Obstacle crossing chassis and obstacle crossing robot with same

Abstract

The utility model relates to the technical field of obstacle crossing robots, in particular to an obstacle crossing chassis and an obstacle crossing robot with the same. The obstacle crossing chassis comprises a frame system and a wheel system, the chassis is divided into a front section and a rear section in the mode that a frame and a cantilever frame are hinged to a cantilever, the sill crossing stability is enhanced through the structure supported by three wheels, the structure guarantees that the obstacle crossing chassis always has road holding force when crossing obstacles, and a vehicle body moves forwards smoothly and stably. The buffering limiter limits the sliding range of the sliding block through the two spring limiting blocks so as to limit the rotating angle of the suspension beam relative to the vehicle body, and the suspension beam is prevented from colliding with the shell in the rotating process. Elastic force is applied to the sliding block through the springs on the two sides of the sliding block, so that the sliding block approaches the middle position and slides towards the two sides to bear the resistance of the springs, and the buffering effect of cantilever movement is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of obstacle-crossing robots, in particular to an obstacle-crossing chassis and an obstacle-crossing robot having the same. Background Art

[0002] The obstacle climbing chassis is an important component of the obstacle climbing robot. In indoor environments such as hospitals, schools, and laboratories, when carrying different robot loads, its obstacle climbing ability, obstacle climbing stability, and operation effect in narrow and confined spaces directly determine the performance of the obstacle climbing robot.

[0003] The invention patent "Obstacle Chassis Structure and Mobile Robot" with application number CN202110834536.3 proposes a chassis with a multi-link slider system. The hinge and slider structure have too many designs, which are prone to failure. When facing turning problems, it is difficult to turn at a small angle, and it is impossible to achieve steering operations in confined spaces such as aisles. The elastic swinging wheel hub design proposed by the invention patent "Obstacle Chassis Device and Robot Having It" with application number CN202111568807.1, as well as the corresponding suspension design chassis, will cause structural oscillation problems when absorbing and releasing impact potential energy, thereby affecting obstacle stability and may cause instability caused by center of gravity shift, and easy tipping. Utility Model Content

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide an obstacle-crossing chassis structure suitable for indoor environments that has certain obstacle-crossing capabilities, relative obstacle-crossing stability, and the ability to operate in narrow and confined spaces, so as to solve the problems of the existing obstacle-crossing chassis having a single function and poor threshold-crossing stability.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the utility model is as follows: an obstacle-crossing chassis, including a frame system and a wheel system,

[0006] The frame system includes a frame body and a suspension beam frame. The left and right sides of the frame body are hinged to the suspension beam frame through a rotating shaft. A buffer limiter is also provided between the left and right sides of the frame body and the suspension beam frame. The buffer limiter includes a buffer rod, a slider and a spring. One end of the buffer rod is hinged to the frame body. The slider is sleeved on the other end of the buffer rod. Both ends of the slider are respectively abutted against the limit blocks on the buffer rod through a spring. The suspension beam frame is hinged to the slider.

[0007] The wheel system includes two driving wheels and two universal wheels. The two driving wheels are symmetrically installed on the lower end surface of the frame body. One of the universal wheels is installed behind the lower end surface of the frame body, and the other is installed on the lower end surface of the suspension beam.

[0008] The beneficial effects of the utility model are as follows: the obstacle-crossing chassis provided by the utility model is divided into two sections, front and rear, by means of the articulated suspension beams between the frame and the suspension beam frame, and each is supported by three wheels to enhance the stability of crossing the threshold. This structure ensures that the obstacle-crossing chassis always has grip when crossing obstacles, so that the vehicle body can move forward smoothly and stably. The buffer limiter limits the sliding range of the slider by two spring limit blocks to limit the rotation angle of the suspension beam relative to the vehicle body, thereby preventing the suspension beam from colliding with the outer shell during rotation. The springs on both sides of the slider apply elastic force to the slider, so that the slider approaches the middle position, and sliding to both sides will be subject to spring resistance, thereby increasing the buffering effect of the suspension beam movement. The above-mentioned structural arrangement meets the requirements of stable operation and obstacle crossing of the obstacle-crossing chassis in narrow and confined spaces.

[0009] On the basis of the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, the frame body is circular.

[0011] Furthermore, it also includes a shell, which is installed on the outer periphery of the frame body.

[0012] Furthermore, the intersection position of the line connecting the driving wheels and the line connecting the universal wheels is the center of the obstacle-crossing chassis.

[0013] The beneficial effect of adopting the above further scheme is that the shell is connected to the frame and is circular as a whole, which is the maximum outline of the entire obstacle-crossing robot, strictly limits the structural radius, and can realize an obstacle-crossing chassis structure that can rotate in place. The actual rotation radius is the same as the structural radius, so that it can pass smoothly in narrow indoor aisles such as laboratories.

[0014] Furthermore, the frame body is also provided with a cavity for installing structural elements.

[0015] The beneficial effect of adopting the above further scheme is: the cavity is used to install power supplies, sensors, drive motors and other components that cooperate with the obstacle-crossing chassis to travel. The drive motor drives the drive wheels to rotate to provide power. It adopts a double-sided differential drive wheel + front and rear universal wheel mode, can turn on the spot, can cross steps of not less than 5 cm, and has an approach angle of not less than 8 degrees. It can adapt to the narrow space of the biosafety laboratory and the passability requirements of the negative pressure isolation door steps of the laboratory.

[0016] Furthermore, the suspension beam frame is C-shaped, with left and right ends thereof being vertically arranged on both sides of the frame body, and a middle connecting crossbeam being horizontally arranged below the front end of the frame body.

[0017] The present application also relates to an obstacle-crossing robot, which comprises the above-mentioned obstacle-crossing chassis structure.

[0018] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiment of the utility model with the accompanying drawings. The specific implementation method of the utility model is given in detail by the following embodiments and their drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0020] Figure 1 A front view of the obstacle-crossing chassis provided by the utility model;

[0021] Figure 2 A bottom view of the obstacle-crossing chassis provided by the utility model;

[0022] Figure 3 A front view of the frame system of the obstacle-crossing chassis provided by the utility model;

[0023] Figure 4 A bottom view of the obstacle-crossing chassis frame system provided by the utility model;

[0024] Figure 5 A side view of the obstacle-crossing chassis frame system provided by the utility model;

[0025] Figure 6 A detailed view of the frame body of the obstacle-crossing chassis provided by the utility model;

[0026] Figure 7 A detailed diagram of the suspension beam frame of the obstacle-crossing chassis provided by the utility model;

[0027] Figure 8 A detailed diagram of the obstacle-crossing chassis buffer limiter provided by the utility model;

[0028] Fig. 9 A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model;

[0029] Fig.10 A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model;

[0030] Fig.11 A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model;

[0031] Fig.12 A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model;

[0032] Fig.13A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model;

[0033] Fig.14 A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model;

[0034] Fig.15 A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model;

[0035] Fig.16 A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model;

[0036] Fig.17 A schematic diagram of an obstacle-crossing chassis provided in one embodiment of the utility model.

[0037] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0038] 1. Frame body; 2. Suspension beam; 3. Rotating shaft; 4. Buffer rod; 5. Slider; 6. Limit block; 7. Spring; 8. Driving wheel; 9. Universal wheel; 10. Casing. DETAILED DESCRIPTION

[0039] The following is combined with Figure 1-17 The principles and features of the present invention are described, and the examples given are only used to explain the present invention, and are not used to limit the scope of the present invention.

[0040] like Figure 1-17 As shown, the obstacle-crossing chassis provided by the utility model mainly undergoes the following steps during the obstacle-crossing process:

[0041] 1. As Fig. 9 and 14 When the figure shows that the obstacle climbing chassis does not touch the threshold, the center of gravity of the obstacle climbing chassis remains at the rotation center position of the obstacle climbing chassis.

[0042] 2. If Fig.10 and 15 As shown, the driving wheel 8 is controlled to move forward, and the front universal wheel 9 contacts the threshold. Under the reaction force of the threshold, the front universal wheel 9 drives the suspension beam 2 to rotate upward relative to the frame body 1. The height of the driving wheel 8 and the rear universal wheel 9 remains unchanged, and the frame body 1 is parallel to the ground without tilting.

[0043] 3. Such as Fig.11 and 16 As shown, the driving wheel 8 is continuously controlled to move forward, the front universal wheel 9 passes over the threshold, the driving wheel 8 contacts the threshold, and is subjected to the reaction force of the threshold, so that the driving wheel 8 drives the frame body 1 to move upward relative to the ground, the frame body 1 and the suspension beam 2 rotate relative to each other, the suspension beam 2 rotates downward relative to the frame body 1, and the frame body 1 tilts slightly and the center of gravity moves backward.

[0044] 4. Such as Fig.12 and 17 As shown, the driving wheel 8 continues to be controlled to move forward, the driving wheel 8 passes over the threshold, the rear universal wheel 9 contacts the threshold, and is driven by the reaction force of the threshold to move the frame body 1 upward relative to the ground, the suspension beam 2 remains parallel to the ground, the frame body 1 and the suspension beam rotate relative to each other, the suspension beam 2 rotates upward relative to the frame body 1, and the frame body 1 tilts slightly forward and the center of gravity moves forward.

[0045] 5. As Fig.13 As shown, the driving wheel 8 is continuously controlled to move forward, the rear universal wheel 9 passes over the threshold, the suspension beam 2 and the frame body 1 are kept level again, so that the center of gravity moves back to the center, and the vehicle keeps moving forward stably.

[0046] like Figure 9-17 As shown, during the process of crossing the threshold, the offset of the center of gravity of the vehicle body will fall between the driving wheel 8 and the rear universal wheel 9 or the driving wheel 8 and the front universal wheel 9, ensuring three-point support, so that the obstacle-crossing chassis has better stability. Further, when the obstacle-crossing chassis rotates in situ, the two driving wheels 8 rotate in the opposite direction at the same speed, which can drive the obstacle-crossing chassis to rotate in situ.

[0047] The obstacle-crossing chassis provided by the utility model combines the threshold-crossing capability with the rotation in situ, and has a simple structure and high stability. Adaptive threshold-crossing does not require redundant control and has lower costs. During driving, three-point support is guaranteed when the center of gravity shifts, and the structure is stable and has a stronger load-bearing capacity. It has been verified by kinematic simulation and is more practical than the existing technology.

[0048] The above description is only a preferred embodiment of the utility model and does not impose any form of limitation on the utility model. Any ordinary technician in the industry can smoothly implement the utility model as shown in the drawings of the specification and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the utility model using the technical content disclosed above are all equivalent embodiments of the utility model. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the utility model are still within the protection scope of the technical solution of the utility model.

Claims

1. An obstacle-crossing chassis, characterized in that: The invention comprises a frame system and a wheel system, wherein the frame system comprises a frame body (1) and a suspension beam frame (2), wherein the left and right sides of the frame body (1) are hingedly connected to the suspension beam frame (2) via a rotating shaft (3), and a buffer limiter is further provided between the left and right sides of the frame body (1) and the suspension beam frame (2), wherein the buffer limiter comprises a buffer rod (4), a slider (5) and a spring (7), wherein one end of the buffer rod (4) is hingedly connected to the frame body (1), and the slider (5) is sleeved on the other end of the buffer rod (4). The two ends of the slider (5) are respectively in contact with the limit blocks (6) on the buffer rod (4) through the spring (7); the suspension beam frame (2) and the slider (5) are hingedly connected; the wheel system comprises two driving wheels (8) and two universal wheels (9); the two driving wheels (8) are symmetrically mounted on the lower end surface of the frame body (1); one of the universal wheels (9) is mounted behind the lower end surface of the frame body (1), and the other is mounted on the lower end surface of the suspension beam frame (2).

2. The obstacle-crossing chassis according to claim 1, characterized in that: The frame body (1) is circular.

3. The obstacle-crossing chassis according to claim 1, characterized in that: It also comprises a shell (10), wherein the shell (10) is mounted on the outer periphery of the frame body (1).

4. The obstacle-crossing chassis according to claim 1, characterized in that: The intersection position of the line connecting the driving wheels (8) and the line connecting the universal wheels (9) is the center of the obstacle-crossing chassis.

5. The obstacle-crossing chassis according to claim 1, characterized in that: The frame body (1) is also provided with a cavity for installing structural elements.

6. An obstacle-crossing robot, characterized in that: It includes the obstacle-crossing chassis structure described in any one of claims 1 to 5.

Images