Moving chassis for indoor service robot

Abstract

The invention discloses a moving chassis for an indoor service robot. The moving chassis comprises a bottom plate, a driving mechanism, a universal wheel mechanism, a sensing system and a power supply system, wherein the universal wheel mechanism comprises universal wheel bases, two groups of universal wheels arranged in the universal wheel bases, and universal wheel support plates fixedly connected with the two groups of universal wheels; the universal wheel support plates are rotationally connected to the universal wheel bases through linear bearings; the upper surfaces of the two ends of the universal wheel support plates are provided with springs respectively; spring pressing plates are fixedly arranged at the upper ends of the springs; the spring pressing plates are fixed to the universal wheel bases. By adopting the moving chassis, on one hand, the four-wheel chassis has a relatively high motion speed and a turning feature on one hand; on the other hand, a seesaw type structural design is adopted for the universal wheel mechanism, and the universal wheel mechanism has high adaptive adjustability to small steps or ditches on road surfaces, so that effective filtering is realized, and the advancing stability and reliability of driving wheels are ensured.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a mobile chassis of an indoor service robot. Background technique [0002] As an important development direction of robot technology, service robot has been widely concerned by scholars at home and abroad. The service robot needs to have basic mobile functions, including forward, backward, turning, etc. The key mechanism to realize this function is the robot chassis. At present, robot chassis are mainly divided into wheel type, crawler type, multi-legged type and hybrid type according to the driving mode. Compared with the crawler type and multi-legged type, the wheeled type has insufficient obstacle-surmounting ability, but has obvious advantages in terms of motion speed and motion stability, so it is the most widely used. Wheeled chassis can be divided into three-wheeled, four-wheeled and multi-wheeled according to the number of wheels. Although the three-wheel chassis has the a...

AI Technical Summary

Problems solved by technology

Although the three-wheeled chassis has the advantages of simple structure and flexible movement, the stability of movement is poor, especially for uneven road conditions, prone to rollover

The movement of the four-wheel chassis is relatively stable, but when climbing over small steps or passing through small pits, the driving wheels are easy to leave the ground and slip

The structure of the multi-wheel chassis is relatively complex and difficult to manufacture

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