CN116442251A - Chassis front collision device and mobile robot - Google Patents

Abstract

The utility model provides a be applicable to the robot technology field, provide a chassis front collision device and have its mobile robot, this chassis front collision device includes mobile chassis, preceding board and swing mechanism that bumps, preceding board along first direction sliding connection in one side of mobile chassis, swing mechanism includes swing arm, sensor and reset piece, the swing arm rotates to locate on the mobile chassis, the swing arm has the rotation central axis that is perpendicular with first direction, the sensor is connected in the swing arm, reset piece is used for providing reset force to the swing arm; the sliding of the front collision plate in the first direction is converted into the rotation of the swing arm, the sensor is triggered after the swing arm rotates, the sensor does not need to be distributed according to collision points, the triggering of the sensor is not limited by the collision position on the front collision plate and the area of the front collision plate, the number of the sensors can be reduced, the occupied space of the sensors and the like is reduced, the control difficulty of the sensors is reduced, the number of the sensors in the chassis front collision device is small, the occupied space is small, the cost is low, and the control mode is simplified.

Description

Chassis front collision device and mobile robot

Technical Field

The application relates to the technical field of robots, in particular to a chassis front collision device and a mobile robot.

Background

The mobile robot is used for providing various services for people, the walking working condition of the mobile robot is complex, and the safety requirement is high, so that the mobile robot is required to be capable of flexibly avoiding obstacles. Based on this, it is necessary to design a front collision device for triggering a switch when the robot collides with an obstacle, thereby adjusting the travel route of the mobile robot.

Currently, in a mobile robot on the market, a front collision device is specifically designed to trigger an inner switch (sensor) through an outer collision plate, for a collision plate with a larger area, the number of sensors needs to be increased to ensure that the collision plate can be triggered at multiple positions, so that a larger space is reserved for the collision plate and the sensors when the whole robot is designed, and meanwhile, the control difficulty is increased due to the arrangement of multiple sensors.

Disclosure of Invention

An aim of the embodiment of the application is to provide a chassis front collision device, which aims at solving the technical problems of large occupied space and high control difficulty of the front collision device in the existing mobile robot.

The embodiment of the application is realized in such a way that a chassis front collision device comprises:

a mobile chassis;

the front collision plate is arranged on the outer side of the movable chassis in a sliding manner along a first direction; and

the swing mechanism comprises a swing arm, a sensor and a reset piece, wherein the swing arm is rotationally arranged on the movable chassis, the swing arm is provided with a rotation central axis perpendicular to the first direction, the sensor is connected with the swing arm, and the reset piece is connected between the swing arm and the movable chassis and is used for providing reset force for the swing arm.

In one embodiment, the swing arm comprises a rotating shaft body and a swing arm body, wherein the rotating shaft body is rotatably arranged on the movable chassis and provided with the rotating central axis, and the swing arm body is connected to one side of the rotating shaft body; the surface of the swing arm body facing the front collision plate is an arc convex surface.

In one embodiment, the swing mechanism comprises two swing arms distributed in a direction perpendicular to the first direction and the rotation central axis of the swing arms, and two rotating shaft bodies arranged between the two swing arm bodies and connected with the swing arm bodies in a one-to-one correspondence manner.

In one embodiment, the sensor is disposed on a side of the swing arm body away from the front striker, and the reset member is disposed on a side of the swing arm body closer to the front striker.

In one embodiment, the reset element is a tension spring and the sensor is a microswitch.

In one embodiment, the swing mechanism further includes two fixing plates, the fixing plates are fixed on the moving chassis and located between the two swing arm bodies, and one ends of the two restoring members, which are close to each other, are connected to the fixing plates.

In one embodiment, two ends of the reset piece are respectively connected to the two swing arm bodies.

In one embodiment, the swing arm further comprises a limiting arm connected with the rotating shaft body and provided with a limiting surface for abutting against the movable chassis.

In one embodiment, the swing mechanism further comprises a pivoting arm fixed on the movable chassis, one axial end of the rotating shaft body is rotatably connected with the movable chassis, and the other axial end of the rotating shaft body is rotatably connected with the pivoting arm.

In one embodiment, a side of the front striker plate facing away from the swing arm is provided with a bumper strip.

In one embodiment, the swing mechanism further comprises a roller, a central axis of the roller being parallel to a rotation central axis of the swing arm; the roller is arranged on the sensor and is in rolling contact with the swing arm, or the roller is arranged on the swing arm and is in rolling contact with the sensor.

In one embodiment, the mobile chassis comprises a base and a middle frame, the base is surrounded by the middle frame, the front collision plate is arranged on the outer side of the middle frame, and a through hole is formed in the middle frame;

the front collision plate is provided with a through hole, and the front collision plate is provided with a swing arm, wherein the swing arm is provided with a through hole, and the through hole is provided with a front collision plate.

Another object of the embodiments of the present application is to provide a mobile robot, which includes the chassis front collision device described in the foregoing embodiments.

The chassis front collision device and the mobile robot provided by the embodiment of the application have the beneficial effects that:

according to the chassis front collision device, the front collision plate is connected to one side of the movable chassis in a sliding mode along the first direction, the swing mechanism comprises the swing arm, the sensor and the reset piece, the swing arm is rotationally arranged on the movable chassis, the swing arm is provided with the rotation central axis perpendicular to the first direction, the sensor is connected to the swing arm, the reset piece is used for providing reset force for the swing arm, when the front collision plate collides with an obstacle, the front collision plate is slidingly converted into rotation of the swing arm in the first direction, the sensor is triggered after the swing arm rotates, the sensor does not need to be distributed according to collision points, triggering of the sensor is not limited by the collision position on the front collision plate and the area of the front collision plate, the number of sensors can be reduced, occupied space occupied by the sensors is reduced, the control difficulty of the sensors is reduced, the swing arm automatically returns after the obstacle is eliminated, the continuous trigger is avoided, the number of sensors in the chassis front collision device is small, the space occupied is low, the cost is low, and the control mode is simplified.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic overall structure of a chassis front collision device provided in an embodiment of the present application;

FIG. 2 is a partially exploded schematic view of the front chassis impact device of FIG. 1;

FIG. 3 is a further exploded schematic view of the chassis forward collision device of FIG. 1;

FIG. 4 is an exploded schematic view of a portion of the structure of the front chassis impact device of FIG. 1;

FIG. 5 is a schematic view of the swing mechanism of the front chassis impact apparatus of FIG. 1;

fig. 6 is a schematic structural view of a front impact plate of the chassis front impact device shown in fig. 1.

The meaning of the labels in the figures is:

100-chassis front-impact device;

1-a movable chassis, 11-a base, 111-a positioning column, 12-a middle frame, 120-a through hole, 121-a containing space and 13-an upper cover;

2-swinging mechanism, 21-swinging arm, 211-rotating shaft body, 212-swinging arm body, 213-limiting arm, 2130-limiting surface, 22-sensor, 221-sensor body, 222-action reed, 23-reset piece, 24-pivoting arm, 25-fixed plate, 250-positioning hole and 26-roller;

3-front bump plate, 31-convex column, 32-buffer bar.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly or indirectly mounted or disposed on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper," "lower," "left," "right," and the like are used for convenience of description based on the orientation or positional relationship shown in the drawings, and do not denote or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present patent. The terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.

For the purpose of illustrating the technical solutions described herein, the following detailed description is provided with reference to specific drawings and examples.

Referring first to fig. 1 to 3, an embodiment of the present application first provides a chassis front collision device 100, which is typically used in a mobile robot (not shown) as a bottom part. Specifically, the chassis front collision device 100 includes a moving chassis 1, a front collision plate 3, and a swing mechanism 2. The mobile chassis 1 is usually connected to a mobile assembly (not shown), such as a drive wheel, etc., which moves under the action of the mobile assembly. The front striker plate 3 is provided on the mobile chassis 1, in particular at a side surface of the mobile chassis 1, and is capable of sliding in a first direction on the mobile chassis 1, which may encounter an obstacle when the mobile chassis 1 is moved over the ground, the front striker plate 3 being intended for direct collision contact with the obstacle. As shown in fig. 5, the swing mechanism 2 includes a swing arm 21, a sensor 22, and a reset member 23, the swing arm 21 is rotatably provided on the moving chassis 1, and the rotation center axis of the swing arm 21 is perpendicular to a first direction, that is, the first direction may be one or more directions in a plane perpendicular to the rotation center axis of the swing arm 21, and the aforementioned front striker 3 is capable of sliding in a plane perpendicular to the rotation center axis of the swing arm 21. The swing arm 21 is located on the side of the front striker 3 near the moving chassis 1, the sensor 22 is provided between the swing arm 21 and the moving chassis 1, and the reset member 23 is provided between the swing arm 21 and the moving chassis 1 and is used for providing a reset force to the swing arm 21.

Thus, when the front striking plate 3 collides with an obstacle, the front striking plate 3 is moved along the first direction and towards the direction of moving the chassis 1, the front striking plate 3 moves to drive the swing arm 21 to rotate, and the swing arm 21 further triggers the sensor 22 after rotating.

In the mobile robot, a mobile component is controlled by a controller (not shown). In this embodiment, the sensor 22 is configured to be connected to the controller, and is configured to feed back an obstacle signal to the controller, and after the controller receives the obstacle signal from the sensor 22, the controller controls the moving assembly to make the moving assembly perform a reversing or a retracting action, so as to avoid the current obstacle.

According to the chassis front collision device 100 provided by the embodiment of the application, the front collision plate 3 is slidingly connected to one side of the moving chassis 1 along the first direction, the swinging mechanism 2 comprises the swinging arm 21, the sensor 22 and the reset piece 23, the swinging arm 21 is rotationally arranged on the moving chassis 1, the swinging arm 21 has a rotation central axis perpendicular to the first direction, the sensor 22 is connected between the swinging arm 21 and the moving chassis 1, the reset piece 23 is connected between the swinging arm 21 and the moving chassis 1 and is used for providing a reset force for the swinging arm 21, when the front collision plate 3 collides with an obstacle, the sliding of the front collision plate 3 in the first direction is converted into the rotation of the swinging arm 21, the swinging arm 21 rotates to trigger the sensor 22, so that the triggering of the sensor 22 is not limited by the collision position on the front collision plate 3 and the area of the front collision plate 3, the sensor 22 is not required to be distributed according to collision points, the number of the sensors 22 can be reduced, the production cost of the chassis front collision device 100 and the control of the chassis front collision device 100 are reduced, meanwhile, the occupied space of the sensor 22 and the like is reduced, after the obstacle is eliminated, the sensor 21 is automatically triggered, the sensor 22 is triggered, the front collision device is continuously, and the front collision device is prevented from being occupied by the low in space, and the device is controlled.

Typically, the moving chassis 1 walks on the ground, i.e. moves substantially in a horizontal direction, and the impact force exerted by the obstacle on the front striker plate 3 is typically a force in the horizontal direction, so that the first direction is the horizontal direction.

Accordingly, the rotation center axis of the swing arm 21 is in the vertical direction. This makes the force applied by the front striker 3 to the swing arm 21 have no component force in the axial direction, all of which are used to push the swing arm 1 to rotate, that is, all of the force applied by the front striker 3 to the swing arm 21 are used to push the swing arm 21 to rotate, so that the sensitivity of triggering of the sensor 22 can be improved.

It should also be noted that, in the use state of the mobile robot, the front striker 3 is provided always on the front side in the traveling direction thereof so as to be able to directly contact with an obstacle, and accordingly, when the user directly faces the front striker 3, the chassis front striker 100 also has a rear side, a left side, a right side, an upper side, and a lower side, as shown in fig. 1. In the following description, the structure of each portion of the chassis front collision device 100 will be described using these orientations.

Depending on the area of the front striker plate 3, there may be a different number of swing arms 21, sensors 22 and return members 23 in the swing mechanism 2. For example, the front striker 3 has a small area, and the number of swing arms 21, sensors 22, and return pieces 23 may be one. As another example, the front striker 3 has a large area, and the swing mechanism 2 includes two sets of swing arms 21, three sets of swing arms 21, or more sets of swing arms 21, and the like.

As shown in fig. 5, in one embodiment, the swing mechanism 2 includes two swing arms 21, two sensors 22, and two return pieces 23. The two swing arms 21 are distributed in the left-right direction on the horizontal plane, respectively correspond to the left and right sides of the front striker 3, and the two sensors 22 are independently connected to the controller. The purpose of this arrangement is that the two swing arms 21 essentially correspond to the left and right sides of the front striker plate 3, on the one hand, the front striker plate 3 on either side can trigger the corresponding sensor 22 when impacted by an obstacle, and on the other hand, the two sensors 22 are independently triggered, the controller being able to determine which side of the front striker plate 3 has encountered an obstacle based on the feedback signals of the two sensors 22, and thus being able to adjust the moving assembly based on the position of the obstacle.

For example, when the sensor 22 on the left side is triggered, the controller receives the signal of the sensor 22 and determines that there is an obstacle on the left side of the mobile chassis 1 at this time, and then the controller can control the mobile assembly to retreat and turn to the right; conversely, when the sensor 22 on the right side is triggered, the controller receives the signal of the sensor 22 and determines that there is an obstacle on the right side of the mobile chassis 1 at this time, and then the controller can control the mobile assembly to retreat and turn to the left.

Of course, it is understood that the two swing arms 21 are distributed in the left-right direction, and if the middle of the front impact plate 3 is impacted, it is possible to trigger the two sensors 22 at the same time. At this point, the controller may control the moving assembly to retract and turn 180 °.

The above adjustments to the direction of travel of the moving assembly are merely examples, and in particular applications, the controller may make other adjustments to the direction of travel of the moving assembly based on the signals from the sensor 22, without limitation.

Referring to fig. 2 and 3, in one embodiment, the mobile chassis 1 includes a base 11 and a middle frame 12, where the middle frame 12 encloses the base 11, and a receiving space 121 is formed inside the middle frame, so as to protect structural components on the base 11.

As shown in fig. 1 to 3, the mobile chassis 1 further includes an upper cover 13 provided on the upper end periphery of the center 12, and further covers structural members and the like on the base 11. In addition, the upper cover 13 provides a large surface area for the mobile chassis 1, and in some embodiments, its upper side may be further connected to a main housing of the mobile robot or the like.

In other alternative embodiments, the mobile chassis 1 may have other designs according to the product requirements, and will not be described in detail.

Accordingly, the front striker 3 is provided outside the center frame 12, and at least the swing arm 21 of the swing mechanism 2 is provided inside the center frame 12. As shown in fig. 3, a through hole 120 is formed in the center frame 12, and a boss 31 is formed on the rear side surface of the front striker plate 3, the boss 31 passing through the through hole 120 and abutting against the front surface of the swing arm 21. The purpose of this arrangement is that the front striker 3 and the swing arm 21 are abutted on the basis of not affecting the basic structure of the middle frame 12, and the swing arm 21 can be protected by the middle frame 12, even if the swing arm 21 falls off, the swing arm 21 will not fall out of the middle frame 12, so that the swing arm 21 is not lost, and the swing mechanism 2 is easier to maintain.

Alternatively, in other alternative embodiments, the boss 31 may be formed on the front surface of the swing arm 21, and the boss 31 abuts against the rear side surface of the front striker plate 3 after passing through the through hole 120 on the center frame 12.

Of course, not limited to the above, in other alternative embodiments, the middle frame 12 may have other arrangements, and the swing arm 21 may be disposed between the front side surface of the middle frame 12 and the rear side surface of the front striker plate 3. For example, the front side surface of the center frame 12 is recessed and forms a space for accommodating the swing arm 21 described above without significantly increasing the space between the center frame 12 and the front striker plate 3.

Referring to fig. 3 and 6, the number of through holes 120 is plural, the number of posts 31 is plural, and the number of posts 31 abutting each swing arm 21 is plural. The purpose of this arrangement is that each swing arm 21 can be turned by the impact of any one of the studs 31, i.e. by a reasonable arrangement of the distribution of studs 31, the impact trigger sensor 22 at any place on the front striker plate 3 can be made.

In a specific embodiment, the protruding columns 31 do not need to abut against all the outer surface areas of the swing arm 21, and two adjacent protruding columns 31 can be spaced apart, and the number and the distribution density of the protruding columns can be designed according to the product size and the requirement, and are not particularly limited herein.

In this embodiment, referring to fig. 3, three protruding columns 31 are disposed on the front striker 3 corresponding to each swing arm 21, wherein two protruding columns 31 are spaced apart along the rotation central axis of the swing arm 21, and the other protruding column 31 is horizontally aligned with the center of the connecting line of the first two protruding columns 31. In this way, it is ensured by a minimum number of studs 31 that the front striker plate 3 can trigger the corresponding sensor 22 both when it is impacted in different positions in the horizontal direction and in different positions in the vertical direction.

Of course, the present invention is not limited to the above, and in other alternative embodiments, there may be other numbers of the posts 31 corresponding to each swing arm 21, and other arrangements are also possible, which are not described herein.

Referring to fig. 5, in one embodiment, the swing arm 21 includes a rotation shaft body 211 and a swing arm body 212, the rotation shaft body 211 is rotatably disposed on the base 11 of the mobile chassis 1, and the swing arm body 212 is connected to a side surface of the rotation shaft body 211.

Referring to fig. 4 and 5 in combination, in one embodiment, the swing mechanism 2 includes two swing arms 21, and two swing arm bodies 212 are respectively located at sides of the two rotating shaft bodies 211 facing away from each other. That is, the two rotation shaft bodies 211 correspond to the middle of the front striker 3, and the two swing arm bodies 212 correspond to the left and right sides of the front striker 3. The purpose of this arrangement is that in actual use, the obstacle is more likely to strike the left and right sides of the front striker plate 3 than it is to strike only the middle of the front striker plate 3, and thus the arrangement makes it easier for the swing arm 21 to rotate when the front striker plate 3 is struck, and has a larger swing amplitude, so that the sensitivity of the front striker plate 3 to obstacle strikes can be improved, enabling the sensor 22 to trigger more timely and accurately.

Referring to fig. 3, 5 and 6, the front side of the front striker plate 3 is designed as a curved surface protruding forward, which makes the front side surface of the chassis front striker 100 a softer curved surface form. Correspondingly, the front side of the swing arm 21 is provided as a curved surface protruding forward. The purpose of this is that the direction of the normal line at each place on the front side of the swing arm 21 is not unique, but faces each direction on the horizontal plane, and the boss 31 abuts at different positions on the curved surface. In this way, the swing arm 21 can be sensitive to the impact force from any direction of the front impact plate 3. For example, if the left corner of the front striker 3 encounters an obstacle, the acting force of the obstacle on the front striker 3 is generally directed to the right-rear direction, and the front side of the swing arm body 212 has a normal direction parallel to or closer to the right-rear direction, so that most or all of the force in the right-rear direction can act on the swing arm body 212, and the swing arm body 212 is driven to rotate, so that the sensitivity of triggering by the sensor 22 is improved.

The resetting member 23 and the sensor 22 may be provided on the same side of the swing arm body 212, for example, both between the front side of the swing arm body 212 and the base 11 of the mobile chassis 1, or both between the rear side of the swing arm body 212 and the base 11 of the mobile chassis 1.

In this embodiment, the swing arm body 212 is disposed in the middle frame 12, and the reset member 23 and the sensor 22 are disposed at the rear side of the swing arm body 212. When the swing arm body 212 rotates backward and presses the sensor 22, the sensor 22 is triggered, and at the same time, the return piece 23 is compressed, and at this time, the return piece 23 serves to provide the swing arm body 212 with a pushing force (return force) away from the sensor 22.

Alternatively, in another embodiment, the reset member 23 and the sensor 22 are provided on opposite sides of the swing arm body 212.

Referring to fig. 4 and 5, the reset member 23 is disposed on the front side of the swing arm body 212, the sensor 22 is disposed on the rear side of the swing arm body 212, and when the swing arm body 212 rotates backward and presses the sensor 22, the sensor 22 is triggered, and the reset member 23 is stretched, at this time, the reset member 23 is used to provide a pulling force (reset force) to the swing arm body 212 in a direction away from the sensor 22.

According to the above, when the return member 23 is arranged in different positions with respect to the sensor 22, the direction of the force it provides differs, and accordingly it may be in the form of a tension spring, a compression spring, a spring arm or the like, respectively.

In one embodiment, the restoring member 23 is disposed on the front side of the swing arm body 212 and is a tension spring. Compared with a pressure spring, a spring arm and the like, the structure reliability of the tension spring is high.

Different types of sensors 22 are adapted to be placed at different locations to ensure that they can be triggered. For example, the sensor 22 may be a micro-switch adapted to be triggered by pressure, so that the micro-switch is adapted to be arranged between the rear side of the swing arm body 212 and the base 11, which can be triggered when the swing arm 21 moves towards the micro-switch. Alternatively, the sensor 22 may be a travel switch disposed in the path of the rearward rotation of the swing arm body 212, which is triggered when the swing arm body 212 rotates rearward. Alternatively, the sensor 22 may be a pressure sensor, which is adapted to be triggered by the pressure applied by the swing arm body 212, and when the swing arm 21 rotates relative to the mobile chassis 1, the pressure applied to the sensor 22 changes, and when the pressure changes to a certain extent, the sensor may be triggered, and the pressure sensor may be disposed between the front side surface of the swing arm body 212 and the base 11 or between the rear side surface and the base 11. In other embodiments, the sensor 22 may be other types of sensors, and only needs to be triggered when the swing arm 21 is acted on by the front striker plate 3, which will not be described again.

In this embodiment, the sensor 22 is a micro switch, which includes a sensor body 221 and a motion reed 222. As shown in fig. 5, the sensor body 221 may be disposed on the mobile chassis 1, and the action reed 222 is connected to the swing arm 21, or conversely, the positions where the sensor body 221 and the action reed 222 are disposed may be exchanged, which is not described again.

Referring to fig. 5, in the present embodiment, two return members 23 are connected to the chassis 1 at their ends that are close to each other.

Specifically, as shown in fig. 5, in one embodiment, the swing mechanism 2 further includes a fixing plate 25 fixedly provided on the base 11 and connected to both of the reset members 23. To save space, the number of fixing plates 25 is one, which connects two restoring pieces 23 at the same time, and the fixing plates 25 are disposed between two swing arm bodies 212. That is, the ends of the two return pieces 23 that are close to each other are respectively connected to the fixing plate 25.

Since the two swing arms 21 are distributed in the left-right direction, the two rotation shaft bodies 211, the two swing arm bodies 212 are distributed in the left-right direction, in order to reserve the installation space for the fixing plate 25 described above between the two swing arm bodies 212, the two rotation shaft bodies 211 are disposed relatively backward so as to be away from the front striker plate 3, and the two swing arm bodies 212 are disposed such that the rotation shaft bodies 211 incline forward and gradually approach the front striker plate 3, so that a part of space is formed between the two swing arm bodies 212, that is, one side of the two rotation shaft bodies 211 which is close to the front striker plate 3, the fixing plate 25 is disposed in the space, and one ends of the two return members 23 which are close to each other can be located in the space and fixedly connected to the fixing plate 25.

The shape of the fixing plate 25 is designed to be adapted to the shape of the space between the two swing arm bodies 212 as described above, and as shown in fig. 5, in this embodiment, the fixing plate 25 has a substantially triangular shape. Of course, the shape of the fixing plate 25 is not unique, and on the basis of ensuring that the rotation of the two rotating shaft bodies 211 is not affected, the fixing plate 25 can be designed into other shapes, and the description is not repeated one by one.

The form of the fixed connection between the fixing plate 25 and the base 11 is not limited, but may be detachable. For example, in the present embodiment, the fixing plate 25 is provided with a plurality of positioning holes 250, the base 11 is provided with a plurality of positioning posts 111, and the positioning posts 111 are fitted in the positioning holes 250, so that the fixing plate 25 cannot move on the horizontal plane on the base 11, and meanwhile, the fixing plate 25 can move in the up-down direction and then be separated from the limitation of the positioning posts 111. That is, the fixing and detachable connection of the fixing plate 25 are realized in a simple manner.

Not limited to the above, in other alternative embodiments, the locations of the locating holes 250 and the locating posts 111 may be interchanged. Still alternatively, in other alternative embodiments, the fixing plate 25 and the base 11 may be detachably connected by a screw locking, a snap connection, or the like, or in still other further embodiments, the fixing plate 25 and the base 11 may be non-detachably connected by welding or integrally forming, or the like.

Referring to fig. 5, the size and distribution of the positioning holes 250 are not particularly limited, so that the positioning holes can be easily assembled and disassembled with the positioning posts 111. For example, in the present embodiment, one of the positioning holes 250 has a larger diameter, and correspondingly, one of the positioning posts 111 has a larger outer diameter, and the other positioning holes 250 and positioning posts 111 have smaller dimensions. When the fixing plate 25 is installed, the positioning holes 250 with larger apertures can be aligned with the corresponding positioning columns 111 first, so as to realize the pre-positioning between the fixing plate 25 and the base 11, move the fixing plate 25 downwards, and continue to match the other positioning columns 111 with the positioning holes 250.

In another embodiment, two swing arm bodies 212 may share one reset member 23, and as shown in fig. 5, the reset member 23 is disposed on the front side of the swing arm body 212 and connects the front sides of the two swing arm bodies 212. As such, when the swing arm body 212 on the left side is rotated inward and the restoring member 23 is pulled, the pulling force of the restoring member 23 acts on the swing arm body 212 on the right side, so that the swing arm body 212 on the right side has a tendency to rotate forward. Wherein the sensor 22 on the left is activated and the sensor 22 on the right is set to not activated.

Referring to fig. 4 and fig. 5 in combination, in one embodiment, the swing arm 21 further includes a limiting arm 213 connected to the rotating shaft body 211 or the swing arm body 212, and having a limiting surface 2130 for abutting against the base 11. The abutment of the limiting surface 2130 with the base 11 is used for limiting a position of the rotating shaft body 211 and the swing arm body 212, which is a limit position of the swing arm body 212 rotating forward. That is, due to the positioning of the limiting arm 213 and the limiting surface 2130 thereof, the swing arm body 212 can only rotate backward from the limiting position, but cannot rotate forward.

In particular, in the case where the two swing arm bodies 212 described above share one return member 23, even if the swing arm body 212 on the right side receives an outward pulling force from the return member 23, it cannot continue to rotate forward, so that the sensor 22 on the right side is not subjected to the pulling force, and structural damage to the sensor 22 itself can be avoided.

The setting position of the limiting arm 213 is not limited, and it is preferable that the rotation of the rotation shaft body 211 and the swing arm body 212 is not affected. As shown in fig. 5, in one embodiment, the limiting arm 213 may be disposed at the rear side of the swing arm body 212, and since the base 11 is also substantially located at the rear side of the swing arm body 212, the surface of the base 11 for abutting against the limiting surface 2130 is also easier to be disposed.

Of course, it is understood that the limit position of the backward rotation of the swing arm body 212 may be implemented by the cooperation of the rear side surface of the swing arm body 212 and/or the base 11, so that the backward rotation of the swing arm body 212 is not excessively formed, for example, the trigger stroke of the micro switch is satisfied, and the sensor 22 or the reset member 23 described above is prevented from being disabled under excessive pressure. In this embodiment, the limiting manner of the limit position of the backward rotation is not described in detail

Referring to fig. 4 and 5, in one embodiment, the swing mechanism 2 further includes a pivot arm 24 mounted on the chassis assembly, one end (e.g., a lower end) of the pivot body 211 is rotatably connected to the base 11, one end (e.g., an upper end) of the pivot body 211 is rotatably connected to one end of the pivot arm 24, and the other end of the pivot arm 24 is fixed to the base 11. The purpose of setting like this is, guarantee that pivot body 211 both ends all rotate with base 11 to can guarantee pivot body 211 pivoted stability.

The pivot arm 24 is disposed such that the shaft body 211 can be mounted on the base 11 in a more convenient manner. Specifically, in mounting the swing arm 21 on the base 11, first, the lower end of the rotation shaft body 211 is mounted on the base 11, then, one end of the pivoting arm 24 is connected to the upper end of the rotation shaft body 211, and then, the other end of the pivoting arm 24 is fixed on the base 11.

The other end of the pivoting arm 24 may be detachably fixed to the base 11 by screw locking, fastening, or the like, or may be non-detachably fixed to the base 11 by welding, or the like, and specifically may be designed according to the product requirement, and is not particularly limited herein.

Referring to fig. 3 and 4, a buffer strip 32 is provided on the outer side of the front striker plate 3. The purpose of this arrangement is that when the front striker 3 encounters an obstacle, the bumper strip 32 first collides with the obstacle to cushion the forces acting on the front striker 3 and the swing arm 21, avoiding hard impacts between the obstacle and the front striker 3 and between the front striker 3 and the swing arm body 212.

The material of the buffer strip 32 is not limited, and any material capable of having a certain flexibility may be applied thereto, for example, flexible plastic, rubber, or silicone, etc.

The buffer strip 32 may be provided in one or more strip-like structures disposed in a horizontal plane.

In the present embodiment in particular, the number of the buffer strips 32 is one, which is provided at a relatively lower position of the front striker plate 3.

The front striking plate 3 can be a whole plate body formed integrally, or can be a combined plate body formed by connecting a plurality of plate bodies. In an alternative embodiment, the front striker plate 3 includes two parts, and the bumper strip 32 may be provided on the lower side part, and the two parts may slide in the up-down direction on the center frame 12 until they snap together when mounted to the center frame 12. The front striker 3 is easy to assemble.

Of course, not limited to the above, in other alternative embodiments, the front striker plate 3 may be mounted to the middle frame 12 in other manners, and may be divided into a plurality of portions that can be combined with each other in other manners, which are not further described herein.

Referring to fig. 5, in one embodiment, the swing mechanism 2 further includes a roller 26, where a central axis of the roller 26 is parallel to a rotation central axis of the swing arm 21, and the roller 26 may be disposed on the motion reed 222 of the sensor 22 and in rolling contact with the swing arm body 212, or the roller 26 may be disposed on the swing arm body 212 and in rolling contact with the motion reed 222 of the sensor 22. The purpose of this arrangement is that during the rotation of the swing arm body 212, especially when the sensor 22 is disposed on the rear side of the swing arm body 212, the rotation of the swing arm body 212 will simultaneously cause a change in the area on the rear side surface thereof for abutting against the sensor 22, that is, the area on the swing arm body 212 for contacting the sensor 22 will move in the horizontal direction, and due to the arrangement of the roller 26, the friction force between the rear side surface of the swing arm body 212 and the sensor 22 is reduced, so that the swing arm body 212 is prevented from generating a force in the left-right direction on the sensor 22 (specifically, the action reed 222 thereof), and the sensor 22 is ensured to be triggered only by the force in the front-rear direction, and the structural damage to the sensor body 221 is also prevented.

The present embodiment also provides a mobile robot (not shown), including the chassis front collision device 100 described in the above embodiments. The features of the chassis front collision device 100 can be referred to the description of the above embodiments, and will not be repeated here.

The mobile robot provided by the embodiment of the application can realize front collision detection on the basis of using a smaller number of sensors 22, occupies less space, is low in cost, and simplifies the control mode of the sensors 22.

The mobile robot may be, but is not limited to, a mobile air conditioner, a mobile purifier, a mobile refrigerator, or a service robot for delivering express, take-out or other articles to guests, etc., or even an automatic cleaning robot, such as a floor sweeping, mopping robot, etc.

Alternatively, the mobile robot may further include a main housing (not shown) provided on the chassis front collision device 100, or the chassis front collision device 100 may directly serve as the main housing.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (13)

1. A chassis forward collision device, comprising:

a mobile chassis;

the front collision plate is arranged on the outer side of the movable chassis in a sliding manner along a first direction; and

the swing mechanism comprises a swing arm, a sensor and a reset piece, wherein the swing arm is rotationally arranged on the movable chassis, the swing arm is provided with a rotation central axis perpendicular to the first direction, the sensor is connected with the swing arm, and the reset piece is connected between the swing arm and the movable chassis and is used for providing reset force for the swing arm.

2. The chassis front impact apparatus of claim 1, wherein the swing arm includes a rotation shaft body and a swing arm body, the rotation shaft body is rotatably provided on the moving chassis and has the rotation center axis, and the swing arm body is connected to one side of the rotation shaft body; the surface of the swing arm body facing the front collision plate is an arc convex surface.

3. The chassis front collision device according to claim 2, wherein the swing mechanism includes two swing arms distributed in a direction perpendicular to the first direction and a rotation center axis of the swing arms, and two rotating shaft bodies provided between the two swing arm bodies and connected in one-to-one correspondence with the swing arm bodies.

4. The chassis front impact device according to claim 2, wherein the sensor is provided on a side of the swing arm body away from the front impact plate, and the return member is provided on a side of the swing arm body close to the front impact plate.

5. The chassis front impact apparatus of claim 4 wherein the reset member is a tension spring and the sensor is a microswitch.

6. A chassis front impact apparatus according to claim 3, wherein the swing mechanism further comprises a fixing plate, the number of the restoring pieces is two, the fixing plate is fixed on the movable chassis and located between the two swing arm bodies, and one end of the two restoring pieces, which are close to each other, is connected to the fixing plate.

7. A chassis front impact apparatus according to claim 3, wherein both ends of the return member are respectively connected to the two swing arm bodies.

8. The chassis front impact apparatus of any one of claims 2 to 7, wherein the swing arm further includes a stopper arm connected to the rotating shaft body and having a stopper surface for abutting the moving chassis.

9. The chassis front collision device according to any one of claims 2 to 7, wherein the swing mechanism further comprises a pivot arm fixed to the moving chassis, an axial one end of the rotating shaft body is rotatably connected to the moving chassis, and an axial other end of the rotating shaft body is rotatably connected to the pivot arm.

10. Chassis front impact device according to any of claims 1 to 7, characterized in that the side of the front impact plate facing away from the swing arm is provided with a buffer strip.

11. The chassis front collision device according to any one of claims 1 to 7, wherein the swing mechanism further includes a roller, a central axis of the roller being parallel to a rotation central axis of the swing arm; the roller is arranged on the sensor and is in rolling contact with the swing arm, or the roller is arranged on the swing arm and is in rolling contact with the sensor.

12. The chassis front impact apparatus according to any one of claims 1 to 7, wherein the movable chassis includes a base and a center frame surrounding the base, the front impact plate being provided outside the center frame, and a through hole being formed in the center frame;

the front collision plate is provided with a through hole, and the front collision plate is provided with a swing arm, wherein the swing arm is provided with a through hole, and the through hole is provided with a front collision plate.

13. A mobile robot comprising a chassis front impact device according to any one of claims 1 to 12.