Mobile robot chassis for synchronous positioning and mapping

Abstract

The invention relates to the technical field of mobile robots, in particular to a mobile robot chassis for synchronous positioning and mapping, which comprises a mobile robot chassis main body, a front end plate and a rear end plate are arranged on the mobile robot chassis main body, and a first positioning frame and a second positioning frame are respectively fixed on the opposite surfaces of the front end plate and the rear end plate; a movable mounting plate is movably clamped on the inner side of the first positioning frame, and limiting rods movably penetrating through the first positioning frame are symmetrically connected between the movable mounting plate and the second positioning frame, so that the first positioning frame and the second positioning frame form a separable structure. According to the mobile robot chassis for synchronous positioning and map building, a main body supporting structure is formed by the separable positioning frame, the size of a vehicle body can be adjusted according to needs so that the gravity center position can be adjusted, the chassis can run more stably, and meanwhile the front-end moving rolling wheels can ascend and descend so that the chassis can adapt to various terrains; stability of the mobile robot chassis is ensured, and toppling is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a mobile robot chassis for synchronous positioning and map construction. Background Art

[0002] Synchronous positioning and mapping refers to the technology that allows a mobile robot to build a map of the environment and use this map to determine its position in the environment when it moves in an unknown environment without relying on external reference information (such as GPS). For example, the synchronous positioning and mapping method and device disclosed in publication number CN107167148A is achieved by loading a preset robot kinematic model and using sensors to scan the environment. Mobile robots that use synchronous positioning and mapping may move in complex environments. In order to ensure the accuracy of sensor data, they need to have a stable chassis structure.

[0003] The existing mobile robot chassis adopts electric drive to achieve automatic control. A wheel-track composite mobile robot chassis disclosed in publication number CN115743329A combines the advantages of wheels and tracks. It can switch the most suitable mobile mode under different terrain conditions and enhance the robot's environmental adaptability. However, in complex terrain, if the mode cannot be switched in time, there is a situation of unstable center of gravity and tipping over, which affects work efficiency. At the same time, when performing extreme operations such as climbing, there is a risk of tipping over due to the instability of the vehicle body caused by bumps. Summary of the invention

[0004] The purpose of the present invention is to provide a mobile robot chassis for simultaneous positioning and map construction, so as to solve the problem raised by the above background technology that the mobile robot chassis on the market currently in complex terrain may be unstable in center of gravity and may tip over if the mode cannot be switched in time, thereby affecting work efficiency. At the same time, when performing extreme operations such as climbing, the vehicle body may be unstable due to bumps and may tip over.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a mobile robot chassis for synchronous positioning and map construction, comprising a mobile robot chassis body, a front end plate and a rear end plate are provided on the mobile robot chassis body, and a first positioning frame and a second positioning frame are fixed to opposite sides of the front end plate and the rear end plate, a movable mounting plate is movably engaged with the inner side of the first positioning frame, and a limiting rod movably penetrating the first positioning frame is symmetrically connected between the movable mounting plate and the second positioning frame, so that the first positioning frame and the second positioning frame constitute a separable structure, the upper ends of the front end plate and the first positioning frame are jointly covered with a first upper fixed plate, and the front end of the front end plate is also symmetrically fixed with a lifting limiting guide rail, the lifting limiting guide rails are jointly movably engaged with a lifting connecting plate, and a front roller lifting mechanism connected to the lifting connecting plate is longitudinally installed on the first upper fixed plate, the lower ends of the first positioning frame and the second positioning frame are respectively connected to a first lower fixed plate and a second lower fixed plate, and movable rollers are symmetrically arranged below the second lower fixed plate and the lifting connecting plate.

[0006] Preferably, a transversely arranged roller driving mechanism is installed at the rotating axis of the movable roller, and a roller steering mechanism is also installed at the upper end of the roller driving mechanism housing.

[0007] Preferably, a connecting plate is fixed to the upper end of the roller steering mechanism by bolts, and roller shock absorbers are respectively installed between the connecting plate and the second lower fixing plate and the lifting connecting plate.

[0008] Preferably, a mounting box is fixed by bolts between the front end plate and the first lower fixing plate, and the bottom of the mounting box is flush with the bottom of the front end plate.

[0009] Preferably, an auxiliary support roller is fixed by bolts at the middle position below the installation box, and the auxiliary support roller is located at the middle position of the front and rear moving rollers.

[0010] Preferably, the first positioning frame and the second positioning frame are both U-shaped structures, and the size of the first positioning frame is larger than that of the second positioning frame.

[0011] Preferably, displacement limiting guide rails are symmetrically welded and fixed on both sides of the first positioning frame, and the displacement limiting guide rails are movably engaged with two ends of the movable mounting plate.

[0012] Preferably, an adjusting hydraulic cylinder is fastened through a surface of the first positioning frame close to the second positioning frame, and an output end of the adjusting hydraulic cylinder is fastened with bolts to the movable mounting plate.

[0013] Preferably, a second upper fixing plate is fixed to the upper end of the second positioning frame by bolts, and a limiting sleeve is welded and fixed to the middle part of the inner side of the second positioning frame.

[0014] Preferably, the position of the limiting sleeve corresponds to that of the adjusting hydraulic cylinder, and the limiting sleeve and the outer shell of the adjusting hydraulic cylinder are fitted through a gap.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the chassis of the mobile robot for synchronous positioning and map building is composed of a detachable positioning frame to form a main support structure, and the body size can be adjusted as needed to adjust the center of gravity position, so that the chassis can travel more steadily, and the front-end moving roller can be raised and lowered to adapt to various terrains, ensuring the stability of the chassis of the mobile robot to prevent tipping. The chassis of the mobile robot for synchronous positioning and map building is provided with an adjustment hydraulic cylinder on the first positioning frame, and the position of the second positioning frame can be automatically adjusted by adjusting the hydraulic cylinder. An installation box is provided at the bottom of the chassis to install pipelines, and auxiliary support rollers are provided at the bottom of the installation box to provide auxiliary support for the chassis while protecting the installation box from below, thereby ensuring the overall stability of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A top view of a mobile robot chassis for synchronous positioning and map building according to the present invention;

[0017] Figure 2 It is a schematic diagram of a separation structure of an adjusting hydraulic cylinder driving a positioning frame of a mobile robot chassis for synchronous positioning and map building according to the present invention;

[0018] Figure 3 A top view of the internal structure of a mobile robot chassis for synchronous positioning and map building according to the present invention;

[0019] Figure 4 A side view of the internal structure of a mobile robot chassis for synchronous positioning and map building according to the present invention;

[0020] Figure 5 This is a schematic diagram of a structure for raising a moving roller at the front end of a mobile robot chassis for synchronous positioning and map building according to the present invention;

[0021] Figure 6 The present invention is a schematic diagram of the connection structure of a lifting connection plate and a lifting limit guide rail of a mobile robot chassis for synchronous positioning and map construction.

[0022] In the figure: 1. chassis body of the mobile robot; 2. first upper fixed plate; 3. mobile roller; 4. front end plate; 5. front roller lifting mechanism; 6. roller driving mechanism; 7. second upper fixed plate; 8. rear end plate; 9. adjusting hydraulic cylinder; 10. limiting rod; 11. first positioning frame; 12. second positioning frame; 13. displacement limiting guide rail; 14. movable mounting plate; 15. limiting sleeve; 16. lifting connecting plate; 17. lifting limiting guide rail; 18. first lower fixed plate; 19. mounting box; 20. auxiliary support roller; 21. second lower fixed plate; 22. roller shock absorber; 23. connecting plate; 24. roller steering mechanism. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-6The present invention provides a technical solution: a mobile robot chassis for synchronous positioning and map construction, including a mobile robot chassis body 1, a front end plate 4 and a rear end plate 8 are provided on the mobile robot chassis body 1, and the front end plate 4 and the rear end plate 8 are respectively fixed with a first positioning frame 11 and a second positioning frame 12 on opposite sides, a movable mounting plate 14 is movably engaged with the inner side of the first positioning frame 11, and displacement limiting guide rails 13 are symmetrically welded and fixed on both sides of the first positioning frame 11, and the displacement limiting guide rails 13 are movably engaged with both ends of the movable mounting plate 14, and this structure can make the movement of the movable mounting plate 14 be stably limited by the displacement limiting guide rails 13, and the movement of the movable mounting plate 14 will drive the limiting rod 10 to move, thereby driving the second positioning frame 12 to move, A limiting rod 10 that movably penetrates the first positioning frame 11 is symmetrically connected between the movable mounting plate 14 and the second positioning frame 12, so that the first positioning frame 11 and the second positioning frame 12 constitute a separable structure. The first positioning frame 11 and the second positioning frame 12 are both U-shaped structures, and the size of the first positioning frame 11 is larger than that of the second positioning frame 12. This structure constitutes the main positioning frame structure of the mobile robot chassis body 1 through the first positioning frame 11. The second positioning frame 12 is displaced and adjusted relative to the first positioning frame 11, which can control the length of the mobile robot chassis body 1 and adjust the center of gravity during the movement of the mobile robot chassis body 1, so that the mobile robot chassis body 1 can move more reliably in harsh terrain. The first positioning frame 11 is close to the second positioning frame 12. An adjusting hydraulic cylinder 9 is fastened through one side of the frame 12, and the output end of the adjusting hydraulic cylinder 9 is bolted to the movable mounting plate 14. This structure can drive the second positioning frame 12 to move by adjusting the hydraulic cylinder 9. The upper end of the second positioning frame 12 is fixed with a second upper fixing plate 7 by bolts, and a limiting sleeve 15 is welded and fixed to the middle of the inner side of the second positioning frame 12. This structure allows the upper and lower ends of the second positioning frame 12 to be protected by the second upper fixing plate 7 and the second lower fixing plate 21, and ensures the structural strength. The first positioning frame 11 is protected from the top and bottom by the first upper fixing plate 2 and the first lower fixing plate 18. The limiting sleeve 15 corresponds to the position of the adjusting hydraulic cylinder 9, and the limiting sleeve 15 is fitted through the clearance of the outer shell of the adjusting hydraulic cylinder 9. This structure enables the second positioning frame 12 to adjust the hydraulic cylinder 9 structure relatively stably through the limiting sleeve 15. The upper ends of the front end plate 4 and the first positioning frame 11 are jointly covered with a first upper fixing plate 2, and the front end of the front end plate 4 is also symmetrically fixed with a lifting limit guide rail 17, and the lifting limit guide rails 17 are jointly movably connected with a lifting connecting plate 16, and a front roller lifting mechanism 5 connected to the lifting connecting plate 16 is longitudinally installed on the first upper fixing plate 2. The lower ends of the first positioning frame 11 and the second positioning frame 12 are respectively connected to the first lower fixing plate 18 and the second lower fixing plate 21. After the front end plate 4 and the first lower fixing plate 18 are engaged, an installation box 19 is fixed with bolts, and the bottom of the installation box 19 is flush with the bottom of the front end plate 4. This structure allows the control pipeline to be installed in the installation box 19.In order to protect the pipeline, an auxiliary support roller 20 is fixed by bolts in the middle position below the installation box 19, and the auxiliary support roller 20 is located in the middle position of the front and rear moving rollers 3. This structure can use the auxiliary support roller 20 to protect the bottom of the installation box 19, and when the front moving roller 3 is raised and lowered, the auxiliary support roller 20 and the rear moving roller 3 can form a stable supporting structure to ensure the reliability of the mobile robot chassis body 1, and the moving rollers 3 are symmetrically arranged below the second lower fixed plate 21 and the lifting connecting plate 16, and a horizontally arranged roller driving mechanism 6 is installed at the rotating axis of the moving roller 3, and a roller steering mechanism 24 is also installed on the upper end of the outer shell of the roller driving mechanism 6. The roller steering mechanism 24 and the roller driving mechanism 6 are both existing motor structures. The roller driving mechanism 6 can drive the mobile roller 3 to rotate to realize the movement of the mobile robot chassis body 1. The roller steering mechanism 24 can horizontally rotate the roller driving mechanism 6 to realize the steering of the mobile roller 3. Each mobile roller 3 can be independently controlled to adapt to various environments. The upper end of the roller steering mechanism 24 is fixed with a connecting plate 23 by bolts, and roller shock absorbers 22 are respectively installed between the connecting plate 23 and the second lower fixed plate 21 and the lifting connecting plate 16. The roller shock absorber 22 of this structure is an existing suspension structure, which is used for the shock absorption and positioning of the mobile roller 3 to ensure the stability of the movement of the mobile robot chassis body 1.

[0025] Working principle: when using the mobile robot chassis for synchronous positioning and map construction, first, the mobile robot chassis body 1 is formed into a detachable structure through the first positioning frame 11 and the second positioning frame 12. When moving on complex terrain, the mobile robot chassis body 1 can be extended, so that the adjusting hydraulic cylinder 9 drives the movable mounting plate 14 to move under the positioning of the first positioning frame 11, and the movable mounting plate 14 drives the limiting rod 10 to move, so as to realize the separation of the second positioning frame 12 relative to the first positioning frame 11, and the displacement limiting guide rail 13 plays a role of active limiting on the movable mounting plate 14, and the limiting sleeve 15 is used for adjusting the movable positioning of the hydraulic cylinder 9 and the second positioning frame 12. The front end plate 4, the first upper fixing plate 2 and the first lower fixing plate 18 make the first positioning frame 11 structure stable, and the rear end plate 8, the second upper fixing plate 7 and the second lower fixing plate 21 make the second positioning frame 12 structure stable, thereby ensuring the overall stability of the mobile robot chassis body 1. When moving on a slope or other extreme, the front roller lifting mechanism 5 drives the lifting connecting plate 16 to lift and adjust, and adjusts the height position of the front moving roller 3, so that the front and rear moving rollers 3 form a height difference, so as to better control the stability of the mobile robot chassis body 1, and avoid problems such as tipping caused by untimely adjustment mode. The lifting limit guide rail 17 plays a lifting limit role for the lifting connecting plate 16. The installation box 19 is used to fix the pipeline, and the bottom protection treatment of the installation box 19 is performed by the auxiliary support roller 20. When the mobile roller 3 moves, it is rolled by the roller driving mechanism 6, and the roller steering mechanism 24 drives the roller driving mechanism 6 to rotate, so as to realize the steering treatment of the mobile roller 3. The mobile roller 3 is fixed to the roller shock absorber 22 through the connecting plate 23, so that the mobile roller 3 has shock-absorbing protection during the movement process, thereby ensuring the seismic resistance of the mobile robot chassis body 1, and meeting the work of synchronous positioning and map construction under various terrains, thereby completing a series of tasks.

[0026] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile robot chassis for simultaneous positioning and map building, comprising a mobile robot chassis body (1), characterized in that: The mobile robot chassis body (1) is provided with a front end plate (4) and a rear end plate (8), and a first positioning frame (11) and a second positioning frame (12) are fixed to opposite sides of the front end plate (4) and the rear end plate (8), respectively, a movable mounting plate (14) is movably engaged with the inner side of the first positioning frame (11), and a limiting rod (10) movably penetrating the first positioning frame (11) is symmetrically connected between the movable mounting plate (14) and the second positioning frame (12), so that the first positioning frame (11) and the second positioning frame (12) form a separable structure, and the upper ends of the front end plate (4) and the first positioning frame (11) are A first upper fixed plate (2) is fixedly mounted on the cover, and a lifting limit guide rail (17) is symmetrically fixed to the front end of the front end plate (4), a lifting connection plate (16) is movably clamped between the lifting limit guide rails (17), and a front roller lifting mechanism (5) connected to the lifting connection plate (16) is longitudinally mounted on the first upper fixed plate (2), the lower ends of the first positioning frame (11) and the second positioning frame (12) are respectively connected to a first lower fixed plate (18) and a second lower fixed plate (21), and movable rollers (3) are symmetrically arranged below the second lower fixed plate (21) and the lifting connection plate (16).

2. A mobile robot chassis for simultaneous positioning and map building according to claim 1, characterized in that: A roller driving mechanism (6) arranged transversely is installed at the rotating axis of the movable roller (3), and a roller steering mechanism (24) is also installed at the upper end of the outer shell of the roller driving mechanism (6).

3. A mobile robot chassis for simultaneous positioning and map building according to claim 2, characterized in that: A connecting plate (23) is fixed to the upper end of the roller steering mechanism (24) by bolts, and roller shock absorbers (22) are respectively installed between the connecting plate (23) and the second lower fixing plate (21) and the lifting connecting plate (16).

4. The mobile robot chassis for simultaneous positioning and map building according to claim 1, characterized in that: A mounting box (19) is bolted between the front end plate (4) and the first lower fixing plate (18), and the bottom of the mounting box (19) is flush with the bottom of the front end plate (4).

5. A mobile robot chassis for simultaneous positioning and map building according to claim 4, characterized in that: An auxiliary support roller (20) is fixed by bolts at a middle position below the installation box (19), and the auxiliary support roller (20) is located at a middle position between the front and rear moving rollers (3).

6. The mobile robot chassis for simultaneous positioning and map building according to claim 1, characterized in that: The first positioning frame (11) and the second positioning frame (12) are both U-shaped structures, and the size of the first positioning frame (11) is larger than the size of the second positioning frame (12).

7. A mobile robot chassis for simultaneous positioning and map building according to claim 6, characterized in that: Displacement limiting guide rails (13) are symmetrically welded and fixed on both sides of the first positioning frame (11), and the displacement limiting guide rails (13) are movably engaged with the movable mounting plate (14) at both ends.

8. The mobile robot chassis for simultaneous positioning and map building according to claim 7, characterized in that: An adjusting hydraulic cylinder (9) is fastened through a surface of the first positioning frame (11) close to the second positioning frame (12), and the output end of the adjusting hydraulic cylinder (9) is fastened to the movable mounting plate (14) by bolts.

9. A mobile robot chassis for simultaneous positioning and map building according to claim 8, characterized in that: A second upper fixing plate (7) is fixed to the upper end of the second positioning frame (12) by means of bolts, and a limiting sleeve (15) is welded and fixed to the middle of the inner side of the second positioning frame (12) and is arranged to penetrate through it.

10. A mobile robot chassis for simultaneous positioning and map building according to claim 9, characterized in that: The position of the limiting sleeve (15) corresponds to that of the regulating hydraulic cylinder (9), and the limiting sleeve (15) and the outer shell of the regulating hydraulic cylinder (9) are interpenetratingly matched.

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