CN219056199U

CN219056199U - Rolling prevention device and omnidirectional mobile chassis

Info

Publication number: CN219056199U
Application number: CN202223056643.7U
Authority: CN
Inventors: 周浩; 付欣
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-11-17
Filing date: 2022-11-17
Publication date: 2023-05-23
Anticipated expiration: 2032-11-17

Abstract

The disclosure provides an anti-rolling device and an omnidirectional mobile chassis, relates to the technical field of artificial intelligence, in particular to the technical field of computer equipment, the technical field of automatic driving and the technical field of intelligent traffic, and can be applied to a vehicle test scene. The specific implementation scheme is as follows: set up in the chassis main part on omnidirectional movement chassis, prevent rolling device includes: the protective shell assembly is arranged above the chassis main body and comprises an upper protective shell, an omnidirectional wheel supporting bearing plate and a chassis side anti-collision bearing plate, wherein the upper protective shell is respectively connected with the omnidirectional wheel supporting bearing plate and the chassis side anti-collision bearing plate; the spherical surface fixed support assembly is arranged at the center of the chassis main body and comprises a top spherical surface end, a middle connecting part and a bottom plane end, wherein the top spherical surface end is connected with the upper protective shell through a spherical bearing, the middle connecting part is connected with the chassis main body through a sliding bearing, and the bottom plane end is connected with the chassis main body through a buffer spring in the sliding bearing.

Description

Rolling prevention device and omnidirectional mobile chassis

Technical Field

The disclosure relates to the technical field of artificial intelligence, in particular to the technical field of computer equipment, the technical field of automatic driving and the technical field of intelligent traffic, and can be applied to a vehicle test scene.

Background

In the limit scene test of an automatic driving vehicle, objects such as a dummy, a false vehicle and the like are often required to be used as barriers for realizing the construction of a scene for safety and controllability. In order to enable the obstacle to move in all directions, a mobile device with an omni-directional mobile chassis serving as the obstacle is generally used for bearing the obstacle.

However, in the testing process, some high-risk limit scenes can be tested, and the vehicle may collide and crush the obstacle and the omnidirectional mobile chassis carrying the obstacle, so that the omnidirectional mobile chassis is damaged, the testing work is stopped, and the testing progress is seriously affected.

Disclosure of Invention

The present disclosure provides an anti-rolling device and an omni-directional mobile chassis.

According to an aspect of the present disclosure, there is provided an anti-rolling device provided on a chassis main body of an omni-directional mobile chassis, the anti-rolling device including:

the protective shell assembly is arranged above the chassis main body and comprises an upper protective shell, an omnidirectional wheel supporting bearing plate and a chassis side anti-collision bearing plate, wherein the upper protective shell is respectively connected with the omnidirectional wheel supporting bearing plate and the chassis side anti-collision bearing plate;

the spherical surface fixed support assembly is arranged at the center of the chassis main body and comprises a top spherical surface end, a middle connecting part and a bottom plane end, wherein the top spherical surface end is connected with the upper protective shell through a spherical bearing, the middle connecting part is connected with the chassis main body through a sliding bearing, and the bottom plane end is connected with the chassis main body through a buffer spring in the sliding bearing.

In one embodiment, the omni-wheel support bearing plate includes a first support bearing plate and a second support bearing plate at a specified angle, the first support bearing plate being parallel to the ground.

In one embodiment, the chassis side impact load-bearing plate includes a first impact load-bearing plate and a second impact load-bearing plate at a specified angle, the first impact load-bearing plate being parallel to the ground.

In the foregoing aspect and any possible implementation manner, there is further provided an implementation manner, where the rolling preventing device further includes:

the elastic supporting component comprises a specified number of supporting springs, the supporting springs are uniformly arranged around the chassis main body, the bottom ends of the supporting springs are connected with the chassis main body through mounting fixing blocks, and the top ends of the supporting springs are connected with the upper protective shell.

In the above aspect and any possible implementation manner, there is further provided an implementation manner, wherein a top end of each supporting spring is embedded into the upper protecting shell through a limiting compression hole.

In the aspect and any possible implementation manner, there is further provided an implementation manner, wherein the upper protective shell is provided with a view hole.

the omnidirectional wheel anti-collision assembly is arranged around each omnidirectional wheel of the omnidirectional mobile chassis and comprises wheel side support plates and upper anti-collision plates, wherein the wheel side support plates are arranged on two sides of each omnidirectional wheel and are connected with one end of each upper anti-collision plate through compression springs, and the other end of each upper anti-collision plate is connected with each upper protective shell.

In one embodiment, the omni-wheel anti-collision assembly further includes a support block disposed above the upper anti-collision plate and connected to one end of the compression spring.

In the above aspect and any possible implementation manner, there is further provided an implementation manner, wherein the other end of the upper anti-collision plate is connected with the upper protection shell through a loose-leaf connector.

According to another aspect of the present disclosure there is provided an omni-directional mobile chassis comprising a chassis body, an omni-directional wheel and an anti-rolling device as provided in the above aspects and any one of the possible implementations.

According to the technical scheme, the spherical pair formed by the spherical bearing and the upper protective shell has the omnidirectional rotation characteristic, so that the deflection direction of the protective shell component can be adjusted according to the direction of the rolling force of the vehicle borne by the omnidirectional mobile chassis, omnidirectional protection of the omnidirectional mobile chassis is realized, damage of the vehicle to the omnidirectional mobile chassis can be effectively avoided, and the service life of the omnidirectional mobile chassis is prolonged.

In addition, adopt the technical scheme that this disclosure provided, through the spherical pair that spherical bearing and top protecting crust formed, and the inside buffer spring of slide bearing, can avoid because buffer spring can't bear moment force and lead to the condition that moves the obstacle sideslip on the chassis in the omnidirectional movement chassis when acceleration and deceleration, simultaneously, after test external force withdraws, the protecting crust subassembly then can resume original position rapidly, do not influence the normal use of omnidirectional movement chassis, the adaptability is stronger.

In addition, by adopting the technical scheme provided by the disclosure, the elastic supporting components arranged around the omnidirectional moving chassis further provide supporting force and buffering force, and meanwhile, the situation that the side of the obstacle on the omnidirectional moving chassis is turned over due to overhigh gravity center during acceleration and deceleration of the omnidirectional moving chassis can be effectively avoided.

In addition, through the protective housing component and the omnidirectional wheel anti-collision component, all the omnidirectional wheels of the omnidirectional mobile chassis can be wrapped, so that the omnidirectional wheels are protected in all directions, and the safety of the omnidirectional mobile chassis is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to one of ordinary skill in the art. The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic view of a rolling prevention apparatus according to a first embodiment of the present disclosure;

FIG. 2 is another schematic structural view of an anti-rolling device according to a first embodiment of the present disclosure;

FIG. 3 is another schematic structural view of an anti-rolling device according to a first embodiment of the present disclosure;

FIG. 4 is a partial schematic view of a spherical stationary support assembly 200 in an anti-rolling apparatus according to a first embodiment of the present disclosure;

FIG. 5 is a schematic view of a structure of an anti-rolling device according to a second embodiment of the present disclosure;

FIG. 6 is a partial schematic view of a resilient support assembly 300 in an anti-rolling device according to a second embodiment of the present disclosure;

FIG. 7 is another schematic structural view of an anti-rolling device according to a second embodiment of the present disclosure;

FIG. 8 is a partial schematic view of an upper containment vessel 101 in an anti-rolling apparatus according to a second embodiment of the disclosure;

FIG. 9 is a schematic structural view of an anti-rolling device according to a third embodiment of the present disclosure;

FIG. 10 is a schematic view of a structure of an anti-rolling device according to a fourth embodiment of the present disclosure;

FIG. 11 is another schematic structural view of an anti-rolling device according to a fourth embodiment of the present disclosure;

fig. 12 is a partial schematic view of an omni-wheel anti-collision assembly 400 in an anti-rolling device according to a fourth embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments in this disclosure without inventive faculty, are intended to be within the scope of this disclosure.

It should be noted that, the electronic device according to the embodiments of the present disclosure may include, but is not limited to, a smart device such as a mobile phone, a personal digital assistant (PersonalDigitalAssistant, PDA), a wireless handheld device, a tablet computer (tablet computer), a PAD, and the like.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In the field of autopilot, autopilot testing is important. When a limit scene of a vehicle is tested in an automatic driving closed test field, objects such as a dummy, a false vehicle and the like are often required to be used as barriers for realizing the construction of the scene for safety and controllability. In order to enable the obstacle to move in all directions, a mobile device in which an omni-directional mobile chassis is used as the obstacle is generally adopted.

However, during the testing process, some high-risk limit scenes are tested, and the vehicle may collide with and crush the obstacle and the omni-directional mobile chassis carrying the obstacle. According to the data, most of the omni-directional mobile chassis are loaded by tens of kilograms, and the weight of the automatic driving vehicle is generally more than one ton, so that once the automatic driving vehicle rolls the omni-directional mobile chassis, the rolled omni-directional mobile chassis cannot bear huge pressure, and the omni-directional wheels of the automatic driving vehicle are damaged. Thus, the test work is stopped, and the test progress is seriously affected.

Therefore, it is desirable to provide a novel rolling-preventing device, which can effectively protect an omni-directional mobile chassis carrying an obstacle and an omni-directional wheel thereof from being damaged during a test process of a vehicle.

The rolling prevention device can prevent the situation that the omni-wheel is damaged due to the fact that the weight of the test vehicle cannot be supported when the test vehicle rolls with the omni-directional mobile chassis in the test process of the vehicle, can effectively prolong the service lives of the omni-wheel and the omni-directional mobile chassis, reduces the limit of a limiting scene, improves the test efficiency, and has important significance and value.

As shown in fig. 1-4, the rolling prevention device of the first embodiment of the present disclosure, which may include a protective housing assembly 100 and a spherical stationary support assembly 200, is provided on a chassis body 201 of an omni-directional mobile chassis.

The protective shell assembly 100 is arranged above the chassis main body 201 and comprises an upper protective shell 101, an omni-wheel supporting bearing plate 102 and a chassis side anti-collision bearing plate 103, wherein the upper protective shell 101 is respectively connected with the omni-wheel supporting bearing plate 102 and the chassis side anti-collision bearing plate 103;

the spherical surface fixed support assembly 200 is arranged at the center of the chassis main body 201 and comprises a top spherical surface end, a middle connecting part and a bottom plane end, wherein the top spherical surface end is connected with the upper protective shell 101 through a spherical bearing 202, the middle connecting part is connected with the chassis main body 201 through a sliding bearing 203, and the bottom plane end is connected with the chassis main body 201 through a buffer spring 204 in the sliding bearing 203.

As shown in fig. 4, the top spherical end of the spherical fixed support assembly 200 is connected with the upper protective shell 101 through a spherical bearing 202 to form a spherical pair, the fixed support 207 is connected with the spherical bearing 202 through interference fit for fixing the spherical bearing 202, and the fixed support 207 is connected with the upper protective shell 101 through a bearing mounting fixing block 208. The turning ball 205 is placed inside the spherical bearing 202, and can be rotated in any direction. The middle connecting part of the spherical surface fixed supporting component 200 can be realized through a supporting connecting rod 206, the upper end of the supporting connecting rod 206 is connected with a rotating ball, the lower end of the supporting connecting rod 206 slides into a sliding bearing 203, and the sliding bearing 203 is in interference fit with an installation limiting hole of the omnidirectional mobile chassis. A buffer spring 204 is placed below the support connecting rod 206, one end of the buffer spring 204 is connected with the support connecting rod 206, and the other end of the buffer spring 204 is connected with an installation limiting hole in the chassis main body.

The upper protective shell 101 is fixedly connected with the omnidirectional wheel supporting bearing plate 102 and the chassis side anti-collision bearing plate 103 respectively to form an integral protective shell of the omnidirectional mobile chassis, and the test vehicle can play an effective protective role when rolling from all directions.

The design form of the telescopic sleeve formed by the spherical bearing and the buffer spring can prevent the omnidirectional moving chassis from stably traversing in the horizontal direction due to the fact that the buffer spring cannot bear the bending moment force in the horizontal direction during acceleration and deceleration, so that the stability of the omnidirectional moving chassis in the horizontal direction is ensured. In addition, the buffer spring bears the weight of the obstacle and can be kept stable by utilizing the proportional relation between the elasticity of the buffer spring and the compression amount.

The spherical pair formed by the spherical bearing and the upper protective shell and the buffer spring in the sliding bearing can avoid the situation that the buffer spring cannot bear bending moment force to cause the transverse movement and deflection of the obstacle on the omnidirectional moving chassis when the omnidirectional moving chassis accelerates and decelerates, meanwhile, after the test external force is withdrawn, the protective shell component can be quickly restored to the original position, normal use of the omnidirectional moving chassis is not influenced, and the self-adaption is strong.

Since the omni wheel 401 is the most vulnerable component of the omni-directional mobile chassis, the present disclosure lays the omni wheel support bearing plate 102 at all three omni wheels for support protection, preventing the wheel edge of the test vehicle from damaging the omni wheel. The omni-wheel supporting bearing plate 102 can play a supporting role when the omni-directional mobile chassis is rolled by the test vehicle, so that the damage to the omni-directional mobile chassis and the omni-directional wheels thereof caused by the rolling of the test vehicle is prevented.

The chassis side anti-collision bearing plate 103 is used for supporting and protecting the side of the omnidirectional mobile chassis and preventing the wheel edge of the test vehicle from damaging the chassis side of the omnidirectional mobile chassis. The chassis side anti-collision bearing plate 103 can play a supporting role when the omni-directional moving chassis is rolled by the test vehicle, and can prevent the chassis side of the omni-directional moving chassis from being collided and rolled by the test vehicle, thereby protecting the chassis main body of the omni-directional moving chassis.

The rolling prevention device provided in this embodiment may place an obstacle such as a dummy or a false car on the upper protection case 101 before use, so as to complete the test preparation. In use, when a test vehicle collides against an omni-directional mobile chassis, the wheels of the test vehicle first contact the omni-directional mobile chassis.

When the wheels of the test vehicle contact the side edge of the upper protective shell, the chassis side edge anti-collision bearing plate 103 can play a supporting role, and the chassis side edge of the omnidirectional mobile chassis can be prevented from being collided and rolled by the test vehicle, so that the chassis main body of the omnidirectional mobile chassis is protected.

When the wheels of the test vehicle contact the omni-wheel of the omni-directional mobile chassis, the omni-wheel support bearing plate 102 can play a supporting role, thereby preventing the rolling of the test vehicle from damaging the omni-directional mobile chassis and the omni-directional wheels thereof.

When the wheels of the test vehicle continue to advance to roll the omnidirectional mobile chassis, the upper protective shell 101 adapts to the rolling direction of the wheels of the test vehicle due to the spherical pair formed by the spherical bearing and the upper protective shell, meanwhile, the buffer springs in the sliding bearing below the spherical pair are compressed, the whole upper protective shell 101 is compressed by pressure to collapse and sink, and each bearing plate around the upper protective shell 101 contacts the ground to provide supporting force, so that the omnidirectional mobile chassis and the omnidirectional wheels thereof are protected.

When the wheel of the test vehicle leaves the omnidirectional mobile chassis, the spherical pair drives the upper protecting shell 101 to deflect along with the wheel of the test vehicle, and when the wheel of the test vehicle completely leaves the omnidirectional mobile chassis, the upper protecting shell 101 is restored to the original state due to the action of the buffer spring in the sliding bearing below the spherical pair. At this point, the omni-directional mobile chassis may continue with the testing task.

After use, as the contact between the protective housing assembly 100 and the omnidirectional mobile chassis adopts a spring mode and no connecting pieces such as screws, nuts and the like are connected in the middle, separation can be realized only by lifting the protective housing assembly 100 away from the omnidirectional mobile chassis.

In this embodiment, because the spherical pair formed by the spherical bearing and the upper protective shell has an omnidirectional rotation characteristic, the deflection direction of the protective shell component can be adjusted according to the direction of the vehicle rolling force born by the omnidirectional mobile chassis, so that the omnidirectional mobile chassis is protected, the damage of the vehicle to the omnidirectional mobile chassis can be effectively avoided, and the service life of the omnidirectional mobile chassis is prolonged.

As further shown in fig. 3, the omni-wheel support bearing plate 102 may include a first support bearing plate 1021 and a second support bearing plate 1022 at a designated angle, the first support bearing plate 1021 being parallel to the ground.

The second supporting and bearing plate 1022 is connected with the upper protecting shell 101, so as to perform collision supporting protection on the side wall of the omni-wheel of the omni-directional moving chassis, the first supporting and bearing plate 1021 is connected with the second supporting and bearing plate 1022, and the edge of the omni-wheel of the omni-directional moving chassis is rolled, so that collision from the side wall of the omni-directional moving chassis and rolling of the edge above can be effectively prevented.

Because the omni-wheel supporting bearing plate 102 is provided with the first supporting bearing plate 1021 parallel to the ground, when the omni-directional moving chassis is rolled by the test vehicle, the upper protecting shell 101 presses the buffer spring 204 below the spherical bearing, so that the buffer spring 204 is compressed, and at the moment, the first supporting bearing plate 1021 is in contact with the ground, so that the rolling force of the wheels of the test vehicle on the omni-directional moving chassis is converted into the supporting force of the wheels on the ground, the supporting effect is achieved, and the safety is effectively improved. Because the contact is surface contact, the supporting area can be effectively increased, and larger supporting force is provided, so that the rigidity of the rolling prevention device is improved.

As further shown in fig. 3, the chassis-side impact load-bearing plate 103 may include a first impact load-bearing plate 1031 and a second impact load-bearing plate 1032 at a designated angle, the first impact load-bearing plate 1031 being parallel to the ground.

Wherein, the second anticollision bearing board 1032 is connected with top protective housing 101, carries out collision support protection to the lateral wall of the chassis main part of omnidirectional movement chassis, and first anticollision bearing board 1031 is connected with second anticollision bearing board 1032, rolls the edge of the chassis main part of omnidirectional movement chassis and supports the protection, can effectively prevent the collision and the rolling of top edge from omnidirectional movement chassis lateral wall.

The second anticollision bearing plate 1032 is towards the internal face of the omnidirectional mobile chassis, has a certain distance with the lateral wall of the omnidirectional mobile chassis, and can effectively play a role in buffering.

Because chassis side anticollision bearing plate 103 has a first anticollision bearing plate 1031 parallel with ground, when the omnidirectional movement chassis receives the rolling of test vehicle, upper protective housing 101 extrudees the buffer spring 204 of spherical bearing below for buffer spring 204 is compressed, and at this moment, first anticollision bearing plate 1031 and ground contact, in this way, the rolling force of the wheel pair omnidirectional movement chassis of test vehicle is converted into the supporting force of contact face ground, plays the supporting role, has effectively improved the security. Because the contact is surface contact, the supporting area can be effectively increased, and larger supporting force is provided, so that the rigidity of the rolling prevention device is improved.

As shown in fig. 5 to 8, the rolling prevention device according to the second embodiment of the present disclosure, based on the rolling prevention device according to the first embodiment corresponding to fig. 1 to 4, may further include an elastic support assembly 300, and may include a specified number of support springs 301, for example, 7 support springs 301 shown in fig. 5, which are uniformly disposed around the chassis main body 201, wherein bottom ends of the support springs 301 are connected to the chassis main body 201 through spring mounting fixing blocks 302, and top ends of the support springs 301 are connected to the upper protection shell 101.

Alternatively, in one possible implementation manner of this embodiment, the top end of each supporting spring 301 may be embedded into the upper protecting case through a limiting compression hole, so that the supporting springs 301 can be effectively prevented from being damaged and ejected.

As further shown in fig. 6 and 7, the elastic supporting component 300 mainly comprises a supporting spring 301, a spring limiting inner ring 303, a spring mounting positioning hole 305, a spring limiting compression hole 308, a spring limiting outer ring 304 and a spring mounting fixing block 302 arranged on the chassis main body 201, wherein the spring limiting inner ring 303, the spring mounting positioning hole 305, the spring limiting compression hole 308 and the spring mounting fixing block 302 are arranged on the upper protecting shell 101.

In order to facilitate the installation of the support spring 301, a spring installation positioning hole 304 is designed, and the installation can be performed by using an installation rod. One end of the supporting spring 301 is installed on the upper protecting shell 101 through a spring installation positioning hole 304, after installation, the supporting spring 301 is embedded into a spring embedding space 306 in a spring limiting compression hole 305, and the supporting spring 301 is limited by a spring limiting inner ring 303 and a spring limiting outer ring 304 so as to prevent the supporting spring 301 from side springing in the compression process. The other end of the supporting spring 301 can be fixed on the chassis main body 201 in a limited manner by a spring mounting and fixing block 302.

The spring compression space 307 is the maximum amount that the supporting springs 301 can compress, for example, 2cm, and the distance between each supporting bearing plate of the upper protecting case 101 and the ground is 1.2cm, so that the upper protecting case 101 can be prevented from pressing the chassis main body of the omni-directional moving chassis during rolling.

The supporting spring that sets up in this embodiment, cooperation spherical bearing and buffer spring together can reciprocate, plays the supporting role to the guard casing subassembly 100, can realize guard casing subassembly 100's the small size of reciprocating when guard casing subassembly 100 atress.

The design form of the telescopic sleeve formed by the spherical bearing in the middle area and the buffer spring is matched with a plurality of support springs in the peripheral edge area, and when a test vehicle collides against the omnidirectional moving chassis, the peripheral support springs can play a certain role in buffering. When the omnidirectional mobile chassis is accelerated and decelerated, the surrounding supporting springs can also effectively avoid rollover of the obstacle on the omnidirectional mobile chassis caused by overhigh gravity center.

Wherein, the protrusions 209 provided on the chassis main body 201 are a communication module and a liquid crystal display module.

In this embodiment, through the elastic supporting component that sets up around the omnidirectional mobile chassis, when further providing holding power and cushioning power, can also effectively avoid the situation of turning on one's side that the barrier on the omnidirectional mobile chassis caused because the focus is too high when the omnidirectional mobile chassis is accelerated and decelerated.

As shown in fig. 9, in the rolling prevention device according to the third embodiment of the present disclosure, based on the rolling prevention device according to the first embodiment corresponding to fig. 1 to 4 or the rolling prevention device according to the second embodiment corresponding to fig. 5 to 8, the upper protection shell 101 in the rolling prevention device of the present embodiment may further be provided with a view hole 500 for observing the running state of the omni-directional mobile chassis. In addition, a proper position can be selected according to the communication circuit in the base body, and meanwhile, the communication signal can be conveniently transmitted.

The visual field hole can be sealed by the transparent acrylic plate, remote control of the omnidirectional mobile chassis can be realized, and the running state of the omnidirectional mobile chassis can be observed through the visual field hole.

As shown in fig. 10-12, the rolling prevention device according to the fourth embodiment of the present disclosure may further include an omni-wheel collision prevention assembly 400 for protecting an omni-wheel from damage caused by collision or rolling of the omni-wheel by a test vehicle based on the rolling prevention device according to the first embodiment corresponding to fig. 1-4, the rolling prevention device according to the second embodiment corresponding to fig. 5-8, or the rolling prevention device according to the third embodiment corresponding to fig. 9. The omnidirectional wheels 401 arranged on the omnidirectional mobile chassis are arranged around each omnidirectional wheel 401 and comprise wheel side support plates 402 and upper anti-collision plates 403, the wheel side support plates 402 are arranged on two sides of each omnidirectional wheel 401, one ends of the upper anti-collision plates 403 are connected through compression springs 404, and the other ends of the upper anti-collision plates 403 are connected with the upper protective shell 101.

The wheel side support plates 402 may be connected to the base body 201 through screw holes 407, so as to be disposed on both sides of each omni wheel 401.

Optionally, in a possible implementation of this embodiment, the omni-wheel anti-collision assembly 400 further includes a supporting block 405 disposed on the upper anti-collision plate 403 and connected to one end of the compression spring 404. Because the contact of the supporting block and the ground is surface contact, the supporting area can be effectively increased, and larger supporting force is provided, so that the rigidity of the rolling prevention device is improved.

Optionally, in a possible implementation manner of this embodiment, the other end of the upper anti-collision plate 403 is connected to the upper protection shell 101 through a hinge connection 406. Thus, the upper anti-collision plate 403 can be opened and closed at will under the action of the loose-leaf connecting piece 406, and the maintenance of the omni wheel is convenient.

Specifically, the upper protective case 101 may be connected to the hinge connector 406 through the upper bumper mounting bar 104 to which it is connected.

In this embodiment, through the protective housing subassembly and the qxcomm technology wheel anticollision subassembly that set up, can form the full parcel to each qxcomm technology wheel of qxcomm technology mobile chassis to realized the omnidirectional protection to the qxcomm technology wheel, improved the security of qxcomm technology mobile chassis.

The present disclosure also provides an omni-directional mobile chassis comprising a chassis body, an omni-directional wheel, and an anti-rolling device provided by any of figures 1-12.

The omnidirectional mobile chassis provided by the disclosure needs to be provided with an anti-rolling device before use. Firstly, utilizing spring installation locating holes of an elastic supporting component to respectively embed 7 supporting springs into spring embedding spaces in spring limiting compression holes, secondly, sliding a supporting connecting rod of a spherical surface fixing supporting component into a sliding bearing, and finally, installing an omnidirectional wheel anti-collision component, thereby completing the installation process of the whole anti-rolling device. And placing an obstacle such as a dummy, a false vehicle and the like on the upper protective shell of the protective shell assembly so as to finish test preparation work.

On the one hand, when the omnidirectional mobile chassis suddenly starts, because the telescopic sleeve formed by the spherical bearing and the buffer spring, the upper protective shell of the rolling prevention device can only rotate and move in the up-down direction, so that the barrier cannot transversely move, and the stability of the omnidirectional mobile chassis in the moving process is effectively ensured. On the other hand, because the upper protective shell of the rolling prevention device can rotate, the situation of rollover caused by overhigh gravity center can be effectively avoided due to the compression and stretching buffer action of the supporting springs distributed around.

In the use process, when a test vehicle collides against the omnidirectional mobile chassis, the test vehicle firstly contacts with the omnidirectional wheel anti-collision assembly of the rolling prevention device.

When the wheels of the test vehicle contact the omnidirectional wheel anti-collision assembly of the rolling device, the upper anti-collision plate extrudes the compression spring below, and the compression spring is compressed, so that the supporting blocks below the upper anti-collision plate are in contact with the ground, and the supporting effect is achieved. Meanwhile, the compression spring also has a certain buffering effect, so that the damage of impact force to the omnidirectional mobile chassis can be reduced.

When the wheels of the test vehicle contact with other positions such as the side edges of the protective shell component of the rolling prevention device, the wheels impact the protective shell component, the protective shell component deflects due to the effect of the spherical pair, the supporting springs on the inner side of deflection are compressed, and the supporting springs on the outer side of deflection are stretched, so that the supporting springs play a certain role in buffering the impact force born by the protective shell component. When the bearing plate deflects to a certain extent, the contact surface of the bearing plate (namely the first supporting bearing plate and the first anti-collision bearing plate) on the inner side of the deflection touches the ground, so that the supporting effect is achieved. When the wheels of the test vehicle continue to advance to roll the omnidirectional mobile chassis, the upper protective shell and protective shell assembly can adapt to the rolling direction of the wheels of the test vehicle due to the spherical pair formed by the spherical bearing and the upper protective shell, meanwhile, the buffer springs inside the sliding bearings below the spherical pair are compressed, the whole protective shell assembly is compressed by pressure to be paralyzed and sunk, each bearing plate around the protective shell assembly and the supporting blocks of the omnidirectional wheel anti-collision assembly are contacted with the ground to provide supporting force, so that the omnidirectional mobile chassis and the omnidirectional wheels thereof are protected.

When the wheels of the test vehicle leave the omnidirectional mobile chassis, the spherical pair drives the protective shell component to deflect along with the wheels of the test vehicle, and when the wheels of the test vehicle completely leave the omnidirectional mobile chassis, the protective shell component is restored to the original state due to the action of the buffer spring inside the sliding bearing below the spherical pair. At this point, the omni-directional mobile chassis may continue with the testing task.

After the omni-directional mobile chassis is used, the contact between the protective shell component and the omni-directional mobile chassis adopts a spring mode, and the middle of the protective shell component is not connected with connecting pieces such as screws, nuts and the like, so that the separation can be realized only by lifting the protective shell component away from the omni-directional mobile chassis.

In the use, the upper anti-collision plate can be opened through the loose-leaf connecting piece to the omnidirectional wheel anti-collision assembly, overhauls the omnidirectional wheel, and is very convenient.

The omnidirectional mobile chassis is simple in design structure, low in cost and convenient to install and detach.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. An anti-rolling device arranged on a chassis main body of an omnidirectional mobile chassis, which is characterized in that the anti-rolling device comprises:

2. The anti-rolling device of claim 1, wherein the spherical stationary support assembly further comprises:

the fixed supporting seat is connected with the upper protective shell through a bearing installation fixing block and is connected with the spherical bearing through interference fit;

the rotating ball is arranged in the spherical bearing and is connected with the upper end of the middle connecting part, and the lower end of the middle connecting part slides into the sliding bearing;

and the buffer spring is arranged below the middle connecting part, one end of the buffer spring is connected with the lower end of the middle connecting part, and the other end of the buffer spring is connected with the mounting limiting hole in the chassis main body.

3. The anti-rolling device of claim 1, wherein the omni-wheel support bearing plate comprises a first support bearing plate and a second support bearing plate at a designated angle, the first support bearing plate being parallel to the ground.

4. The rolling prevention device of claim 1, wherein the chassis side impact load bearing plate comprises a first impact load bearing plate and a second impact load bearing plate at a specified angle, the first impact load bearing plate being parallel to the ground.

5. The anti-rolling device of claim 1, further comprising:

6. The rolling prevention device of claim 5, wherein the elastic supporting component further comprises a spring limit inner ring, a spring installation positioning hole, a spring limit compression hole and a spring limit outer ring which are arranged on the upper protective shell, and a spring installation fixing block which is arranged on the chassis main body; wherein,,

one end of the supporting spring is installed on the upper protective shell through the spring installation positioning hole; after the support spring is installed, the support spring is embedded into a spring embedding space in the spring limiting compression hole, and the support spring is limited by the spring limiting inner ring and the spring limiting outer ring; the other end of the supporting spring is fixed on the chassis main body in a limiting mode through the spring installation fixing block.

7. The rolling prevention device of claim 5, wherein the top end of each support spring is embedded into the upper protective housing through a limiting compression hole.

8. The anti-rolling device of claim 1, wherein the upper protective housing is provided with a viewing aperture.

9. The anti-rolling device of any one of claims 1-8, further comprising:

10. The anti-rolling device of claim 9, wherein the omni-wheel anti-collision assembly further comprises a support block disposed at one end of the upper anti-collision plate coupled to the compression spring.

11. The rolling prevention device of claim 9, wherein the other end of the upper anti-collision plate is connected to the upper protective housing by a hinge connection.

12. An omni-directional mobile chassis comprising a chassis body, an omni-directional wheel, and an anti-rolling device according to any one of claims 1-11.