Chassis safety device for a walking mechanism and walking mechanism

Abstract

The application provides a chassis protection device for a walking mechanism and the walking mechanism. The chassis protection device comprises a bumper assembly and a shock absorption assembly. The bumper assembly comprises an inner bumper and an outer bumper, and a movable interval is formed between the inner bumper and the outer bumper. The shock absorption assembly comprises a plurality of elastic buffer structures arranged in the movable interval, one end of each elastic buffer structure is connected to the outer side of the inner bumper, the other end of each elastic buffer structure is connected to the inner side of the outer bumper, the plurality of elastic buffer structures are arranged in an arc shape along the outer contour of the inner bumper, and each elastic buffer structure has a large-diameter part and a small-diameter part connected to each other, and the small-diameter part is located on the opposite side of the large-diameter part. When the outer bumper is subjected to a force, the elastic buffer structures are extruded, so that the outer bumper moves towards the inner bumper until the outer bumper abuts against the inner bumper through the deformation of the elastic buffer structures. The above structure can buffer the impact force through the elastic buffer structures when the outer bumper is subjected to an impact.

Description

Technical Field

[0001] This application relates to the field of walking mechanism technology, and in particular to a chassis safety device and walking mechanism for a walking mechanism. Background Technology

[0002] With the increasing demand for mobile robots in both indoor and outdoor spaces, bumpers that protect both personnel and the robot itself are becoming increasingly important. The chassis bumper of the mobility mechanism needs to possess a certain degree of rigidity to effectively protect the entire vehicle in the event of a collision, but it also needs a certain degree of flexibility to avoid hard impacts with pedestrians, animals, etc. This means that the chassis bumper of the mobility mechanism must ensure both rigidity and flexibility. Current chassis bumpers for mobility mechanisms struggle to strike a good balance between these two aspects, resulting in issues with unreasonable structural design. Utility Model Content

[0003] To address the aforementioned technical problems in the prior art, this application provides a chassis safety device and a walking mechanism for a walking mechanism. The aforementioned structure can buffer the impact force through an elastic buffer structure when the outer bumper is impacted.

[0004] This application provides a chassis safety device for a walking mechanism, including: A bumper assembly includes an inner bumper and an outer bumper covering the inner bumper. The inner bumper is mounted on the body of the walking mechanism, and a movable gap is formed between the inner bumper and the outer bumper. The shock-absorbing assembly includes multiple elastic buffer structures disposed within the movable interval. One end of each elastic buffer structure is connected to the outer side of the inner bumper, and the other end is connected to the inner side of the outer bumper. The multiple elastic buffer structures are arranged in an arc shape along the outer contour of the inner bumper, and each elastic buffer structure has a connected large-diameter portion and a small-diameter portion. The small-diameter portion is located on opposite sides of the large-diameter portion. When the outer bumper is subjected to force, it compresses the elastic buffer structure, causing the outer bumper to move closer to the inner bumper until it abuts against the inner bumper through the deformation of the elastic buffer structure. This structure can buffer the impact force when the outer bumper is impacted.

[0005] In some embodiments, the chassis safety device further includes a proximity switch located on the outer surface of the inner bumper. The proximity switch is triggered when the outer bumper abuts against the inner bumper, causing the walking mechanism to stop operating after the proximity switch is activated. Thus, the proximity switch can promptly control the walking mechanism to stop operating when the outer bumper abuts against the inner bumper, thereby stopping walking movement, preventing excessive collision damage to the chassis safety device, ensuring the safety of the collided object, and improving the operational safety of the walking mechanism.

[0006] In some embodiments, the plurality of elastic buffer structures are arranged in several rows in a vertical arrangement. This arrangement of multiple elastic buffer structures enables the chassis safety device to have better energy absorption performance against impact forces, thereby improving the buffering effect.

[0007] In some embodiments, the outer side of the inner bumper has a first mounting surface and a second mounting surface that are in contact with each other. A preset angle is formed between the planes containing the first mounting surface and the second mounting surface. A plurality of elastic buffer structures arranged vertically are respectively disposed on the first mounting surface and the second mounting surface. In this way, the elastic buffer structures mounted on the first mounting surface and the second mounting surface can better absorb external impact forces.

[0008] In some embodiments, there are multiple proximity switches, which are spaced apart along the length of the inner bumper. This allows for precise identification of when the outer and inner bumpers have abutted each other, ensuring accurate control of the walking mechanism's movement.

[0009] In some embodiments, the proximity switches are located between adjacent elastic buffer structures along an arc-shaped distribution direction. The arrangement of the proximity switches described above is reasonable.

[0010] In some embodiments, the elastic buffer structure is a tubular structure, with the large-diameter portion being the middle section of the tubular structure and the small-diameter portions being the two ends of the tubular structure. In this way, the deformation space of the elastic buffer structure can be increased through the tubular structure, thereby further improving the buffering performance.

[0011] In some embodiments, the shock-absorbing assembly further includes connectors disposed at both ends of the elastic buffer structure. The elastic buffer structure is detachably connected to the inner bumper and the outer bumper via the connectors at both ends. Thus, the elastic buffer structure can be stably connected to the inner bumper and the outer bumper respectively via the connectors.

[0012] This application also provides a walking mechanism, including the chassis safety device for a walking mechanism described in any of the above embodiments. The above structure can buffer the impact force through an elastic buffer structure when the outer bumper is subjected to an impact.

[0013] In some embodiments, the walking mechanism further includes a control device, and the chassis safety device further includes a proximity switch electrically connected to the control device. The proximity switch is disposed on the outer contour of the inner bumper. When the outer bumper moves towards the inner bumper to a preset distance, the proximity switch is triggered. The control device receives the trigger information of the proximity switch and controls the walking mechanism to stop working. Thus, the control device can promptly control the walking mechanism to stop working based on the trigger information generated by the proximity switch, avoiding excessive collision damage to the chassis safety device and ensuring the safety of the collided object, thereby improving the safety of the walking mechanism.

[0014] Compared with the prior art, the beneficial effects of the embodiments of this application are as follows: This application forms an inner bumper and an outer bumper with movable intervals, and sets multiple elastic buffer structures within the movable intervals. These elastic buffer structures are distributed in an arc shape along the outer contour of the inner bumper. Thus, when the outer bumper is impacted, the elastic buffer structures buffer the impact force. Under the action of the outer bumper, the elastic buffer structures are continuously compressed until the inner and outer bumpers abut against each other, forming a rigid mating body. This achieves the ability to buffer external impact forces and avoid hard collisions, while also forming a strong rigid mating body through the abutment of the inner and outer bumpers, thereby protecting the chassis. Furthermore, the structural design of the large-diameter and small-diameter portions of the elastic buffer structure allows for better energy absorption and shock absorption through the large-diameter portion, and facilitates deformation through the small-diameter portion. The structural design is reasonable and simple. Attached Figure Description

[0015] In drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The drawings generally illustrate various embodiments by way of example rather than limitation and are used, together with the description and claims, to illustrate the disclosed embodiments. Where appropriate, the same reference numerals are used in all drawings to refer to the same or similar parts. Such embodiments are illustrative and not intended to be exhaustive or exclusive embodiments of the apparatus or method.

[0016] Figure 1 This is a top view of the chassis safety device according to an embodiment of this application; Figure 2 This is a schematic diagram of the chassis safety device according to an embodiment of this application; Figure 3This is a schematic diagram of the internal structure of the chassis safety device according to an embodiment of this application; Figure 4 This is a cross-sectional view of the chassis safety device according to an embodiment of this application; Figure 5 for Figure 4 Enlarged view of section A; Figure 6 This is a schematic diagram of the shock absorption component of the chassis safety device in an embodiment of this application.

[0017] The components indicated by the reference numerals in the figure: 1. Inner bumper; 11. First mounting surface; 12. Second mounting surface; 2. Outer bumper; 3. Elastic buffer structure; 31. Large diameter section; 32. Small diameter section; 4. Proximity switch; 5. Connector; 6. Mounting bracket. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] This application provides a chassis safety device for a walking mechanism. For example... Figures 1 to 6 As shown, the chassis safety device for the walking mechanism includes a bumper assembly and a shock-absorbing assembly. The bumper assembly includes an inner bumper 1 and an outer bumper 2 covering the inner bumper 1. The inner bumper 1 is mounted on the body of the walking mechanism, and a movable gap is formed between the inner bumper 1 and the outer bumper 2. The shock-absorbing assembly includes multiple elastic buffer structures 3 disposed within the movable gap. One end of each elastic buffer structure 3 is connected to the outer side of the inner bumper 1, and the other end is connected to the inner side of the outer bumper 2. The multiple elastic buffer structures 3 are distributed in an arc shape along the outer contour of the inner bumper 1, and each elastic buffer structure 3 has a connected large-diameter portion 31 and a small-diameter portion 32. The small-diameter portion 32 is located on opposite sides of the large-diameter portion 31. When the outer bumper 2 is subjected to force, it compresses the elastic buffer structure 3, so that the deformation of the elastic buffer structure 3 causes the outer bumper 2 to move towards the inner bumper 1 until it abuts against the inner bumper 1.

[0020] Both the inner bumper 1 and the outer bumper 2 can be constructed as long plates, with their length direction parallel to the horizontal direction.

[0021] The aforementioned inner bumper can be connected to the body of the walking mechanism via mounting bracket 6. The body of the walking mechanism may include a control device and a hub motor electrically connected to the control device. Both the control device and the hub motor are located on the body, and the control device can control the hub motor to drive the entire walking mechanism to move on the ground to be cleaned.

[0022] The outer contour surface of the inner bumper 1 can be constructed as an arc surface, and multiple elastic buffer structures 3 are arranged sequentially along the length direction of the arc surface.

[0023] The aforementioned elastic buffer structure 3 can be made of an elastic material, such as rubber.

[0024] The aforementioned elastic buffer structure 3 can be constructed as a hollow structure so that it can provide sufficient buffering capacity through more terrain deformation when subjected to the compressive force applied by the outer bumper 2.

[0025] The aforementioned elastic buffer structure 3 can be integrally molded.

[0026] This application utilizes an inner bumper 1 and an outer bumper 2 with movable intervals, and sets multiple elastic buffer structures 3 within these intervals. These elastic buffer structures 3 are distributed in an arc shape along the outer contour of the inner bumper 1. Thus, when the outer bumper 2 is impacted, the elastic buffer structures 3 buffer the impact force. Under the action of the outer bumper 2, the elastic buffer structures 3 are continuously compressed until the inner bumper 1 and outer bumper 2 abut against each other, forming a rigid mating body. This achieves the effect of buffering external impact forces and preventing hard collisions, while also protecting the chassis by forming a strong rigid mating body with the inner bumper 1 and outer bumper 2. Furthermore, the structural design of the large-diameter portion 31 and the small-diameter portion 32 of the elastic buffer structure 3 allows for better energy absorption and shock absorption through the large-diameter portion 31, and facilitates deformation through the small-diameter portion 32. The structural design is reasonable and simple.

[0027] In some embodiments, such as Figures 3 to 5 As shown, the chassis safety device also includes a proximity switch 4, which is located on the outer side of the inner bumper 1. When the outer bumper 2 comes into contact with the inner bumper 1, the proximity switch 4 is triggered, causing the walking mechanism to stop working after the proximity switch 4 is triggered.

[0028] In this way, the proximity switch 4 can promptly control the walking mechanism to stop working when the outer bumper 2 and the inner bumper 1 come into contact, that is, stop the walking movement, avoid excessive collision damage to the chassis safety device, and ensure the safety of the collided object, thereby improving the safety of the walking mechanism.

[0029] When the outer bumper 2 and the inner bumper 1 come into contact, the inner bumper 1 and the outer bumper 2 cooperate to form a rigid fit. At this time, the outer bumper 2 will not be able to get any closer to the inner bumper 1, that is, it will not be able to buffer the impact force. The timely control of the walking mechanism to stop working by the signal fed back by the proximity switch 4 can ensure the safety of the walking mechanism.

[0030] The outer bumper 2 and the inner bumper 1 can be made of rigid materials, such as plastic or metal. The shapes of the outer bumper 2 and the inner bumper 1 can be matched.

[0031] The aforementioned proximity switch 4 is normally open when not triggered and closed when triggered. Once the proximity switch 4 is triggered, it can be determined that the outer bumper 2 has been subjected to a major impact. At this time, stopping the walking mechanism can ensure safety as much as possible.

[0032] In some embodiments, such as Figure 3 As shown, multiple elastic buffer structures 3 are arranged in several rows in a top-bottom arrangement. This arrangement of multiple elastic buffer structures 3 enables the chassis safety device to have better energy absorption performance against impact forces, thereby improving the buffering effect.

[0033] Combination Figure 3 , Figure 3 The elastic buffer structure 3 shown has two rows arranged vertically. This application does not specify the number of rows of the elastic buffer structure 3, as long as it can achieve a better buffering purpose.

[0034] In some embodiments, such as Figure 3 As shown, the outer side of the inner bumper 1 has a first mounting surface 11 and a second mounting surface 12 that are in contact with each other. A preset angle is formed between the planes where the first mounting surface 11 and the second mounting surface 12 are located. Multiple elastic buffer structures 3 arranged vertically are respectively provided on the first mounting surface 11 and the second mounting surface 12.

[0035] Thus, the elastic buffer structure 3 installed on the first mounting surface 11 and the second mounting surface 12 can better absorb external impact forces. In particular, when the planes where the first mounting surface 11 and the second mounting surface 12 are located form a figure-eight structure, the elastic buffer structure 3 can better absorb the inclined impact force, thereby improving the buffering performance of the elastic buffer structure 3.

[0036] The range of the aforementioned preset included angle can be from 90° to 180°, for example, any angle among 100°, 120°, 140° and 160°.

[0037] In some embodiments, such as Figures 3 to 5 As shown, there are multiple proximity switches 4, which are spaced apart along the length of the inner bumper 1. The length of the inner bumper 1 is the direction of its outer contour, which can be horizontal.

[0038] In this way, multiple proximity switches 4 can accurately identify that the outer bumper 2 and the inner bumper 1 have abutted each other, ensuring accurate control of the walking movement of the walking mechanism.

[0039] like Figure 3 As shown, Figure 3 The diagram shows four proximity switches 4. This application does not specify the number of proximity switches 4, as long as they can accurately identify that the outer bumper 2 and the inner bumper 1 are in contact.

[0040] In some embodiments, such as Figures 3 to 5 As shown, the proximity switch 4 is located between adjacent elastic buffer structures 3 along the arc-shaped distribution direction. The arrangement of the proximity switch 4 is reasonable.

[0041] In some embodiments, such as Figures 3 to 6 As shown, the elastic buffer structure 3 is a tubular structure, with the large-diameter part 31 being the middle part of the tubular structure and the small-diameter part 32 being the two ends of the tubular structure.

[0042] In this way, the deformation space of the elastic buffer structure 3 can be increased through the tubular structure, and the buffering performance can be further improved.

[0043] The deformability of the small-diameter portions 32 at both ends of the tubular structure is greater than that of the large-diameter portion 31 in the middle of the tubular structure. This allows for better energy absorption and vibration reduction through the large-diameter portion 31, while the small-diameter portion 32 facilitates deformation. The structural design is reasonable and simple.

[0044] In some embodiments, such as Figure 6 As shown, the shock absorption assembly also includes connectors 5, which are respectively located at both ends of the elastic buffer structure 3. The elastic buffer structure 3 is detachably connected to the inner bumper 1 and the outer bumper 2 through the connectors 5 at both ends.

[0045] In this way, the elastic buffer structure 3 can be stably connected to the inner bumper 1 and the outer bumper 2 respectively through the connector 5.

[0046] The aforementioned connector 5 can be specifically disc-shaped. The inner bumper 1 and the outer bumper 2 are respectively provided with mounting grooves that can be inserted into the connector 5, that is, the connector 5 can be squeezed into the mounting groove through deformation.

[0047] This application also provides a walking mechanism, including a chassis safety device for the walking mechanism as described in any of the above embodiments. The walking mechanism can be specifically applied to sweeping equipment, lawn mowing equipment, etc., and this application does not specifically limit its application to these applications.

[0048] The chassis safety device described above utilizes an inner bumper 1 and an outer bumper 2 with movable intervals. Multiple elastic buffer structures 3 are installed within these intervals, arranged in an arc shape along the outer contour of the inner bumper 1. This allows the elastic buffer structures 3 to cushion the impact force when the outer bumper 2 is subjected to an impact. Under the action of the outer bumper 2, the elastic buffer structures 3 are continuously compressed until the inner bumper 1 and outer bumper 2 abut against each other, forming a rigid mating body. This achieves the effect of buffering external impact forces and preventing hard collisions, while also providing a strong rigid mating body through the abutment of the inner and outer bumpers 1 and 2, thus protecting the chassis. Furthermore, the structural design of the large-diameter portion 31 and the small-diameter portion 32 of the elastic buffer structure 3 allows for better energy absorption and shock absorption through the large-diameter portion 31, and facilitates deformation through the small-diameter portion 32. The structural design is both reasonable and simple.

[0049] In some embodiments, the walking mechanism further includes a control device, and the chassis safety device further includes a proximity switch 4 electrically connected to the control device. The proximity switch 4 is disposed on the outer contour of the inner bumper 1. When the outer bumper 2 moves toward the inner bumper 1 to a preset distance, the proximity switch 4 is triggered. The control device is used to receive the triggering information of the proximity switch 4 being triggered and control the walking mechanism to stop working.

[0050] In this way, the control device can promptly control the walking mechanism to stop working through the trigger information generated by the proximity switch 4, that is, stop the walking movement, avoid excessive collision damage to the chassis safety device, and ensure the safety of the collided object, thereby improving the safety of the walking mechanism.

[0051] The aforementioned walking mechanism also includes a hub motor electrically connected to the control device. Both the control device and the hub motor are mounted on the body of the walking mechanism, and the control device can control the hub motor to operate, thereby driving the entire walking mechanism to move on the ground to be cleaned. After receiving a trigger signal from proximity switch 4, the control device controls the hub motor to stop operating.

[0052] It should be noted that the control device can be built using electronic components such as timers, comparators, registers, and digital logic circuits, or implemented using processor chips such as microcontrollers, microprocessors, programmable logic controllers (PLCs), digital signal processors (DSPs), field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and application-specific integrated circuits (ASICs) and their peripheral circuits.

[0053] The above embodiments are merely exemplary embodiments of this utility model and are not intended to limit this utility model. Those skilled in the art can make various modifications or equivalent substitutions to this utility model within its substance and protection scope, and such modifications or equivalent substitutions should also be considered to fall within the protection scope of this utility model.

Claims

1. A chassis safety device for a traveling mechanism, characterized in that, include: A bumper assembly includes an inner bumper (1) and an outer bumper (2) covering the inner bumper (1), the inner bumper (1) being mounted on the body of the walking mechanism, and an movable gap being formed between the inner bumper (1) and the outer bumper (2). The shock absorption assembly includes multiple elastic buffer structures (3) disposed within the movable interval. One end of each elastic buffer structure (3) is connected to the outer side of the inner bumper (1), and the other end is connected to the inner side of the outer bumper (2). The multiple elastic buffer structures (3) are distributed in an arc shape along the outer contour of the inner bumper (1), and each elastic buffer structure (3) has a connected large-diameter portion (31) and a small-diameter portion (32). The small-diameter portion (32) is located on opposite sides of the large-diameter portion (31). When the outer bumper (2) is subjected to force, it squeezes the elastic buffer structure (3) so that the outer bumper (2) moves towards the inner bumper (1) until it abuts against the inner bumper (1) through the deformation of the elastic buffer structure (3).

2. The chassis safety device for a walking mechanism according to claim 1, characterized in that, The chassis safety device also includes a proximity switch (4), which is located on the outer side of the inner bumper (1). When the outer bumper (2) comes into contact with the inner bumper (1), the proximity switch (4) is triggered, causing the walking mechanism to stop working after the proximity switch (4) is triggered.

3. The chassis safety device for a walking mechanism according to claim 1, characterized in that, The multiple elastic buffer structures (3) are arranged in several rows in an up-down arrangement.

4. The chassis safety device for a walking mechanism according to claim 3, characterized in that, The outer side of the inner bumper (1) has a first mounting surface (11) and a second mounting surface (12) that are connected. A preset angle is formed between the planes where the first mounting surface (11) and the second mounting surface (12) are located. The multiple elastic buffer structures (3) arranged vertically are respectively provided on the first mounting surface (11) and the second mounting surface (12).

5. The chassis safety device for a walking mechanism according to claim 2, characterized in that, There are multiple proximity switches (4), and the multiple proximity switches (4) are spaced apart along the length direction of the inner bumper (1).

6. The chassis safety device for a walking mechanism according to claim 5, characterized in that, The proximity switch (4) is located between adjacent elastic buffer structures (3) along the arc-shaped distribution direction.

7. The chassis safety device for a walking mechanism according to claim 1, characterized in that, The elastic buffer structure (3) is a tubular structure, the large diameter part (31) is the middle part of the tubular structure, and the small diameter part (32) is the two ends of the tubular structure.

8. The chassis safety device for a walking mechanism according to claim 1, characterized in that, The shock absorption assembly also includes connectors (5), which are respectively located at both ends of the elastic buffer structure (3). The elastic buffer structure (3) is detachably connected to the inner bumper (1) and the outer bumper (2) through the connectors (5) at both ends.

9. A walking mechanism, characterized in that, Includes a chassis safety device for a walking mechanism as described in any one of claims 1 to 8.

10. The walking mechanism according to claim 9, characterized in that, The walking mechanism also includes a control device, and the chassis safety device also includes a proximity switch (4) electrically connected to the control device. The proximity switch (4) is located on the outer contour of the inner bumper (1). When the outer bumper (2) moves to a preset distance toward the inner bumper (1), the proximity switch (4) is triggered. The control device is used to receive the triggering information of the proximity switch (4) being triggered and control the walking mechanism to stop working.

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