CN108528562B - Robot climbing chassis device - Google Patents

Abstract

The invention relates to the field of automation technology, in particular to a robot climbing chassis device, comprising: a bottom plate, the lower part of which is connected with a self-balancing frame module; Balanced; two climbing support modules are symmetrically arranged above the bottom plate, namely the front climbing support module and the rear climbing support module, which are used to realize the support of the robot climbing chassis device for ladder climbing; under the self-balancing frame module Four identical variable-diameter composite wheels are arranged symmetrically; among them, the diameter of the variable-diameter composite wheels can be adjusted. By symmetrically arranging the front climbing support module and the rear climbing support module on the bottom plate, the robot climbing chassis device is used for the effective support between the climbing support module and the ground when the robot climbing chassis device is climbing stairs, so as to realize the robot climbing chassis device. Effective stair climbing; in addition, through the self-balancing frame module, the center of gravity can be adjusted during climbing, which can avoid tipping.

Description

A robot climbing chassis device

technical field

The invention belongs to the technical field of automation, and in particular relates to a robot climbing chassis device.

Background technique

In recent years, as a rapidly developing high value-added industrial service robot, it has developed rapidly. At present, existing service robots mainly walk on flat ground, but there are often obstacles such as stairs in the actual environment. Therefore, a chassis device with a ladder climbing function is urgently needed for service robots.

At present, wheeled, tracked and legged structures are the three commonly used mobile mechanisms for mobile robots. The wheeled structure is simple, the moving speed is fast, and it is easy to maneuver, but it is only suitable for obstacle crossing on flat ground. The crawler structure is stable and can walk on uneven ground, and can overcome obstacles and climb large slopes and steps, but the structure will slide when turning, large resistance, poor turning radius and center accuracy And other issues. The characteristic of the legged mobile robot is that it only needs discrete landing points, it can walk on the uneven ground of the motor grader, it can cross obstacles such as ravines, caves, and up and down stairs, and it has high mobility. However, the legged mobile structure has high mobility. The bearing capacity is relatively weak, the control of the center of gravity is high, and the relevant control technology is not mature.

For example, the patent document of Patent No. "ZL200820123938.2" discloses a variable diameter wheel including a wheel outer contour and a telescopic mechanism for driving deformation of the wheel outer contour. Although this variable-diameter wheel can adapt to some road obstacles through the expansion and contraction of the outer contour, the contact area of the variable-diameter wheel is small, it is only suitable for hard and flat roads and can only adapt to some small obstacles, and it does not have the function of stepping over obstacles. As a result, the use range of the variable diameter wheel is small.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the defect that the application range of the robot climbing chassis device in the prior art is small.

In view of this, the present invention provides a robot climbing chassis device, comprising: a bottom plate (1), and the bottom of the bottom plate (1) is connected with a self-balancing frame module (6); wherein, the self-balancing frame module ( 6), used to realize the balance when the robot climbing chassis device is climbing;

Two climbing support modules are symmetrically arranged above the bottom plate (1), respectively a front climbing support module (4) and a rear climbing support module (5), which are used for realizing the robot climbing the steps of the chassis device support for climbing;

Four identical variable-diameter composite wheels (7) are symmetrically arranged below the self-balancing frame module (6); wherein, the diameter of the variable-diameter composite wheels can be adjusted.

Optionally, the front climbing support module (4) and the rear climbing support module (5) have the same structure, and are symmetrically arranged front and rear.

Optionally, the front climbing support module (4) includes:

a front support wheel (41), the front support wheel (41) is clamped by two left and right parallel front climbing support frames (42);

The front climbing support frame (42) is fixed with the U-shaped bracket (44) through the first corner code connecting piece (43);

The U-shaped bracket (44) is fixed to the shaft of the biaxial motor (46) through a flange coupling (45);

The biaxial motor (46) is fixed on the base plate (1) through a motor support (47).

Optionally, the self-balancing frame module (6) includes: four parallel four-bar linkage mechanisms that are symmetrical in front and rear, left and right and have the same structure, which are respectively a front left parallel four-bar linkage mechanism (61), a front right parallel four-bar linkage. A lever mechanism (62), a rear left parallel four-bar linkage mechanism (63) and a rear right parallel four-bar linkage mechanism (64).

Optionally, the front left parallel four-bar linkage mechanism (61) includes:

a first vertical support rod (611), the first vertical support rod (611) is hinged with the short transverse connecting rod (612);

The short transverse connecting rod (612) is hinged with the lower end of the second vertical support rod (613), and the upper end of the second vertical support rod (613) is fixed to the bottom plate (1) through the second corner code connecting piece (614). ; The middle part of the short transverse connecting rod (612) is hinged with the upper end of the second corner code connecting piece (614); the lower end of the second angle code connecting piece (614) is hinged with the front and rear transverse connecting rods (616); The front ends of the front and rear transverse connecting rods (616) are hinged with the middle of the first vertical support rod (611); the rear ends of the front and rear transverse connecting rods (616) are symmetrically hinged in the rear left parallel four-bar linkage mechanism (63). .

Optionally, the front left parallel four-bar linkage mechanism (61) and the front right parallel four-bar linkage mechanism (62) are hinged through left and right lateral connecting rods (65); the middle part of the left and right lateral connecting rods (65) is equipped with A bearing (66), the bearing (66) is fixed to the electric telescopic rod (68) through a tee fastener (67), and the electric telescopic rod (68) is fixed to the bottom plate (1) through a lifting lug (69).

Optionally, the base plate (1) is further provided with a controller (2) and a three-axis accelerometer gyroscope module (3); wherein, the controller (2) according to the three-axis accelerometer gyroscope module (3) The collected data controls the movement of the electric telescopic rod (68) to adjust the center of gravity of the robot climbing chassis device.

Optionally, the variable diameter composite wheel (7) includes: a diameter reduction wheel (71) and a diameter reduction wheel (72); the diameter reduction wheel (72) consists of six symmetrically installed climbing claws (721) composition.

Optionally, the sizing wheel (71) includes: a sun gear (711), six large planetary gears (712) and one small planetary gear (713) are evenly meshed around the sun gear (711) ;

Both ends of the central shaft of the sun gear (711), the six large planetary gears (712) and the small planetary gears (713) are supported between the inner plate (73) and the outer plate (74) through small bearings .

Optionally, one end of the six large planetary gears (712) is respectively fixed with the six climbing claws (721);

The inner side plate (73) and the outer side plate (74) are also fixed on the edge of the hub (75) of the sizing wheel (71) at the same time;

A first stepping motor (76) is fixed on the outer plate (74), and the shaft of the first stepping motor (76) is fixed with the small planetary gear (713);

The second stepping motor (77) is fixed on the first vertical support rod (611) and is fixed with the flange (78) fixed on the outer side plate (74).

The technical scheme of the present invention has the following advantages:

1. The robot climbing chassis device provided by the present invention, by symmetrically arranging the front climbing support module and the rear climbing support module on the bottom plate, is used for the robot climbing chassis device when climbing the stairs, through the climbing support module and the climbing support module. The effective support of the ground can realize the effective step climbing of the robot climbing chassis device; in addition, through the self-balancing frame module, the center of gravity can be adjusted during the climbing process, which can avoid tipping.

2. The robot climbing chassis device provided by the present invention, by arranging a controller and a three-axis accelerometer gyroscope module on the bottom plate, is used to realize that when the robot is climbing a ladder, the three-axis accelerometer gyroscope can be controlled by the controller. The rotation angular velocity signal output by the instrument module is integrated, and the arctangent calculation is performed on the accelerometer signal. Finally, the Kalman filter is used to obtain the inclination angle of the robot climbing chassis device due to climbing, and then the electric telescopic rod is controlled to realize the robot climbing chassis. The center of gravity of the device is balanced.

3. The robot climbing chassis device provided by the present invention is used to realize that when the robot climbing chassis device moves on a flat ground, the variable diameter wheel is in a folded state and fixed on the The second stepping motor on the first vertical support rod can drive the variable diameter compound wheel to realize plane rolling through the flange; when the robot climbs the chassis device and encounters a step obstacle, the first stepping motor drives the small planetary gear , the small planetary gear drives the sun gear to rotate, and the sun gear drives the six large planetary gears meshing with it, and then drives the six climbing claws to realize the expansion of the variable diameter wheel, thereby helping the robot to climb the chassis device to achieve ladder climbing .

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

Fig. 1 is a concrete schematic structural diagram of a robot climbing chassis device in an embodiment of the present invention;

Fig. 2 is a specific schematic structural diagram of a front climbing support module in an embodiment of the present invention;

FIG. 3 is a specific schematic structural diagram of a self-balancing frame module in an embodiment of the present invention;

4 is a schematic structural diagram of a specific schematic diagram of a lateral connection support module of the front left and right wheels in the embodiment of the present invention;

5 is a schematic structural diagram of a specific schematic diagram of a variable diameter composite wheel in a folded state according to an embodiment of the present invention;

6 is a schematic structural schematic diagram of a variable diameter composite wheel in an open state in an embodiment of the present invention;

Fig. 7 is a specific schematic combined structure diagram of the variable diameter composite wheel in the embodiment of the present invention;

Reference number:

1 - bottom plate;

2 - controller;

3-Three-axis accelerometer gyroscope module;

4-Front climbing support module; 41-Front support wheel; 42-Front climbing support frame; 43-First angle code connector; 44-U-shaped bracket; 45-Flange coupling; 46-Dual shaft motor ;47-motor support;

5- Rear climbing support module;

6-Self-balancing frame module; 61-Front left parallel four-bar linkage; 611-First vertical support rod; 612-Short transverse connecting rod; 613-Second vertical support rod; 614-Second angle code connector; 615-the third vertical support rod; 616-front and rear transverse connecting rod; 62-front right parallel four-bar linkage; 63-rear left parallel four-bar linkage; 64-rear right parallel four-bar linkage; 65-left and right lateral connection Rod; 66- Bearing; 67- Tee Fastener; 68- Electric Telescopic Rod; 69- Lifting Lug;

7- Variable diameter compound wheel; 71- Diameter wheel; 711- Sun gear; 712- Large planetary gear; 713- Small planetary gear; 72- Reducer wheel; 721- Climbing claw; Outside plate; 75-wheel hub 76-first stepper motor; 77-second stepper motor; 78-flange.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "first", "second" and "third" are only used for description purposes, and cannot be understood as indicating or implying relative importance.

The meaning of "front and rear" in the present invention means that when the reader is facing the drawings, the left side of the reader is the front, and the right side of the reader is the rear, rather than a specific limitation on the chassis device of the present invention .

The meaning of "left and right" in the present invention means that when the reader is facing the drawing, the one that is close to the reader is the left, and the one that is far away from the reader is the right, rather than to the chassis device of the present invention. specific restrictions.

The meaning of "inner and outer" in the present invention refers to the direction pointing to the inside of the composite wheel relative to the variable diameter composite wheel itself, and vice versa, but not to the variable diameter composite wheel of the present invention. specific restrictions.

The meaning of "connection" described in the present invention may be a direct connection between components or an indirect connection between components through other components.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

An embodiment of the present invention provides a robot climbing chassis device, as shown in FIG. 1 , comprising a bottom plate 1, and the bottom of the bottom plate 1 is connected with a self-balancing frame module 6; wherein, the self-balancing frame module 6 is used to realize The balance of the robot climbing chassis device when climbing. Two climbing support modules are symmetrically arranged above the bottom plate 1 , respectively a front climbing support module 4 and a rear climbing support module 5 , which are used to realize the support of the robot climbing chassis device for ladder climbing. Four identical variable-diameter composite wheels 7 are symmetrically arranged below the self-balancing frame module 6; wherein, the diameter of the variable-diameter composite wheels 7 can be adjusted.

In the robot climbing chassis device provided by the present invention, the front climbing support module 4 and the rear climbing support module 5 are symmetrically arranged on the bottom plate 1, so that when the robot climbing chassis device is climbing stairs, the climbing support module can pass through the climbing support module. The effective support with the ground can realize the effective step climbing of the robot climbing chassis device; in addition, through the self-balancing frame module 6, the center of gravity can be adjusted during the climbing process, which can avoid tipping.

As shown in FIG. 1 , the front climbing support module 4 and the rear climbing support module 5 have the same structure and are installed symmetrically in the front and rear. As shown in FIG. 2 , the front climbing support module 4 includes a front support wheel 41, and the front support wheel 41 is clamped by two parallel front climbing support frames 42 on the left and right; wherein, the front climbing support frame 42 passes through the first corner yard The connecting piece 43 is fixed with the U-shaped bracket 44 ; the U-shaped bracket 44 is fixed with the shaft of the biaxial motor 46 through the flange coupling 45 ; the biaxial motor 46 is fixed on the base plate 1 through the motor support 47 .

The advantage of the design of the front climbing support module 4 and the rear climbing support module 5 in this embodiment is that it can help the robot climbing chassis device to be effectively supported by the ground when climbing stairs, so as to realize the effective lifting and avoidance of the robot climbing chassis device Dumping occurs.

As shown in FIG. 3 , the self-balancing frame module 6 is composed of four parallel four-bar linkages with front-rear, left-right symmetry and the same structure, namely, the front left parallel four-bar linkage 61 , the front right parallel four-bar linkage 62 , and the rear Left parallel four-bar linkage 63, rear right parallel four-bar linkage 64.

Specifically, the front left parallel four-bar linkage mechanism 61 is taken as an example to describe in detail. As shown in FIG. 3 , the front left parallel four-bar linkage mechanism 61 includes a first vertical support rod 611 which is hingedly connected with a short transverse connecting rod 612 The short transverse connecting rod 612 is hinged with the lower end of the second vertical support rod 613; the upper end of the second vertical support rod 613 is fixed with the bottom plate 1 through the second corner code connecting piece 614; the middle part of the short transverse connecting rod 612 is supported by the third vertical support The upper end of the rod 615 is hinged; the lower end of the third vertical support rod 615 is hinged with the front and rear transverse connecting rods 616; the front end of the front and rear transverse connecting rods 616 is hinged with the middle of the first vertical support rod 611; It is hinged in the rear left parallel four-bar linkage 63 .

In addition, the front left parallel four-bar linkage mechanism 61 and the front right parallel four-bar linkage mechanism 62 are hinged through the left and right lateral connecting rods 65; The electric telescopic rod 68 is fixed; the electric telescopic rod 68 is fixed to the base plate 1 through the lifting lugs 69 .

Meanwhile, please refer to FIG. 1 , a controller 2 and a three-axis accelerometer gyroscope module 3 are mounted on the base plate 1 . During specific operation, the controller (2) controls the movement of the electric telescopic rod (68) according to the data collected by the three-axis accelerometer gyroscope module (3), so as to adjust the center of gravity of the robot climbing chassis device.

In this embodiment, the advantage of the design of the self-balancing frame module 6 is that when the robot climbing chassis device is performing ladder climbing, the rotation output of the three-axis accelerometer gyroscope module 3 can be controlled by the controller 2. Integrate the angular velocity signal, calculate the arctangent of the accelerometer signal, and finally use the Kalman filter to obtain the inclination angle of the robot's climbing chassis device due to climbing, and then control the electric telescopic rod to achieve the center of gravity balance of the robot's climbing chassis device.

As shown in FIG. 5 , the variable diameter composite wheel 7 includes a sizing wheel 71 and a diameter reducing wheel 72 . As shown in FIG. 6 , the reducing wheel 72 includes six symmetrically mounted climbing claws 721 . Among them, the sizing wheel 71 is used for high-speed plane movement, and the diameter-changing wheel 72 is used for step climbing. The robot climbing chassis device provided in this embodiment can not only realize the high-speed plane movement of the robot climbing chassis device, but also realize the climbing of ladder obstacles, expand the service area of the robot climbing chassis device, and improve the robot climbing chassis device. The service capability of the device.

As shown in FIG. 7 , the sizing wheel 71 includes a sun gear 711 , and six large planetary gears 712 and one small planetary gear 713 are evenly meshed around the sun gear 711 . Wherein, both ends of the central shaft of the sun gear 711 , the six large planetary gears 712 and the small planetary gears 713 are supported between the inner plate 73 and the outer plate 74 through small bearings. One ends of the six large planetary gears 712 are also fixed with the six climbing claws 721 respectively. The inner plate 73 and the outer plate 74 are also fixed on the edge of the hub 75 of the sizing wheel 71 at the same time. The first stepping motor 76 is fixed on the outer plate 74 , and the shaft of the first stepping motor 76 is fixed with the small planetary gear 713 . The second stepping motor 77 is fixed on the first vertical support rod 611 and is fixed with the flange 78 fixed on the outer plate 74 .

In this embodiment, the advantage of the design of the variable diameter composite wheel 7 is that when the robot climbing chassis device moves on a flat ground, the variable diameter wheel 72 is in a retracted state, and the second step fixed on the first vertical support rod 611 The motor 77 can drive the variable-diameter compound wheel 7 to realize plane rolling through the flange 78 . When the robot climbs the chassis device and encounters a step obstacle, the first step motor 76 drives the small planetary gear 713, the small planetary gear 713 drives the sun gear 711 to rotate, and the sun gear 711 drives the six large planetary gears 712 meshing with it. In turn, the six climbing claws 721 are driven to realize the expansion of the variable diameter wheel 72, thereby helping the robot to climb the chassis device to achieve ladder climbing.

The beneficial effect of the robot climbing chassis device provided by the present invention is that the support and leveraging of step climbing are realized through the front and rear climbing support modules; Dumping; the variable-diameter compound wheel realizes different coping with the movement of the flat road surface and the step climbing, which improves the application range of the robot climbing chassis device.

Obviously, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation manner. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. And the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (5)

1. A robot climbing chassis device, characterized in that includes:

the lower part of the bottom plate (1) is connected with a self-balancing frame module (6); the self-balancing frame module (6) is used for realizing balance when the robot climbs the chassis device;

two climbing support modules, namely a front climbing support module (4) and a rear climbing support module (5), are symmetrically arranged above the bottom plate (1) and are used for realizing the support of the robot for climbing the ladder of the chassis device;

four same diameter-variable composite wheels (7) are symmetrically arranged below the self-balancing frame module (6); the diameter of the variable diameter composite wheel is adjustable;

the variable diameter composite wheel (7) comprises: a sizing wheel (71) and a diameter-changing wheel (72); the diameter-changing wheel (72) consists of six symmetrically-arranged climbing claws (721);

the sizing wheel (71) comprises: a sun gear (711), six large planetary gears (712) and one small planetary gear (713) being uniformly engaged around the sun gear (711); the central shaft of the sun gear (711), the six large planetary gears (712) and the small planetary gear (713) is supported at both ends between an inner plate (73) and an outer plate (74) through small bearings;

one ends of the six large planetary gears (712) are respectively fixed with six climbing claws (721);

the inner side plate (73) and the outer side plate (74) are also fixed on the edge of a hub (75) of the sizing wheel (71) at the same time;

a first stepping motor (76) is fixed on the outer side plate (74), and the shaft of the first stepping motor (76) is fixed with the pinion gear (713);

the second stepping motor (77) is fixed on the first vertical supporting rod (611) and is fixed with a flange plate (78) fixed on the outer side plate (74);

the self-balancing frame module (6) comprises: four parallel four-bar linkages which are symmetrical in front and back and left and right and have the same structure are respectively a front left parallel four-bar linkage (61), a front right parallel four-bar linkage (62), a rear left parallel four-bar linkage (63) and a rear right parallel four-bar linkage (64);

the front left parallel four-bar linkage (61) includes:

a first vertical support bar (611), the first vertical support bar (611) being hinged to a short transverse connecting bar (612);

the short transverse connecting rod (612) is hinged with the lower end of a second vertical supporting rod (613), and the upper end of the second vertical supporting rod (613) is fixed with the bottom plate (1) through a second corner connector (614); the middle part of the short transverse connecting rod (612) is hinged with the upper end of a third vertical supporting rod (615); the lower end of the third vertical supporting rod (615) is hinged with a front transverse connecting rod (616) and a rear transverse connecting rod (616); the front end of the front transverse connecting rod (616) and the front end of the rear transverse connecting rod (616) are hinged with the middle part of the first vertical supporting rod (611); the rear ends of the front and rear transverse connecting rods (616) are symmetrically hinged in the rear left parallel four-bar linkage (63).

2. Robot climbing chassis arrangement according to claim 1, characterized in that the front climbing support module (4) and the rear climbing support module (5) are identical in structure and are arranged symmetrically in front and rear.

3. Robot climbing chassis arrangement according to claim 2, characterized in that the front climbing support module (4) comprises:

the front supporting wheels (41), the front supporting wheels (41) are clamped by a left front climbing supporting frame and a right front climbing supporting frame (42) which are parallel;

the front climbing support frame (42) is fixed with the U-shaped bracket (44) through a first corner connector (43);

the U-shaped bracket (44) is fixed with a shaft of a double-shaft motor (46) through a flange coupler (45);

the double-shaft motor (46) is fixed on the bottom plate (1) through a motor support (47).

4. The robotic climbing chassis arrangement according to claim 1, wherein the front left parallel four-bar linkage (61) is articulated with a front right parallel four-bar linkage (62) by left and right transverse connecting rods (65); the middle part of the left transverse connecting rod (65) and the right transverse connecting rod (65) is provided with a bearing (66), the bearing (66) is fixed with an electric telescopic rod (68) through a three-way fastener (67), and the electric telescopic rod (68) is fixed with the bottom plate (1) through a lifting lug (69).

5. Robot climbing chassis arrangement according to claim 4, characterized in that a controller (2) and a three-axis accelerometer-gyroscope module (3) are also arranged on the chassis (1); the controller (2) controls the electric telescopic rod (68) to move according to the data collected by the triaxial accelerometer gyroscope module (3) so as to adjust the gravity center of the robot for climbing the chassis device.

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