Floating type chassis structure and cleaning robot

Abstract

The invention discloses a floating type chassis structure and a cleaning robot thereof, and relates to the technical field of cleaning robots, the floating type chassis structure comprises a main frame, a steering drive axle and a floating axle, the steering drive axle is mounted on the front side of the lower end of the main frame and used for providing driving power and left-right steering; the floating bridge comprises an installation frame fixed to the lower end of the main frame, two sets of symmetrically-arranged floating supporting arm assemblies are installed on the installation frame, an axle set is installed at the lower ends of the floating supporting arm assemblies, and a floating plate spring assembly is installed on the axle set so that the floating stability of the main frame can be improved. In the driving process of the cleaning robot, if the cleaning robot encounters some large sunken ground, the middle axle on the front side can be suspended firstly, and due to the effect of the floating plate spring assembly, the middle axle or the rear axle can rotate, so that the middle axle or the rear axle can make contact with the ground and can be better attached to the ground, and the ground grabbing capacity of the chassis is improved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic technology, and in particular to a floating chassis structure. Background Technology

[0002] Solar photovoltaic (PV) energy, as a renewable and clean energy source, has become a significant force in today's energy transformation. With the continuous expansion of global PV installation capacity, the demand for intelligent products used in PV panel construction and operation is increasing. Currently, robots installed on PV panels have limited application due to their inability to move independently, while wheeled and tracked mobile robots are finding increasingly wider applications.

[0003] Because large-scale centralized photovoltaic power plants are located in the Gobi Desert with rugged terrain, most mobile robots use engineering tracked chassis. For robots that need to be equipped with superstructures, tracked chassis experience significant vibrations during movement when encountering rough terrain, affecting the stability of the superstructure. Tracked chassis are also slower, failing to meet the need for improved operational efficiency. Engineering tracked chassis cause significant damage to the ground when walking and turning; they cannot traverse large ground depressions, and there is a risk of track derailment during turning and movement. Ordinary wheeled chassis have poor terrain adaptability, simple suspension structures, and insufficient ride stability. When encountering uneven terrain, the wheels may become suspended in the air, making wheel slippage easy. Their lack of power becomes immediately apparent when encountering steep slopes. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, the object of this invention is to propose a floating chassis structure that, through the coordinated operation of floating support arm assemblies and floating leaf spring assemblies between floating bridges, ensures that all tires are in contact with the ground, providing a larger ground contact area, greater grip, and preventing slippage. The same performance can be achieved when going downhill.

[0005] The floating chassis structure according to an embodiment of the present invention includes:

[0006] Main frame;

[0007] A steering drive axle, which is mounted on the lower front side of the main frame, is used to provide driving power and left and right steering.

[0008] The floating axle includes a mounting frame fixed to the lower end of the main frame. Two sets of symmetrically arranged floating support arm assemblies are mounted on the mounting frame. Axle assemblies are mounted on the lower end of the floating support arm assemblies, and floating leaf spring assemblies are mounted on the axle assemblies to increase the floating stability of the main frame.

[0009] Furthermore, the floating support arm assembly includes a support arm support frame fixedly installed at the lower end of the mounting frame, with floating support arms symmetrically hinged to the lower end of the support arm support frame, and the other end of the floating support arm is installed on the axle assembly.

[0010] Furthermore, the axle assembly includes an intermediate axle and a rear axle located on both sides of the floating support arm assembly, with the intermediate axle located between the steering drive axle and the rear axle. The ends of the two floating supports away from the support arm support frame extend to the corresponding intermediate axle and the rear axle, respectively, and the floating supports are connected to the corresponding intermediate axle and the rear axle by hinge connection.

[0011] Furthermore, the floating support arm assembly also includes tie rod supports symmetrically installed on both sides of the mounting frame. Adjustment tie rods are hinged to the tie rod supports, and tie rod lower supports are installed on the intermediate axle and the rear axle. The other end of the adjustment tie rod is respectively hinged to the corresponding tie rod lower support.

[0012] Furthermore, there are two floating leaf spring assemblies, and the two floating leaf spring assemblies are symmetrically distributed at both ends between the intermediate axle and the rear axle. Each floating leaf spring assembly includes a first leaf spring and a limiting assembly for limiting the middle part of the first leaf spring. A first support seat is installed on the intermediate axle and the rear axle. Both ends of the first leaf spring are inserted into the first support seat to transfer the force on the first leaf spring to the intermediate axle and the rear axle. A rotating component is installed at the upper end of the limiting assembly, and the rotating component is installed on the main frame.

[0013] Furthermore, the limiting component includes a fixing seat with a first through groove on its top surface, a pressure plate above the fixing seat, and a second through groove on the lower end surface of the pressure plate, which forms a through groove with the first through groove for the first leaf spring to pass through. The fixing seat and the pressure plate are detachably connected by bolts.

[0014] Furthermore, the rotating component includes a rotating shaft, which is fitted with a rotating shaft sleeve through a bearing. Both ends of the rotating shaft are connected to end caps through the rotating shaft sleeve. The two end caps are connected to a fixing frame, which is fixed to the main frame. The upper end of the pressure plate is connected to a protrusion that is connected to the rotating shaft sleeve.

[0015] Furthermore, the floating bridge also includes several spring assemblies installed between the intermediate axle and the main frame, and between the rear axle and the main frame, to enhance the shock absorption effect.

[0016] Furthermore, the spring assembly includes an upper spring support plate and a lower spring support plate, with a spring connecting the upper support plate and the lower spring support plate. The upper end of the upper support plate is fixedly connected to the main frame, and the lower end of the lower spring support plate is connected to at least one spring support plate extending outward on one side. The outwardly extending end of the spring support plate is arc-shaped and locked onto the intermediate axle or rear axle. The spring support plate has screw holes, and the spring support plate is locked onto the adjacent floating support arm by screws passing through the screw holes.

[0017] A cleaning robot includes a floating chassis structure as described above.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0020] Figure 1 This is a three-dimensional structural diagram of the floating chassis structure according to an embodiment of this application;

[0021] Figure 2 According to the embodiments of this application Figure 1 Another perspective structural diagram;

[0022] Figure 3 This is a three-dimensional structural schematic diagram of the steering drive axle in the floating chassis structure according to an embodiment of this application;

[0023] Figure 4 This is a three-dimensional structural diagram of the floating bridge in the floating chassis structure according to an embodiment of this application;

[0024] Figure 5 According to the embodiments of this application Figure 4 A front view structural diagram;

[0025] Figure 6 This is a three-dimensional structural diagram of the floating bridge in the floating chassis structure according to an embodiment of this application from another perspective;

[0026] Figure 7 This is a three-dimensional schematic diagram of the intermediate bridge structure in the floating chassis structure according to an embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the floating support arm assembly in the floating chassis structure according to an embodiment of this application;

[0028] Figure 9This is a three-dimensional structural diagram of the spring assembly in the floating chassis structure according to an embodiment of this application;

[0029] Figure 10 This is a cross-sectional view of the floating leaf spring assembly in the floating chassis structure according to an embodiment of this application;

[0030] Figure 11 This is a schematic diagram of the steering of a floating chassis structure according to an embodiment of this application;

[0031] Figure 12 This is a schematic diagram of the uphill process of the floating chassis structure according to an embodiment of this application;

[0032] Figure 13 This is a schematic diagram of the downhill process of the floating chassis structure according to an embodiment of this application;

[0033] Figure 14 This is a schematic diagram of the cleaning robot structure according to an embodiment of this application.

[0034] Figure label:

[0035] 1. Steering drive axle; 2. Floating axle; 3. Tire; 4. Main frame; 5. Battery; 6. Cover plate; 7. Motor driver; 8. Electronic control system; 9. Upper structure interface.

[0036] Drive motor 11, differential 12, differential lock 13, linear steering structure 14, second leaf spring 15, front axle leaf spring mounting bracket 16, second support bracket 17;

[0037] 21. Intermediate axle; 22. Mounting frame; 23. Floating support arm assembly; 24. Spring assembly; 25. Rear axle; 26. Floating leaf spring assembly.

[0038] Support arm bracket 231, lower support rod 232, upper support rod 233, floating support arm 234, adjusting rod 235;

[0039] Spring support plate 241, spring 242, upper spring support plate 243, lower spring support plate 244;

[0040] First leaf spring 261, limiting component 262, fixed seat 2621, pressure plate 2622, protrusion 26221, first support seat 263, rotating component 264, rotating shaft 2641, end cover 26411, rotating bushing 2642, fixed frame 265. Detailed Implementation

[0041] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0042] The following is for reference. Figures 1-14 A floating chassis structure and a cleaning robot according to embodiments of the present invention are described.

[0043] It should be noted that with the rapid development of the domestic new energy industry, the number of photovoltaic power generation equipment has increased rapidly. Photovoltaic power stations need to inspect, maintain, and clean the photovoltaic panels. Since large-scale centralized photovoltaic power stations are located in the Gobi Desert with rugged terrain, most mobile robots use engineering tracked chassis. For robots that need to be equipped with superstructures, the tracked chassis will generate significant vibrations when encountering harsh terrain, which will affect the stable operation of the superstructure. The tracked chassis is also slower, which cannot meet the requirements for improving operation and maintenance efficiency.

[0044] Based on this, embodiments of this application propose a cleaning robot, such as... Figure 1 and Figure 14 As shown, it includes a floating chassis structure, a robotic arm system, and a roller brush mechanism.

[0045] It should be noted that the robotic arm system and the roller brush mechanism are not technical solutions to the technical problems proposed in this application, and will not cause the solution to be incomplete. Moreover, the robotic arm system and the roller brush mechanism are conventional structures for those skilled in the art, and will not be described in detail here.

[0046] In this embodiment, refer to Figure 1-2 The floating chassis structure includes a main frame 4, a steering drive axle 1, and a floating axle 2. The steering drive axle 1 is installed on the lower front side of the main frame 4 to provide power for the sweeping robot's movement and lateral steering; for example... Figure 4-6 As shown, the floating bridge 2 includes a mounting frame 22, two sets of symmetrically arranged floating support arm assemblies 23 installed at the lower end of the mounting frame 22, and an axle assembly. The axle assembly includes an intermediate axle 21 and a rear axle 25, with the intermediate axle 21 located between the steering drive axle 1 and the rear axle 25. The floating bridge 2 also includes a floating leaf spring assembly 26 located between the intermediate axle 21 and the rear axle 25 and cooperating with the floating support arm assemblies 23. The floating support arm assemblies 23 and the floating leaf spring assembly 26 cooperate with each other to increase the floating stability of the main frame 4.

[0047] In some examples, the mounting frame 22 is fixed to the lower end of the main frame 4, and the fixing method can be welding, resulting in a stable rigid connection structure.

[0048] In some examples, such as Figure 8As shown, the floating support arm assembly 23 includes a support arm support frame 231 fixedly installed at the lower end of the mounting frame 22. Two floating support arms 234 are symmetrically hinged at the lower end of the support arm support frame 231. The other end of one floating support arm 234 is installed on the intermediate axle 21, and the other end of the other floating support arm 234 is installed on the rear axle 25.

[0049] It should be noted that the support bracket 231 is fixed to the lower end of the mounting frame 22 by welding. Of course, it can also be fixed by bolts or other means. The floating support bracket 234 is connected to the intermediate bridge 21 or the rear bridge 25 by hinge.

[0050] To improve structural stability, such as Figure 8 As shown, the floating support arm assembly 23 also includes tie rod upper supports 233 symmetrically installed on both sides of the mounting frame 22. Adjustment tie rods 235 are hinged to the tie rod upper supports 233. Tie rod lower supports 232 are installed on the intermediate axle 21 and the rear axle 25. The other end of the adjustment tie rod 235 is respectively hinged to the corresponding tie rod lower support 232 to prevent the intermediate axle 21 and the rear axle 25 from shifting position.

[0051] In some examples, see Figure 4 and Figure 10 As shown, there are two floating leaf spring assemblies 26, which are symmetrically distributed at both ends between the intermediate axle 21 and the rear axle 25. Each floating leaf spring assembly 26 includes a first leaf spring 261 and a limiting assembly 262 for limiting the middle part of the first leaf spring 261. A first support seat 263 is installed on the intermediate axle 21 and the rear axle 25. Both ends of the first leaf spring 261 are inserted into the first support seat 263 so that the force on the first leaf spring 261 is applied to the intermediate axle 21 and the rear axle 25. Specifically, the first support seat 263 is a U-shaped plate fixedly connected to the intermediate axle 21 and the rear axle 25 by welding. A rotating component 264 is installed on the upper end of the limiting assembly 262. The rotating component is installed on the main frame 4.

[0052] In this embodiment, as Figure 10 As shown, the limiting component 262 includes a fixing seat 2621 with a first through groove on its top surface, a pressure plate 2622 above the fixing seat 2621, and a second through groove with a through groove formed with the first through groove on the lower end surface of the pressure plate 2622 for the first leaf spring 261 to pass through. The fixing seat 2621 and the pressure plate 2622 are detachably connected by bolts.

[0053] In this embodiment, as Figure 10As shown, the rotating component 264 includes a rotating shaft 2641, a rotating bushing 2642 mounted on the rotating shaft 2641 via a bearing, and end caps 26411 connected to both ends of the rotating shaft 2641 through the rotating bushing 2642. The two end caps 26411 are connected to a fixing frame 265, which is fixed to the main frame 4. The upper end of the pressure plate 2622 is connected to a protrusion 26221 connected to the rotating bushing 2642. The centers of the two rotating shafts 2641 and the center of the mounting frame 22 are on the same horizontal line. When going uphill or downhill, the main frame 4 tilts and changes direction as the front wheels reach the ramp first. The floating bridge 2 always bears the weight from the main frame 4 and the equipment on it, thereby causing the rotating bushing 2642 to rotate relative to the rotating shaft 2641. The tires 3 on the intermediate bridge 21 and the rear axle 25 always keep in contact with the ground, providing a larger ground contact area, providing greater grip and preventing slippage.

[0054] As a preferred embodiment of this case, such as Figure 9 As shown, the floating bridge 2 also includes several spring assemblies 24 installed between the intermediate bridge 21 and the main frame 4 and between the rear axle 25 and the main frame 4, in order to enhance the shock absorption effect.

[0055] In some examples, such as Figure 4-6 and Figure 9 As shown, the spring assembly 24 includes an upper spring support plate 243 and a lower spring support plate 244. A spring 242 is connected between the upper spring support plate 243 and the lower spring support plate 244. The upper end of the upper spring support plate 243 is fixed to the main frame 4 by welding. The lower end of the lower spring support plate 244 is connected to at least one spring support plate 241 that extends outward on one side. In this embodiment, there are two lower spring support plates 244. The outward-extending end of the spring support plate 241 is arc-shaped and is locked on the intermediate axle 21 or the rear axle 25. The spring support plate 241 has a screw hole. The spring support plate 241 is locked to the adjacent floating support arm 234 by screws passing through the screw hole. The two spring support plates 241 are located on both sides of the floating support arm 234.

[0056] In this application, the mounting frame 22 is connected to the intermediate bridge 21 and the rear bridge 25 via the floating support arm 234 and the adjusting rod 235. The first leaf spring 261 is installed with the intermediate bridge 21 and the rear bridge 25 via the first support seat 263, allowing the intermediate bridge 21 and the rear bridge 25 to rotate relative to the mounting frame 22. During the cleaning robot's movement, if it encounters some large ground depressions, the front intermediate bridge 21 will be suspended first. Due to the action of the floating leaf spring assembly 26, the intermediate bridge 21 or the rear bridge 25 can rotate, allowing either the intermediate bridge 21 or the rear bridge 25 to contact the ground, thus better adhering to the ground and increasing the chassis's grip. At the same time, the dual action of the spring assembly 24 and the floating leaf spring assembly 26 can enable the chassis to move more smoothly. When the chassis is climbing a slope, after the front wheels have climbed over the slope and leveled off, while the rear wheels are still on the slope, the angle between the intermediate axle 21 and the rear axle 25 and the mounting frame 22 remains unchanged. The rotating bushing 2642 rotates relative to the rotating shaft 2641, ensuring that all tires 3 are in contact with the ground, providing a larger contact area, greater grip, and preventing slippage. Conversely, the same effect can be achieved when going downhill.

[0057] It should be noted that, as Figure 1-2 As shown, the main frame 4 is surrounded by a cover plate 6, which is a sheet metal part. Inside the main frame 4 is a battery 5 that supplies power to the steering drive axle 1, intermediate axle 21, and rear axle 25. In this embodiment, the battery 5 can be a lithium iron phosphate battery. The main frame 4 also includes an electronic control system 8 for controlling the cleaning robot's operation. The upper end of the main frame 4 is equipped with an upper structure interface 9 for mounting the robotic arm system. Wheel hubs and tires 3 are installed at both ends of the steering drive axle 1, intermediate axle 21, and rear axle 25. The tires 3 are sand-resistant vacuum tires, which provide a smoother ground contact compared to tracked chassis. The special tread pattern of the sand-resistant vacuum tires adapts to Gobi and desert terrain, reducing ground vibration feedback and making the chassis ride more smoothly. (See reference...) Figure 1 , Figure 3 and Figure 7Differentials 12 and drive motors 11 that provide power to the differentials are installed on the steering drive axle 1, intermediate axle 21, and rear axle 25. Differential locks 13 are fitted to the differentials 12. Using a differential structure, each set of tires 3 can roll and rub against the ground under the action of the differential 12 when turning, avoiding tire dragging, reducing slippage damage to the ground, and ensuring smooth curve driving of the chassis. A motor driver 7 that controls the drive motor 11 is installed inside the main frame 4. Additionally, the steering uses an Ackermann front axle. Specifically, a linear steering structure 14 is installed on the steering drive axle 1 to enable the cleaning robot to turn. It can turn at large angles to the left and right, with a steering angle of ±37°. Two second leaf springs 15 are symmetrically installed on the steering drive axle 1. The second leaf springs 15 are fixed by the front axle leaf spring fixing seat 16. The two ends of the second leaf springs 15 are inserted into the second support seat 17. The upper end of the second support seat 17 is welded to the main frame 4. All three sets of axles use leaf spring suspension, which can achieve better shock absorption under heavy load. The above structure is obvious to those skilled in the art and will not be described in detail here.

[0058] The floating chassis structure and other components and operation of the cleaning robot according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A floating chassis structure, characterized in that, include: Main frame (4); Steering drive axle (1), which is mounted on the lower front side of the main frame (4) to provide driving power and left and right steering; The floating bridge (2) includes a mounting frame (22) fixed to the lower end of the main frame (4). Two sets of symmetrically arranged floating support arm assemblies (23) are mounted on the mounting frame (22). Axle assemblies are mounted on the lower end of the floating support arm assemblies (23), and floating leaf spring assemblies (26) are mounted on the axle assemblies to increase the floating stability of the main frame (4).

2. The floating chassis structure according to claim 1, characterized in that, The floating support arm assembly (23) includes a support arm support frame (231) fixedly installed at the lower end of the mounting frame (22), and a floating support arm (234) is symmetrically hinged at the lower end of the support arm support frame (231). The other end of the floating support arm (234) is installed on the axle assembly.

3. The floating chassis structure according to claim 2, characterized in that, The axle assembly includes an intermediate axle (21) and a rear axle (25) located on both sides of the floating support arm assembly (23). The intermediate axle (21) is located between the steering drive axle (1) and the rear axle (25). The two floating supports (234) extend from the support arm support frame (231) to the corresponding intermediate axle (21) and the rear axle (25), respectively. The floating supports (234) are connected to the corresponding intermediate axle (21) and the rear axle (25) by a hinge connection.

4. The floating chassis structure according to claim 3, characterized in that, The floating support arm assembly (23) also includes tie rod upper supports (233) symmetrically installed on both sides of the mounting frame (22). An adjusting tie rod (235) is hinged to the tie rod upper support (233). Tie rod lower supports (232) are installed on the intermediate bridge (21) and the rear bridge (25). The other end of the adjusting tie rod (235) is respectively hinged to the corresponding tie rod lower support (232).

5. The floating chassis structure according to claim 4, characterized in that, There are two floating leaf spring assemblies (26), and the two floating leaf spring assemblies (26) are symmetrically distributed at both ends between the intermediate axle (21) and the rear axle (25). The floating leaf spring assembly (26) includes a first leaf spring (261) and a limiting assembly (262) for limiting the middle part of the first leaf spring (261). A first support seat (263) is installed on the intermediate axle (21) and the rear axle (25). The two ends of the first leaf spring (261) are inserted into the first support seat (263) so that the force on the first leaf spring (261) is applied to the intermediate axle (21) and the rear axle (25). A rotating component (264) is installed on the upper end of the limiting assembly (262). The rotating component is installed on the main frame (4).

6. The floating chassis structure according to claim 5, characterized in that, The limiting component (262) includes a fixing seat (2621) with a first through groove on its top surface. A pressure plate (2622) is provided above the fixing seat (2621). A second through groove is provided on the lower end surface of the pressure plate (2622), which forms a through groove with the first through groove for the first leaf spring (261) to pass through. The fixing seat (2621) and the pressure plate (2622) are detachably connected by bolts.

7. The floating chassis structure according to claim 6, characterized in that, The rotating component (264) includes a rotating shaft (2641), which is fitted with a rotating bushing (2642) via a bearing. Both ends of the rotating shaft (2641) pass through the rotating bushing (2642) and are connected to end caps (26411). The two end caps (26411) are connected to a fixing frame (265), which is fixed to the main frame (4). The upper end of the pressure plate (2622) is connected to a protrusion (26221) that is connected to the rotating bushing (2642).

8. The floating chassis structure according to claim 7, characterized in that, The floating bridge (2) also includes several spring assemblies (24) installed between the intermediate bridge (21) and the main frame (4) and between the rear axle (25) and the main frame (4) to enhance the shock absorption effect.

9. The floating chassis structure according to claim 8, characterized in that, The spring assembly (24) includes an upper spring support plate (243) and a lower spring support plate (244). A spring (242) is connected between the upper spring support plate (243) and the lower spring support plate (244). The upper end of the upper spring support plate (243) is connected and fixed to the main frame (4). The lower end of the lower spring support plate (244) is connected to at least one spring support plate (241) that extends outward on one side. The outward-extending end of the spring support plate (241) is arc-shaped and is locked on the intermediate axle (21) or the rear axle (25). The spring support plate (241) is provided with screw holes. The spring support plate (241) is locked to the adjacent floating support arm (234) by screws passing through the screw holes.

10. A cleaning robot, characterized in that, This includes the use of a floating chassis structure as described in any one of claims 1-9.

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