阅读说明：本技术 一种可过斜坡的机器人底盘 (Robot chassis capable of crossing slope ) 是由 敖奇 杨子赫 李�浩 张奎刚 呼延鹏 王福闯 于 2020-03-18 设计创作，主要内容包括：本发明属于机器人技术领域,具体涉及一种可过斜坡的机器人底盘。本发明解决了传统轮式移动机器人底盘不能爬坡的技术问题。无论是在平坦路面还是在有斜坡的路面,本发明的机器人底盘都能够稳定行驶。本发明的机器人底盘能够在斜坡上平稳运行,提高了传统的轮式移动机器人对地面坡度的适应能力。本发明的角度传感器可以实时监测支杆的角度,支杆的角度信息可以反映路面的坡度信息。在路面的坡度发生变化时,悬挂机构可以带动前部车轮运动,使前部车轮贴合在斜坡上,避免了主动轮在斜坡上被架空。而且,本发明的机器人底盘不影响其他元件的排布,结构紧凑合理。本发明的机器人底盘具有结构简单、成本低廉、实用性强等优点。(The invention belongs to the technical field of robots, and particularly relates to a robot chassis capable of passing through a slope. The chassis solves the technical problem that the chassis of the traditional wheeled mobile robot cannot climb. The robot chassis can stably run on a flat road or a slope road. The robot chassis can stably run on a slope, and the adaptability of the traditional wheeled mobile robot to the slope of the ground is improved. The angle sensor can monitor the angle of the supporting rod in real time, and the angle information of the supporting rod can reflect the gradient information of a road surface. When the gradient of road surface changes, hang the mechanism and can drive anterior wheel motion, make anterior wheel laminating on the slope, avoided the action wheel to be maked somebody a mere figurehead on the slope. In addition, the robot chassis does not influence the arrangement of other elements, and has a compact and reasonable structure. The robot chassis has the advantages of simple structure, low cost, strong practicability and the like.)

1. A robot chassis capable of passing through a slope is characterized by comprising a bottom plate (4), a driving wheel (2), a front wheel (1) arranged in front of the driving wheel (2) and a suspension mechanism;

the driving wheel (2) is arranged below the bottom plate (4);

the suspension mechanism is used for driving the front wheels (1) to move up and down.

2. A robot chassis that can negotiate a slope according to claim 1, wherein the chassis further includes a controller, a slope detection mechanism;

the gradient detection mechanism is used for detecting gradient information of a road surface;

the controller is connected with the gradient detection mechanism and used for receiving the road gradient information transmitted by the gradient detection mechanism;

the controller is connected with the suspension mechanism and used for controlling the motion of the suspension mechanism according to the road gradient information.

3. A robot chassis according to claim 1, characterized in that the suspension means comprise wheel fixing plates (10), tie rods, drive means;

the front wheel (1) is fixedly arranged on the wheel fixing plate (10); the wheel fixing plate (10) is hinged to the bottom plate (4), and the wheel fixing plate (10) can move along one side, fixed with the wheel fixing plate (10), of the bottom plate (4) as an axis;

the pull rod is hinged on the wheel fixing plate (10);

the pull rod is connected with the driving mechanism; the driving mechanism is arranged on the bottom plate (4).

4. A robot chassis according to claim 3, characterised in that the drive mechanism and the tie rod are both mounted above the floor (4).

5. A robot chassis capable of passing through a slope according to claim 3, characterized in that the pull rod is a screw rod sleeve (6); the driving mechanism is a screw motor (7).

6. A robot chassis according to claim 2, characterized in that the gradient detection mechanism comprises an angle sensor (8), a strut (9), a ball wheel (3);

the gradient detection mechanism is arranged below the bottom plate (4);

the angle sensor (8) is connected with the supporting rod (9); the angle sensor (8) is used for recording the angle of the supporting rod (9);

one end of the supporting rod (9) is hinged to the bottom plate (4), and the other end of the supporting rod (9) is provided with the ball wheel (3).

7. A robot chassis according to claim 6, characterized in that the touchdown point of the ball wheel (3) is in front of the touchdown point of the front wheel (1).

8. A robot chassis according to claim 7, characterized in that the angle sensor (8) is connected to the rotation axis of the strut (9).

9. A robot chassis according to claim 1, characterized in that the front wheels (1) are universal wheels.

10. A robot chassis that can negotiate ramps according to any of claims 1-9, characterized in that the chassis further comprises rear wheels (5).

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot chassis capable of passing through a slope.

Background

Mobile robots may be classified into legged mobile robots, tracked mobile robots, and wheeled mobile robots according to the movement pattern. Legged mobile robots and tracked mobile robots have the problems of large dead weight, complex device, high cost and the like. The wheel type mobile robot is simple in device and wide in application.

The chassis of the robot is an important part for forming the mobile robot, the existing wheel type mobile robot chassis usually has the function of walking on flat ground, but the chassis has poor climbing capability and even can not climb, the situation that a driving wheel can not be in good contact with the ground can occur in the climbing process, so that the driving wheel is suspended and the body of the robot can not be driven.

Due to the complexity of the working environment, various slopes are often encountered in the walking process of the wheeled mobile robot, so how to safely cross the slopes and keep walking smooth is a key problem for improving the working efficiency of the wheeled mobile robot.

Therefore, it is of great significance to develop a wheeled robot capable of passing through a slope.

Disclosure of Invention

In order to solve the problems, the invention provides a robot chassis capable of passing through a slope, which comprises a bottom plate 4, a driving wheel 2, a front wheel 1 arranged in front of the driving wheel 2 and a suspension mechanism;

the driving wheel 2 is arranged below the bottom plate 4;

the suspension mechanism is used for driving the front wheels 1 to move up and down.

Further, the chassis further comprises a controller and a gradient detection mechanism;

the gradient detection mechanism is used for detecting gradient information of a road surface;

the controller is connected with the gradient detection mechanism and used for receiving the road gradient information transmitted by the gradient detection mechanism;

the controller is connected with the suspension mechanism and used for controlling the motion of the suspension mechanism according to the road gradient information.

Further, the suspension mechanism comprises a wheel fixing plate 10, a pull rod and a driving mechanism;

the front wheel 1 is fixedly arranged on the wheel fixing plate 10; the wheel fixing plate 10 is hinged to the bottom plate 4, and the wheel fixing plate 10 can move along the side, fixed with the wheel fixing plate 10, of the bottom plate 4 as an axis;

the pull rod is hinged on the wheel fixing plate 10;

the pull rod is connected with the driving mechanism; the drive mechanism is mounted on the base plate 4.

Further, the driving mechanism and the pull rod are both arranged above the bottom plate 4.

Further, the pull rod is a screw rod sleeve 6; the driving mechanism is a screw motor 7.

Further, the gradient detection mechanism comprises an angle sensor 8, a support rod 9 and a ball wheel 3;

the gradient detection mechanism is arranged below the bottom plate 4;

the angle sensor 8 is connected with the supporting rod 9; the angle sensor 8 is used for recording the angle of the supporting rod 9;

one end of the supporting rod 9 is hinged to the bottom plate 4, and the other end of the supporting rod 9 is provided with the ball wheel 3.

Further, the touchdown point of the ball wheel 3 is in front of the touchdown point of the front wheel 1.

Further, the angle sensor 8 is connected with the rotating shaft of the strut 9.

Further, the front wheels 1 are universal wheels.

Further, the chassis also comprises rear wheels 5.

The invention has the advantages of

The invention provides a robot chassis capable of passing through a slope, and solves the technical problem that the traditional wheeled mobile robot chassis cannot climb the slope. The robot chassis can stably run on a flat road or a slope road. The robot chassis can stably run on a slope, and the adaptability of the traditional wheeled mobile robot to the slope of the ground is improved. The angle sensor can monitor the angle of the supporting rod in real time, and the angle information of the supporting rod can reflect the gradient information of a road surface. When the gradient of road surface changes, hang the mechanism and can drive anterior wheel motion, make anterior wheel laminating on the slope, avoided the action wheel to be maked somebody a mere figurehead on the slope. In addition, the robot chassis does not influence the arrangement of other elements, and has a compact and reasonable structure. The robot chassis has the advantages of simple structure, low cost, strong practicability and the like.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 shows a schematic structural diagram of a robot chassis according to an embodiment of the present invention.

Fig. 2 shows a schematic structural view of another perspective of the robot chassis of fig. 1.

Fig. 3 shows a schematic structural view of another perspective of the robot chassis of fig. 2.

Fig. 4 shows a schematic view of a robot chassis according to an embodiment of the invention when driving on level ground.

Fig. 5 shows a schematic view of a robot chassis of an embodiment of the invention when starting to climb a slope.

Fig. 6 shows a schematic view of a robot chassis according to an embodiment of the invention when driving on a slope.

The device comprises a front wheel, a driving wheel, a ball wheel, a bottom plate, a rear wheel, a screw rod sleeve, a screw rod motor, an angle sensor, a supporting rod, a wheel fixing plate and a rotating ring, wherein the front wheel is 1, the driving wheel is 2, the ball wheel is 3, the bottom plate is 4, the rear wheel is 5, the screw rod sleeve is 6, the screw rod motor is 7, the angle sensor is 8, the supporting rod is 9.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is to be understood that in the description of the present invention, the terms "front", "rear", "left", "right", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

It should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The embodiment provides a robot chassis capable of passing through a slope, fig. 1 shows a structural schematic diagram of the robot chassis according to the embodiment of the invention, as shown in fig. 1, the chassis comprises a bottom plate 4, two driving wheels 2, front wheels 1 and rear wheels 5; the driving wheel 2, the front wheel 1 and the rear wheel 5 are all arranged below the bottom plate 4. The driving wheel 2 is arranged in the middle of the bottom plate 4. The front wheels 1 are arranged in front of the driving wheel 2, and the rear wheels 5 are arranged behind the driving wheel 2. The front wheels 1, the driving wheels 2 and the rear wheels 5 are sequentially arranged and distributed under the bottom plate 4 according to the sequence of front, middle and rear. Illustratively, the front wheels 1 and the rear wheels 5 are universal wheels. Illustratively, the number of the driving wheels 2 is two, and the two driving wheels 2 are installed in the middle of the bottom plate 4 and are arranged at intervals in the left-right direction. The number of the rear wheels 5 may be 1 or more, specifically, the number of the rear wheels 5 may be 1, 2, 3, or 4, and those skilled in the art may set the number of the rear wheels 5 according to actual requirements such as chassis load and traveling. For example, 1 rear wheel may be provided.

The robot chassis further comprises a wheel fixing plate 10, a screw rod sleeve 6 and a screw rod motor 7; the screw rod sleeve 6 and the screw rod motor 7 are both arranged above the bottom plate 4. The wheel fixing plate 10 is hinged to the bottom plate 4, and the wheel fixing plate 10 can move by taking one side, where the bottom plate 4 and the wheel fixing plate 10 are fixed, as an axis; the front wheel 1 is fixedly mounted on the wheel fixing plate 10. The wheel fixing plate 10, the screw rod sleeve 6 and the screw rod motor 7 form a suspension mechanism, and the suspension mechanism is used for driving the front wheel 1 to move up and down. When the chassis of the robot goes up the slope, the suspension mechanism is used for driving the front wheels 1 to move upwards; when the chassis of the robot descends, the suspension mechanism is used for driving the front wheels 1 to move downwards, so that the front wheels 1 are attached to a slope.

Fig. 2 shows a schematic structural view of another view of the robot chassis in fig. 1, and as shown in fig. 2, a rotating ring 11 is fixedly mounted on the bottom plate 4; the screw rod motor 7 is hinged on the bottom plate 4 through a rotating ring 11. The screw rod sleeve 6 is connected with the screw rod motor 7; preferably, the screw rod sleeve 6 is in threaded connection with the screw rod motor 7. When the screw rod motor 7 rotates, the screw rod sleeve 6 in threaded connection with the screw rod motor can be driven to move, and the wheel fixing plate 10 is further driven to move up and down. The lead screw sleeve 6 is hinged on the wheel fixing plate 10.

Fig. 3 shows a schematic structural diagram of another view of the robot chassis in fig. 2, and as shown in fig. 3, the robot chassis further includes a strut 9, a ball wheel 3, and an angle sensor 8. The supporting rod 9, the ball wheel 3 and the angle sensor 8 are arranged below the bottom plate 4. One end of the supporting rod 9 is hinged to the bottom plate 4, and the other end of the supporting rod 9 is provided with the ball wheel 3. The angle sensor 8 is connected with the supporting rod 9; preferably, the angle sensor 8 is fixed with the rotating shaft of the strut 9, and the angle sensor 8 can rotate synchronously with the strut 9. The angle sensor 8 is used for recording the angle of the supporting rod 9 and further detecting the gradient information of the road surface according to the angle of the supporting rod 9.

The invention also comprises a controller which is respectively connected with the screw rod motor 7 and the angle sensor 8. The controller is used for receiving the angle of the supporting rod 9 transmitted by the angle sensor 8, and further obtaining the gradient information of the road surface according to the angle of the supporting rod 9; the controller is also used for controlling the rotation of the screw motor 7 according to the gradient information of the road surface.

The touchdown point of the ball wheel 3 is arranged in front of the touchdown point of the front wheel 1, so that the ball wheel 3 can detect whether the road surface in front of the front wheel 1 has a slope or not, if the road surface in front has the slope, the angle of the supporting rod 9 changes, the controller controls the screw rod motor 7 to rotate through the angle sensor 8, the wheel fixing plate 10 is further pulled to move upwards or downwards, and the front wheel 1 arranged below the wheel fixing plate 10 is attached to the slope.

Fig. 4 shows a schematic view of a robot chassis according to an embodiment of the invention when driving on level ground. As shown in fig. 4, the contact point of the ball wheel 3 is in front of the bottom contact point of the front wheel 1, the angle of the strut 9 is constant during the driving process, at this time, the angle sensor 8 sends the angle information to the controller, the controller receives the angle information sent by the angle sensor 8 and performs logic judgment on the angle information, the angle of the strut 9 is constant, and at this time, the lead screw motor 7 does not work. The controller sends the idle command of the screw motor 7 to the screw motor 7, the screw motor 7 does not work, the position of the wheel fixing plate 10 is unchanged relative to the bottom plate 4, and the wheel fixing plate 10 and the bottom plate 4 are on the same plane.

Fig. 5 shows a schematic view of a robot chassis of an embodiment of the invention when starting to climb a slope. Ball wheel 3 is in the front portion of front wheel 1, when meetting the slope, and ball wheel 3 is lifted, drives branch 9 and rotates, and the angle change of branch 9 this moment, angle sensor 8 record branch 9's angle to send angle information for the controller, the controller receives angle information that angle sensor 8 sent, and carries out logical judgement to angle information, and the angle of branch 9 changes, and lead screw motor 7 rotates this moment. The controller can also calculate the number of turns of the lead screw motor 7 according to the specific value of the angle change. The controller sends a rotation command of the screw rod motor 7 and information of the number of rotation turns of the screw rod motor 7 to the screw rod motor 7, the screw rod motor 7 rotates for a specified number of turns, the screw rod motor 7 drives the screw rod sleeve 6 to move, the screw rod sleeve 6 pulls the wheel fixing plate 10 to move upwards, and then the front wheel 1 is driven to move upwards, so that the front wheel 1 is attached to the slope. The front wheels of the chassis of the traditional wheeled mobile robot are lifted when encountering a slope, and the driving wheels in the middle can be erected to lift off the ground, so that the chassis can not drive a vehicle body. The robot chassis solves the problems in the prior art, can ensure that the front wheels 1 are attached to a slope, and prevents the driving wheel 2 from being overhead.

Fig. 6 shows a schematic view of a robot chassis according to an embodiment of the invention when driving on a slope. With the advance of the chassis, the front wheels 1, the driving wheels 2 and the rear wheels 5 all run to the slope. The angle sensor 8 monitors the angle of the supporting rod 9 in real time, angle information is sent to the controller, and the controller carries out logic judgment and controls the rotation of the screw rod motor 7. If the angle information of the supporting rod 9 changes, the screw rod motor 7 rotates, the wheel fixing plate 10 is pulled through the screw rod sleeve 6, the front wheel 1 moves, and the front wheel 1 is further attached to the slope. If the angle information of the supporting rod 9 is not changed, the screw motor 7 does not work, and the position of the wheel fixing plate 10 is not changed relative to the bottom plate 4. When the robot chassis crosses a slope, the angles of the horizontal planes of the ball wheels 3 and the bottom plate 4 are constantly changed, and then the angles of the front wheels 1 are dynamically adjusted to ensure that the driving wheels 2 are attached to the ground in real time, and finally the stable uphill of the chassis is realized.

In the present invention, the "angle of the strut 9" refers to an angle between the strut 9 and the bottom plate 4.

The chassis solves the technical problem that the chassis of the traditional wheeled mobile robot cannot climb. The robot chassis can stably run on a flat road or a slope road. The robot chassis can stably run on a slope, and the adaptability of the traditional wheeled mobile robot to the slope of the ground is improved. The angle sensor 8 can monitor the angle of the supporting rod 9 in real time, and the angle information of the supporting rod 9 can reflect the gradient information of a road surface. When the gradient of road surface changes, hang the mechanism and can drive anterior wheel 1 motion, make anterior wheel 1 laminate on the slope, avoided action wheel 2 to be maked somebody a mere figurehead on the slope. In addition, the robot chassis does not influence the arrangement of other elements, and has a compact and reasonable structure. The robot chassis has the advantages of simple structure, low cost, strong practicability and the like.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.