Outdoor mobile chassis for mobile robot

Abstract

The invention relates to the technical field of robots, and discloses an outdoor mobile chassis for a mobile robot, which comprises a chassis assembly, spherical joints are arranged on the chassis assembly in an array manner, damping assemblies are arranged in the spherical joints, supporting assemblies are arranged on the damping assemblies, and adjusting assemblies are arranged on the bottom surface of the chassis assembly. An advancing assembly located below the chassis assembly is arranged on the outer side of the damping assembly, anti-collision assemblies are arranged at the two ends of the chassis assembly, and a control module is arranged on the chassis assembly; according to the robot, the damping assembly is arranged, and damping is conducted in the process that the chassis assembly drives the robot to move; and meanwhile, in the advancing process of the chassis assembly, it can be detected that the current external environment has strong wind weather and the direction of the wind direction relative to the chassis assembly, so that the stress condition of the chassis assembly is adjusted through the adjusting assembly, and inclination of the robot on the chassis assembly due to the influence of wind force is resisted.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an outdoor mobile chassis for a mobile robot. Background Art

[0002] The robot's outdoor mobile chassis is the basis of the robot system. Due to the complex outdoor environment, the chassis needs to have off-road capabilities and adapt to different terrains, such as grass, gravel roads, slopes, etc. In terms of the power system, it may require a larger motor power and battery capacity, and a strong endurance to ensure that the chassis can drive the robot to move stably.

[0003] However, when the existing robot chassis structure is used outdoors in windy weather, the robot needs to turn at any time according to the route when transporting materials, and the robot's travel direction is not fixed. Conversely, the wind direction is always changing. Therefore, the robot will tilt in different directions due to the wind direction, resulting in uneven pressure on the chassis structure, thereby affecting stability.

[0004] In addition, due to the height between the chassis structure and the ground, when the robot moves onto the chassis structure, it cannot automatically move to the chassis structure. The staff needs to lift it up and place it on the chassis structure. It is laborious to move it into place, and it is difficult to quickly adjust the chassis to a balanced and stable state. In the process of the chassis structure carrying the robot to transport materials, the staff will randomly take materials, resulting in uneven distribution of materials in the shipping box, and then causing uneven force on the chassis structure, thus affecting the stability during the movement. When the chassis structure needs to stop and temporarily stay in place, since the stopping location is relatively random and the ground may not be flat, the chassis structure is prone to tilt, thus affecting the stability of the robot when it stops.

[0005] Therefore, it is necessary to solve the above problems by an outdoor mobile chassis for a mobile robot. Summary of the invention

[0006] The object of the present invention is to provide an outdoor mobile chassis for a mobile robot to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: an outdoor mobile chassis for a mobile robot, comprising a chassis assembly, a spherical joint array is arranged on the chassis assembly, a shock absorbing assembly is arranged inside the spherical joint, a supporting assembly is arranged on the shock absorbing assembly, an adjustment assembly is arranged on the bottom surface of the chassis assembly, a traveling assembly located below the chassis assembly is arranged on the outer side of the shock absorbing assembly, anti-collision assemblies are arranged at both ends of the chassis assembly, and a control module is arranged on the chassis assembly; The shock absorbing assembly comprises a lifting cylinder fixedly arranged in a spherical joint, a shock absorbing spring is fixedly connected to the bottom end of the lifting cylinder, and a protective cylinder is sleeved on the bottom of the lifting cylinder; The adjustment component comprises an electromagnet, a permanent magnet and a mounting box. The mounting box is fixedly mounted on the bottom surface of the chassis component. The electromagnets are evenly arranged in the mounting box.

[0008] Preferably, the shock absorbing spring is arranged inside the protective tube, the bottom end of the shock absorbing spring is fixedly connected to the inner bottom end of the protective tube, the top end of the lifting tube is provided with a connecting through hole, and the bottom of the lifting tube is slidably arranged on the inner side of the protective tube.

[0009] Preferably, a battery is arranged at the center of the installation box, accommodating cavities are evenly opened on the side elevation of the installation box, the electromagnet is fixedly arranged in the accommodating cavity, and an inclined track located above the accommodating cavity is arranged on the side elevation of the installation box.

[0010] Preferably, the permanent magnet is slidably arranged on an inclined track, a slide groove is arranged on the inclined track, a slider is arranged on the top of the permanent magnet, the slider is clamped in the slide groove, and slides along the slide groove.

[0011] Preferably, a support frame is sleeved on the outer side of one end of the inclined track away from the installation box, and the support frame is fixedly arranged on the chassis assembly. The inclined track and the chassis assembly do not contact each other, and the height of the connection end of the inclined track and the installation box is lower than the height of the other end of the inclined track.

[0012] Preferably, the support assembly includes a hydraulic cylinder, a support column is fixedly connected to the output shaft of the hydraulic cylinder, a support seat is fixedly provided at one end of the support column away from the hydraulic cylinder, a mounting plate is provided at the end of the hydraulic cylinder, mounting tubes are evenly provided on the mounting plate, and bolts are provided in the mounting tubes.

[0013] Preferably, the mounting plate is mounted on the top of the lifting cylinder by bolts, and the outer diameter of the supporting column is smaller than the inner diameter of the lifting cylinder.

[0014] Preferably, the traveling assembly includes a wheel axle, traveling wheels are fixedly mounted at both ends of the wheel axle, a mounting block is provided on the wheel axle and is located between the two traveling wheels, the mounting block is fixedly arranged on the outside of the protective tube, and a power mechanism for driving the wheel axle to rotate and a steering mechanism for driving the traveling wheels to turn are installed on the bottom surface of the chassis assembly.

[0015] Preferably, the chassis assembly includes an intermediate plate, extension plates are inserted at both ends of the intermediate plate, one end of the extension plate inserted into the interior of the intermediate plate is fixedly connected to an extension spring, a receiving through hole is provided on the extension plate, and the spherical joint is provided in the receiving through hole.

[0016] Preferably, the anti-collision component comprises a fixing bar fixedly arranged at the end of the extension plate, a rotating shaft is rotatably arranged in the fixing bar, an anti-collision plate is fixedly arranged on the rotating shaft, and a rotating motor is fixedly connected to either end of the rotating shaft.

[0017] Technical effects and advantages of the present invention: 1. In the present invention, by setting a shock-absorbing component, shock absorption is performed in the process of the chassis component driving the robot to move; at the same time, in the process of the chassis component moving, it can detect strong winds in the current external environment and the direction of the wind relative to the chassis component, so as to adjust the force of the chassis component by adjusting the component to resist the tilt of the robot on the chassis component due to the influence of wind force, avoid the robot from tipping over due to strong wind force, and ensure the stability of the moving process.

[0018] 2. In the present invention, by setting a shock-absorbing spring, a lifting cylinder and a ball joint, the shock-absorbing spring reduces shock to the chassis assembly and the robot through the lifting cylinder and the ball joint; during the movement of the chassis assembly, the control module determines the current wind direction and the tilt direction of the chassis assembly through the change in the deformation of the shock-absorbing spring, and then applies pressure to the windward side of the chassis assembly through the control adjustment assembly to correct the tilt of the chassis assembly and avoid rollover, which affects the stability of travel.

[0019] 3. In the present invention, the robot is protected from collision by providing an anti-collision component; in addition, when the robot climbs onto the chassis component, the inclination of the anti-collision component is adjusted by the control module, and the support component is controlled to cooperate in adjusting the inclination of the chassis component, so that the anti-collision component and the chassis component form an inclined surface that is easy for the robot to climb, which is convenient for the robot to automatically climb onto the chassis component, avoids manual movement of the robot, and is convenient for the robot to quickly move into position and quickly adjust the chassis component to a balanced and stable state.

[0020] 4. In the present invention, the control module determines whether the ground on which the current chassis assembly is parked is flat based on the compression data of the current shock-absorbing spring. If it is not flat, the control module promptly controls the extension of the output shaft of the hydraulic cylinder to adjust the chassis assembly back to a balanced state, and then controls the output shaft of the hydraulic cylinder to synchronously extend to support the chassis assembly, thereby ensuring that the chassis assembly can maintain a balanced state even on an uneven ground, avoiding the risk of chassis rollover due to ground tilt, and ensuring the stability of the chassis when it is parked.

[0021] 5. In the present invention, by the overall decrease in the data of the compression amount of the shock-absorbing spring, it is determined that part of the material in the current consignment box is randomly unloaded by the staff, resulting in uneven distribution of the material in the consignment box, thereby causing the chassis assembly to tilt. The control module controls the output end of the hydraulic cylinder on the tilted side to extend repeatedly to shake the material, so that the material is evenly redistributed, thereby avoiding the tilt of the chassis assembly due to uneven material distribution and ensuring the stability of the travel process.

[0022] 6. In the present invention, by setting a support assembly, the auxiliary chassis assembly can be adjusted back to a balanced state on an uneven ground, thereby avoiding the chassis tilting caused by the temporary support of an uneven ground; the unevenly distributed materials transported on the chassis assembly can be shaken evenly, thereby avoiding the chassis tilting caused by the uneven distribution of materials; the chassis assembly can be adjusted to form an inclined surface, and cooperate with the anti-collision assembly to form a slope for the robot to climb, so as to facilitate the robot to automatically move to the chassis assembly, speed up the movement of the robot into position, and quickly adjust the chassis assembly to a balanced and stable state, thereby ensuring the stability of the chassis assembly during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the positional relationship between the shock absorbing assembly and the supporting assembly of the present invention; Figure 3 It is a schematic diagram of the internal structure of the shock absorbing assembly and the supporting assembly of the present invention; Figure 4 It is a schematic diagram of the structure of the adjustment components of the present invention; Figure 5 It is a schematic cross-sectional view of the installation box structure of the present invention; Figure 6 It is a schematic diagram of the structure of the traveling assembly of the present invention; Figure 7 This is a schematic diagram of the chassis assembly structure of the present invention; Figure 8 It is a schematic diagram of the structure of the anti-collision component of the present invention.

[0024] In the figure: 1. chassis assembly; 101. middle plate; 102. extension plate; 103. extension spring; 104. accommodating through hole; 2. spherical joint; 3. shock-absorbing assembly; 301. lifting cylinder; 302. shock-absorbing spring; 303. protection cylinder; 304. connecting through hole; 4. support assembly; 401. hydraulic cylinder; 402. mounting plate; 403. bolt; 404. mounting cylinder; 405. supporting column; 406. supporting seat; 5. adjustment assembly; 501. mounting box; 502. electromagnet; 503. permanent magnet; 504. inclined track; 505. supporting frame; 6. traveling assembly; 601. traveling wheel; 602. wheel axle; 603. mounting block; 7. anti-collision assembly; 701. fixing bar; 702. rotating shaft; 703. rotating motor; 704. anti-collision plate; 8. battery. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] In order to solve the problem that when the existing robot chassis structure is used outdoors and encounters windy weather, the robot needs to turn at any time according to the route when transporting materials, and the robot's travel direction is not fixed. Conversely, the wind direction is in a state of constant change. Therefore, the robot will tilt in different directions due to the wind direction, resulting in uneven pressure on the chassis structure, thereby affecting the stability, the following embodiment 1 is proposed. Example

[0027] The present invention provides Figures 1 to 8 The outdoor mobile chassis for a mobile robot shown in the figure includes a chassis component 1, a spherical joint 2 is arranged in an array on the chassis component 1, a shock absorbing component 3 is arranged in the spherical joint 2, a support component 4 is arranged on the shock absorbing component 3, an adjustment component 5 is arranged on the bottom surface of the chassis component 1, a traveling component 6 located below the chassis component 1 is arranged on the outer side of the shock absorbing component 3, and anti-collision components 7 are arranged at both ends of the chassis component 1. A control module is arranged on the chassis component 1, and the control module is connected to the remote control of the back end through a signal. The staff can exchange data information with the control module through the remote control and can issue instructions to other electronic devices through the control module. The control module is electrically connected to the shock absorbing component 3, the support component 4, the power mechanism of the traveling component 6, the steering mechanism of the traveling component 6 and the anti-collision component 7 respectively. The control module can receive the electrical signal sent by the shock absorbing component 3 and can send instructions to the support component 4, the power mechanism, the steering mechanism and the anti-collision component 7 respectively.

[0028] By setting up the shock absorbing component 3, shock absorption is performed in the process of the chassis component 1 driving the robot to move; at the same time, in the process of the chassis component 1 moving, it can detect the strong wind weather in the current external environment and the direction of the wind relative to the chassis component 1, so as to adjust the force condition of the chassis component 1 through the adjustment component 5 to resist the tilt of the robot on the chassis component 1 due to the influence of wind force, avoid the situation that the robot is overturned due to strong wind force, and ensure the stability of the moving process.

[0029] like Figure 2-Figure 3 As shown, the chassis is damped by setting a shock absorbing component 3, and the external wind direction is judged at the same time. The shock absorbing component 3 includes a lifting cylinder 301 fixedly set in the ball joint 2, and the bottom end of the lifting cylinder 301 is fixedly connected with a shock absorbing spring 302. The deformation change of the shock absorbing spring 302 is sent to the control module through an electrical signal, and the bottom of the lifting cylinder 301 is sleeved with a protective cylinder 303; the shock absorbing spring 302 is arranged inside the protective cylinder 303, and the bottom end of the shock absorbing spring 302 is fixedly connected to the inner bottom end of the protective cylinder 303. The top of the lifting cylinder 301 is provided with a connecting through hole 304, and the bottom of the lifting cylinder 301 is slidably set on the inner side of the protective cylinder 303.

[0030] When in use, the robot is installed with a transport frame, in which materials are evenly placed. After moving to the chassis assembly 1, the chassis assembly 1 will drop due to the weight of the robot and the materials, thereby driving the lifting cylinder 301 to drop along the inner side of the protective cylinder 303 through the spherical joint 2, compressing the shock-absorbing spring 302. The shock-absorbing spring 302 generates an elastic force in the opposite direction to the pressure. When the chassis assembly 1 passes through a bumpy section, the compression of the shock-absorbing spring 302 will frequently increase and decrease, and be eliminated or weakened, thereby avoiding large shaking and ensuring stable travel.

[0031] The chassis assembly 1 is provided with a structure for fixing the robot and the shipping frame, which are fixed after the robot and the shipping frame are moved into place. At this time, the compression amounts of all the shock absorbing springs 302 are the same. The control module issues instructions to the power mechanism and the steering mechanism of the traveling assembly 6 according to the travel route, so that the chassis assembly 1 is driven to move.

[0032] When the compression amount of the shock absorbing spring 302 remains the same, it means that the chassis assembly 1 is moving smoothly in a balanced state; when the compression amount of the shock absorbing spring 302 increases and decreases frequently and irregularly, it means that the current chassis assembly 1 is passing through a bumpy section and is shaking irregularly. At this time, the control module controls the power mechanism to appropriately slow down the speed of the traveling assembly 6, and cooperates with the elastic force of the shock absorbing spring 302 itself to reduce shock, so as to avoid the robot and the chassis assembly 1 from having a tendency to roll over due to the intensification of bumps; when the compression amount of the shock absorbing spring 302 on one side increases, the shock absorbing spring 302 on the opposite side increases. 2 is compressed less, and as the traveling component 6 drives the mobile chassis to turn as a whole, the side where the shock absorbing spring 302 with increased or decreased compression is located changes immediately, indicating that the robot is currently tilted due to the obstruction of wind force, causing the chassis component 1 to tilt due to uneven force. The side with increased compression is the tilted side, and the side with reduced compression is the windward side. At this time, the control adjustment component 5 applies pressure to the windward side until the shock absorbing spring 302 returns to consistency, indicating that the robot and the chassis component 1 are both restored to their original equilibrium state, and the pressure of the adjustment component 5 is stopped. As the chassis component 1 turns, the windward side will change, and the control module can timely control the adjustment component 5 to adjust the pressure position according to the changes on the windward side.

[0033] By setting the shock-absorbing spring 302, the lifting cylinder 301 and the ball joint 2, the shock-absorbing spring 302 reduces the shock of the chassis assembly 1 and the robot through the lifting cylinder 301 and the ball joint 2; during the movement of the chassis assembly 1, the control module determines the current wind direction and the tilt direction of the chassis assembly 1 through the change in the deformation of the shock-absorbing spring 302, and then applies pressure to the windward side of the chassis assembly 1 through the control adjustment component 5 to correct the tilt of the chassis assembly 1 and avoid rollover, which affects the stability of travel.

[0034] like Figure 4-Figure 5As shown, the adjustment component 5 includes an electromagnet 502, a permanent magnet 503 and an installation box 501, the installation box 501 is fixedly installed on the bottom surface of the chassis component 1, and the electromagnets 502 are evenly arranged in the installation box 501; a battery 8 is arranged in the center of the installation box 501, and the battery 8 provides power support for the electronic components in the mobile chassis, and a receiving cavity is evenly opened on the side elevation of the installation box 501, and the electromagnet 502 is fixedly arranged in the receiving cavity. The side elevation of the installation box 501 is provided with an inclined track 504 located above the receiving cavity; the permanent magnet 503 is slidably arranged on the inclined track 504, and a slide groove is arranged on the inclined track 504, and the top of the permanent magnet 503 is arranged There is a slider, which is clamped in the slide groove and slides along the slide groove; a support frame 505 is provided on the outer side of the end of the inclined track 504 away from the installation box 501, and the support frame 505 is fixedly set on the chassis component 1. The inclined track 504 and the chassis component 1 do not contact each other, and the inclined track 504 can slide in the support frame 505. The height of the connecting end of the inclined track 504 and the installation box 501 is lower than the height of the other end of the inclined track 504. The end of the inclined track 504 close to the edge of the chassis component 1 is high, and the other end connected to the installation box 501 is low, forming a structure with high outside and low inside, which prevents the permanent magnet 503 from sliding along the inclined track 504 when the electromagnet 502 is not energized.

[0035] When in use, the control module determines the windward side of the current chassis assembly 1 according to the change in the compression amount of the shock-absorbing spring 302, controls the electromagnet 502 on the same side as the windward side to be energized, and gradually increases the current passed, so that the electromagnet 502 generates a magnetic repulsive force on the permanent magnet 503, and the permanent magnet 503 moves along the inclined track 504 away from the electromagnet 502 until the compression amount of the shock-absorbing spring 302 returns to consistency, stops increasing the current and maintains it, thereby ensuring the stability of the chassis assembly 1 when traveling in windy weather.

[0036] like Figure 2-Figure 3 As shown, the support assembly 4 includes a hydraulic cylinder 401, and a support column 405 is fixedly connected to the output shaft of the hydraulic cylinder 401. The support column 405 extends out after passing through the lifting cylinder 301 and the protective cylinder 303 in sequence, and one end extending out of the protective cylinder 303 is connected to the support seat 406. The support seat 406 is fixedly provided at the end of the support column 405 away from the hydraulic cylinder 401, and a mounting plate 402 is provided at the end of the hydraulic cylinder 401, and mounting cylinders 404 are evenly arranged on the mounting plate 402, and bolts 403 are arranged in the mounting cylinder 404; the mounting plate 402 is installed on the top of the lifting cylinder 301 by the bolts 403, and the outer diameter of the support column 405 is smaller than the inner diameter of the lifting cylinder 301.

[0037] During use, when the chassis assembly 1 needs to be stopped and fixed in place, the control module controls the output shaft of the hydraulic cylinder 401 to extend, thereby driving the support column 405 and the support seat 406 to descend, and the support seat 406 contacts the ground. As the output shaft of the hydraulic cylinder 401 continues to extend, the chassis assembly 1 will be driven to rise as a whole through the lifting cylinder 301 and the ball joint 2. Due to the weight of the traveling assembly 6, the protective cylinder 303 will descend along the outer side of the lifting cylinder 301 until the traveling assembly 6 leaves the ground. At this time, the shock-absorbing spring 302 is in a stretched state, and the stretching amount remains consistent.

[0038] When the compression of the shock-absorbing spring 302 gradually decreases to zero and then generates a stretching amount, and the stretching amount gradually increases and then remains unchanged, the control module stops the extension of the output shaft of the hydraulic cylinder 401. At this time, the traveling assembly 6 has left the ground, and the entire mobile chassis and the robot and the shipping frame above it are temporarily fixed in place by the support assembly 4. When temporary support is not needed, the control module controls the output shaft of the hydraulic cylinder 401 to retract to the initial state, and the traveling assembly 6 returns to the ground and continues to travel.

[0039] like Figure 6-Figure 7 As shown, the traveling assembly 6 includes a wheel shaft 602, and traveling wheels 601 are fixedly installed at both ends of the wheel shaft 602. A mounting block 603 located between the two traveling wheels 601 is arranged on the wheel shaft 602, and the mounting block 603 is fixedly arranged on the outside of the protective cylinder 303. A power mechanism for driving the wheel shaft 602 to rotate and a steering mechanism for driving the traveling wheel 601 to turn are installed on the bottom surface of the chassis assembly 1. When in use, the control module controls the power mechanism to start according to the traveling route, drives the traveling wheel 601 to travel through the wheel shaft 602, and drives the traveling wheel 601 to turn through the steering mechanism. When the chassis assembly 1 is in a balanced state, the chassis assembly 1 and the traveling assembly 6 are in a relatively parallel state. When the chassis assembly 1 is tilted due to wind resistance, the straight-line distance between the two wheel axles 602 of the traveling assembly 6 remains unchanged, and the length of the chassis assembly 1 after tilting becomes longer than that in the balanced state. Therefore, the chassis assembly 1 is set to an extendable state. The chassis assembly 1 includes an intermediate plate 101, and extension plates 102 are inserted at both ends of the intermediate plate 101. One end of the extension plate 102 inserted into the interior of the intermediate plate 101 is fixedly connected with an extension spring 103. A receiving through hole 104 is set on the extension plate 102, and the ball joint 2 is set in the receiving through hole 104.

[0040] When in use, when the chassis assembly 1 tilts forward, the extension plate 102 moves away from the middle plate 101, and the extension spring 103 is stretched. When the chassis assembly 1 recovers its equilibrium state, the extension plate 102 moves into the middle plate 101, and the extension spring 103 is reset.

[0041] like Figure 8As shown, the anti-collision assembly 7 includes a fixing bar 701 fixedly arranged at the end of the extension plate 102, a rotating shaft 702 is rotatably arranged in the fixing bar 701, an anti-collision plate 704 is fixedly arranged on the rotating shaft 702, and a rotating motor 703 is fixedly connected to either end of the rotating shaft 702. The anti-collision plate 704 is provided to block obstacles encountered by the chassis assembly 1 during its travel, thereby preventing the obstacles from colliding with the robot.

[0042] The principle of the present invention is as follows: first, fix the robot, place the materials evenly in the shipping frame, then install the shipping frame on the robot, move the robot to the chassis assembly 1, and then adjust the position of the robot until the compression amounts of all shock-absorbing springs 302 are displayed consistent, indicating that the robot has been moved into place, and fix the robot and the shipping frame to the chassis assembly 1.

[0043] Then, the chassis is moved, and the control module issues instructions to the power mechanism and steering mechanism of the traveling component 6 according to the traveling route, starts the power mechanism, drives the traveling wheel 601 to move through the wheel shaft 602, and drives the traveling wheel 601 to steer through the steering mechanism.

[0044] Then, stabilize the chassis. When the compression of the shock-absorbing spring 302 remains consistent, it means that the chassis component 1 is moving smoothly in a balanced state. When the compression of the shock-absorbing spring 302 increases and decreases frequently and irregularly, it means that the current chassis component 1 is passing through a bumpy road section and is shaking irregularly. At this time, the control module controls the power mechanism to appropriately slow down the speed of the traveling component 6 and cooperates with the elastic force of the shock-absorbing spring 302 to reduce shock. When the compression of the shock-absorbing spring 302 on one side increases, the compression of the shock-absorbing spring 302 on the opposite side decreases, and as the traveling component 6 drives the mobile chassis as a whole to turn, the compression The side where the shock-absorbing spring 302 with increased or decreased shrinkage is located changes immediately, indicating that the robot is currently tilted due to the obstruction of wind force, resulting in uneven force on the chassis assembly 1, the side with increased compression is the tilted side, and the side with reduced compression is the windward side. At this time, the control module controls the electromagnet 502 on the same side as the windward side to be energized, and gradually increases the current passed, so that the electromagnet 502 generates a magnetic repulsion force on the permanent magnet 503, and the permanent magnet 503 moves along the inclined track 504 away from the electromagnet 502 until the compression of the shock-absorbing spring 302 is restored to a consistent level, and the current is stopped and maintained. As the chassis assembly 1 turns, the windward side will change, and the control module timely adjusts the energized electromagnet 502 according to the windward side, thereby adjusting the movement of the permanent magnet 503 on the corresponding side to ensure the balance of the chassis assembly 1.

[0045] Finally, the chassis is temporarily supported. When the chassis assembly 1 needs to be stopped and fixed in place, the control module controls the output shaft of the hydraulic cylinder 401 to extend, thereby driving the support column 405 and the support seat 406 to descend, and the support seat 406 contacts the ground. As the output shaft of the hydraulic cylinder 401 continues to extend, the chassis assembly 1 will be driven to rise as a whole through the lifting cylinder 301 and the ball joint 2. The protective cylinder 303 will descend along the outer side of the lifting cylinder 301 due to the weight of the traveling assembly 6, and the compression of the shock-absorbing spring 302 will gradually decrease to zero and then generate a stretching amount, and the stretching amount will gradually increase and then remain unchanged, indicating that the traveling assembly 6 has left the ground at this time, and the entire mobile chassis and the robot and consignment frame above it are temporarily fixed in place through the support assembly 4. Example

[0046] Based on the technical solution of the above-mentioned embodiment 1, due to the height between the chassis structure and the ground, when the robot moves onto the chassis structure, it cannot automatically move to the chassis structure, and the staff needs to lift it with great effort and place it on the chassis structure. It is quite laborious to move it into position, and it is difficult to quickly adjust the chassis to a balanced and stable state; and in the process of the chassis structure carrying the robot to transport materials, the staff will randomly take materials, resulting in uneven distribution of materials in the consignment frame, and then causing uneven force on the chassis structure; when the chassis structure needs to stop and temporarily stay in place, since the stopping location is relatively random and the ground may not be flat, the chassis is prone to tilt, which affects the stability of the chassis when it stops; and thus the following technical solutions are proposed to solve the above-mentioned technical problems.

[0047] In view of the above technical problems, the technical solution can be set to a shaking mode, a supporting mode and a climbing mode. Figure 3 , Figure 6 as well as Figure 8 As shown, when the robot needs to move to the chassis assembly 1, the staff issues an instruction to the control module to start the climbing mode through remote control. Specifically, the control mode controls the output shaft of the hydraulic cylinder 401 on one side to extend synchronously, thereby driving the support column 405 and the support seat 406 to contact the ground. As the output shaft of the hydraulic cylinder 401 continues to extend, the support column 405 lifts one side of the chassis assembly 1, so that the chassis assembly 1 as a whole rotates toward the ground with the wheel axle 602 on the opposite side as the center, forming an inclined surface.

[0048] At the same time, the rotating motor 703 is controlled to rotate forward, and the rotating motor 703 drives the anti-collision plate 704 to rotate toward the ground through the rotating shaft 702 until the end of the anti-collision plate 704 touches the ground. At this time, the anti-collision plate 704 and the chassis assembly 1 form two inclined surfaces, and the inclination of the chassis assembly 1 is smaller than the inclination of the anti-collision plate 704. The small inclination of the chassis assembly 1 is to prevent the robot from moving onto the chassis assembly 1 and retreating.

[0049] At this time, the staff starts the robot and makes it crawl along the anti-collision plate 704 to the chassis assembly 1. When the robot completely leaves the anti-collision plate 704, the staff sends a command to cancel the climbing mode to the control module through remote control, and the output shaft of the hydraulic cylinder 401 quickly retracts to the initial state, and the chassis assembly 1 cancels the tilt. At the same time, the rotary motor 703 is controlled to reverse rapidly, and the anti-collision plate 704 is driven to rotate back to the original state through the rotating shaft 702. Figure 6 The original position shown in the figure can be prevented from falling off the chassis assembly 1 in time if the robot falls backward. The staff continues to control the robot to adjust its position and move it to the side of the shock absorbing spring 302 with a smaller compression amount until the compression amounts of all shock absorbing springs 302 are consistent, indicating that the robot has moved into place and the chassis assembly 1 is evenly stressed. Then the robot and the shipping frame are fixed to the chassis assembly 1.

[0050] The robot is protected from collision by providing an anti-collision component 7; in addition, when the robot climbs onto the chassis component 1, the inclination of the anti-collision component 7 is adjusted through the control module, and the support component 4 is controlled to cooperate in adjusting the inclination of the chassis component 1, so that the anti-collision component 7 and the chassis component 1 form an inclined surface that is easy for the robot to climb, which facilitates the robot to automatically climb onto the chassis component 1, avoids manual movement of the robot, and facilitates the robot to move quickly into position, and quickly adjust the chassis component 1 to a balanced and stable state.

[0051] After the traveling assembly 6 drives the chassis assembly 1 and the robot to the unloading point, it is necessary to pause the traveling assembly 6 and provide temporary support to ensure the stability of the chassis structure during the unloading process. At this time, the staff issues a command to the control module to start the support mode through remote control, specifically: after the control module pauses the traveling assembly 6, it determines whether the current chassis assembly 1 is parked on the flat ground according to the compression data of the shock-absorbing spring 302 in the current pause state. If it is not flat, the output shaft of the hydraulic cylinder 401 on the inclined side is controlled to extend, and after the chassis assembly 1 is corrected to a balanced state, it is synchronously extended to lift the traveling assembly 6 off the ground, thereby supporting the entire chassis assembly 1.

[0052] When the compression of the shock-absorbing spring 302 is consistent, it means that the ground currently supported is flat and the chassis assembly 1 is in a balanced state; when the compression of the shock-absorbing spring 302 is different, it means that the ground currently supported is uneven, causing the chassis assembly 1 to tilt. The side where the shock-absorbing spring 302 with a larger compression exists is the tilted side, which is also the side with a lower ground plane. Therefore, the control module controls the output shaft of the hydraulic cylinder 401 on the tilted side to extend until the compression of the shock-absorbing spring 302 returns to a consistent state. The control module stops the extension of the output shaft of the hydraulic cylinder 401 on the tilted side. At this time, the chassis assembly 1 returns to a balanced state, and the control module controls the output shafts of all hydraulic cylinders 401 to extend synchronously, lift the traveling assembly 6 off the ground, and complete the temporary support of the chassis assembly 1 on the uneven ground. When it is necessary to cancel the support, the staff sends a command to cancel the support mode to the control module through remote control, and the control module controls the output shafts of the hydraulic cylinder 401 to retract to their original positions, and the traveling assembly 6 falls back to the ground. The control module starts the power mechanism to drive the traveling assembly 6 to continue to move along the route.

[0053] The control module determines whether the ground on which the chassis assembly 1 is currently parked is flat based on the compression data of the current shock-absorbing spring 302. If it is not flat, the control module promptly controls the output shaft of the hydraulic cylinder 401 to extend, and after adjusting the chassis assembly 1 back to a balanced state, the control module then controls the output shaft of the hydraulic cylinder 401 to extend synchronously to support the chassis assembly 1, thereby ensuring that the chassis assembly 1 can maintain a balanced state even on an uneven ground, avoiding the risk of the chassis rolling over due to the tilt of the ground, and ensuring the stability of the chassis when it is parked.

[0054] Since the staff randomly picks up materials for unloading, the remaining materials in the shipping box after unloading are unevenly distributed, which causes the chassis assembly 1 to tilt when moving. Specifically, when the compression amount of the shock-absorbing spring 302 decreases as a whole and there is a difference in the compression amount, it means that the staff has randomly unloaded some materials, and the weight carried on the chassis assembly 1 is reduced, which makes the overall compression amount of the shock-absorbing spring 302 decrease. The side with a smaller compression amount is the side with less material distribution, and the side with a larger compression amount is the side with more material distribution.

[0055] At this time, the staff issues an instruction to the control module to start the shaking mode through remote control. Specifically, the control module controls the output end of the hydraulic cylinder 401 on the side where the material is more distributed to extend and retract synchronously, and repeats this process, so that the chassis assembly 1 tilts, thereby causing the material to roll to the side where the material is less distributed, until the output end of the hydraulic cylinder 401 is in a retracted state and the compression amount of the shock-absorbing spring 302 returns to a consistent state, and the control module cancels the shaking mode, that is, stops the repeated extension and retraction of the output end of the hydraulic cylinder 401, and retracts it to its original position.

[0056] By measuring that the compression amount of the shock-absorbing spring 302 has become smaller as a whole, it is determined that some of the materials in the current shipping box have been randomly unloaded by the staff, resulting in uneven distribution of materials in the shipping box, thereby causing the chassis assembly 1 to tilt. The control module controls the output end of the hydraulic cylinder 401 on the tilting side to extend repeatedly to shake the material, thereby redistributing the material evenly, avoiding tilting of the chassis assembly 1 due to uneven material distribution and ensuring the stability of the travel process.

[0057] By providing the support component 4, the auxiliary chassis component 1 can be adjusted back to a balanced state on an uneven ground, thereby avoiding the chassis tilting due to temporary support of an uneven ground; the unevenly distributed materials transported on the chassis component 1 can also be shaken to evenly distribute them, thereby avoiding the chassis tilting due to uneven material distribution; the chassis component 1 can also be adjusted to form an inclined surface, and cooperate with the anti-collision component 7 to form a slope for the robot to climb, so as to facilitate the robot to automatically move to the chassis component 1, speed up the movement of the robot into position, and quickly adjust the chassis component 1 to a balanced and stable state, thereby ensuring the stability of the chassis component 1 during movement.

[0058] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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. An outdoor mobile chassis for a mobile robot, characterized in that: The invention comprises a chassis component (1), wherein a spherical joint (2) is arranged in an array on the chassis component (1), a shock absorbing component (3) is arranged inside the spherical joint (2), a supporting component (4) is arranged on the shock absorbing component (3), an adjustment component (5) is arranged on the bottom surface of the chassis component (1), a traveling component (6) located below the chassis component (1) is arranged on the outside of the shock absorbing component (3), anti-collision components (7) are arranged at both ends of the chassis component (1), and a control module is arranged on the chassis component (1); The shock absorbing assembly (3) comprises a lifting cylinder (301) fixedly arranged in the spherical joint (2), the bottom end of the lifting cylinder (301) is fixedly connected to a shock absorbing spring (302), and the bottom of the lifting cylinder (301) is sleeved with a protective cylinder (303); The adjustment component (5) comprises an electromagnet (502), a permanent magnet (503) and a mounting box (501); the mounting box (501) is fixedly mounted on the bottom surface of the chassis component (1); and the electromagnets (502) are evenly arranged in the mounting box (501).

2. The outdoor mobile chassis for a mobile robot according to claim 1, characterized in that: The shock absorbing spring (302) is arranged inside the protective tube (303), the bottom end of the shock absorbing spring (302) is fixedly connected to the inner bottom end of the protective tube (303), the top end of the lifting tube (301) is provided with a connecting through hole (304), and the bottom of the lifting tube (301) is slidably arranged inside the protective tube (303).

3. The outdoor mobile chassis for a mobile robot according to claim 1, characterized in that: A storage battery (8) is arranged at the center of the installation box (501), accommodating cavities are evenly arranged on the side elevation of the installation box (501), the electromagnet (502) is fixedly arranged in the accommodating cavity, and an inclined track (504) located above the accommodating cavity is arranged on the side elevation of the installation box (501).

4. The outdoor mobile chassis for a mobile robot according to claim 3, characterized in that: The permanent magnet (503) is slidably arranged on an inclined track (504), a slide groove is arranged on the inclined track (504), a slider is arranged on the top of the permanent magnet (503), the slider is clamped in the slide groove and slides along the slide groove.

5. The outdoor mobile chassis for a mobile robot according to claim 3, characterized in that: A support frame (505) is sleeved on the outer side of one end of the inclined track (504) away from the installation box (501); the support frame (505) is fixedly arranged on the chassis assembly (1); the inclined track (504) and the chassis assembly (1) are not in contact with each other; and the height of the connection end of the inclined track (504) and the installation box (501) is lower than the height of the other end of the inclined track (504).

6. The outdoor mobile chassis for a mobile robot according to claim 1, characterized in that: The support assembly (4) comprises a hydraulic cylinder (401), a support column (405) being fixedly connected to an output shaft of the hydraulic cylinder (401), a support seat (406) being fixedly arranged at one end of the support column (405) away from the hydraulic cylinder (401), a mounting plate (402) being arranged at the end of the hydraulic cylinder (401), mounting tubes (404) being evenly arranged on the mounting plate (402), and bolts (403) being arranged inside the mounting tubes (404).

7. The outdoor mobile chassis for a mobile robot according to claim 6, characterized in that: The mounting plate (402) is mounted on the top of the lifting cylinder (301) by means of bolts (403), and the outer diameter of the supporting column (405) is smaller than the inner diameter of the lifting cylinder (301).

8. The outdoor mobile chassis for a mobile robot according to claim 1, characterized in that: The travel assembly (6) comprises a wheel axle (602), travel wheels (601) are fixedly mounted on both ends of the wheel axle (602), a mounting block (603) located between the two travel wheels (601) is arranged on the wheel axle (602), and the mounting block (603) is fixedly arranged on the outside of the protective cylinder (303), and a power mechanism for driving the wheel axle (602) to rotate and a steering mechanism for driving the travel wheels (601) to turn are mounted on the bottom surface of the chassis assembly (1).

9. The outdoor mobile chassis for a mobile robot according to claim 1, characterized in that: The chassis assembly (1) comprises an intermediate plate (101), with extension plates (102) inserted at both ends of the intermediate plate (101), one end of the extension plate (102) inserted into the interior of the intermediate plate (101) being fixedly connected to an extension spring (103), a receiving through hole (104) being provided on the extension plate (102), and the spherical joint (2) being provided in the receiving through hole (104).

10. The outdoor mobile chassis for a mobile robot according to claim 9, characterized in that: The anti-collision component (7) comprises a fixing bar (701) fixedly arranged at the end of the extension plate (102), a rotating shaft (702) being rotatably arranged in the fixing bar (701), an anti-collision plate (704) being fixedly arranged on the rotating shaft (702), and a rotating motor (703) being fixedly connected to either end of the rotating shaft (702).

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