inspection robot according to claim 1, wherein the suspension assembly (4) further comprises two upper swing arms (41), two lower swing arms (42) and two front suspension springs (43) which are symmetrically arranged at the front end of the frame assembly (1);

one end of each upper swing arm (41) is hinged with the upper part of the section bar frame (11), and the other end of each upper swing arm is hinged with a steering knuckle (22) on one side of the steering assembly (2) corresponding to the upper swing arm;

one end of each lower swing arm (42) is hinged with the lower part of the section bar frame (11), the other end of each lower swing arm is hinged with a steering knuckle (22) on one side of the steering assembly (2) corresponding to the lower swing arm, one end of each front suspension spring (43) is hinged with the section bar frame (11), and the other end of each front suspension spring is hinged with the corresponding lower swing arm (42).

5. The chassis for wire control of the obstacle-crossing type bridge inspection robot according to claim 4, characterized in that the steering assembly (2) comprises an electric power steering system (21) and two steering knuckles (22) symmetrically arranged at two ends of the electric power steering system (21); the electric power steering system (21) is fixedly arranged on the profile frame (11), and two ends of the electric power steering system (21) are respectively connected with one steering knuckle (22) so that the steering knuckles (22) can rotate along with the expansion and contraction of the electric power steering system (21).

6. The chassis control line of an obstacle-crossing type bridge inspection robot according to claim 5, characterized in that the electric power steering system (21) comprises a steering motor and a steering gear which are integrated.

7. The drive-by-wire chassis of the obstacle-crossing bridge inspection robot according to claim 1, wherein the frame assembly (1) further comprises a battery component (12), and the battery component (12) is arranged on the profile frame (11) in a transverse arrangement mode or a longitudinal arrangement mode.

8. A robot is characterized by comprising the obstacle-crossing bridge inspection robot line control chassis according to any one of claims 1 to 7.

9. The robot according to claim 8, characterized in that it further comprises a housing assembly (6), said housing assembly (6) comprising a housing (61), a camera device (62), a turn signal lamp (63), an ultrasonic device (64) and a laser navigation device (66) arranged on said housing (61);

the camera device (62) comprises a plurality of cameras arranged on the front, the back, the left and the right of the robot shell (61) and is used for comprehensively detecting the surrounding environment of the robot; the ultrasonic device (64) comprises a plurality of ultrasonic probes arranged in the front, back, left and right directions of the robot shell (61) and is used for detecting the peripheral wall of the robot; the laser navigation device (66) is arranged on the central axis of the shell (61) along the advancing direction of the robot so as to realize accurate navigation of the robot.