Anti-toppling portal frame wheeled robot

Abstract

The utility model relates to the technical field of wheeled robots, in particular to an anti-toppling portal frame wheeled robot which comprises a portal frame, two bottom feet of the frame are respectively connected with a main walking chassis, a plurality of main electric universal wheels are installed at the bottoms of the main walking chassis, and the main electric universal wheels are connected with the main walking chassis. A plurality of swing arms are hinged to a longitudinal arm of the frame, the swing arms are perpendicular to a cross beam of the frame, an auxiliary walking chassis is hinged to the ends, away from the frame, of the swing arms, auxiliary electric universal wheels are installed at the bottom of the auxiliary walking chassis, and driving devices are arranged on the frame and correspond to the swing arms respectively. The driving device is used for controlling the swing arm to rotate upwards or downwards, a controller is installed on the frame, an IMU inertial navigation module is integrated in the controller, the driving device is in communication connection with the controller, an auxiliary wheel system is added to the wheeled robot, and the robot can be effectively prevented from toppling over.

Description

Technical Field

[0001] This utility model relates to the field of wheeled robot technology, and in particular to an anti-tipping gantry wheeled robot. Background Technology

[0002] Gantry-type self-propelled robots can move flexibly, making it easy to clean panels. However, conventional gantry-type self-propelled robots lack an auxiliary wheel system, and their high center of gravity makes them prone to tipping over when facing complex terrain, requiring improvement. Utility Model Content

[0003] To address the problems mentioned in the background art, the purpose of this utility model is to provide an anti-tipping gantry wheeled robot.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] An anti-tipping gantry wheeled robot includes a gantry-type frame. A main walking chassis is connected to each of the frame's two bases. Multiple main electric casters are mounted on the bottom of the main walking chassis. Multiple swing arms are hinged to the longitudinal arms of the frame, with each swing arm perpendicular to the frame's crossbeam. An auxiliary walking chassis is hinged to the end of each swing arm away from the frame, and auxiliary electric casters are mounted on the bottom of the auxiliary walking chassis. A drive device is provided on the frame for each swing arm, controlling its upward or downward rotation. A controller is mounted on the frame, integrating an IMU (Inertial Measurement Unit) module. The drive device is communicatively connected to the controller.

[0006] Furthermore, there are two swing arms in total, and both swing arms are hinged to the bottom end of one of the longitudinal arms of the frame.

[0007] Furthermore, an inverted trapezoidal connecting frame is fixed to the base of the vehicle frame, and the middle part of the bottom of the connecting frame is hinged to the main chassis. The two apex corners of the connecting frame are both hinged to the main chassis.

[0008] Furthermore, the driving device is a hydraulic cylinder, the cylinder body of which is hinged to the longitudinal arm of the frame, and the piston rod of which is hinged to the swing arm.

[0009] Furthermore, the main electric omnidirectional wheel includes a main steering motor, a main wheel frame, a main tire, and a main wheel-side drive motor. The main steering motor is longitudinally fixed to the bottom of the main chassis. The main wheel frame is fixed to the main shaft of the main steering motor. The main tire is rotatably mounted on the main wheel frame. The main wheel-side drive motor is fixed on the main wheel frame to drive the main tire to rotate.

[0010] Furthermore, the auxiliary electric omnidirectional wheel includes a secondary steering motor, a secondary wheel frame, a secondary tire, and a secondary wheel-side drive motor. The secondary steering motor is longitudinally fixed to the bottom of the auxiliary travel chassis. The secondary wheel frame is fixed to the main shaft of the secondary steering motor. The secondary tire is rotatably mounted on the secondary wheel frame. The secondary wheel-side drive motor is fixed on the secondary wheel frame to drive the secondary tire to rotate.

[0011] The beneficial effects of this utility model are as follows: the inertial navigation module can monitor the attitude of the frame in real time, enabling the controller to control the angle of the swing arm in a timely manner, allowing the auxiliary electric omnidirectional wheel to contact the bottom surface, thereby effectively supporting the frame from tipping over, and enabling the wheeled robot to adapt to various complex terrains. Attached Figure Description

[0012] Figure 1 This is a perspective view of an embodiment of the present utility model;

[0013] Figure 2 This is a right view of an embodiment of the present utility model;

[0014] Figure 3 This is the control flowchart of this utility model.

[0015] Explanation of the attached drawing numbers: 1. Frame, 11. Connecting frame, 12. Suspension, 2. Main travel chassis, 3. Main electric swivel wheel, 31. Main steering motor, 32. Main wheel frame, 33. Main tire, 34. Main wheel-side drive motor, 4. Swing arm, 5. Auxiliary travel chassis, 6. Auxiliary electric swivel wheel, 61. Secondary steering motor, 62. Secondary wheel frame, 63. Secondary tire, 64. Secondary wheel-side drive motor, 7. Hydraulic cylinder. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.

[0017] like Figures 1-2As shown, an anti-tipping gantry wheeled robot includes a gantry-type frame 1. A main travel chassis 2 is connected to each of the two bases of the frame 1. Specifically, an inverted trapezoidal connecting frame 11 is fixed to each base of the frame 1. The middle part of the bottom of the connecting frame 11 is hinged to the main travel chassis 2. Suspension 12s are hinged between the two apex corners of the connecting frame 11 and the main travel chassis 2. A main electric omnidirectional wheel 3 is installed at the front and rear ends of the bottom of the main travel chassis 2. The main electric omnidirectional wheel 3 includes a main steering motor. 31. Main wheel frame 32, main tire 33, and main wheel drive motor 34. The main steering motor 31 is longitudinally fixed to the bottom of the main chassis 2. The main wheel frame 32 is fixed to the main shaft of the main steering motor 31. The main tire 33 is rotatably mounted on the main wheel frame 32 along a horizontal axis. The main wheel drive motor 34 is fixed to the main wheel frame 32. The main shaft of the main wheel drive motor 34 is connected to the main tire 33. Two swing arms 4 are hinged to the bottom end of the right longitudinal arm of the frame 1. The swing arms 4 are perpendicular to the crossbeam of the frame 1 and are far from the crossbeam of the frame 1. One end of the frame 1 is hinged to an auxiliary travel chassis 5. An auxiliary electric swivel wheel 6 is mounted on the bottom of the auxiliary travel chassis 5. The auxiliary electric swivel wheel 6 includes a secondary steering motor 61, a secondary wheel frame 62, a secondary tire 63, and a secondary wheel-side drive motor 64. The secondary steering motor 61 is longitudinally fixed to the bottom of the auxiliary travel chassis 5. The secondary wheel frame 62 is fixed to the main shaft of the secondary steering motor 61. The secondary tire 63 is rotatably mounted on the secondary wheel frame 62 along a horizontal axis. The secondary wheel-side drive motor 64 is fixed to the secondary wheel frame 62. The main shaft of the drive motor 64 is connected to the auxiliary tire 63. A hydraulic cylinder 7 is installed on the right longitudinal arm of the frame 1 above each swing arm 4. The cylinder body of the hydraulic cylinder 7 is hinged to the right longitudinal arm of the frame 1, and the end of the piston rod of the hydraulic cylinder 7 is hinged to the middle of the swing arm 4. A controller (not shown in the figure) is installed on the frame 1. The controller integrates an IMU inertial navigation module. The hydraulic cylinder 7, the main steering motor 31, the main wheel-side drive motor 34, the auxiliary steering motor 61, and the auxiliary wheel-side drive motor 64 are all connected to the controller.

[0018] refer to Figure 3The diagram below shows the system's control flowchart. When the wheeled robot moves, the system performs necessary parameter initialization, including setting the initial parameters, preset values, and limits of the control algorithm. Simultaneously, communication connections are established with all relevant devices, such as the IMU, PLC, and hydraulic cylinder 7, ensuring uninterrupted data transmission. The system then begins collecting motion data from the IMU inertial navigation module, including acceleration, angular velocity, and attitude information. Since sensor data may contain noise, filtering is required to improve data quality. Filtering can employ low-pass filters, Kalman filters, or other advanced filtering techniques. The PLC receives the IMU data and uses an attitude calculation algorithm to calculate the wheeled robot's current attitude. Subsequently, the PLC calculates the deviation between the wheeled robot's actual attitude and the desired attitude. Based on the attitude deviation provided by the PLC, the controller uses a preset control algorithm to calculate the control signal. The controller's goal is to generate an output signal that can correct the deviation and guide the wheeled robot back to the desired attitude. The controller's output signal is sent to the hydraulic cylinder driver, which adjusts the extension or retraction of the hydraulic cylinder 7 according to the signal, thereby achieving precise control of the auxiliary electric omnidirectional wheel 6. After the hydraulic cylinder 7 drives the control, the system needs to update the vehicle's attitude parameters. This typically involves re-acquiring IMU data and adjusting the vehicle attitude model based on the latest data to reflect the vehicle's actual state. During the output phase, the system collects feedback data, which is used to evaluate the control effect and system performance. Feedback data may include actual changes in the wheeled robot's attitude, the response time of control signals, etc., thereby enabling the automatic extension and retraction of the auxiliary electric omnidirectional wheels 6 and enhancing the wheeled robot's driving stability.

[0019] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A tilt-resistant gantry wheeled robot, comprising a gantry-type frame (1), wherein a main walking chassis (2) is connected to each of the two bottom feet of the frame (1), and a plurality of main electric casters (3) are mounted on the bottom of the main walking chassis (2), characterized in that, Multiple swing arms (4) are hinged to the longitudinal arm of the frame (1). The swing arms (4) are perpendicular to the crossbeam of the frame (1). An auxiliary walking chassis (5) is hinged to the end of the swing arm (4) away from the frame (1). An auxiliary electric omnidirectional wheel (6) is installed at the bottom of the auxiliary walking chassis (5). A drive device is provided on the frame (1) for each swing arm (4). The drive device is used to control the swing arm (4) to rotate up or down. A controller is installed on the frame (1). The controller integrates an IMU inertial navigation module. The drive device is communicatively connected to the controller.

2. The anti-tipping gantry wheeled robot according to claim 1, characterized in that, There are two swing arms (4), and both swing arms (4) are hinged to the bottom end of one of the longitudinal arms of the frame (1).

3. The anti-tipping gantry wheeled robot according to claim 1, characterized in that, An inverted trapezoidal connecting frame (11) is fixed to the bottom foot of the frame (1). The middle part of the bottom of the connecting frame (11) is hinged to the main chassis (2). The two apex corners of the connecting frame (11) are both hinged to the main chassis (2) with suspensions (12).

4. The anti-tipping gantry wheeled robot according to claim 1, characterized in that, The driving device is a hydraulic cylinder (7), the cylinder body of the hydraulic cylinder (7) is hinged to the longitudinal arm of the frame (1), and the piston rod of the hydraulic cylinder (7) is hinged to the swing arm.

5. The anti-tipping gantry wheeled robot according to claim 1, characterized in that, The main electric omnidirectional wheel (3) includes a main steering motor (31), a main wheel frame (32), a main tire (33), and a main wheel-side drive motor (34). The main steering motor (31) is longitudinally fixed to the bottom of the main chassis (2). The main wheel frame (32) is fixed to the main shaft of the main steering motor (31). The main tire (33) is rotatably mounted on the main wheel frame (32). The main wheel-side drive motor (34) is fixed on the main wheel frame (32) to drive the main tire (33) to rotate.

6. The anti-tipping gantry wheeled robot according to claim 1, characterized in that, The auxiliary electric omnidirectional wheel (6) includes a secondary steering motor (61), a secondary wheel frame (62), a secondary tire (63), and a secondary wheel-side drive motor (64). The secondary steering motor (61) is longitudinally fixed to the bottom of the auxiliary walking chassis (5). The secondary wheel frame (62) is fixed to the main shaft of the secondary steering motor (61). The secondary tire (63) is rotatably mounted on the secondary wheel frame (62). The secondary wheel-side drive motor (64) is fixed on the secondary wheel frame (62) to drive the secondary tire (63) to rotate.

Images