WO2018133760A1 - 自动行走机器人 - Google Patents
自动行走机器人 Download PDFInfo
- Publication number
- WO2018133760A1 WO2018133760A1 PCT/CN2018/072625 CN2018072625W WO2018133760A1 WO 2018133760 A1 WO2018133760 A1 WO 2018133760A1 CN 2018072625 W CN2018072625 W CN 2018072625W WO 2018133760 A1 WO2018133760 A1 WO 2018133760A1
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- WO
- WIPO (PCT)
- Prior art keywords
- axle
- traveling
- bracket
- wheel
- traveling wheel
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
Definitions
- the present invention relates to an automatic walking robot, and more particularly to an automatic walking robot capable of moving outdoors and performing a work task autonomously.
- the automatic walking device can automatically perform preset tasks related to preset tasks without manual operation and intervention, it is used in industrial applications and homes.
- the application on the product is very extensive.
- Industrial applications such as robots that perform various functions, applications on household products such as lawn mowers, vacuum cleaners, etc., which greatly save people's time, bring great industrial production and home life. convenient.
- the autonomous walking robot has an automatic walking function, which can prevent collisions, prevent out-of-line, automatic return charging, safety detection and battery level detection, and has a certain climbing ability, especially for a family courtyard. Lawn trimming and maintenance in places such as public green space.
- the automatic walking robot can independently perform the work of trimming the lawn without manual control and operation, and has low power, low noise, no pollution, and vibrant appearance, which greatly reduces manual operation.
- the prior art automatic walking robots are unbalanced in the frictional traction of the walking wheels of the mowing robot and the ground during the uneven grassland passing through the ground, which easily causes the walking wheels to slip in place. Phenomenon; and because the frictional traction of the various walking wheels of the mowing robot and the ground is not balanced, when the mowing robot turns, the steering is difficult to control, and the steering is prone to deviation.
- the chassis is bumped with the undulation of the ground, and it is easy to cause vibration of the device disposed on the chassis, affecting the performance of the device, thereby reducing the working stability of the mowing robot.
- An object of the present invention is to provide an automatic walking robot with better working stability.
- the present invention provides an automatic walking robot for automatically walking and working on the ground, comprising: a body, a walking module mounted on the body, and a control module connected to the walking module, the walking module
- Each of the traveling wheels has an axle fixed relative to the traveling wheel, and the front and rear wheels on the same side are arranged to rotate synchronously, and the height of contact between the two traveling wheels is different, at least one of the traveling wheels and the axle thereof
- the position relative to the body changes to maintain the body in an equilibrium state that is close to the horizontal position.
- the axle of the at least one traveling wheel is pivotable relative to the body about an axis parallel to the direction of travel of the robot.
- an articulated structure is connected between an axle of the at least one traveling wheel and the body, and the axle pivots relative to the body through the hinge structure.
- the hinge structures are provided in two, disposed on both sides of the axle of the at least one traveling wheel along the traveling direction of the autonomous walking robot.
- the left axle and the right axle of the at least one traveling wheel along the traveling direction of the automatic traveling robot are relatively independently disposed, and the hinge structure is provided with two, respectively corresponding to the left Side wheel axle and right axle set.
- the left axle and the right axle of the at least one traveling wheel along the traveling direction of the automatic traveling robot are relatively independently disposed, and the left axle and the right axle pass through The hinge structure pivots relative to the body.
- the left axle is rotatably supported on a left bracket
- the right axle is rotatably supported on a right bracket
- the hinge structure includes a rotating shaft mounted on the body.
- the left bracket and the right bracket are both coupled to the rotating shaft and are rotatable about axes of the rotating shaft, respectively.
- the rotating shaft is fixed to one of the left bracket and the right bracket, and the other of the left bracket and the right bracket is pivotally connected to the rotating shaft, the rotation The shaft is rotated and mounted to the body.
- the at least one traveling wheel is along an automatic traveling machine
- the left axle of the direction of travel of the person is disposed in association with the right axle, and the left axle and the right axle are configured as a whole and pivot together relative to the body through the hinge structure.
- the left axle and the right axle are both rotatably supported on a bracket
- the hinge structure includes a hinge shaft pivotally mounted on the bracket and a sliding connection with the hinge shaft a column, one end of the sliding column is connected to the hinge shaft, and the other end of the sliding column passes through a positioning hole disposed in a vertical direction on the body, and the bracket receives a force toward a ground on which the automatic walking robot walks.
- the hinge structure includes two positions respectively disposed on the bracket near the traveling wheels on both sides.
- a mounting hole is disposed on the bracket, and a distance of the mounting hole along the axial direction of the left axle is greater than an outer diameter of the hinge shaft, and the hinge shaft can be Move and rotate inside the mounting hole.
- an elastic device is disposed between the bracket and the body, and the elastic device applies a force to the bracket toward the ground, and the elastic device includes two, respectively pressed against Position on the bracket near the wheels on both sides.
- the axle of the at least one traveling wheel is movably disposed in a vertical direction with respect to the body.
- a floating structure is connected between the axle of the at least one traveling wheel and the body, and the axle moves in a vertical direction relative to the body through the floating structure.
- the left axle and the right axle of the at least one traveling wheel along the traveling direction of the automatic walking robot are relatively independently disposed, and the floating structure is provided with two, respectively corresponding to the left The side wheel axle and the right axle are disposed, and the left axle and the right axle move respectively in a vertical direction relative to the body through respective corresponding floating structures.
- the axle of the at least one traveling wheel is rotatably supported on the bracket, and the floating structure comprises a sliding rod fixed on the body and disposed on the bracket for the sliding rod to pass through Positioning the hole, the bracket moves along the sliding rod through the positioning hole.
- the axle of the at least one traveling wheel is rotatably supported on the bracket, and the floating structure comprises a sliding rod fixed on the bracket and disposed on the body for the sliding rod to pass through Positioning the hole, the bracket moves along the positioning hole through the slide bar.
- the sliding bar and the positioning hole are respectively disposed at two and correspond to each other, and the two sliding bars are disposed on the at least one traveling wheel along the traveling direction of the automatic walking robot. Both sides of the axle.
- the floating structure includes two parallel equal length links, one end of the two links is hinged to the at least one traveling wheel, and the other two links One end is hinged to the body, and the at least one traveling wheel moves in a vertical direction relative to the body through the two links
- a ball drive shaft is coupled between the travel motor and the axle of the at least one traveling wheel, and the travel motor transmits the rotary power to the drive shaft through the ball drive shaft.
- the axle of at least one traveling wheel is located on both sides of the ball drive shaft in a vertical direction.
- a limiting structure is disposed between the axle of the at least one traveling wheel and the body, and the limiting structure can limit the axle of the at least one traveling wheel to be preset Activities within the scope.
- an elastic device is disposed between the axle of the at least one traveling wheel and the body, and the elastic device is configured to provide the at least one running wheel with a force facing the ground.
- the automatic walking robot of the present invention can adjust the position of the traveling wheel according to the height of the ground, and avoid the friction traction of each walking wheel and the ground caused by the suspension of the traveling wheel. Balance, and keep the chassis at a substantially horizontal position, without side slanting and violent bumps, avoiding the vibration of the automatic walking robot during the passage and affecting the performance of the device, thereby improving the working stability of the mowing robot.
- the present invention provides an automatic walking robot for automatically walking and working on the ground, comprising: a body, a walking module mounted on the body, and a control module connected to the walking module, the walking module
- Each of the traveling wheels has an axle fixed relative to the traveling wheel, and the front and rear wheels on the same side are arranged to rotate synchronously, and the axles of each of the traveling wheels are disposed between the axle and the body.
- the sensor when at least two walking wheels are away from the ground, at least two detecting sensors are triggered to feed back a detection signal to the control module, and the control module performs corresponding control according to the received detection signal.
- the beneficial effects of the present invention are as follows:
- the traveling wheel can be controlled correspondingly to prevent the robot from being suspended on one side and overturning.
- the walking wheel can be adjusted according to the height of the ground, avoiding the unbalanced frictional traction between the walking wheels and the ground, and keeping the chassis at a substantially horizontal position, without causing side slanting, violent bumps, and avoiding automatic walking.
- the vibration of the robot during the process affects the performance of the device, thereby improving the working stability of the mowing robot.
- FIG. 1 is a perspective view of a mowing robot in a preferred first embodiment of the present invention
- FIG. 2 is a partially exploded perspective view of the mowing robot of FIG. 1;
- FIG. 3 is a schematic view showing the assembled structure of the mowing robot walking wheel and the chassis of FIG. 1;
- FIG. 4 is an enlarged schematic view of a portion of FIG. 3;
- Figure 5 is a plan view of the mowing robot of Figure 1;
- Figure 6 is a cross-sectional view taken along line A-A of Figure 5;
- Figure 7 is a cross-sectional view taken along line B-B of Figure 5;
- FIG. 8 is a partially exploded perspective view of a mowing robot in a preferred second embodiment of the present invention.
- FIG. 9 is a schematic view showing the assembly structure of the axle and the chassis of the mowing robot traveling wheel of FIG. 8;
- FIG. 10 is a cross-sectional view of a mowing robot in a preferred second embodiment of the present invention.
- FIG. 11 is a partially exploded perspective view of a mowing robot in a preferred third embodiment of the present invention.
- FIG. 12 is a schematic view showing the assembled structure of the axle and the chassis of the mowing robot traveling wheel of FIG. 11;
- FIG. 13 is a cross-sectional view of a mowing robot in a preferred third embodiment of the present invention.
- FIG. 14 is a partially exploded perspective view of a mowing robot in a preferred fourth embodiment of the present invention.
- FIG. 15 is a bottom plan view of a mowing robot in a preferred fourth embodiment of the present invention.
- the autonomous walking robot is preferably a mowing robot for automatically walking and working on the ground, and providing walking and working energy through the battery.
- the mowing robot comprises a body 10, a working module 20 for trimming the lawn mounted on the body 10, and a walking module 30, the walking module is used for walking and steering, and the working module comprises a cutting motor, a transmission shaft connected to the cutting motor, and a transmission shaft A mating cutting device (not shown), which may be a cutting blade, a cutting line, or the like, capable of trimming the lawn.
- the mowing robot also includes a control module for coordinating the work module and the walking module.
- the control module enables the mowing robot to automatically walk and mowing on the lawn without being watched.
- the directional terms such as front, back, left, right, up, and down, are referenced to the direction in which the mowing robot shown in FIG. .
- the walking module 30 of the mowing robot includes a traveling wheel set and a traveling motor 33 that drives the traveling wheel set.
- the body 10 includes a chassis 13, and the traveling wheel set is mounted on the chassis 13.
- the traveling wheel set includes four traveling wheels 31a, 31b, 32a. 32b, which are respectively front traveling wheels 31a, 31b disposed on both sides of the front part of the body and rear running wheels 32a disposed on both sides of the rear part of the body 32b, each of the walking wheels has independent axles, and the walking wheels on both sides of the body are symmetric about the axis of symmetry X of the body.
- the left front traveling wheel 31a has a left front wheel axle 34a, one end of the left front wheel axle 34a is connected to the traveling motor 33, and the other end is fixedly connected to the left front traveling wheel 31a in a circumferential direction.
- the rotational power transmitted from the traveling motor 33 can be transmitted to the left front traveling wheel 31a via the left front wheel axle 34a, so that the left front traveling wheel 31a is driven to rotate.
- a drive pulley 42 is also fixedly mounted on the left front axle 34a, and the drive pulley 42 is located between the travel motor 33 and the left front travel wheel 31a.
- the left rear traveling wheel 32a has a left rear axle 35a, and the left rear axle 35a is relatively fixedly mounted with a driven pulley 43, and the driving pulley 44 is mounted on the driving pulley 42 and the driven pulley 43, so that the traveling motor 33 can pass Active pulley 42, drive belt 44 and driven belt
- the wheel 43 drives the left rear axle 35a to rotate, and the left front traveling wheel 31a and the left rear traveling wheel 32a are driven by the belt, thereby realizing the synchronous rotation of the left front traveling wheel 31a and the left rear traveling wheel 32a.
- the right traveling wheel can perform synchronous rotation of the right front traveling wheel 31b and the right rear traveling wheel 32b by another traveling motor and belt transmission mechanism.
- the right traveling motor can be set to directly drive the right rear traveling wheel.
- the 32b rotates, and the right front traveling wheel 31b is rotated by the belt drive.
- the specific structure is similar to the left side walking wheel, and details are not described herein.
- the steering of the mowing robot can be achieved by controlling the travel motors on both sides to output different speeds.
- the left front axle 34a and the right front axle 34b are hinged to the chassis 13 by a hinge structure, that is, the left front axle 34a and the right front axle 34b can be independently rotated relative to the chassis 13 through the hinge structure, thereby realizing the left front traveling wheel 31a and the right front traveling wheel. 32a floats up and down.
- a hinge structure that is, the left front wheel shaft 34a is connected to one hinge structure, and the right front wheel shaft 34b is also connected to one hinge structure, and the two hinge structures can be arranged side by side or front and rear.
- the left front axle 34a and the right front axle 34b share a hinge structure.
- the hinge structure includes a rotating shaft 51 supported on the chassis 13, the traveling motor 33 is mounted on the left bracket 36a, one end of the rotating shaft 51 is fixed to the left bracket 36a, and the other end of the rotating shaft 51 is supported by the chassis 52 via the bearing 52.
- the bearing 52 is mounted to the chassis 13 via the bearing platen 53 such that the left bracket 36a can drive the travel motor 33, the left front axle 34a to rotate about the axis of the rotating shaft 51, and the left front traveling wheel 3 la and the left front axle 34a are circumferentially fixed. Therefore, the left front traveling wheel 31a can rotate along the axis of the left front wheel shaft 34a around the rotating shaft 51.
- the right front traveling wheel 31b has a right front axle 34b, and one end of the right front axle 34b is rotatably supported on the right bracket 36b, and the other end is fixedly connected circumferentially to the right front traveling wheel 31b.
- the right bracket 36b has a pivot arm 361b extending axially along the right front axle 34b.
- the pivot arm 361b is pivotally coupled to the rotating shaft 51. Therefore, the right bracket 36b can drive the right front axle 34b and the right front traveling wheel 31b to surround the rotating shaft.
- the axis of 51 rotates.
- the bracket corresponding to each walking wheel constitutes the bracket mechanism of the mowing robot.
- the left front traveling wheel and the right front traveling wheel are respectively pivoted by the same hinge structure.
- the left front traveling wheel and the right front traveling wheel may be respectively pivoted by respective hinge structures, that is, the left front traveling wheel is connected.
- One hinge structure, the right front walking wheel is connected to another hinge structure, and the two hinge structures are independently arranged at intervals.
- the left front walking wheel or the right front walking wheel pivots through the hinge structure, the left front traveling wheel or the right front traveling wheel not only generates displacement in the vertical direction, but also the left front walking wheel or the right front walking wheel and the vertical direction.
- the angle of the direction will also change, because the position adjustment of the left front and right front wheels is relatively independent. According to the ground angle of the left front wheel and the right front wheel, the left front wheel or the right front wheel and the vertical direction The angle will vary.
- the hinge structure may be provided two, along the traveling direction of the mowing robot, with respect to the left front wheel axle 34a or the right front axle shaft 34b.
- the axes are symmetrically disposed on either side of the left bracket 36a or the right bracket 36b.
- the hinge structure provided between the left rear walking wheel 32a and the right rear traveling wheel 32b is similar to the hinge structure between the left front traveling wheel 31a and the right front traveling wheel 32b, and will not be described herein.
- the mowing robot is further provided with a limiting device for limiting the range of movement of the traveling wheel about the axis of the rotating shaft 51, that is to say the walking wheel is
- the limit device can only be operated within the preset range.
- the limiting device comprises a limiting platen 61.
- the limiting platen 61 is configured as a semi-annular ring, and the ring is disposed on the left bracket 36a, and both ends of the limiting pressing plate 61 pass The screw is fixed on the chassis 13, and a predetermined gap is formed between the limiting platen 61 and the left bracket 36a.
- the left bracket 36a can move within a preset gap. Therefore, the left front traveling wheel 31a can only be limited with the left bracket 36a.
- the preset gap between the position plate 61 and the left bracket 36a is movable.
- the mowing robot is able to adapt to the change of the ground level and the undulating change of the ground, and the pivot wheel can pivot in the vertical direction around the axis of the rotation axis 51 of the hinge structure so as to be vertical
- the vertical direction moves up and down, avoiding the friction of the walking wheels and the ground caused by the suspension of the walking wheels.
- the grip of the left traveling wheel is increased due to the centripetal force, and the grip of the right traveling wheel is reduced.
- the mowing robot also sets the bomb A sexual device for providing the walking wheel with a force directed toward the ground.
- the elastic device includes a torsion spring 80.
- the torsion spring 80 is mounted on the left bracket 36a, one end of which abuts against the bracket 36a, and the other end abuts against the chassis 13. And the torsion spring is in the energy storage state, so that the torsion spring 80 can hold the left front traveling wheel 31a to directly bear the force toward the ground by pressing the left bracket 36a regardless of the position of the left front traveling wheel 31a, thereby maintaining contact with the ground.
- a torsion spring is also disposed on the right bracket 36b.
- the torsion spring can maintain the right front traveling wheel 32b to directly bear the force toward the ground by pressing the right bracket 36b, thereby maintaining contact with the ground.
- a compression spring can be provided by providing a compression spring.
- the torsion spring is not only simple in structure, but also convenient in production and assembly, and can further strengthen the adhesion between the walking wheel and the ground, so that the walking wheel can reliably grasp the ground and keep the body stable; in addition, the adhesion is affected by the rotation angle (ie, The influence of the movement of the walking wheel on the axis of the rotation axis of the hinge structure in the vertical direction is small, so that the difference of the adhesion between the four walking wheels and the ground is small, and the body is not disturbed due to the difference in adhesion. The body is not stable.
- the mowing robot is further provided with an off-site detecting sensor 70 that detects whether the traveling wheel is off the ground.
- the ground detecting sensor 70 can be disposed on the axle and close to the position of the chassis 13. When the traveling wheel is away from the ground, the ground detecting sensor 70 abuts the chassis 13, thereby triggering the detection signal.
- an unexpected situation may occur in which the traveling wheel is off the ground, and an off-ground detecting sensor 70 that detects whether the traveling wheel is away from the ground is provided, and the unexpected situation can be fed back to the control module of the mowing robot, thereby making The accident was dealt with and dealt with.
- the main components of the mowing robot are the same as those of the first embodiment, and details are not described herein again.
- the former walking wheel is still taken as an example for description.
- the left front axle 234a is driven by the traveling motor 233, and the right front axle 234b is supported by the front bracket 262 together with the traveling motor, so that the front bracket 236 configures the left front axle 234a, the traveling motor 233, and the right front axle 234b as a single unit.
- the upper portion of the front bracket 236 is provided with a limiting platen 261, and the limiting platen 261 is screwed to the chassis 213 for restricting the front bracket 236 from moving only within a preset range.
- the hinge structure includes a hinge shaft 251 connected to the front bracket 236.
- the axis of the hinge shaft 251 is arranged along the traveling direction of the mowing robot, and the hinge shaft 251 is disposed at two positions on the front bracket 236 near the traveling wheels on both sides.
- a sliding column 263 is pivotally connected to each of the hinge shafts 251, and the sliding column 263 passes through the positioning hole 262 of the limiting platen 261 and The same position of the front bracket 236 can be moved up and down in a plane perpendicular to the traveling direction of the mowing robot, that is, the left front axle 234a and the same side of the front bracket 236 can slide up and down along the positioning hole 262.
- the right front axle 234b drives the left front traveling wheel 231a and the right front traveling wheel 231b to move up and down or in a plane perpendicular to the traveling direction of the mowing robot.
- the front bracket 236 is provided with a mounting hole 252.
- the distance of the mounting hole 252 in the axial direction of the left axle is larger than the outer diameter of the hinge shaft 251, and the hinge shaft 251 can move and rotate in the mounting hole 252.
- the left front traveling wheel 31a and the right front traveling wheel 31b can share the same axle, and the axle can move up or down in a plane perpendicular to the traveling direction of the mowing robot, such as setting outside the axle.
- the bracket is provided with a pivoting structure or the like in the middle of the bracket.
- an elastic device is provided between the limiting platen 261 and the front bracket 236 for providing the walking wheel with a force toward the ground.
- the elastic device includes a compression spring 280 disposed at a position close to the spool 263, and the compression spring 280 is configured to provide an elastic force toward the ground for both ends of the front bracket 236, thereby being capable of providing the walking wheel with a force toward the ground to increase The adhesion of the mowing robot walking wheel to the ground.
- the compression springs 280 are disposed in two positions on the front bracket 236 adjacent to the side wheels.
- the mowing robot is also provided with a ground detecting sensor 270 for detecting whether the traveling wheel is away from the ground.
- the ground detecting sensor 270 can be disposed on the front bracket 236 near the chassis 213, when the traveling wheel Off the ground ⁇ , the ground detecting sensor 270 abuts the chassis 213, thereby triggering the detection signal.
- the number of ground detecting sensors 270 is the same as the number of traveling wheels, and each ground detecting sensor is used to detect the grounding condition of its corresponding running wheel or the grounding condition of the corresponding running wheel on the other side.
- the main components of the mowing robot are the same as those of the first embodiment, and details are not described herein again.
- the former traveling wheel is still taken as an example.
- the floating structure is connected between the left front wheel axle and the body, and the left front wheel axle 334a is moved in the vertical direction relative to the body through the floating structure.
- the left front wheel axle 334a is driven by the travel motor 333, and the left front traveling wheel 331a and the right front traveling wheel 331b use separate axles.
- the floating structure includes at least one positioning hole 372 on the left front bracket 336a supporting the left front axle 334a and at least one sliding rod 374 passing through the positioning hole 372.
- the left front wheel axle 334a can be moved up and down along the slide bar 374 in a plane perpendicular to the direction in which the mowing robot travels, driven by the left front bracket 336a.
- each side of the walking wheel is preferably provided with two matching positioning holes 3 72 and the slider 374, so that the up and down movement of the axle is more stable.
- a compression spring 380 is also disposed between the limiting platen 361 and the left front bracket 336a.
- the compression spring 380 is disposed adjacent to the positioning hole 372 for providing the left front traveling wheel 331a with elasticity toward the ground through the left front bracket 336a. Force, thereby increasing the adhesion of the mowing robot walking wheel to the ground.
- a ground detecting sensor 370 is disposed between the left front bracket 3 36a and the chassis 313. The ground detecting sensor 370 is configured as a compression spring. When the traveling wheel is away from the ground, the compression spring abuts against the chassis 313, thereby triggering the detection signal.
- the left front bracket supporting the left front axle may be provided with a sliding rod fixedly connected thereto, and the positioning hole is fixed on the limiting pressure plate or the chassis fixed on the chassis, that is, the floating structure
- the utility model comprises a positioning hole fixed on the left front bracket and disposed on the chassis for the sliding rod to pass through, the sliding rod passes through the positioning hole and can slide up and down along the positioning hole, and the left front wheel axle can also be driven by the left front bracket.
- the mowing robot moves up and down in a plane perpendicular to the direction of travel.
- the driving of the right traveling wheel is driven, and the right rear traveling wheel 432b is driven by the first traveling motor 433a, right rearward.
- the traveling wheel 432b drives the right front traveling wheel 43 lb
- the first traveling motor 433a is disposed between the left rear traveling wheel 43 lb and the right rear traveling wheel 432b, and is adjacent to the left rear traveling wheel 431b.
- the left traveling wheel 431a drives the left rear traveling wheel 432a by the second traveling motor 433b
- the second traveling motor 433b is disposed between the left front traveling wheel 43la and the right front traveling wheel 432a, and is adjacent to the right front traveling wheel 432a.
- the left traveling wheel In the left traveling wheel, the left front side traveling wheel 431a is active, and the left rear side traveling wheel 432a is driven; in the right side traveling wheel, the right rear side traveling wheel 432b is active, and the right front side traveling wheel 431b is driven.
- the right rear traveling wheel 432b has a right rear axle 434b, and the first traveling motor 433a transmits rotational power to the right rear axle 434b by a pulley transmission.
- the first travel motor 433a is configured as a motor, and the first pulley 91 is fixedly disposed on the output shaft 4331 of the motor, and the right rear axle 43 4b transmits the rotational power connection to the first pulley shaft 921 through the ball drive shaft 438.
- a second pulley 92 is fixedly disposed on the first pulley shaft 921.
- a first transmission belt 911 is connected between the first pulley 91 and the second pulley 92.
- the rotary power output by the motor passes through the first pulley 91 and the first transmission belt 911.
- the second pulley 92 is transmitted to the first pulley shaft 921, and the first pulley shaft 921 transmits the rotational power to the right rear axle 434b through the ball end drive shaft 438.
- the motor drives the right rear traveling wheel 432b to travel.
- a third pulley 93 is fixedly disposed on the first pulley shaft 921.
- the third pulley 93 and the second pulley 92 are arranged side by side on the first pulley shaft 921, and the rotating support on the chassis 413
- There is a second pulley axle 922 The second pulley shaft 922 is disposed parallel to the first pulley shaft 921 and adjacent to the right rear traveling wheel 432b, and the fourth pulley 94 and the fifth pulley 95 are fixedly disposed at two ends of the second pulley shaft 922, respectively, wherein A second belt 912 is coupled between the pulley 93 and the fourth pulley 94, and the rotational power transmitted to the first pulley shaft 921 is transmitted to the second pulley shaft through the third pulley 93, the second belt 912, and the fourth pulley 94.
- a third pulley shaft 923 is disposed in parallel with the second pulley shaft 922.
- the third pulley shaft 923 is disposed adjacent to the right front traveling wheel 431b, and the sixth pulley 96 and the seventh belt are fixedly disposed at both ends of the third pulley shaft 923, respectively.
- a third belt 913 is disposed between the wheel 97, the fifth pulley 95 and the sixth pulley 96, and the rotational power output by the second pulley shaft 922 can be transmitted through the fifth pulley 95, the third belt 913 and the sixth pulley 96.
- the third pulley shaft 923 is given.
- the right front traveling wheel 4 31b has a right front axle, and the right front axle is rotatably connected to the fourth pulley shaft 924 through a ball end transmission shaft 924, and the fourth pulley 924 is fixedly provided with an eighth pulley 98, a seventh pulley 97 and A fourth transmission belt 914 is connected between the eighth pulleys 98, and the rotational power output by the third pulley shaft 923 can be transmitted to the fourth pulley shaft 924 through the seventh pulley 97, the fourth transmission belt 914 and the eighth pulley 98,
- the four-belt axle 924 drives the right front axle to rotate through the ball-end drive shaft.
- the above-mentioned transmission from the right rear axle to the right front axle can be summarized as follows: the driving wheel drives the driven wheel through the timing belt, and the driving wheel and the driven wheel rotate/stop synchronously, and the rotation speed and the steering are the same.
- the drive on the left is similar to the one on the right and will not be described here.
- the above embodiment controls the walking of the left and right traveling wheels by two traveling motors, respectively, and can control the steering of the mowing robot by controlling the difference in the rotational speeds of the two traveling motors.
- the axle of the traveling wheel is connected to the pulley shaft of the input rotary power through the ball-end transmission shaft, so that the traveling wheel does not affect the rotation of the traveling wheel during the movement of the traveling wheel relative to the chassis, that is, the ball-head transmission axis That is, the floating structure connecting the axle of the traveling wheel and the body is formed.
- the floating structure further comprises a cantilever structure connected between the axle of the traveling wheel and the pulley shaft of the input rotary power, and taking the right rear traveling wheel 432b as an example, the cantilever structure comprises a cantilever mounted on the right rear axle 434b
- the cantilever is provided with two upper cantilever 491 on the upper side of the ball drive shaft 438 and a lower cantilever 492 on the lower side of the ball drive shaft.
- the upper cantilever and the lower cantilever are respectively provided with shaft holes, which are close to the right rear.
- One end of the traveling wheel 432b is pivotally connected to the cantilever outer bracket 437 through the shaft hole 494 through the shaft hole, and the other end is pivotally connected to the cantilever inner bracket 436 through the shaft hole through the pin shaft 493.
- the chassis 413 is provided with a cantilever receiving portion corresponding to the position of the upper cantilever and the lower cantilever, and a motor housing portion is provided corresponding to the position of the traveling motor, so that the positioning of each module is facilitated.
- the upper cantilever 491 is provided with a mounting hole 49, and the mounting hole 498 is used for mounting and positioning of the compression spring 380.
- the compression spring 380 is abutted on the body, and the other end abuts on the upper cantilever 491 for passing the upper cantilever
- the 491 provides the right rear walking wheel 432b with an elastic force toward the ground, thereby increasing the adhesion of the mowing robot walking wheel to the ground.
- the ground detecting sensor 470 is disposed on the body, and the ground detecting sensor 470 is configured as a compression spring. When the traveling wheel is away from the ground, the pressing spring and the cantilever outer bracket 437 abut each other, thereby triggering the detection signal.
- the ground detecting sensor 470 can also be disposed on the cantilever outer bracket 437, the upper cantilever or the lower cantilever, and the ground detecting sensor can also be configured in other structures as long as the detection can be realized. The state of the walking wheel away from the ground can be.
- an off-site detecting sensor is disposed between the axle of each traveling wheel and the body, and when at least two traveling wheels are separated from the ground, at least two ground detecting sensors are opposite to the body to trigger detection.
- the signal is fed back to the control module, and the control module performs corresponding control according to the received detection signal, such as performing a shutdown action, the purpose of which is to prevent the mowing robot from being suspended on one side and overturning.
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CN111230893A (zh) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | 摆臂式行走机器人 |
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