WO2018153186A1 - 行走机构、具有该行走机构的机器人及自行走割草机 - Google Patents

行走机构、具有该行走机构的机器人及自行走割草机 Download PDF

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Publication number
WO2018153186A1
WO2018153186A1 PCT/CN2018/073149 CN2018073149W WO2018153186A1 WO 2018153186 A1 WO2018153186 A1 WO 2018153186A1 CN 2018073149 W CN2018073149 W CN 2018073149W WO 2018153186 A1 WO2018153186 A1 WO 2018153186A1
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WO
WIPO (PCT)
Prior art keywords
traveling
pattern
walking
tread
mechanism according
Prior art date
Application number
PCT/CN2018/073149
Other languages
English (en)
French (fr)
Inventor
孔钊
郭宁
崔江伟
徐荣华
Original Assignee
苏州科瓴精密机械科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710109339.9A external-priority patent/CN107521292B/zh
Application filed by 苏州科瓴精密机械科技有限公司 filed Critical 苏州科瓴精密机械科技有限公司
Priority to EP18757028.8A priority Critical patent/EP3587143A4/en
Priority to US16/488,356 priority patent/US11535320B2/en
Publication of WO2018153186A1 publication Critical patent/WO2018153186A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/0311—Patterns comprising tread lugs arranged parallel or oblique to the axis of rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements
    • 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
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D34/69—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels with motor driven wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/0306—Patterns comprising block rows or discontinuous ribs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/032—Patterns comprising isolated recesses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/11—Tread patterns in which the raised area of the pattern consists only of isolated elements, e.g. blocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C19/00—Tyre parts or constructions not otherwise provided for
    • B60C19/001—Tyres requiring an asymmetric or a special mounting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C2011/0337—Tread patterns characterised by particular design features of the pattern
    • B60C2011/0339—Grooves
    • B60C2011/0341—Circumferential grooves
    • B60C2011/0346—Circumferential grooves with zigzag shape
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C2011/0337—Tread patterns characterised by particular design features of the pattern
    • B60C2011/0339—Grooves
    • B60C2011/0374—Slant grooves, i.e. having an angle of about 5 to 35 degrees to the equatorial plane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C13/00—Tyre sidewalls; Protecting, decorating, marking, or the like, thereof
    • B60C13/02—Arrangement of grooves or ribs
    • B60C2013/026—Arrangement of grooves or ribs provided at the interior side only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C2200/00—Tyres specially adapted for particular applications
    • B60C2200/14—Tyres specially adapted for particular applications for off-road use

Definitions

  • the present invention relates to a traveling mechanism and a robot having the same, and more particularly to a traveling mechanism having four wheels and a self-propelled lawn mower having the same.
  • the robotic mower currently used in our own positioning is to determine the position of the laser emitting source (the coincidence of the laser emitting and receiving positions) by laser emission and reception, and then according to the positional relationship between the laser emitting source and the center of rotation of the blade. Calculate the center position of the blade; When the machine rotates, calculate the position of the laser source, so that the entire computing system is quite complicated. If the center of rotation of the fuselage, the center of the laser source and the center of rotation of the turntable are designed on the same vertical axis, this greatly simplifies the calculation of the system and provides operational efficiency. Therefore, the software hopes that the car rotates around the center of the turntable (for example, the left and right wheels are reversed at the same speed), but for most of the wheel patterns, the in-situ rotation is severe.
  • the robotic lawn mower travels to various uneven grounds, such as uneven ground that is continuously gradual, due to long-term wear and tear; small steps, small ground steps caused by floor decoration, generally height difference is smaller than wheel rollers Radius; local depression or protrusion; slope boundary; entrance channel slope or barrier-free passage to the boundary of the ground, the walking mechanism of the robot mower can not adapt well, causing the walking slip or slip
  • the present invention provides a running mechanism including a traveling wheel set and a traveling motor that drives the traveling wheel set, the traveling wheel set includes a front set along a traveling direction of the traveling mechanism
  • the two front wheels and the opposite two rear wheels, the front and rear wheels on the same side are set to rotate synchronously
  • Each of the traveling wheels includes a tire casing that can be supported on the ground, the tire casing including an outer side of the tread that contacts the ground and a corresponding inner side of the tread, and the outer side of the tread is provided with a side a tread pattern of a circumferential portion of a tire casing, wherein the tread pattern is configured as a plurality of ribs inclined in the same direction, a groove is formed between each two ribs, and each of the plurality of ribs
  • An extending direction of the strip has an angle with a traveling direction of each of the traveling wheels, and each traveling wheel of the traveling wheel set is opposite to an extending direction of a rib of an adjacent traveling wheel, and is
  • the width of each rib decreases from both ends of the rib toward its extending direction.
  • the tire casing further includes a first shoulder and a second shoulder located at both ends of the outer side of the tread along a tire tire radial direction, the tire casing having a perpendicular to Its axial and central equatorial plane, the first shoulder and the second shoulder being symmetrical about the equatorial plane.
  • a plurality of reinforcing ribs are disposed on the inner side of the tread, and the plurality of reinforcing ribs are disposed between the first shoulder and the second shoulder and along the tire tire The circumferential direction is evenly distributed.
  • the first shoulder and the second shoulder have an inner side close to the equatorial plane and an outer side away from the equatorial plane, and the outer side is provided with a flange, The flange extends toward the center of rotation of the tire casing.
  • the flange is parallel to the equatorial plane.
  • an angle between an extending direction of each of the plurality of ribs and a traveling direction of each of the traveling wheels is not less than 25 degrees.
  • each of the ribs is configured in a fusiform shape.
  • an equal first track is provided between the two front wheels and between the two rear wheels, between the front wheel and the rear wheel on one side and at another
  • the front wheel and the rear wheel of one side have an equal second track, and the angle between the extending direction of each rib and the traveling direction of each traveling wheel is the ratio of the second track to the first track.
  • the tread pattern is provided with a pattern, and the pattern is configured as a plurality of protrusions extending in a direction oblique to an extending direction of the rib Or a recess.
  • the extending direction of the plurality of protrusions or recesses is parallel to the traveling direction.
  • the extending direction of the plurality of protrusions or recesses has an included angle of not more than 10 degrees with the traveling direction.
  • the extending direction of the plurality of protrusions or recesses has an angle of not more than 5 degrees with the traveling direction.
  • the extending directions of the plurality of protrusions or recesses are parallel or non-parallel with each other.
  • the present invention also provides a robot that can effectively adapt to various uneven grounds while walking
  • the robot includes a body and a traveling mechanism as described above mounted to the body.
  • the present invention also provides a self-propelled lawn mower capable of effectively adapting to various uneven grounds while walking, the self-propelled lawn mower including the body and the above-mentioned body mounted on the body The walking mechanism described.
  • the utility model has the beneficial effects that: the traveling mechanism of the invention can effectively avoid the slip phenomenon of walking to various grounds and the original rotating cymbal, the walking is more stable and reliable, and the traveling mechanism is provided.
  • the robot moves forward/backward linearly, uses the differential turn of the left and right wheels, or rotates in place to be more stable, thereby improving walking and work efficiency.
  • FIG. 1 is a plan view of a robotic lawn mower in a preferred embodiment of the present invention
  • Figure 2 is a bottom plan view of the robotic lawn mower of Figure 1;
  • FIG. 3 is a schematic diagram of a running mechanism of the robotic lawn mower of FIG. 1;
  • FIG. 4 is a perspective view of a tire casing of a traveling wheel of the robotic lawn mower of FIG. 1; [0025] FIG.
  • Figure 5 is a front elevational view of the tire casing of Figure 4.
  • 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;
  • Figure 8 is a cross-sectional view taken along line CC of Figure 5;
  • Figure 9 is a cross-sectional view taken along line DD of Figure 5;
  • FIG. 10 is a schematic view showing a first configuration in which a tread pattern is provided on a tread pattern of a traveling wheel in a preferred embodiment of the present invention
  • FIG. 11 is a schematic view showing a second configuration in which a tread pattern is provided on a tread pattern of a walking wheel
  • FIG. 12 is a schematic view showing a third configuration in which a tread pattern is provided on a tread pattern of a traveling wheel
  • FIG. 13 is a schematic view showing a fourth configuration in which a tread pattern is provided on a tread pattern of a walking wheel
  • FIG. 14 is a schematic view showing a fifth configuration in which a tread pattern is provided on a tread pattern of a traveling wheel.
  • the robot is preferably a mowing robot 100 (or a self-propelled lawn mower), and the mowing robot 100 includes a body 20 and a body mounted on the body.
  • the traveling mechanism 30 includes a traveling wheel set and a traveling motor (not shown) that drives the traveling wheel set.
  • the mowing robot 100 supplies power to the traveling motor by using a cordless power source, such as a battery pack, a solar panel, etc., of course. Use a wired power supply to connect to the mains supply.
  • a cordless power source such as a battery pack, a solar panel, etc.
  • the traveling motor in this embodiment can also be equivalently replaced with an internal combustion engine such as a gasoline engine, a diesel engine or the like.
  • the traveling wheel set includes four traveling wheels 31a, 31b, 32a. 32b, along the traveling direction of the mowing robot or the traveling mechanism, respectively, the front traveling wheels 31a, 31b and the rear traveling wheels 32a, 32b, here
  • the direction of travel may be the forward direction or the reverse direction, so the front and rear walking wheels are also relatively speaking.
  • the traveling wheels on the same side are set to rotate synchronously, that is, the left front traveling wheel 31a is synchronized with the left rear traveling wheel 32a, and the right front traveling wheel 31b is synchronized with the right rear traveling wheel 32b.
  • the travel motor includes two, two travel motors are front or rear, or one front and one rear, each travel motor can drive the same side of the travel wheel to achieve synchronous rotation by means of belt drive, so that no steering mechanism can be provided.
  • the steering is performed by the difference in rotational speed between the left and right traveling wheels.
  • the four traveling wheels are identical in shape, and each of the traveling wheels includes a hub (not shown) and a tire casing 35 mounted on the hub, and the tire casing may be a solid tire. Can also be a pneumatic tire .
  • the tire casing 35 is provided with a specific shape pattern.
  • the wheel and the tire casing of the traveling wheel can be integrally provided, that is, the tire casing is a part of the wheel hub, and the wheel hub contacts the ground. Set the corresponding pattern on the face.
  • the tire casing 35 includes a tread outer surface contacting the ground and an inner side of the opposite tread, and a tread pattern along the circumferential portion of the tire casing is disposed on the outer side of the tread, and the tread pattern is configured to be inclined in the same direction.
  • a plurality of ribs 351 is formed between each two ribs 35 1 , a plurality of ribs and a plurality of grooves are alternately arranged, and the groove 352 and the rib 351 are substantially parallel, and the groove 352 and The ribs 351 each extend from one side of the tire casing 35 in the axial direction to the other side.
  • the rib 351 is substantially fusiform, that is, the width of the two ends of the rib 351 is small, and the width of the middle portion of the rib 351 is large, and the width of the rib can also be considered as the width of the rib. Both ends of the extending direction are decremented.
  • the outer side of the tread has a shoulder on both sides along the axial direction of the tire casing 35 and a mid-surface 355 between the shoulders of the two sides, the shoulder comprising a first shoulder 353 and a second tire symmetric about the equatorial plane P of the tire casing
  • the shoulder 354, the equatorial plane P is a plane perpendicular to the axial direction of the tire casing 35 and located at the middle thereof.
  • the side near the equatorial plane P of the tire casing is the inner side, and the one away from the equatorial plane P of the tire casing. The side is the outside.
  • the mid-surface 355 is substantially annular, and the shoulder is disposed obliquely with respect to the mid-surface 355, that is, the shoulder is inclined from the mid-surface 3 55 toward the center of rotation of the tire casing 35.
  • the outer side of the shoulder includes a flange 356 that extends toward the center of rotation of the tire casing, generally parallel to the equatorial plane P of the tire casing.
  • a plurality of reinforcing ribs 357 are disposed on the inner side of the tread, and the reinforcing ribs 357 are located between the first shoulder 353 and the second shoulder 354, and are evenly arranged along the circumferential direction of the tire casing 35 for maintaining the first tire. The distance between the shoulder 353 and the second shoulder 354.
  • an angle between the extending direction of each of the plurality of ribs 351 (the axis X in FIG. 5) and the traveling direction of the equatorial plane P or the tire casing 35 is an acute angle ⁇ , and oc is especially greater than 25 degrees. And less than 90 degrees, a further preferred embodiment is that a is greater than 40 degrees and less than 50 degrees. In this embodiment, ⁇ is 48 degrees.
  • the angle can be calculated according to the left and right wheelbases and the front and rear track. As shown in FIG. 3, in the present embodiment, preferably, the track between the two front wheels is equal to the track between the two rear wheels, that is, between the two front wheels and between the two rear wheels.
  • the first wheelbase W, the left and right wheelbase can be considered as the distance between the equatorial plane P of the two front wheels or the equatorial plane P of the two rear wheels, and the track between the front and rear wheels on the left side.
  • the track between the front and rear wheels on the right side is equal, that is, the front and rear wheels on one side and the front and rear wheels on the other side have
  • the pattern appears to radiate outward from the center of the four wheels, that is to say, the pattern of the walking wheel in contact with the ground radiates outward from the center of the four wheels, thereby ensuring that the mowing robot straight forward/backward, using the differential turn of the left and right wheels or The in-situ rotation is more stable.
  • the traveling mechanism in the above embodiment can also be applied to other robots, such as a robot that realizes automatic dust cleaning, a robot that realizes automatic watering, and the like.
  • a pattern may be provided on the tread pattern of the traveling wheel, that is, a pattern is provided on each of the ribs 351, and the pattern is configured as Referring to FIG.
  • a plurality of protrusions or depressions extending in a direction oblique to the extending direction of the ribs are the pattern 359 of the first structural form, and the extending directions of the plurality of protrusions or depressions are
  • the traveling direction of the traveling wheels is substantially parallel, that is, the extending directions of the plurality of protruding portions or recessed portions are substantially parallel to each other, and each protruding portion or recessed portion is configured in a fusiform shape, and the plurality of protruding portions or recessed portions are along the strip 351.
  • the direction of extension is evenly set.
  • a pattern 359a of the second configuration is different from the first structure in that each projection or recess is configured to be substantially rectangular.
  • the attachment pattern 359b of the third structural form has an angle ⁇ between the extending direction of the plurality of protruding portions or recessed portions and the traveling direction of the traveling wheel of 0 to 10 degrees, more preferably 0 to Between 5 degrees, and the extending directions of the plurality of protrusions or depressions are substantially parallel to each other.
  • the extending directions of the plurality of protrusions or recesses are irregularly arranged with each other, and the irregularity here may be the extending direction of each protrusion or recess.
  • the angle of the traveling direction of the traveling wheel is different, that is, the extending directions of the plurality of protruding portions or the recessed portions are not parallel to each other; or the shape of each protruding portion or the recessed portion may be different, such as a plurality of protruding portions or
  • the recess has a combination of two or more of a rectangular shape, a triangular shape, a fusiform shape, and the like.
  • the fifth pattern is a pattern 359d, and each protrusion or recess is configured as a substantially serpentine pattern. shape.
  • the pattern is not limited to the above-mentioned shapes, and may be a regular or irregular structure. As long as the extending direction intersects with the extending direction of the tread pattern, the mowing robot can be further ensured to advance/retract linearly, and the difference between the left and right wheels is utilized. Speed turning or in-situ rotation is more stable.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)

Abstract

一种行走机构及一种具有上述行走机构的机器人及自行走割草机（100），包括行走轮组，行走轮组中的每个行走轮（31a、31b、32a、32b）包括能够支撑于地面的轮外胎（35），轮外胎（35）包括行走时接触地面的胎面外侧以及相对的胎面内侧，胎面外侧设置有沿轮外胎（35）周向分部的胎面花纹，胎面花纹构造为沿同一方向倾斜的多个花纹条（351），每个花纹条（351）的延伸方向与每个行走轮（31a、31b、32a、32b）的行进方向具有夹角，行走轮组中每个行走轮（31a、31b、32a、32b）与其相邻的行走轮（31a、31b、32a、32b）的花纹条（351）的延伸方向相反的设置，并且从下向上仰视行走机构，四个行走轮（31a、31b、32a、32b）的胎面花纹形成的花纹呈现从四个行走轮（31a、31b、32a、32b）的中心向外辐射状。该行走机构及具有该行走机构的机器人，能够有效的适应各种不平地面。

Description

说明书 发明名称：行走机构、 具有该行走机构的机器人及自行走割草机 技术领域
[0001] 本发明涉及一种行走机构及具有该行走机构的机器人， 尤其涉及一种具有四轮 的行走机构及具有该行走机构的自行走割草机。
背景技术
[0002] 目前我们用到的机器人割草机的自身定位是通过激光发射和接收来确定激光发 射源的位置 （激光发射和接收位置重合） ， 然后再根据激光发射源与刀片旋转 中心的位置关系计算出刀片的中心位置； 当机器发生旋转吋， 计算激光发射源 位置改变， 这样整个运算系统就相当复杂。 若把机身旋转中心、 激光发射源中 心和转台旋转中心设计在同一垂直轴上， 这样大大简化了系统的运算， 提供运 算效率。 因此， 软件上希望小车围绕转台中心原地旋转 （例如左右轮反向同速 运转） ， 但对于绝大多数轮纹形式， 原地旋转吋侧滑严重。
[0003] 若轮胎的轮纹摩擦力过大 （如钉子形轮纹） ， 则原地旋转会发生抖动， 严重吋 会发生跳动现象。 若轮纹的摩擦力过小， 则直行的吋候可能会侧滑。
[0004] 另外， 机器人割草机行进到各种不平地面， 如连续缓变的不平地面， 因长期使 用磨损而造成； 小台阶， 地面装饰造成的较小的地面台阶,一般高度差小于车轮 辊子半径； 局部的凹陷或突起； 斜坡边界； 入口通道斜面或无障通道与地面的 边界处， 机器人割草机的行走机构不能很好的适应， 造成行走吋打滑或者抖动
技术问题
问题的解决方案
技术解决方案
[0005] 为实现上述发明目的， 本发明提供了一种行走机构， 包括行走轮组以及驱动所 述行走轮组的行走马达， 沿着行走机构的行进方向， 所述行走轮组包括设置在 前的两个前轮以及相对的两个后轮， 位于同一侧的前轮和后轮设置为同步转动 ， 所述行走轮组中的每个行走轮包括能够支撑于地面的轮外胎， 所述轮外胎包 括行走吋接触地面的胎面外侧以及相对的胎面内侧， 所述胎面外侧设置有沿所 述轮外胎周向分部的胎面花纹， 所述胎面花纹构造为沿同一方向倾斜的多个花 纹条， 每两个花纹条之间形成花纹沟， 所述多个花纹条中每个花纹条的延伸方 向与所述每个行走轮的行进方向的具有夹角， 所述行走轮组中每个行走轮与其 相邻的行走轮的花纹条的延伸方向相反的设置， 并且从下向上仰视所述行走机 构， 四个行走轮的胎面花纹形成的花纹呈现从四个行走轮的中心向外辐射状。
[0006] 作为本发明一实施方式的进一步改进， 每个花纹条的宽度自其中部向其延伸方 向的两端递减。
[0007] 作为本发明一实施方式的进一步改进， 所述轮外胎还包括沿着轮外胎轴向位于 所述胎面外侧两端的第一胎肩和第二胎肩， 所述轮外胎具有垂直于其轴向且位 于中部的赤道面， 所述第一胎肩和第二胎肩关于所述赤道面对称。
[0008] 作为本发明一实施方式的进一步改进， 所述胎面内侧设置多个加强筋， 所述多 个加强筋设置在所述第一胎肩和第二胎肩之间并且沿着轮外胎周向均匀分布。
[0009] 作为本发明一实施方式的进一步改进， 所述第一胎肩和第二胎肩具有靠近所述 赤道面的内侧以及远离所述赤道面的外侧， 所述外侧设置凸缘， 所述凸缘向所 述轮外胎的旋转中心延伸。
[0010] 作为本发明一实施方式的进一步改进， 所述凸缘与所述赤道面平行。
[0011] 作为本发明一实施方式的进一步改进， 所述多个花纹条中每个花纹条的延伸方 向与所述每个行走轮的行进方向之间的夹角不小于 25度。 。
[0012] 作为本发明一实施方式的进一步改进， 所述每个花纹条构造为梭形。
[0013] 作为本发明一实施方式的进一步改进， 所述两个前轮之间和两个后轮之间具有 相等的第一轮距， 位于一侧的前轮和后轮之间和位于另一侧的前轮和后轮具有 相等的第二轮距， 每个花纹条的延伸方向与所述每个行走轮的行进方向的夹角 度数为第二轮距与第一轮距的比值的反正切值。
[0014] 作为本发明一实施方式的进一步改进， 所述胎面花纹上设置有附花纹， 所述附 花纹构造为沿着与所述花纹条的延伸方向呈角度的方向延伸的多个突出部或凹 陷部。 [0015] 作为本发明一实施方式的进一步改进， 所述多个突出部或凹陷部的延伸方向与 所述行进方向平行。
[0016] 作为本发明一实施方式的进一步改进， 所述多个突出部或凹陷部的延伸方向与 所述行进方向具有不大于 10度的夹角。
[0017] 作为本发明一实施方式的进一步改进， 所述多个突出部或凹陷部的延伸方向与 所述行进方向具有不大于 5度的夹角。
[0018] 作为本发明一实施方式的进一步改进， 所述多个突出部或凹陷部的延伸方向相 互之间平行或非平行设置。
[0019] 本发明还提供了一种机器人， 该机器人在行走吋能够有效的适应各种不平地面
， 所述机器人包括机体及安装于机体的如上所述的行走机构。
[0020] 本发明还提供了一种自行走割草机， 该自行走割草机在行走吋能够有效地适应 各种不平地面， 所述自行走割草机包括机体及安装于机体的如上所述的行走机 构。
[0021] 与现有技术相比， 本发明的有益效果在于： 本发明的行走机构能够有效的避免 行走到各种地面以及原地旋转吋的打滑现象， 行走更加平稳可靠， 而且具有该 行走机构的机器人直线前进 /后退、 利用左右轮的差速转弯或原地旋转吋更加稳 定， 从而提高行走和工作效率。
发明的有益效果
对附图的简要说明
附图说明
[0022] 图 1是本发明优选的实施方式中机器人割草机的俯视图；
[0023] 图 2是图 1中的机器人割草机的仰视图；
[0024] 图 3是图 1中的机器人割草机的行走机构简图；
[0025] 图 4是图 1中的机器人割草机的行走轮的轮外胎的立体图；
[0026] 图 5是图 4中的轮外胎的主视图；
[0027] 图 6是图 5中沿 A-A线的剖视图；
[0028] 图 7是图 5中沿 B-B线的剖视图；
[0029] 图 8是图 5中沿 C-C线的剖视图； [0030] 图 9是图 5中沿 D-D线的剖视图；
[0031] 图 10是本发明优选的实施方式中在行走轮的胎面花纹上设置附花纹的第一种构 造的示意图；
[0032] 图 11是在行走轮的胎面花纹上设置附花纹的第二种构造的示意图；
[0033] 图 12是在行走轮的胎面花纹上设置附花纹的第三种构造的示意图；
[0034] 图 13是在行走轮的胎面花纹上设置附花纹的第四种构造的示意图；
[0035] 图 14是在行走轮的胎面花纹上设置附花纹的第五种构造的示意图。
本发明的实施方式
[0036] 以下将结合附图所示的具体实施方式对本发明进行详细描述。 但这些实施方式 并不限制本发明， 本领域的普通技术人员根据这些实施方式所做出的结构、 方 法、 或功能上的变换均包含在本发明的保护范围内。
[0037] 参照图 1到图 3所示， 本发明优选的实施例中， 机器人优选为割草机器人 100 ( 或称为自行走割草机） ， 割草机器人 100包括机体 20以及安装于机体的行走机构 30， 行走机构 30包括行走轮组以及驱动行走轮组的行走马达 (图未示)， 割草机器 人 100通过使用无绳电源给行走马达供电， 如电池包、 太阳能电池板等， 当然也 可使用有线电源连接市电供电。 本领域技术人员能够知道， 本实施例中的行走 马达也可等效地替换为内燃机， 如汽油发动机、 柴油发动机等。 本实施例中， 行走轮组包括四个行走轮 31a、 31b、 32a. 32b , 沿着割草机器人或者行走机构的 行进方向， 分别为前行走轮 31a、 31b和后行走轮 32a、 32b , 这里的行进方向可以 是前进方向或者后退方向， 因此前行走轮和后行走轮也是相对而言。 其中， 位 于同一侧的行走轮设置为同步转动， 即左前行走轮 31a与左后行走轮 32a同步， 右 前行走轮 31b与右后行走轮 32b同步。 行走马达包括两个， 两个行走马达前置或 者后置， 也可以一个前置一个后置， 每个行走马达通过带传动的方式能够驱动 同一侧的行走轮实现同步转动， 如此可不设转向机构， 利用左行走轮与右行走 轮的转速差进行转向。 当然， 也可以使用四个行走马达分别驱动四个行走轮。
[0038] 参照图 4到图 9所示， 四个行走轮的形状构造相同， 每一个行走轮均包括轮毂 ( 图未示） 和安装在轮毂上的轮外胎 35， 轮外胎可以为实心胎， 也可以为充气胎 。 为了使行走轮能够有效的适应各种不平的地面， 轮外胎 35上设置有特定形状 的花纹， 当然， 行走轮的轮毂和轮外胎可以一体设置， 即轮外胎是轮毂的一部 分， 在轮毂接触地面的面上设置相应的花纹。 具体的， 轮外胎 35括行走吋接触 地面的胎面外侧以及相对的胎面内侧， 胎面外侧设置有沿轮外胎周向分部的胎 面花纹， 该胎面花纹构造为沿同一方向倾斜的多个花纹条 351， 每两个花纹条 35 1之间形成花纹沟 352， 多个花纹条和多个花纹沟间隔交替设置， 并且花纹沟 352 和花纹条 351之间大致平行， 花纹沟 352和花纹条 351均是从轮外胎 35轴向的一侧 延伸到另一侧。
[0039] 本实施例中优选的， 花纹条 351大致呈梭形， 即花纹条 351的两端宽度较小， 花 纹条 351的中部宽度较大， 也可以认为是花纹条的宽度沿其中部向其延伸方向的 两端递减。 胎面外侧具有沿着轮外胎 35轴向位于两侧的胎肩以及两侧胎肩之间 的胎中面 355， 胎肩包括关于轮外胎赤道面 P对称的第一胎肩 353和第二胎肩 354 ， 赤道面 P即垂直于轮外胎 35轴向且位于其中部的平面， 在关于胎肩的描述中， 称靠近轮外胎赤道面 P的一侧为内侧， 远离轮外胎赤道面 P的一侧为外侧。 其中 ， 胎中面 355大致为环形面， 胎肩相对于胎中面 355倾斜设置， 即胎肩由胎中面 3 55朝向轮外胎 35的旋转中心倾斜。 胎肩外侧包括凸缘 356， 凸缘 356向朝向轮外 胎的旋转中心延伸， 大致与轮外胎赤道面 P平行。
[0040] 胎面内侧设置有多个加强筋 357， 加强筋 357位于第一胎肩 353和第二胎肩 354之 间， 并且沿着轮外胎 35的周向均匀布置， 用于保持第一胎肩 353和第二胎肩 354 之间的距离。
[0041] 进一步的， 多个花纹条中每个花纹条 351的延伸方向 （图 5中轴线 X) 与赤道面 P或者轮外胎 35的行进方向的夹角为锐角 α， oc尤其是大于 25度且小于 90度， 进一 步优选的方案是 α大于 40度且小于 50度。 本实施例中， α为 48度， 具体的， 该角 度可根据左右轮距和前后轮距进行计算。 如图 3所示， 本实施例中优选的， 两个 前轮之间的轮距与两个后轮之间的轮距相等， 即两个前轮之间和两个后轮之间 具有相等的第一轮距 W， 左右轮距可以认为是两个前轮的赤道面 P之间或两个后 轮的赤道面 P之间的距离， 左侧的前轮和后轮之间的轮距和右侧的前轮和后轮之 间的轮距相等， 即位于一侧的前轮和后轮之间和位于另一侧的前轮和后轮具有 相等的第二轮距 L， 前后轮距可以认为是同一侧的前轮与后轮的旋转轴线之间的 距离。 那么， 即 tan ot = L / W， α便等于第二轮距与第一轮距的比值的反正切值
[0042] 从上向下俯视机器人， 以四个行走轮的分布中心 （即连接四个行走轮与轮轴的 交点得到的矩形的几何中心） 为圆心， 以圆心到轮轴与赤道面 Ρ交点的距离为半 径做圆， 并以轮轴与赤道面 Ρ的交点作为切点做圆的切线， 该切线即为轴线 X， 并且， 从下向上仰视割草机器人， 其四个行走轮的胎面花纹形成的花纹呈现从 四轮中心向外辐射状， 也就是说， 行走轮与地面接触的花纹呈现从四轮中心向 外辐射状， 从而保证割草机器人直线前进 /后退、 利用左右轮的差速转弯或原地 旋转吋更加稳定。
[0043] 上述实施例中的行走机构也可以用于其它机器人， 如实现自动吸尘清扫的机器 人， 实现自动浇灌的机器人等等。
[0044] 参照图 10到图 14所示， 本发明优选的实施方式中， 可以在在行走轮的胎面花纹 上设置附花纹， 即在每个花纹条 351上设置附花纹， 附花纹构造为沿着与花纹条 的延伸方向呈角度的方向延伸的多个突出部或凹陷部， 参照图 10所示， 为第一 种结构形式的附花纹 359， 多个突出部或凹陷部的延伸方向与行走轮的行进方向 大致平行， 也即多个突出部或凹陷部的延伸方向之间大致相互平行， 每个突出 部或凹陷部构造为梭形， 多个突出部或凹陷部沿着花纹条 351的延伸方向均匀设 置。 参照图 11所示， 为第二种结构形式的附花纹 359a， 与第一种结构不同的是每 个突出部或凹陷部构造为大致矩形。 参照图 12所示， 为第三种结构形式的附花 纹 359b， 多个突出部或凹陷部的延伸方向与行走轮的行进方向的夹角 α为 0~10度 之间， 更优选为 0~5度之间， 而多个突出部或凹陷部的延伸方向之间大致相互平 行。 参照图 13所示， 为第四种结构形式的附花纹 359c， 多个突出部或凹陷部的延 伸方向相互之间非规则设置， 这里的非规则可以是每个突出部或凹陷部的延伸 方向与行走轮的行进方向的夹角不同， 即多个突出部或凹陷部的延伸方向之间 互不平行设置； 也可以是每个突出部或凹陷部构造的形状不同， 如多个突出部 或凹陷部中有矩形、 三角形、 梭形等中的两种或多种形状的组合。 参照图 14所 示， 为第五种结构形式的附花纹 359d， 每个突出部或凹陷部构造为大致蛇形纹 的形状。 附花纹不局限于上述的几种形状， 可以是规则或者不规则的结构， 只 要其延伸方向与胎面花纹的延伸方向相交， 能够进一步的保证割草机器人直线 前进 /后退、 利用左右轮的差速转弯或原地旋转吋更加稳定。
[0045] 应当理解， 虽然本说明书按照实施方式加以描述， 但并非每个实施方式仅包含 一个独立的技术方案， 说明书的这种叙述方式仅仅是为清楚起见， 本领域技术 人员应当将说明书作为一个整体， 各实施方式中的技术方案也可以经适当组合 ， 形成本领域技术人员可以理解的其他实施方式。
[0046] 上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说 明， 它们并非用以限制本发明的保护范围， 凡未脱离本发明技艺精神所作的等 效实施方式或变更均应包含在本发明的保护范围之内。

Claims

权利要求书
一种行走机构 （30) ， 其特征在于： 包括行走轮组， 沿着行走机构的 行进方向， 所述行走轮组包括设置在前的两个前轮以及相对的两个后 轮， 位于同一侧的前轮和后轮设置为同步转动， 所述行走轮组中的每 个行走轮包括能够支撑于地面的轮外胎 （35) ， 所述轮外胎包括行走 吋接触地面的胎面外侧， 所述胎面外侧设置有沿所述轮外胎周向分布 的胎面花纹， 所述胎面花纹构造为多个花纹条， 相邻两个所述花纹条 之间形成花纹沟， 四个行走轮的胎面花纹呈现从四个行走轮的中心向 外辐射状。
根据权利要求 1所述的行走机构， 其特征在于， 所述胎面花纹构造为 沿同一方向倾斜的多个花纹条， 每两个花纹条之间形成花纹沟， 所述 多个花纹条中每个花纹条的延伸方向与所述每个行走轮的行进方向的 具有夹角。
根据权利要求 1或 2任意一项所述的行走机构， 其特征在于， 所述行走 轮组中的每个行走轮的所述轮外胎 （35) 具有相同的所述胎面花纹， 所述行走轮组中的任意一个行走轮轮外胎 （35) 的安装方向与其相邻 行走轮轮外胎 （35) 的安装方向相反。
根据权利要求 2所述的行走机构， 其特征在于， 所述两个前轮之间和 两个后轮之间具有相等的第一轮距， 位于一侧的前轮和后轮之间和位 于另一侧的前轮和后轮具有相等的第二轮距， 所述花纹延伸角为所述 第二轮距与所述第一轮距的比值的反正切值。
根据权利要求 2所述的行走机构， 其特征在于， 所述花纹延伸角为锐 角。
根据权利要求 2所述的行走机构， 其特征在于， 所述花纹延伸角为不 小于 25度的锐角。
根据权利要求 1~6任意一项所述的行走机构， 其特征在于， 每个所述 花纹条 （351) 的宽度自其中部向其延伸方向的两端递减。
根据权利要求 1~6任意一项所述的行走机构， 其特征在于， 所述轮外 胎 （35) 还包括沿着轮外胎轴向位于所述胎面外侧两端的第一胎肩 （
353) 和第二胎肩 （354) ， 所述轮外胎 （35) 具有垂直于其轴向且位 于中部的赤道面， 所述第一胎肩 （353) 和第二胎肩 （354) 关于所述 赤道面对称。
根据权利要求 8所述的行走机构， 其特征在于， 所述轮外胎还包括行 走吋与所述胎面外侧相对的胎面内侧， 所述胎面内侧设置多个加强筋 (357) ， 所述多个加强筋设置在所述第一胎肩 （353) 和第二胎肩 （
354) 之间并且沿着轮外胎周向均匀分布。
根据权利要求 8所述的行走机构， 其特征在于， 所述第一胎肩 （353) 和第二胎肩 （354) 具有靠近所述赤道面的内侧以及远离所述赤道面 的外侧， 所述外侧设置凸缘 （356) ， 所述凸缘 （356) 向所述轮外胎 的旋转中心延伸， 所述凸缘 （356) 与所述赤道面平行。
根据权利要求 1~6任意一项所述的行走机构， 其特征在于， 所述胎面 花纹的外表面上设置有附花纹， 所述附花纹构造为沿着所述花纹条的 延伸方向排列的多个突出部和凹陷部； 每个所述附花纹具有附花纹延 伸角， 所述附花纹延伸角定义为所述突出部的延伸方向与轮外胎胎面 周向之间的夹角。
根据权利要求 11所述的行走机构， 其特征在于， 每个所述行走轮的所 述轮外胎具有相同的所述胎面花纹； 每个所述轮外胎的每个花纹条具 有相同的附花纹。
根据权利要求 11所述的行走机构， 其特征在于， 所述附花纹延伸角不 大于 10度。
根据权利要求 11所述的行走机构， 其特征在于， 所述附花纹延伸角不 大于 5度。
根据权利要求 11所述的行走机构， 其特征在于， 在同一所述花纹条上 的多个所述附花纹具有相同或不同的附花纹延伸角。
一种机器人， 所述机器人包括机体及安装于机体的如权利要求 1至 15 中任一权利要求所述的行走机构。 [权利要求 17] —种自行走割草机， 所述自行走割草机包括机体及安装于机体的如权 利要求 1至 15中任一权利要求所述的行走机构。
PCT/CN2018/073149 2017-02-27 2018-01-18 行走机构、具有该行走机构的机器人及自行走割草机 WO2018153186A1 (zh)

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