A mobile chassis with an obstacle surmounting module

Abstract

The utility model discloses a mobile chassis with obstacle surmounting module relates to robot technical field, including chassis, and the drive wheel, universal wheel and guide wheel system that distribute on the chassis, at least include two obstacle wheels in the guide wheel system, the guide wheel system is located universal wheel front side under the chassis advancing state, and the axle distance between universal wheel and the obstacle wheel nearest to its axis is less than the sum of their radius, the axle distance of adjacent obstacle wheel is less than the sum of its radius, the guide wheel system is arranged, and the height of the downside horizontal tangent of obstacle wheel reduces with the distance increase of its distance chassis movement direction front side surface, the utility model discloses can avoid the obstruction and can be stuck between two obstacle wheels or obstacle wheel and universal wheel, can effectively improve the height of chassis across the barrier.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a mobile chassis with an obstacle-crossing module. Background Technology

[0002] Wheeled robots are widely used in hospitals for transporting medical supplies such as medicines and medical devices.

[0003] Existing wheeled robot chassis are typically equipped with only one set of drive wheels and one or two sets of omnidirectional wheels (arranged on one side at the front and back or simultaneously at both sides). Some special locations in hospitals are often uneven, such as the connection between corridors and stairwells, the connection between elevator cars and the ground, and the gap between the base supporting sliding doors and the ground. Even worse, items or trash accidentally left behind by patients and their families can also become obstacles to the robot's movement. Due to the size limitations of the omnidirectional wheels, when the height of the obstacle is greater than the radius of the omnidirectional wheels, the omnidirectional wheels are prone to getting stuck, resulting in a weak obstacle-crossing ability for the robot.

[0004] Existing patent application number 202021115804.3 discloses a robot and its chassis, which can improve the robot's obstacle-crossing ability; however, as shown in the appendix to this application specification... Figure 1 As shown, its two guide wheels are arranged one in front of the other, which means that the wheelbase L1 of the two guide wheels must be greater than the diameter of the guide wheels. There must be a gap between the two guide wheels. When it is necessary to rely on the two guide wheels to cross obstacles, and the obstacle is narrow and tall (such as the base supporting the sliding door), it is easy for the guide wheel located in front of the direction of travel V1 to cross the obstacle, and the obstacle will get stuck between the two guide wheels, affecting the robot's movement. Utility Model Content

[0005] The purpose of this invention is to provide a mobile chassis with an obstacle-crossing module to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a mobile chassis with an obstacle-crossing module, comprising a chassis, and drive wheels, omnidirectional wheels, and a guide wheel system distributed on the chassis; the guide wheel system includes at least two obstacle-crossing wheels; When the chassis is in the forward position, the guide wheel system is located in front of the swivel wheel, and the wheelbase between the swivel wheel and the obstacle-crossing wheel closest to its axis is less than the sum of their radii; The wheelbase between adjacent obstacle-crossing wheels is less than the sum of their radii; The guide wheel system is arranged such that the height of the horizontal tangent on the lower side of the obstacle-crossing wheel decreases as its distance from the front side of the chassis in the direction of movement increases.

[0007] As a further embodiment of this utility model, the guide wheel system also includes a mounting part for mounting obstacle-crossing wheels, the mounting part being disposed on the chassis.

[0008] As a further embodiment of this utility model, three obstacle-crossing wheels are provided, and two of the obstacle-crossing wheels are coaxial.

[0009] As a further embodiment of this utility model, the two coaxial obstacle-crossing wheels are located behind the other obstacle-crossing wheel in the direction of travel; and the three obstacle-crossing wheels are symmetrically distributed.

[0010] As a further embodiment of this utility model, the mounting part includes two mounting plates 1 and two mounting plates 2 arranged symmetrically, with the two mounting plates 2 located between the two mounting plates 1; two coaxial obstacle-crossing wheels are respectively mounted between the mounting plates 1 and 2; and another obstacle-crossing wheel is mounted between the two mounting plates 2.

[0011] As a further embodiment of this utility model, it also includes an adjustment mechanism; the adjustment mechanism is used to drive the first obstacle-crossing wheel to move horizontally in the direction of motion, so as to adjust the wheelbase between the first obstacle-crossing wheel and its adjacent obstacle-crossing wheels.

[0012] As a further embodiment of this utility model, the adjustment mechanism includes a movable pair connecting the first obstacle-crossing wheel and the mounting part, and a drive component disposed on the mounting part and capable of controlling the position of the first obstacle-crossing wheel.

[0013] As a further embodiment of this invention, the drive assembly includes a self-locking linear drive member, the output end of which is connected to the first obstacle-crossing wheel.

[0014] As a further embodiment of this utility model, the linear drive component is a cylinder; and the linear drive component is fixedly mounted on the mounting part.

[0015] As a further embodiment of this utility model, the linear drive component includes a threaded rod, which is rotatably mounted on the mounting portion.

[0016] As a further embodiment of this utility model, the movable pair includes a bearing mounted on the first obstacle-crossing wheel and a sliding groove formed on the mounting part, wherein the bearing and the sliding groove are slidably connected.

[0017] Compared with the prior art, the beneficial effects of this utility model are: In this invention, the two obstacle-crossing wheels are staggered, with the wheelbase L of the two wheels being less than the sum of their radii. Simultaneously, the wheelbase L of the omnidirectional wheel and the adjacent obstacle-crossing wheel is less than the sum of the radii of the omnidirectional wheel and the obstacle-crossing wheel. Specifically, the projections of the obstacle-crossing wheel, the adjacent omnidirectional wheel, and the obstacle-crossing wheel in the chassis width direction overlap. When crossing an obstacle, before the obstacle-crossing wheel in the movement direction v crosses the obstacle and moves to the front of the obstacle, the rear obstacle-crossing wheel can contact the obstacle, effectively transferring the height crossed by the front obstacle-crossing wheel to the rear obstacle-crossing wheel. Similarly, the height crossed by the rear obstacle-crossing wheel is also effectively transferred to the omnidirectional wheel located behind it. This design effectively prevents obstacles from getting stuck between the two obstacle-crossing wheels or between the obstacle-crossing wheel and the omnidirectional wheel, thereby effectively increasing the chassis's obstacle-crossing height. Attached Figure Description

[0018] Figure 1 This is a background diagram illustrating the present invention. Figure 2 This is a schematic diagram of the overall structure of this utility model; Figure 3 This is a schematic diagram of the guide wheel system structure of this utility model; Figure 4 This is a cross-sectional view of the adjustment mechanism structure of this utility model; Figure 5 The obstacle-crossing principle of this utility model Figure 1 ; Figure 6 The obstacle-crossing principle of this utility model Figure 2 .

[0019] The attached figures are labeled as follows: 1-Chassis, 2-Drive wheel, 3-Wheel caster, 4-Obstacle-crossing wheel, 41-Mounting part, 411-Mounting plate one, 412-Mounting plate two, 42-Bearing, 43-Threaded rod, 44-Slide groove. Detailed Implementation

[0020] 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. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figures 1-6 This utility model provides a technical solution: a mobile chassis with an obstacle-crossing module, including a chassis 1, and drive wheels 2, omnidirectional wheels 3 and guide wheel system distributed on the chassis 1; the guide wheel system includes at least two obstacle-crossing wheels 4; When the chassis 1 is in the forward position, the guide wheel system is located in front of the swivel wheel 3, and the wheel distance between the swivel wheel 3 and the obstacle-crossing wheel 4 closest to its axis is less than the sum of their radii; The wheelbase of adjacent obstacle-crossing wheels 4 is less than the sum of their radii; The guide wheel system is arranged such that the height of the horizontal tangent on the lower side of the obstacle-crossing wheel 4 decreases as its distance from the front side of the chassis in the direction of movement increases.

[0022] refer to Figure 2 , Figure 5 and Figure 6 In this embodiment, the two obstacle-crossing wheels 4 are arranged in a staggered manner. The wheelbase L2 of the two obstacle-crossing wheels 4 is less than the sum of the radii of the two obstacle-crossing wheels 4. At the same time, the wheelbase L3 of the omnidirectional wheel 3 and the adjacent obstacle-crossing wheel 4 is less than the sum of the radii of the omnidirectional wheel 3 and the obstacle-crossing wheel 4. Specifically, the projections of the obstacle-crossing wheel 4 and the adjacent omnidirectional wheel 3 and obstacle-crossing wheel 4 in the width direction of the chassis 1 have an overlapping portion (the overlapping portion is... Figure 5 (shaded area in the image) When crossing an obstacle, before the front obstacle-crossing wheel 4 in the direction of movement v1 crosses the obstacle and moves to the front of the obstacle, the rear obstacle-crossing wheel 4 can contact the obstacle. The height crossed by the front obstacle-crossing wheel 4 can be effectively transferred to the rear obstacle-crossing wheel 4. Similarly, the height crossed by the rear obstacle-crossing wheel 4 can also be effectively transferred to the swivel wheel 3 located behind it. This design can effectively prevent obstacles from getting stuck between the two obstacle-crossing wheels 4 or between the obstacle-crossing wheel 4 and the swivel wheel 3, thereby effectively increasing the height of the chassis when crossing obstacles.

[0023] Furthermore, such as Figure 3 As shown, the guide wheel system also includes a mounting part 41 for mounting the obstacle-crossing wheel 4, and the mounting part 41 is disposed on the chassis 1.

[0024] The mounting part 41 may be a mounting groove opened on the chassis 1, a wing plate formed by bending at the bottom of the chassis 1, or a component independent of the chassis 1 for mounting the obstacle-crossing wheel 4.

[0025] Furthermore, such as Figure 3 As shown, there are three obstacle-crossing wheels 4, and two of them are coaxial.

[0026] Furthermore, such as Figure 3 As shown, the two coaxial obstacle-crossing wheels 4 are located behind the other obstacle-crossing wheel 4 in the direction of travel, and the three obstacle-crossing wheels 4 are symmetrically distributed.

[0027] The three obstacle-crossing wheels 4 form multiple points of support in space. When encountering high steps, slopes, or uneven ground, the pressure of the chassis weight on individual wheels can be distributed through the force distribution of different wheels.

[0028] Furthermore, such as Figure 3As shown, the mounting part 41 includes two symmetrically arranged mounting plates 411 and two mounting plates 412, with the two mounting plates 412 located between the two mounting plates 411; two coaxial obstacle-crossing wheels 4 are respectively installed between the mounting plates 411 and the mounting plates 412; and another obstacle-crossing wheel 4 is installed between the two mounting plates 412.

[0029] The two sets of obstacle-crossing wheels 4 in the direction of movement can be supported by the mounting plate 412, which can reduce the assembly gap and assembly difficulty between the two sets of obstacle-crossing wheels 4. Furthermore, each mounting plate of the mounting part 41 can be integrally formed, which improves the structural strength and provides more stable support for the obstacle-crossing wheels 4.

[0030] Furthermore, such as Figure 3 and Figure 4 As shown, the mobile chassis also includes an adjustment mechanism; the adjustment mechanism is used to drive the first obstacle-crossing wheel 4 to move horizontally in the direction of movement, so as to adjust the wheelbase of the first obstacle-crossing wheel 4 and its adjacent obstacle-crossing wheels 4; since the robot's working area is usually within a fixed range, such as inside each department, most of the obstacles that the robot needs to cross can be predicted in advance. When the robot is used in different departments, the wheelbase of the first obstacle-crossing wheel 4 and its adjacent obstacle-crossing wheels 4 can be adjusted by the adjustment mechanism according to the type of obstacle, so as to ensure the obstacle-crossing ability of the obstacle-crossing wheels 4 and make the robot move more smoothly.

[0031] Furthermore, such as Figure 3 and Figure 4 As shown, the adjustment mechanism includes a sliding pair connecting the first obstacle-crossing wheel 4 and the mounting part 41, and a drive component disposed on the mounting part 41 and capable of controlling the position of the first obstacle-crossing wheel 4; the sliding pair is used to guide the first obstacle-crossing wheel 4 to move in the direction of motion, and the drive component is used to drive the first obstacle-crossing wheel 4 to move relative to its adjacent obstacle-crossing wheel 4 in the direction of motion.

[0032] Furthermore, the drive assembly includes a self-locking linear drive, the output of which is connected to the first obstacle-crossing wheel.

[0033] Furthermore, the linear drive component can be a pneumatic cylinder, an electric cylinder, a hydraulic cylinder, a linear motor, etc., and is fixedly mounted on the mounting part 41.

[0034] Furthermore, such as Figure 3 and Figure 4 As shown, the linear drive includes a threaded rod 43, which is rotatably mounted on the mounting part 41 and is used to control the movement of the sliding pair; by rotating the threaded rod 43, the sliding pair can be driven to move the first obstacle-crossing wheel 4 in the direction of movement.

[0035] Furthermore, such as Figure 3 and Figure 4As shown, the movable pair includes a bearing 42 mounted on the first obstacle-crossing wheel 4 and a slide groove 44 formed on the mounting part 41, wherein the bearing 42 and the slide groove 44 are slidably connected.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mobile chassis with an obstacle-crossing module, comprising a chassis (1), and drive wheels (2), casters (3), and a guide wheel system distributed on the chassis (1); wherein the guide wheel system comprises at least two obstacle-crossing wheels (4); characterized in that: When the chassis (1) is in the forward position, the guide wheel system is located in front of the omnidirectional wheel (3), and the wheel distance between the omnidirectional wheel (3) and the obstacle-crossing wheel (4) whose axis is closest to it is less than the sum of their radii; The wheelbase of adjacent obstacle-crossing wheels (4) is less than the sum of their radii; The guide wheel system is arranged such that the height of the horizontal tangent on the lower side of the obstacle-crossing wheel (4) decreases as its distance from the front side of the chassis in the direction of movement increases.

2. A mobile chassis with an obstacle-crossing module according to claim 1, characterized in that: The guide wheel system also includes a mounting part (41) for mounting the obstacle-crossing wheel (4), the mounting part (41) being disposed on the chassis (1).

3. A mobile chassis with an obstacle-crossing module according to claim 2, characterized in that: The obstacle-crossing wheel (4) is provided in three parts, and two of the obstacle-crossing wheels (4) are coaxial.

4. A mobile chassis with an obstacle-crossing module according to claim 3, characterized in that: The two coaxial obstacle-crossing wheels (4) are located behind the other obstacle-crossing wheel (4) in the direction of travel; and the three obstacle-crossing wheels (4) are symmetrically distributed.

5. A mobile chassis with an obstacle-crossing module according to claim 4, characterized in that: The mounting part (41) includes two mounting plates 1 (411) and two mounting plates 2 (412) arranged symmetrically, and the two mounting plates 2 (412) are located between the two mounting plates 1 (411); two coaxial obstacle-crossing wheels (4) are respectively installed between the mounting plates 1 (411) and the mounting plates 2 (412); another obstacle-crossing wheel (4) is installed between the two mounting plates 2 (412).

6. A mobile chassis with an obstacle-crossing module according to claim 2, characterized in that: It also includes an adjustment mechanism; the adjustment mechanism is used to drive the first obstacle-crossing wheel (4) in the direction of motion to move horizontally, so as to adjust the wheelbase of the first obstacle-crossing wheel (4) and its adjacent obstacle-crossing wheel (4).

7. A mobile chassis with an obstacle-crossing module according to claim 6, characterized in that: The adjustment mechanism includes a movable pair connecting the first obstacle-crossing wheel (4) and the mounting part (41), and a drive component disposed on the mounting part (41) and capable of controlling the position of the first obstacle-crossing wheel (4).

8. A mobile chassis with an obstacle-crossing module according to claim 7, characterized in that: The drive assembly includes a self-locking linear drive, the output of which is connected to the first obstacle-crossing wheel.

9. A mobile chassis with an obstacle-crossing module according to claim 8, characterized in that: The linear drive component is a cylinder; and the linear drive component is fixedly mounted on the mounting part (41).

10. A mobile chassis with an obstacle-crossing module according to claim 8, characterized in that: The linear drive includes a threaded rod (43), which is rotatably mounted on the mounting part (41) and is used to control the movement of the moving pair.

11. A mobile chassis with an obstacle-crossing module according to claim 7, characterized in that: The movable pair includes a bearing (42) mounted on the first obstacle-crossing wheel (4) and a groove (44) opened on the mounting part (41), wherein the bearing (42) and the groove (44) are slidably connected.

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