Heavy-load anti-explosion humanoid robot moving chassis

Abstract

The invention belongs to the technical field of humanoid robots, and particularly relates to a heavy-load anti-explosion humanoid robot moving chassis which comprises a frame assembly. The loading assembly is fixed above the frame assembly and acquires surrounding environment information by arranging a sensor group on the frame assembly; the wheel train assembly comprises four wheels distributed at the four corners of the frame assembly and a driving assembly connected with each wheel, and each driving assembly comprises a walking motor, a steering motor, a steering output piece and a walking connecting piece; the steering motor and the walking motor cooperate to achieve linear walking, steering walking, transverse movement and in-situ rotation of the movable frame assembly. The invention has the advantages of high control precision, small turning radius, difficult wear of tires, low noise and the like, and is suitable for a working scene requiring high precision in a narrow space.

Description

Technical Field

[0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a large-load explosion-proof humanoid robot mobile chassis. Background Art

[0002] In recent years, with the continuous improvement of industrial automation and intelligence, the demand for explosion-proof robots in flammable and explosive hazardous places has been growing. These scenarios often require robots to have large load capacity and reliable explosion-proof performance to ensure safe and efficient completion of tasks. In order to meet these needs, a large number of explosion-proof humanoid robot products have appeared on the market.

[0003] At present, there are two ways for humanoid robots to walk. One is to walk on two feet, which is not very mature and still far from landing. The other is to move through the chassis, which can make the humanoid robot land quickly. As the mobile part of the robot, it realizes various mobile needs of the robot. The existing robot chassis basically adopts a style of one robot corresponding to one chassis, or changes the upper structure to adjust the function, resulting in too many styles of robot chassis and most of them cannot be used interchangeably. The production of robots is basically customized products, which not only leads to the problem of high prices caused by the lack of mass production, but also makes the maintenance and repair of each product extremely complicated because there is no unified design solution.

[0004] Wheeled robots are mostly four-wheel robots, and their morphological structure is usually a mobile chassis at the bottom and sensors, controllers, industrial computers and other equipment at the top. According to the driving mode, the existing mobile chassis on the market are generally divided into four-wheel drive chassis, four-wheel drive differential chassis, diagonal drive chassis, front-wheel drive rear driven chassis, Mecanum wheel chassis, etc. These chassis have their own advantages and disadvantages and are suitable for different working scenarios. The four-turn four-wheel drive chassis requires a large number of motors, which is costly, complex to control, and requires high control accuracy, but at the same time, due to the large number of degrees of freedom, it is flexible in movement and has a small turning radius; the four-wheel drive differential chassis requires 4 motors, and its cost and control difficulty are lower than the four-turn four-wheel drive, but the wear between the tires and the ground is more serious when turning; the diagonal drive chassis only needs 2 drive motors, and the cost is relatively low, but the chassis structure stability is poor; the front-wheel drive rear-driven chassis requires fewer motors and also requires the use of active wheel differential steering, which will cause certain wear on the tires; the tires in the Mecanum wheel chassis are expensive and have high maintenance costs, and their load capacity is poor, and their application scenarios are limited.

[0005] Therefore, in order to meet the growing and ever-improving robotics industry, it is necessary to design an explosion-proof humanoid robot chassis. Summary of the invention

[0006] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and provide a large-load explosion-proof humanoid robot mobile chassis, which has the advantages of high control accuracy, small turning radius, low tire wear, low noise, etc., and is suitable for work scenarios in narrow spaces that require high precision.

[0007] Technical solution: The large-load explosion-proof humanoid robot mobile chassis of the present invention includes: a frame assembly; an upper assembly, which is fixed above the frame assembly and obtains surrounding environment information by arranging a sensor group on the frame assembly; a wheel train assembly, including four wheels distributed at the four corners of the frame assembly and a drive assembly connected to each wheel, the drive assembly including a walking motor, a steering motor, a steering output member, and a walking connecting member; the steering motor is fixedly connected to the frame assembly, and its output shaft can rotate within the range of ±360°; the steering output member is fixed under the steering motor to receive the steering power of the steering motor; the walking connecting member is connected to the steering output member through a shaft; the walking motor is fixed on the walking connecting member, and its output shaft coincides with the wheel axis to provide linear driving power; the steering motor and the walking motor cooperate to realize the linear walking, steering walking, lateral movement and in-situ rotation of the moving frame assembly.

[0008] The wheel train assembly, frame assembly and upper assembly are all modularly designed, and the components are connected by alignment holes and bolts to facilitate disassembly, assembly and replacement.

[0009] To further improve the above technical solution, a shock absorber is connected between the steering output member and the travel connection member. The shock absorber can absorb the vibration generated during the travel process, limit the up and down displacement of the travel connection member relative to the steering output member, and slow down the relative movement speed between the two, thereby enhancing the driving stability of the whole vehicle.

[0010] Furthermore, an anti-impact rubber pad is provided between the travel connection piece and the steering output piece. The anti-impact rubber pad is located between the contact surfaces of the travel connection piece and the steering output piece, and is used to buffer the impact force between the two and reduce damage caused by hard contact.

[0011] Furthermore, the frame assembly includes a frame, a control module and a battery fixed on the side of the frame; a sensor mounting frame is provided on the frame for fixing the sensor group, the control module is used to process the surrounding environment information obtained by the sensor group and control the travel and steering of the wheel train assembly, and the battery is used to provide power for the wheel train assembly.

[0012] Furthermore, the sensor mounting frame includes a front laser radar mounting frame, a rear laser radar mounting frame, an ultrasonic radar mounting frame, a fill light mounting frame, a front mounting frame and a rear mounting frame; the sensor group of the upper assembly arranged on the frame assembly includes: a laser radar, an ultrasonic radar, a depth camera, and a fill light, and the depth camera is fixed on the front mounting frame and the rear mounting frame on the front and rear sides of the frame; the laser radar is installed on the front laser radar mounting frame and the rear laser radar mounting frame on the front and rear sides of the frame to detect the environmental status around the chassis; the ultrasonic radar is installed on the ultrasonic radar mounting frames around the frame to detect surrounding obstacles; the fill light is fixed on the fill light mounting frames on the front and rear sides of the frame to enhance visibility in low light environments.

[0013] Furthermore, the frame assembly also includes: a rear shell mounting frame, a middle shell mounting frame, and a front shell mounting frame; the upper assembly also includes: a rear shell, a middle shell and a front shell, which are fixed on the corresponding shell mounting frames to protect the internal components.

[0014] Furthermore, the upper assembly also includes a signal light and a triple switch box; the signal light is fixed at the middle position on both sides of the frame for indicating the power status; the triple switch box is fixed at the rear of the frame for controlling the start and stop of the wheel train assembly.

[0015] Beneficial effect: Compared with the prior art, the advantages of the present invention are: the mobile chassis of the present invention adopts a four-turn eight-drive chassis architecture, the movement range of the steering motor is ±360°, which in turn drives the travel connection and the wheels and travel motor connected thereto to rotate, thereby realizing the steering movement of the wheel train assembly; the travel motor drives the wheel to rotate, realizing the linear walking movement of the wheel train assembly, and the steering and walking are controlled by two motors respectively, thereby realizing four-wheel independent steering and driving, with the advantages of high control accuracy, small turning radius, tires not easy to wear, low noise, etc., and is suitable for work scenes in narrow spaces and requiring high precision The walking motor and the steering motor are controllable separately, so that the chassis can be independently driven, accurately steered and rotated on the spot, which is suitable for complex terrain. It is different from the existing large-load chassis technology, which is mainly reflected in the sports performance and on-the-spot steering ability brought by the four-wheel eight-wheel drive. The large-load chassis is generally large in size. The turning radius of the current Ackerman or differential chassis is large and it is impossible to turn around on the spot. The four-wheel eight-wheel drive independent steering drive designed by the present invention brings great convenience and passability to the large-load chassis operating in a small space; the mobile chassis wheel system in the present invention adopts a shock-absorbing design to optimize the chassis' passability and body stability.

[0016] Most of the current wheeled chassis are configured with a single camera + a single laser radar, which have limited perception capabilities. The present invention arranges a group of depth cameras and laser radars in the front and rear of the chassis, and 4 groups of ultrasonic radars around the fuselage, which can achieve 360-degree environmental perception, mapping and recognition without blind spots; integrating the long-range ranging capability of the laser radar, the short-range detection capability of the ultrasonic wave, and the 3D environmental perception capability of the depth camera, multi-sensor data fusion can improve the reliability and robustness of the robot's autonomous navigation and obstacle avoidance; at the same time, the multi-sensor configuration can improve the redundancy of the system. Even if a sensor fails, other sensors can still guarantee basic environmental perception capabilities and improve safety.

[0017] The present invention uses explosion-proof materials to manufacture the frame and the electric control system to seal and protect, preventing electrical components from being exposed to the external environment. The power and sensor are separated to avoid high-temperature components affecting the sensor accuracy and improve environmental adaptability. Through the selection of the gear train motor and reducer, the gear train motor torque can support a load of 200KG, and the explosion-proof function is achieved through the optimization of the internal electrical circuit and the shell sealing design, which is suitable for large-load explosion-proof application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of a mobile chassis of the present invention; Figure 2 It is a structural schematic diagram of the gear train assembly in the present invention; Figure 3 It is a structural schematic diagram of a frame assembly of the present invention from one viewing angle; Figure 4 is a structural schematic diagram of the frame assembly of the present invention from another perspective; Figure 5 It is a schematic diagram of the forward structure of the upper installation in the present invention; Figure 6 It is a schematic diagram of the upper rearward structure of the present invention.

[0019] Description of the drawings in the figure: wheel train assembly 1, frame assembly 2, upper assembly 3, steering motor 4, steering output member 5, travel connecting member 6, travel motor 7, wheel 8, shock absorber 9, frame 10, control module 11, laser radar 12, ultrasonic radar 13, depth camera 14, signal light 15, triple switch box 16, fill light 17, front laser radar mounting frame 18, ultrasonic radar mounting frame 19, rear laser radar mounting frame 20, fill light mounting frame 21, front mounting frame 22, rear mounting frame 23, rear outer shell mounting frame 24, middle shell mounting frame 25, front shell mounting frame 26, battery 27. DETAILED DESCRIPTION

[0020] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0021] Example 1: Figure 1 The large-load explosion-proof humanoid robot mobile chassis shown includes a wheel train assembly 1, a frame assembly 2 and a top assembly 3, and the wheel train assembly 1, the frame assembly 2 and the top assembly 3 are connected to each other.

[0022] The specific structures of the wheel train assembly 1, the frame assembly 2 and the upper assembly 3 are not limited. The wheel train assembly 1 is connected to the frame assembly 2. The mobile chassis has a total of four sets of wheel train assemblies, all of which are fixed above the frame assembly. The upper assembly is fixed above the frame assembly, wherein the upper assembly includes the outer shell above the frame, various sensors, and sheet metal parts wrapped around the frame.

[0023] like Figure 2 The wheel train assembly 1 includes a steering motor 4, a steering output member 5, a travel connection member 6, a travel motor 7, a wheel 8, and a shock absorber 9. The steering output member 5 is fixed below the steering motor 4. The movement range of the steering motor is ±360°. The travel connection member 6 is connected to the steering output member 5 through an axis. The travel connection member 6 has a tendency to move around the axis. An anti-impact rubber pad is provided between the travel connection member 6 and the steering output member 5 to prevent hard impact between the two. One end of the shock absorber 9 is fixed to the steering output member, and the other end is fixed to the travel connection member 6, which can effectively slow down the relative movement speed between the travel connection member and the steering output member. One end of the travel motor 7 is fixed to the travel connection member 6 to provide straight-moving power for the mobile chassis, and the wheel is fixed to the other end of the travel motor 7.

[0024] like Figure 3 , 4 The frame assembly 2 includes a frame 10, a control module 11, a front laser radar mounting frame 18, an ultrasonic radar mounting frame 19, a rear laser radar mounting frame 20, a fill light mounting frame 21, a front mounting frame 22, a rear mounting frame 23, a rear shell mounting frame 24, a middle shell mounting frame 25, a front shell mounting frame 26, and a battery 27. The control module 11 is fixed to the lower side of the frame for processing sensor signals. The battery is fixed to the lower right side of the frame for providing power to the mobile chassis. The laser radar mounting frame 18 / 20 is fixed to the middle position of the front and rear sides of the frame. The ultrasonic radar mounting frame 19 is fixed around the frame. A total of eight mounting brackets are designed. The fill light mounting frame is fixed to the front and rear sides of the frame and is located on both sides of the laser radar mounting frame 18 / 20. A total of four fill light mounting brackets are designed. The front and rear mounting brackets 22 / 23 are fixed to the front and rear sides of the frame and are located directly in front of the laser radar mounting bracket 18 / 20. The frame assembly 2 serves as the framework of the mobile chassis and serves as a supporting carrier for the upper assembly.

[0025] like Figure 5 , 6The upper assembly 3 includes a laser radar 12, an ultrasonic radar 13, a depth camera 14, a signal light 15, a triple switch box 16, a fill light 17, a rear shell 28, a middle shell 29, and a front shell 30. The laser radar 12 is installed on a laser radar mounting bracket, located in front and behind the frame, and detects the surrounding environment of the mobile chassis in real time. The ultrasonic radar 13 is fixed on the ultrasonic radar mounting bracket. There are eight of them in total, which are arranged around the frame respectively. The depth camera 14 is fixed on the front and rear mounting brackets. There are two of them in total, which are respectively arranged at the front and rear ends of the mobile chassis for viewing the surrounding environment of the mobile chassis. The signal light 15 is fixed on the signal light mounting bracket. There are two signal lights in total, which are arranged at the front and rear ends of the frame respectively for power startup prompts. The triple switch box 16 is fixed on the switch box mounting bracket, located at the rear of the frame, and is used for emergency parking of the mobile chassis. The rear shell 28, the middle shell 29, and the front shell 30 are fixed above the mounting bracket.

[0026] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A large-load explosion-proof humanoid robot mobile chassis, characterized in that: include: Frame components; The upper assembly is fixed above the frame assembly and acquires surrounding environment information by arranging a sensor group on the frame assembly; A wheel train assembly comprises four wheels distributed at the four corners of the frame assembly and a driving assembly connected to each wheel, wherein the driving assembly comprises a travel motor, a steering motor, a steering output member and a travel connecting member; the steering motor is fixedly connected to the frame assembly, and its output shaft can rotate within a range of ±360°; the steering output member is fixed below the steering motor to receive the steering power of the steering motor; the travel connecting member is connected to the steering output member via a shaft; the travel motor is fixed on the travel connecting member, and its output shaft coincides with the wheel axis to provide linear travel power; the steering motor and the travel motor cooperate to realize linear travel, steering travel, lateral movement and rotation in situ of the moving frame assembly.

2. The large-load explosion-proof humanoid robot mobile chassis according to claim 1, characterized in that: A shock absorber is connected between the steering output member and the travel connecting member.

3. The large-load explosion-proof humanoid robot mobile chassis according to claim 2, characterized in that: An anti-impact rubber pad is arranged between the travel connecting piece and the steering output piece.

4. The large-load explosion-proof humanoid robot mobile chassis according to claim 1, characterized in that: The frame assembly includes a frame, a control module and a battery fixed on the side of the frame; a sensor mounting frame is provided on the frame for fixing the sensor group, the control module is used to process the surrounding environment information obtained by the sensor group and control the travel and steering of the wheel train assembly, and the battery is used to provide power for the wheel train assembly.

5. The large-load explosion-proof humanoid robot mobile chassis according to claim 4, characterized in that: The sensor mounting frame includes a front laser radar mounting frame, a rear laser radar mounting frame, an ultrasonic radar mounting frame, a fill light mounting frame, a front mounting frame and a rear mounting frame; The sensor group of the upper assembly arranged on the frame assembly includes: a laser radar, an ultrasonic radar, a depth camera, and a fill light. The depth camera is fixed on the front mounting frame and the rear mounting frame on the front and rear sides of the frame; the laser radar is installed on the front laser radar mounting frame and the rear laser radar mounting frame on the front and rear sides of the frame to detect the environmental conditions around the chassis; the ultrasonic radar is installed on the ultrasonic radar mounting frames around the frame to detect surrounding obstacles; the fill light is fixed on the fill light mounting frames on the front and rear sides of the frame to enhance visibility in low-light environments.

6. The large-load explosion-proof humanoid robot mobile chassis according to claim 5, characterized in that: The frame assembly also includes: a rear shell mounting frame, a middle shell mounting frame, and a front shell mounting frame; the upper assembly also includes: a rear shell, a middle shell and a front shell, which are fixed on the corresponding shell mounting frames to protect the internal components.

7. The large-load explosion-proof humanoid robot mobile chassis according to claim 5, characterized in that: The upper assembly also includes a signal lamp and a triple switch box; The signal lights are fixed at the middle positions on both sides of the frame and are used to indicate the power status; The triple switch box is fixed at the rear of the vehicle frame and is used to control the start and stop of the wheel train assembly.

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