CN221251502U - Bouncing type robot trolley - Google Patents
Bouncing type robot trolley Download PDFInfo
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- CN221251502U CN221251502U CN202323468793.3U CN202323468793U CN221251502U CN 221251502 U CN221251502 U CN 221251502U CN 202323468793 U CN202323468793 U CN 202323468793U CN 221251502 U CN221251502 U CN 221251502U
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- 238000005381 potential energy Methods 0.000 claims abstract description 21
- 238000004804 winding Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 description 18
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 13
- 230000006835 compression Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 7
- 230000009191 jumping Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 4
- 238000004088 simulation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
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- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model relates to a bouncing type robot obstacle crossing trolley, belongs to the technical field of robot vehicles, and solves the problem that the obstacle crossing capability of the robot vehicle is limited in the prior art. The utility model comprises the following steps: a chassis portion, a body portion, and an elastic device; the elastic device is arranged between the chassis part and the vehicle body part, can store elastic potential energy, and can realize the jump of the chassis part after the elastic potential energy of the elastic device is released; the elastic means includes: the device comprises a spring, a motor, a cable and a guide pulley; one end of the cable is connected with the motor, and the other end of the cable bypasses the guide pulley and is connected with the vehicle body part; the spring is arranged between the vehicle body part and the chassis part; when the output shaft of the motor rotates, the vehicle body part can be pulled to move downwards through the cable. According to the utility model, elastic potential energy is stored through the spring, and the spring is relaxed to realize the bouncing of the trolley, so that the bouncing obstacle surmounting of the robot trolley is realized.
Description
Technical Field
The utility model relates to the technical field of robot carts, in particular to a bouncing type robot cart.
Background
At present, in order to execute tasks such as inspection, detection, material conveying and the like, various robotic vehicles are developed, and the robotic vehicles can execute various different types of tasks by carrying different execution terminals.
However, the robot trolley encounters an obstacle in the running process, and at the moment, the robot trolley cannot pass through the obstacle with a certain height due to the small wheel diameter, so that the movement range of the robot trolley is limited, and the use is limited. The obstacle surmounting capability of the robot trolley needs to be improved so as to improve the application range of the robot trolley.
Therefore, the utility model provides a bouncing type robot trolley.
Disclosure of Invention
In view of the above analysis, the present utility model aims to provide a bouncing robot trolley, which is used for solving the problem that the obstacle crossing capability of the existing robot trolley is limited.
The aim of the utility model is mainly realized by the following technical scheme:
a bouncing robotic dolly, comprising: a chassis portion, a body portion, and an elastic device; the elastic device is arranged between the chassis part and the vehicle body part, can store elastic potential energy, and can realize the jump of the chassis part after the elastic potential energy of the elastic device is released; the elastic means includes: the device comprises a spring, a motor, a cable and a guide pulley; one end of the cable is connected with the motor, and the other end of the cable bypasses the guide pulley and is connected with the vehicle body part; the spring is arranged between the vehicle body part and the chassis part; when the output shaft of the motor rotates, the vehicle body part can be pulled to move downwards through the cable.
Further, the chassis portion includes: wheels, chassis and guide posts; the wheels are rotatably arranged on the chassis and used for realizing the running function of the vehicle; the guide post is fixedly arranged on the chassis and is perpendicular to the chassis.
Further, the vehicle body portion includes: a vehicle body and a support plate; the backup pad fixed mounting is in the inside of automobile body, just the backup pad with guide post sliding fit can follow the guide post reciprocates.
Further, the spring is sleeved outside the guide post and is positioned between the lower surface of the supporting plate and the upper surface of the chassis.
Further, the part of the cable between the supporting plate and the guide pulley is perpendicular to the upper surface of the chassis; when the output shaft of the motor rotates, the cable can be wound and unwound.
Further, the rotation axis of the guide pulley is parallel to the upper surface of the chassis.
Further, a winding shaft is fixedly arranged at the tail end of an output shaft of the motor; the winding shaft is in a waist drum shape.
Further, the springs are provided with four springs; correspondingly, the guide posts are also provided with four guide posts; the four guide posts are respectively arranged at four corners of the chassis.
Further, the device also comprises a balancing weight; the balancing weight is fixedly arranged on the chassis.
Further, the balancing weight is provided with one or more blocks.
Further, the trolley is also provided with a running mechanism, a detection module and a control module; the running mechanism is used for driving wheels to realize the running function of the trolley; the detection module is used for detecting road surface information; the control module is used for receiving and processing the road surface information measured by the detection module and can control the rotation of the motor and the running mechanism. The running gear, the detection module and the control module of the utility model can be realized by adopting the existing products, components or modules, and belong to the category of realization of the technical personnel in the field.
The technical scheme of the utility model can at least realize one of the following effects:
1. The bouncing type robot trolley disclosed by the utility model realizes the jumping performance of the robot trolley based on the principle that elastic potential energy is converted into gravitational potential energy, so that the convenience in the running process of the robot trolley is improved, and the problem of poor obstacle crossing capability of the current intelligent robot trolley is solved.
2. According to the utility model, the robot trolley is divided into three parts, namely a chassis part, a vehicle body part and an elastic device, and the robot trolley can jump up a certain height to cross an obstacle when traveling through the process of accumulating and releasing the spring, so that the purpose of improving the obstacle crossing capacity of the robot trolley is achieved; the motor drives the cable to shrink or relax, and the supporting plate and the vehicle body are pulled to displace, so that the repeated power accumulation and the release during bouncing of the spring are realized; the motor is used for realizing multiple storage of elastic potential energy, so that the motor can provide the needed elastic potential energy when crossing the obstacle.
3. According to the robot trolley, the balancing weights are arranged, so that the mass relation between the chassis part and the body part of the trolley is reasonably adjusted, the bouncing height of the trolley can be further improved, and the bouncing capability and obstacle surmounting effect of the trolley are optimized.
In the utility model, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model. The objectives and other advantages of the utility model may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the utility model, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic view of obstacle surmounting process of a bouncing robot cart of the present utility model;
FIG. 2 is a flow chart of a bouncing robotic cart of the present utility model;
FIG. 3 is a schematic view of the overall structure of the robot cart of the present utility model;
fig. 4 is a schematic view of an internal structure of the robot cart of the present utility model;
fig. 5 is a schematic diagram of a jumping state of the robot dolly of the present utility model.
Reference numerals:
1-a robot trolley; 2-ground; 3-obstacle; 101-a vehicle body; 102-wheels; 103-chassis; 104-a support plate; 105-guide posts; 106-a spring; 107-motor; 108-a cable; 109-guide pulleys.
Detailed Description
The following detailed description of preferred embodiments of the utility model is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the utility model, are used to explain the principles of the utility model and are not intended to limit the scope of the utility model.
Example 1
In one embodiment of the present utility model, a bouncing robot trolley is disclosed, as shown in fig. 1, 3, 4, and 5, the robot trolley of the present utility model includes: a chassis portion, a body portion, and an elastic device; the elastic device is arranged between the chassis part and the vehicle body part, can store elastic potential energy, and can realize the jump of the chassis part after the elastic potential energy of the elastic device is released; the elastic means includes: a spring 106, a motor 107, a cable 108 and a guide pulley 109; one end of the cable 108 is connected with the motor 107, and the other end of the cable bypasses the guide pulley 109 and is connected with the support plate 104; the spring 106 is sleeved outside the guide post 105 and is arranged between the support plate 104 and the chassis 103.
As shown in fig. 4 and 5, the chassis part includes: wheels 102, chassis 103 and guide posts 105; the wheels 102 are rotatably arranged on the chassis 103 and are used for realizing the running function of the vehicle; the guide posts 105 are fixedly arranged on the chassis 103 and are arranged perpendicular to the chassis 103.
As shown in fig. 4 and 5, the vehicle body portion includes: a vehicle body 101 and a support plate 104; the supporting plate 104 is fixedly arranged in the vehicle body 101, and the supporting plate 104 is in sliding fit with the guide post 105 and can slide up and down along the guide post 105; specifically, the support plate 104 is provided inside the vehicle body 101, and is fixedly connected or integrally structured with the vehicle body 101.
Specifically, the support plate 104 is provided with a sliding hole, and the sliding hole is in sliding fit with the guide post 105; the support plate 104 is slid up and down along the guide posts 105, and further the vehicle body part is displaced up and down relative to the chassis part.
As shown in fig. 4 and 5, the portion of the cable 108 located between the support plate 104 and the guide pulley 109 is perpendicular to the upper surface of the chassis 103; when the output shaft of the motor 107 rotates, the cable 108 can be wound and wound.
Specifically, one end of the cable 108 is fixedly connected with the bottom of the support plate 104, and the other end is connected with the output shaft of the motor 107 by bypassing the guide pulley 109.
Specifically, the guide pulley 109 is rotatably mounted on a guide shaft that is fixedly connected to the chassis 103 and that is disposed parallel to the chassis 103. When the cable 108 is wound and unwound, the guide pulley 109 can rotate relative to the guide shaft, thereby guiding the cable 108.
Specifically, the guide post 105 is fixedly installed on the upper surface of the chassis 103 and is disposed perpendicular to the chassis 103; four guide posts 105 are arranged, and four springs 106 are respectively sleeved outside the four guide posts 105; the support plate 104 is slidably mounted on the guide post 105 and slidably engaged with the guide post 105; both ends of the spring 106 are respectively connected to the lower surface of the support plate 104 and the upper surface of the chassis 103. When the spring 106 expands and contracts, the support plate 104 can slide up and down along the guide post 105, and the guide post 105 can guide the movement direction of the vehicle body 101 when the vehicle body 101 jumps up.
Further, a stopper is provided at the upper end of the guide post 105, and the diameter of the stopper is larger than that of the guide post 105. Meanwhile, the diameter of the limiting block is larger than that of the guide hole on the supporting plate 104; the limiting block has the limiting function and prevents the vehicle body 101 from bouncing too high to fall off the chassis part.
As shown in fig. 4, the motor 107 is fixedly installed on the chassis 103, when the motor 107 pulls the cable 108 to wind up at the shaft end, the supporting plate 104 and the vehicle body 1 synchronously descend until the vehicle body 101 contacts with the chassis 103, so as to compress the spring 106 and store elastic potential energy.
Specifically, when the motor 107 drives the output shaft thereof to rotate, the cable 108 can be driven to wind around the output shaft of the motor 107, the length of the cable 108 is shortened, and the other end of the cable 108 pulls the support plate 104 to slide downwards along the guide post 105; the motor 107 rotates to drive the vehicle body 101 to move downwards, so that the supporting plate 104 presses down the spring 106, and the motor 107 locks after the supporting plate is in place.
Preferably, a winding shaft is fixedly arranged on the output shaft of the motor 107; the winding shaft is of a waist drum-shaped structure with a concave middle part; namely, the side surface of the winding shaft is a curved cambered surface with a concave middle. The axis of the spool coincides with the axis of the output shaft of the motor 107. When the output shaft of the motor 107 rotates, the cable 108 can be wound around the spool. The forward rotation and the reverse rotation of the motor 107 enable winding or unwinding of the cable 108, and thus enable compression and release of the spring 106.
As shown in fig. 5, the vehicle body 101 and the chassis 103 are in a split structure, when in jump, the motor 107 releases the cable 108, the supporting plate 104 can drive the vehicle body 101 to move upwards under the action of the elastic force of the spring 106, and the vehicle body 101 and the chassis 103 are in a free moving state.
As shown in fig. 1 and 5, the spring 106 is released from the compressed state, the supporting plate 104 and the vehicle body 101 are pushed up by the elastic force of the spring 106, and the chassis 103 is carried up together when the vehicle body 101 reaches the stopper. When the spring is needed to bounce, the motor is released, the spring gradually recovers the original length after the external force is removed when the spring is compressed, and then the spring is changed into a stretching state, and the chassis is driven to bounce after a certain length is reached.
Further, the robot trolley of the present utility model further includes: the device comprises a driving module, a detection module and a control module. The driving module is used for driving the wheels 102 and controlling functions of driving, steering, braking and the like of the wheels 102. The detection module is used for detecting road surface information; the control module is used for receiving and processing the pavement information measured by the detection module, and can control the elastic device to store or release elastic potential energy, and the detection module comprises: a shooting assembly and a detection radar; the detection module can obtain the state information of the road surface and the type and the parameters of the obstacle after detection. When the vehicle runs, the shooting assembly and the detection radar detect the road surface condition, and the road condition is analyzed, so that whether the road barrier exists in front or not is known. Specifically, the photographing assembly may use monocular vision or binocular vision to monitor road conditions.
Specifically, the detection module can obtain the state information of the road surface and the type and the parameters of the obstacle after detection. The shooting component is used for acquiring road surface state information and obstacle type information; the detection radar is used for analyzing information such as the height h 'of the roadblock in front, the distance L between the trolley and the roadblock, the width s' of the roadblock and the like. As shown in fig. 2, the control module compares the size information of the obstacle with the obstacle surmounting capability of the vehicle, determines that the obstacle surmounting is performed by detour or jump, and controls the operation of the motor 107 to achieve compression and release of the elastic device.
The miniature obstacle crossing vehicle is symmetrically provided with four springs 106, and the four springs 106 are distributed around the vehicle body 101. The purpose of using four springs 106 is to make the spring force more uniform for each part of the vehicle during the bouncing process, so as to improve the overall stability of the vehicle during the bouncing process.
Further, according to the law of conservation of energy, if the chassis 103 of the micro vehicle is pulled up, the following relationship must be satisfied between the elastic potential energy stored in the spring 106 and the gravitational potential energy of other parts of the micro vehicle:
formula 1:
wherein k represents the elastic coefficient of the elastic device;
m 1 represents the mass of the body part;
g represents gravitational acceleration;
l 1 denotes the compression amount of the spring;
l 2 denotes the elongation of the spring.
And the spring tension and the weight of the chassis part of the micro vehicle must satisfy the following relationship:
Formula 2: kl 2≥m2 g;
Where m 2 denotes the mass of the chassis part.
Substituting equation 2 into equation 1, solving for the spring compression amount to satisfyWhen the vehicle chassis part can be driven to be separated from the ground; the spring coefficient of the spring is selected to be as follows
From the above analysis, it can be seen that: the vehicle jump height is related to parameters such as the mass m 1 of the body part, the mass m 2 of the chassis part, the spring compression amount l1, and the spring modulus k of the spring.
According to the utility model, the parameter information of the vehicle is determined through simulation software; the method comprises the following steps: firstly, building a structural model of a vehicle; secondly, simulating the bouncing capability of the vehicle under different design parameter conditions by adopting simulation software; and determining parameter information of each module of the vehicle, namely conditions such as weight, size, spring elasticity coefficient, maximum compression amount of the spring and the like of each part of the trolley according to simulation results and vehicle task requirements. Finally, the vehicle's take-off ability, i.e., the maximum height H max at which the vehicle can stably jump up under specific conditions of weight, size, elastic modulus, compression amount, etc., is determined.
According to the utility model, the mass distribution condition of the vehicle body can be obtained through simulation, specifically, the three-dimensional modeling software can establish a model of each part, inquire the mass, the mass center and the like of each part after setting materials, and adjust the size of each part and the position of each part in the vehicle, so that the overall mass distribution of the miniature vehicle is uniform, the vehicle slides stably when jumping up, and the conditions of unbalanced load and jamming do not occur.
Specifically, the mass parameters of the body part and the chassis part of the vehicle can be adjusted by adjusting the structural shape and the material properties of the vehicle.
Further, at least one weight is provided on the vehicle chassis in order to maintain stability of the vehicle take-off process.
Specifically, the number, the position, the size parameters and the quality parameters of the balancing weights can be adjusted according to actual requirements. In the process of simulation analysis, the size, the mass and the position of the balancing weight are adjusted, so that the mass relation between the load part and the chassis part of the vehicle and the overall mass distribution condition of the vehicle can be adjusted, the stable jump of the vehicle is realized, and the phenomenon of rolling or pitching and tipping is avoided.
The implementation process comprises the following steps:
When the vehicle normally runs, the cable 108 is wound at the shaft end of the motor 107, and the displacement of the support plate 104 is limited by the cable 108 and the spring 106 is compressed by the support plate 104; at this time, the spring 106 is in a compressed state, the vehicle body 101 is in contact with the chassis 103, and the motor 107 stops moving.
The jumping process of the robot trolley is as follows:
First, the motor 107 releases the cable 108, the spring 106 is extended from a compressed state while the body 101 and the support plate 104 are sprung up by the elastic force of the spring 106; then, in the course of the deformation of the springs 106, elastic forces are applied to the chassis part and the body part at the same time; the pressure exerted by the springs 106 on the chassis section is simultaneously transferred to the ground, the chassis section exerting pressure on the ground; finally, the support plate 104 slides upward along the guide posts 105, and the chassis portion and the body portion jump up together when the body 101 reaches the limit portion. The vehicle has forward speed when traveling, the vehicle can jump upwards when the elastic potential energy is released, the two speeds are overlapped, and the vehicle jumps upwards when moving forwards, so that the vehicle can go over the obstacle.
After the vehicle passes over the obstacle, continuing to travel according to the planned path; the motor 107 is started, the output shaft of the motor 107 rotates to fold the cable 108, the part of the cable 108 between the support plate 104 and the chassis 103 is shortened, the support plate 104 moves downwards to compress the spring 106, the elastic device is reset, and the elastic device stores elastic potential energy again to prepare for the next jump.
In the present utility model, only a portion in which elastic jumping ability is achieved will be described; the driving module of the trolley can adopt the existing driving mode; the detection module can adopt the existing camera and radar assembly to detect, the control module can adopt the singlechip to control the motor 107, the running mechanism of the trolley and the like, and the detection module belongs to the category which can be realized by the person skilled in the art according to the prior art, and is not repeated in the utility model.
Compared with the prior art, the technical scheme provided by the embodiment has at least one of the following beneficial effects:
1. The bouncing type robot trolley disclosed by the utility model realizes the jumping performance of the robot trolley based on the principle that elastic potential energy is converted into gravitational potential energy, so that the convenience in the running process of the robot trolley is improved, and the problem of poor obstacle crossing capability of the current intelligent robot trolley is solved.
2. According to the utility model, the robot trolley is divided into three parts, namely a chassis part, a vehicle body part, an elastic device and the like, the parts, such as the spring 106 and the like, are selected according to the weight of each part, and the robot trolley can jump up a certain height to cross an obstacle during traveling through the process of accumulating and releasing the force of the spring 106, so that the purpose of improving the obstacle crossing capability of the robot trolley is achieved.
3. According to the obstacle crossing method, the obstacle 3 on the road surface is detected, the size of the obstacle 3 is compared with the obstacle crossing capacity of the vehicle, and the obstacle crossing is judged to be carried out in a detour or jump mode, so that on one hand, the obstacle crossing efficiency and reliability are improved, and on the other hand, the influence of obstacle crossing failure on the normal operation of the vehicle is avoided.
4. According to the utility model, the balancing weights are reasonably arranged, so that the weight and proportion relation of each part of the vehicle are reasonably distributed, the mass distribution of the vehicle body is as uniform as possible, the vehicle body 101 can slide up and down stably relative to the chassis 103, and the stability of the self-posture of the vehicle is maintained as much as possible in the jumping process of the vehicle.
The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model.
Claims (10)
1. A bouncing robot trolley, comprising: a chassis portion, a body portion, and an elastic device;
The elastic device is arranged between the chassis part and the vehicle body part, can store elastic potential energy, and can realize the jump of the chassis part after the elastic potential energy of the elastic device is released;
The elastic means includes: a spring (106), a motor (107), a cable (108) and a guide pulley (109); one end of the cable (108) is connected with the motor (107), and the other end of the cable bypasses the guide pulley (109) to be connected with the vehicle body part; the spring (106) is arranged between the vehicle body part and the chassis part; when the output shaft of the motor (107) rotates, the vehicle body part can be pulled to move downwards by the cable (108).
2. The bouncing robotic cart of claim 1, wherein the chassis portion comprises: a wheel (102), a chassis (103) and a steering column (105); the wheels (102) are rotatably arranged on the chassis (103) and are used for realizing the running function of the vehicle; the guide post (105) is fixedly arranged on the chassis (103) and is perpendicular to the chassis (103).
3. The bouncing robotic cart of claim 2, wherein the body portion comprises: a vehicle body (101) and a support plate (104); the support plate (104) is fixedly arranged in the vehicle body (101), and the support plate (104) is in sliding fit with the guide column (105) and can slide up and down along the guide column (105).
4. A bouncing robot trolley as claimed in claim 3, characterized in that the spring (106) is sleeved outside the guide column (105) and between the lower surface of the support plate (104) and the upper surface of the chassis (103).
5. The bouncing robot trolley as claimed in claim 3 or 4, characterized in that the part of the cable (108) located between the support plate (104) and the guide pulley (109) is perpendicular to the upper surface of the chassis (103); when the output shaft of the motor (107) rotates, the cable (108) can be wound and unwound.
6. The bouncing robot trolley as claimed in claim 5, characterized in that the rotation axis of the guiding pulley (109) is parallel to the upper surface of the chassis (103).
7. The bouncing robot trolley of claim 6, wherein a spool is fixedly mounted at the end of an output shaft of the motor (107); the winding shaft is in a waist drum shape.
8. The bouncing robot trolley of claim 7, characterized in that the springs (106) are provided with four; four guide posts (105) are arranged; four guide posts (105) are respectively arranged at four corners of the chassis (103).
9. The bouncing robotic cart of claim 8, further comprising a counterweight; the balancing weight is fixedly arranged on the chassis (103).
10. The bouncing robot cart of claim 9, wherein the weight is provided with one or more pieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323468793.3U CN221251502U (en) | 2023-12-19 | 2023-12-19 | Bouncing type robot trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323468793.3U CN221251502U (en) | 2023-12-19 | 2023-12-19 | Bouncing type robot trolley |
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| Publication Number | Publication Date |
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| CN221251502U true CN221251502U (en) | 2024-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202323468793.3U Active CN221251502U (en) | 2023-12-19 | 2023-12-19 | Bouncing type robot trolley |
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2023
- 2023-12-19 CN CN202323468793.3U patent/CN221251502U/en active Active
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