A self-balancing chassis capable of climbing stairs for a disinfection robot

Abstract

The present invention provides a self-balancing chassis capable of climbing stairs for a disinfection robot, which belongs to the field of robot equipment technology and is used to solve the technical problem that it is inconvenient for the existing robot chassis to climb stairs and difficult to maintain balance. It includes a lower shell, in which a controller, a power supply and a gas storage tank are fixed, shock-absorbing driving wheel legs are arranged on both sides of the lower shell, a counterweight mounting seat is arranged between the two shock-absorbing driving wheel legs, a front T-shaped frame and a rear T-shaped frame are fixed at the bottom of the lower shell, a crawling motor and a cylinder are arranged on the front T-shaped frame and the rear T-shaped frame, a tripod is fixed on the output shaft of the crawling motor, a swivel is rotatably arranged at the end of the tripod, and a universal wheel is fixed on the swivel; the present invention can keep the counterweight mounting seat balanced and prevent tipping when climbing stairs or the robot is hit and tilted by the cooperation of the shock-absorbing driving wheel legs and the crawling support mechanism, so that the device can move normally and climb stairs.

Description

Technical Field

[0001] The invention belongs to the technical field of robot equipment, in particular to a self-balancing chassis capable of climbing steps for a disinfection robot. Background Art

[0002] Disinfection and epidemic prevention robots are referred to as disinfection robots. The robot is a carrier, and a disinfection system is installed inside the robot to generate disinfection gas. The robot's pneumatic system is used to quickly diffuse the disinfection gas in the indoor space, increasing the coverage and uniformity of the disinfection. It can effectively and without dead ends kill pathogenic microorganisms in the air. Disinfection robots are generally used for disinfection on the same floor, and often need to climb stairs between different areas. The existing robot chassis is inconvenient to climb stairs, and because disinfection robots are generally taller (higher height can store more disinfectant and can reduce the lateral volume, making it easier to pass through narrow passages), the center of gravity is unstable when climbing the stairs, making it difficult to balance and easy to tip over.

[0003] After searching, it is found that a judicial robot autonomous navigation chassis is disclosed in Chinese patent documents [Application number: CN201920517880.8; Publication number: CN209737653U]. This judicial robot autonomous navigation chassis includes a chassis body and a control module. The outer side of the chassis body is fixedly connected with an anti-collision edge, and the side of the chassis body is evenly provided with eight groups of distance sensors. Wheels are fixed on both sides of the lower surface of the chassis body. Eight groups of step detectors are evenly provided around the lower surface of the chassis body. The control module is electrically connected to a signal processing module, and the signal processing module is electrically connected to the distance sensor and the step detector. Although the device enables the robot to detect different environments, it cannot climb stairs and it is difficult to maintain balance. Summary of the invention

[0004] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to propose a self-balancing chassis for a disinfection robot that can climb stairs. The technical problem to be solved by the device is: how to enable the robot chassis to climb stairs and keep the center of gravity stable and balanced to prevent tipping over when the chassis tilts.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A self-balancing chassis capable of climbing steps for a disinfection robot comprises a lower shell, in which a controller, a power supply and a gas tank are fixed, the controller and the power supply are electrically connected, shock-absorbing driving wheel legs are arranged on both sides of the lower shell, a counterweight mounting seat is arranged between the two shock-absorbing driving wheel legs, a front T-shaped frame and a rear T-shaped frame are respectively fixed to the front and rear ends of the bottom of the lower shell, a crawling motor is fixed on the front T-shaped frame and the rear T-shaped frame, a crawling support mechanism is arranged on the output shaft of the crawling motor, the crawling support mechanism comprises a tripod, the tripod is fixed on the output shaft of the crawling motor, a swivel is rotatably arranged at the end of the tripod, a universal wheel is fixed on the swivel, a cylinder is hinged at the upper end of the front T-shaped frame and the rear T-shaped frame, and the ends of the cylinder output shaft are rotatably arranged at the front and rear ends of the counterweight mounting seat.

[0007] The working principle of the present invention is: the power supply and the gas tank provide electricity and gas pressure to the electrical appliances and the cylinder respectively, the controller can control each electrical appliance, the shock-absorbing driving wheel legs can play a shock-absorbing and buffering role for the bumps during the travel, and the shock-absorbing driving wheel legs cooperate with the cylinder to keep the counterweight mounting seat balanced when climbing steps, the front T-shaped frame and the rear T-shaped frame play a fixing role, the output shaft of the crawling motor drives the tripod to rotate so that the device can climb the steps, and the universal wheel can cooperate with the shock-absorbing driving wheel legs on both sides to move forward, backward, differentially steer or rotate in situ.

[0008] The front and rear ends of the lower shell are arc-shaped, the left and right sides of the lower shell are rectangular surfaces, a charging interface is provided at the rear end of the lower shell, symmetrical limiting grooves are provided on both sides of the bottom of the lower shell, and the air filling port of the gas tank runs through the side wall of the lower shell.

[0009] With the above structure, the front and rear ends of the lower shell are arc-shaped, which can effectively buffer and disperse the direction of the impact force when it is hit during travel. The left and right sides of the lower shell are rectangular surfaces, which can make the structure more compact, and the device can be charged through the charging interface.

[0010] The shock-absorbing driving wheel leg includes a side leg, which is fixed to the side wall of the lower shell body, a support leg is slidably arranged on the side leg, a support leg spring is sleeved on the support leg, two ends of the support leg spring are respectively fixedly connected to the side leg and the support leg, a wheel axle is fixed to the bottom end of the support leg, a hub motor wheel is arranged at one end of the wheel axle, a support rod is rotatably arranged at the other end of the wheel axle, a Y-shaped rod is slidably arranged in the support rod, a Y-shaped rod spring is arranged in the support rod, and two ends of the Y-shaped rod spring are respectively fixedly connected to the support rod and the Y-shaped rod.

[0011] With the above structure, the hub motor wheel adopts a hub motor to reduce the volume and make the structure more compact. A leg spring is arranged between the side leg and the leg to play a shock absorbing and buffering role. The support rod is rotatably arranged on the wheel axle, and the Y-shaped rod is slidably arranged on the support rod, which can effectively support the counterweight mounting seat. The Y-shaped rod spring plays a shock absorbing and buffering role, and the lower shell and the counterweight mounting seat are respectively damped, and the buffering effect is better.

[0012] The support rod is located in the limiting groove, the angle between the two ends of the upper part of the Y-shaped rod is sixty degrees, and the two ends of the upper part of the Y-shaped rod are fixed on the side of the counterweight mounting seat, and a horizontal sensor is arranged on the counterweight mounting seat.

[0013] With the above structure, the limit groove plays a limiting and guiding role on the support rod, and the counterweight mounting seat can be supported by the Y-shaped rod. The sixty-degree angle can make the force direction of the Y-shaped rod downward along the bottom end of the Y-shaped rod.

[0014] The gas storage tank and the cylinder are connected through an air pipeline, a three-way solenoid valve is arranged on the air pipeline, and the level sensor, the three-way solenoid valve, the creeping motor and the hub motor wheel are electrically connected to the controller and the power supply respectively.

[0015] With the above structure, the counterweight mounting seat can be kept balanced by controlling the air inlet and outlet of the cylinder. The three-way solenoid valve is used for control, which is more precise and more responsive.

[0016] The three supporting legs of the tripod are evenly distributed around the circumference, and the angle between any two supporting legs is 120°. Both tripods are located right in the middle of the two shock-absorbing driving wheel legs.

[0017] With the above structure, the tripod is an equilateral triangle structure, and the neutral plane of the tripod is coplanar with the neutral plane of the lower shell, which can make the force distribution of the tripod more uniform and play a good supporting role.

[0018] Compared with the prior art, the self-balancing chassis of the disinfection robot capable of climbing stairs has the following advantages:

[0019] 1. The shock-absorbing driving wheel legs cooperate with the cylinder to keep the counterweight mounting seat balanced and prevent it from tipping over when climbing steps or when the robot is hit and tilted. The shock-absorbing driving wheel legs cooperate with the crawling support mechanism to enable the device to move normally and climb steps.

[0020] 2. The front and rear ends of the lower shell are arc-shaped, which can effectively buffer and disperse the direction of the impact force when it is hit during travel. The left and right sides of the lower shell are rectangular surfaces. The hub motor wheel adopts a hub motor to reduce the volume and make the structure more compact;

[0021] 3. The outrigger spring and the Y-shaped rod spring act as shock absorbers, which respectively reduce the shock of the lower shell and the counterweight mounting seat, and the buffering effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the axonometric structure of the present invention;

[0023] Figure 2 It is a partial structural schematic diagram of the present invention;

[0024] Figure 3 It is a front view structural schematic diagram of the present invention;

[0025] Figure 4 It is a side structural schematic diagram of the present invention;

[0026] Figure 5 It is a schematic diagram of the top view of the structure of the present invention;

[0027] In the figure: 1-lower shell, 1a-limiting groove, 1b-charging interface, 2-side legs, 3-support legs, 4-support leg springs, 5-support rods, 6-Y-shaped rods, 7-Y-shaped rod springs, 8-hub motor wheels, 9-controller, 10-power supply, 11-air tank, 12-counterweight mounting seat, 13-tripod, 14-universal wheel, 15-swivel, 16-front T-shaped frame, 17-rear T-shaped frame, 18-crawling motor, 19-cylinder, 20-axle. DETAILED DESCRIPTION

[0028] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0029] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] In the description of this patent, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent.

[0031] In the description of this patent, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0032] See also Figure 1-5The present embodiment provides a self-balancing chassis for a disinfection robot that can climb steps, including a lower shell 1, in which a controller 9, a power supply 10 and a gas tank 11 are fixed. In the present embodiment, the above-mentioned fixing method adopts bolt connection, and the controller 9 and the power supply 10 are electrically connected. Shock-absorbing driving wheel legs are arranged on both sides of the lower shell 1, and a counterweight mounting seat 12 is arranged between the two shock-absorbing driving wheel legs. A front T-shaped frame 16 and a rear T-shaped frame 17 are respectively fixed to the front and rear ends of the bottom of the lower shell 1. In the present embodiment, the above-mentioned fixing method adopts bolt connection, and a crawling motor 18 is fixed on the front T-shaped frame 16 and the rear T-shaped frame 17. In the present embodiment, the above-mentioned fixing method adopts bolt connection, and a crawling support mechanism is arranged on the output shaft of the crawling motor 18. The crawling support mechanism includes a tripod 13, and the tripod 13 is fixed on the output shaft of the crawling motor 18. In the present embodiment In the embodiment, the above-mentioned fixing method adopts a key connection, and the ends of the tripod 13 are rotatably provided with a swivel 15, and the swivel 15 is fixed with a universal wheel 14. The upper ends of the front T-shaped frame 16 and the rear T-shaped frame 17 are hinged with a cylinder 19, and the ends of the output shaft of the cylinder 19 are rotatably provided at the front and rear ends of the counterweight mounting seat 12; the power supply 10 and the gas tank 11 provide electricity and gas pressure to the electrical appliances and the cylinder 19 respectively, and the controller 9 can control each electrical appliance. The shock-absorbing driving wheel leg can play a shock-absorbing and buffering role for the bumps during the travel process, and the shock-absorbing driving wheel leg cooperates with the cylinder 19 to keep the counterweight mounting seat 12 balanced when climbing the steps. The front T-shaped frame 16 and the rear T-shaped frame 17 play a fixing role. The output shaft of the crawling motor 18 drives the tripod 13 to rotate so that the device can climb the steps, and the shock-absorbing driving wheel legs on both sides can be cooperated with the universal wheel 14 to move forward, backward, differentially turn or rotate in situ.

[0033] The front and rear ends of the lower shell 1 are arc-shaped, the left and right sides of the lower shell 1 are rectangular surfaces, a charging interface 1b is provided at the rear end of the lower shell 1, symmetrical limit grooves 1a are provided on both sides of the bottom of the lower shell 1, and the inflation port of the gas tank 11 passes through the side wall of the lower shell 1; the front and rear ends of the lower shell 1 are arc-shaped, which can effectively buffer and disperse the direction of the impact force when it is hit during the movement. The left and right sides of the lower shell 1 are rectangular surfaces, which can make the structure more compact, and the device can be charged through the charging interface 1b.

[0034] The shock-absorbing driving wheel leg includes a side leg 2, which is fixed to the side wall of the lower shell 1. In this embodiment, the above-mentioned fixing method adopts bolt connection, and a leg 3 is slidably arranged on the side leg 2, and a leg spring 4 is sleeved on the leg 3. The two ends of the leg spring 4 are respectively fixedly connected to the side leg 2 and the leg 3, and a wheel axle 20 is fixed to the bottom end of the leg 3, and a hub motor wheel 8 is arranged at one end of the wheel axle 20, and a support rod 5 is rotatably arranged at the other end of the wheel axle 20, and a Y-shaped rod 6 is slidably arranged in the support rod 5, and a Y-shaped rod spring 7, both ends of the Y-shaped rod spring 7 are fixedly connected to the support rod 5 and the Y-shaped rod 6 respectively; the hub motor wheel 8 adopts a hub motor to reduce the volume and make the structure more compact. A support leg spring 4 is arranged between the side leg 2 and the support leg 3, which can play a shock-absorbing and buffering role. The support rod 5 is rotatably arranged on the wheel axle 20, and the Y-shaped rod 6 is slidably arranged on the support rod 5, which can effectively support the counterweight mounting seat 12. The Y-shaped rod spring 7 plays a shock-absorbing and buffering role, and shocks the lower shell 1 and the counterweight mounting seat 12 respectively, and the buffering effect is better.

[0035] The support rod 5 is located in the limiting groove 1a, and the angle between the two ends of the upper part of the Y-shaped rod 6 is sixty degrees. The two ends of the upper part of the Y-shaped rod 6 are fixed on the side of the counterweight mounting seat 12, and a horizontal sensor is arranged on the counterweight mounting seat 12; the limiting groove 1a plays a limiting and guiding role for the support rod 5, and the counterweight mounting seat 12 can be supported by the Y-shaped rod 6. The sixty-degree angle can make the force direction of the Y-shaped rod 6 downward along the bottom end of the Y-shaped rod 6.

[0036] The air storage tank 11 and the air cylinder 19 are connected by an air pipeline, and a three-way solenoid valve is provided on the air pipeline. The level sensor, the three-way solenoid valve, the creeping motor 18 and the hub motor wheel 8 are electrically connected to the controller 9 and the power supply 10 respectively. In this embodiment, the electrical components are all existing technology products and can be directly purchased and used on the market; by controlling the air intake and outlet of the air cylinder 19, the counterweight mounting seat 12 can be kept balanced, and the three-way solenoid valve control is adopted, which is more precise and more responsive.

[0037] The three supporting legs of the tripod 13 are evenly distributed around the circumference, and the angle between any two supporting legs is 120°. The two tripods 13 are located right in the middle of the two shock-absorbing driving wheel legs. The tripod 13 is an equilateral triangle structure, and the neutral plane of the tripod 13 is coplanar with the neutral plane of the lower shell 1, which can make the force distribution of the tripod 13 more uniform and play a good supporting role.

[0038] Working principle of the present invention:

[0039] When using the device, the upper body of the robot is mounted on the counterweight mounting seat 12 .

[0040] During normal travel, the controller controls the rotation of the hub motor wheels 8 on both sides of the lower shell 1 to achieve forward, backward, differential steering or in-situ rotation, and the universal wheel 14 plays a supporting role; when moving forward or backward, the speed and rotation direction of the two hub motor wheels 8 are the same; when turning, the speed of the hub motor wheel 8 on the inside of the turn is less than the speed of the hub motor wheel 8 on the outside of the turn, thereby achieving differential steering; when rotating in-situ, the two hub motor wheels 8 have the same speed and opposite rotation directions.

[0041] When the tripod 13 touches the step while moving forward, the two wheel hub motor wheels 8 rotate at a constant speed, and the output shaft of the creeping motor 18 located in the front drives the tripod 13 to rotate. The tripod 13 is an equilateral triangle structure, and the three wheel legs cross the steps in turn. At this time, the horizontal sensor senses feedback to the controller 9, thereby controlling the movement of the cylinder 19 through the three-way solenoid valve to keep the counterweight mounting seat 12 balanced, and through the Y-shaped rod 6, the center of gravity of the counterweight mounting seat 12 is aligned with the axis of the support rod 5, thereby supporting the counterweight mounting seat 12 to prevent tipping and continue moving forward. When the wheel hub motor wheel 8 touches the step, the output shaft of the creeping motor 18 drives the tripod 13 to rotate, lifting the device, and the wheel hub motor wheel 8 keeps rotating at a constant speed, thereby crossing the step.

[0042] The front and rear ends of the lower shell 1 are arc-shaped, which can effectively buffer the impact during the movement and disperse the direction of the impact force. The left and right sides of the lower shell 1 are rectangular surfaces. The hub motor wheel 8 adopts a hub motor to reduce the volume and make the structure more compact. The leg spring 4 and the Y-shaped rod spring 7 play a shock-absorbing and buffering role, which respectively reduce the shock of the lower shell 1 and the counterweight mounting seat 12, and the buffering effect is better.

[0043] This device can be used not only as a disinfection robot chassis, but also as other robot chassis.

[0044] In summary, by cooperating with the shock-absorbing driving wheel legs and the cylinder 19, the counterweight mounting seat 12 can maintain balance and prevent tipping when climbing steps or the robot is hit and tilted. By cooperating with the shock-absorbing driving wheel legs and the crawling support mechanism, the device can move normally and climb steps. The front and rear ends of the lower shell 1 are arc-shaped, which can effectively buffer and disperse the direction of the impact force when it is hit during the movement. The left and right sides of the lower shell 1 are rectangular surfaces. The hub motor wheel 8 adopts a hub motor to reduce the volume and make the structure more compact. The support leg spring 4 and the Y-shaped rod spring 7 play a shock-absorbing and buffering role, which respectively dampens the lower shell 1 and the counterweight mounting seat 12, and the buffering effect is better.

[0045] The above describes in detail the preferred implementation of this patent, but this patent is not limited to the above implementation. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of this patent.

Claims

1. A self-balancing chassis capable of climbing stairs for a disinfection robot, comprising a lower housing (1), characterized in that: A controller (9), a power source (10) and an air storage tank (11) are fixed inside the lower shell (1), and the controller (9) and the power source (10) are electrically connected. Shock-absorbing driving wheel legs are provided on both sides of the lower shell (1), and a counterweight mounting seat (12) is provided between the two shock-absorbing driving wheel legs. A front T-shaped frame (16) and a rear T-shaped frame (17) are respectively fixed at the front and rear ends of the bottom of the lower shell (1), and a creeping motor (18) is fixed on the front T-shaped frame (16) and the rear T-shaped frame (17). The output shaft of the crawling motor (18) is provided with a crawling support mechanism, which includes a tripod (13), the tripod (13) is fixed on the output shaft of the crawling motor (18), the end of the tripod (13) is rotatably provided with a swivel (15), the swivel (15) is fixed with a universal wheel (14), the upper ends of the front T-shaped frame (16) and the rear T-shaped frame (17) are hinged with a cylinder (19), and the ends of the output shaft of the cylinder (19) are rotatably provided at the front and rear ends of the counterweight mounting seat (12); The damping drive wheel leg comprises a side leg (2), the side leg (2) being fixed to the side wall of the lower shell (1), a support leg (3) being slidably arranged on the side leg (2), a support leg spring (4) being sleeved on the support leg (3), two ends of the support leg spring (4) being respectively fixedly connected to the side leg (2) and the support leg (3), a wheel axle (20) being fixed to the bottom end of the support leg (3), a wheel hub motor wheel (8) being arranged at one end of the wheel axle (20), a support rod (5) being rotatably arranged at the other end of the wheel axle (20), a Y-shaped rod (6) being slidably arranged inside the support rod (5), a Y-shaped rod spring (7) being arranged inside the support rod (5), two ends of the Y-shaped rod spring (7) being respectively fixedly connected to the support rod (5) and the Y-shaped rod (6); The three supporting legs of the tripod (13) are evenly distributed around the circumference, and the angle between any two supporting legs is 120°, and the two tripods (13) are located in the middle of the two shock-absorbing driving wheel legs; The counterweight mounting seat (12) is provided with a level sensor, the air storage tank (11) and the air cylinder (19) are connected via an air pipeline, a three-way solenoid valve is provided on the air pipeline, and the level sensor, the three-way solenoid valve, the creeping motor (18) and the hub motor wheel (8) are electrically connected to the controller (9) and the power supply (10) respectively; When the device is used, the upper body of the robot is mounted on a counterweight mounting seat (12); during normal travel, the hub motor wheels (8) on both sides of the lower housing (1) are controlled by a controller to rotate to achieve forward, backward, differential steering or in-situ rotation, and the universal wheel (14) plays a supporting role; when moving forward or backward, the rotation speed and rotation direction of the two hub motor wheels (8) are the same; when turning, the rotation speed of the hub motor wheel (8) on the inner side of the turn is less than the rotation speed of the hub motor wheel (8) on the outer side of the turn, thereby achieving differential steering; when rotating in-situ, the two hub motor wheels (8) have the same rotation speed and opposite rotation directions; when the tripod (13) contacts a step during forward travel, the two hub motor wheels (8) rotate at a uniform speed, and the output of the crawling motor (18) located in the front is output. The output shaft drives the tripod (13) to rotate. The tripod (13) is an equilateral triangle structure. The three supporting legs of the tripod (13) sequentially cross the steps. At this time, the horizontal sensor senses and feeds back to the controller (9), thereby controlling the movement of the cylinder (19) through the three-way solenoid valve, so that the counterweight mounting seat (12) is kept balanced, and the center of gravity of the counterweight mounting seat (12) and the axis of the supporting rod (5) are made to be in a straight line through the Y-shaped rod (6), thereby supporting the counterweight mounting seat (12) to prevent tipping and continue to move forward. When the hub motor wheel (8) contacts the step, the output shaft of the crawling motor (18) drives the tripod (13) to rotate, lifts the device, and the hub motor wheel (8) keeps rotating at a constant speed, thereby crossing the step.

2. A self-balancing chassis capable of climbing stairs for a disinfection robot according to claim 1, characterized in that: The front and rear ends of the lower shell (1) are arc-shaped, the left and right sides of the lower shell (1) are rectangular surfaces, a charging interface (1b) is provided at the rear end of the lower shell (1), symmetrical limiting grooves (1a) are provided on both sides of the bottom of the lower shell (1), and an air inlet of the gas storage tank (11) passes through the side wall of the lower shell (1).

3. A self-balancing chassis capable of climbing stairs for a disinfection robot according to claim 2, characterized in that: The support rod (5) is located in the limiting groove (1a), the angle between the two ends of the upper part of the Y-shaped rod (6) is sixty degrees, and the two ends of the upper part of the Y-shaped rod (6) are fixed to the side of the counterweight mounting seat (12).

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