Wheel type robot chassis

Abstract

The invention discloses a wheel type robot chassis. The wheel type robot chassis comprises a round base plate, front and back universal wheels and left and right driving wheels, wherein the front andback universal wheels and the left and right driving wheels are connected to the round base, the universal wheels and the driving wheels are arranged in a rhombus shape, and the driving wheels are connected with a driving device. The driving wheels and the driving device thereof are connected to the round base plate through an elastic hanging device, the round base plate is connected with a collision detection device, and the collision detection device comprises a plurality of air pressure testing modules which are evenly distributed on the peripheral edge of the round base plate, and the airpressure testing modules are used for outputting collision signals when the air pressure increases. When the road surface changes, the elastic hanging device has an adaptive function, so that the driving wheels are always in contact with the ground and always has the driving ability, so that the wheel type robot is suitable for both flat environment and uneven environment, and the obstacle climbing ability is high. The collision detection device can detect the external collision force of the robot through the changes of air pressure reflected by the air pressure testing modules at different positions and realize the all-round anti-collision.

Description

technical field [0001] The invention relates to a wheeled robot, in particular to a wheeled robot chassis. Background technique [0002] At present, the chassis structure of wheeled robots is generally a diamond-shaped arrangement of front and rear universal wheels and left and right driving wheels. Steering is achieved through differential speed, which has the advantages of simple control and flexible actions, but it can only be applied to a completely flat environment. [0003] Some wheeled robot chassis adopt the structure of two driving wheels in the front and one or two universal wheels in the back. This kind of chassis is generally arranged in a square shape. Although it has a certain ability to overcome obstacles, its stability is poor and it cannot Steering in situ, lack of flexibility. [0004] There are also some robots whose chassis adopt four-wheel drive or crawler-type drive wheels, which are superior in heavy load and obstacle surmounting, but the wheels slip ...

AI Technical Summary

Problems solved by technology

[0003] Some wheeled robot chassis adopt the structure of two driving wheels in the front and one or two universal wheels in the back. This kind of chassis is generally arranged in a square shape. Although it has a certain ability to overcome obstacles, its stability is poor and it cannot Steering in place, lack of flexibility

[0004] There are also some robots whose chassis adopt four-wheel drive or crawler-type drive wheels, which are superior in heavy load and obstacle surmounting, but the wheels slip during the turning process, resulting in unrealistic wheel speed feedback and large errors, which are difficult to do. to precise control

[0005] Moreover, the robot chassis of the above structure is generally not equipped with a collision detection device. Even if a collision detection device is configured, one or several micro touch switches are used to detect a small area in a certain direction alone, which makes it difficult to achieve full coverage layout and complex structure. , and there is a detection blind spot

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