CN108453744B

CN108453744B - A main part frame and robot for robot

Info

Publication number: CN108453744B
Application number: CN201810139447.5A
Authority: CN
Inventors: 李亚明; 杨猛; 刘利; 欧阳硕
Original assignee: Candela Shenzhen Technology Innovations Co Ltd
Current assignee: Kandra Shenzhen Intelligent Technology Co ltd
Priority date: 2018-02-11
Filing date: 2018-02-11
Publication date: 2021-09-17
Anticipated expiration: 2038-02-11
Also published as: CN108453744A

Abstract

The invention relates to a main body frame for a robot, which comprises wheel bearing mounting plates on two sides, a bottom plate fixing frame and a bottom plate, wherein the bottom plate fixing frame is respectively fixed with the two sides of the bottom plate and the wheel bearing mounting plates; the main body frame can rotate around the wheel shaft; when the driving motor arranged on the bottom plate is driven, the transmission mechanism drives the wheels to rotate around the wheel shafts, or the transmission mechanism drives the main body frame to rotate around the wheel shafts. The main body frame provides support for all parts, has high strength and rigidity and strong stability, and can prevent vibration and noise caused by resonance when the robot works.

Description

A main part frame and robot for robot

Technical Field

The present invention relates to the field of robot technology, and more particularly, to a main frame of a robot and a robot.

Background

Except wheel and head, other parts of robot all set up in main body frame, in order to adapt to multiple operating mode, for example hinder more, climbing, acceleration and deceleration or go up and down stairs etc. need a strong main body frame of stability, for other parts provide support and prevent that resonance from appearing when the robot works and lead to vibrations or noise etc..

Disclosure of Invention

The invention aims to provide a two-wheeled robot with a main body frame which has strong stability and provides support for other components.

The technical scheme adopted by the invention for solving the technical problems is as follows:

designing a main body frame for a robot, wherein the main body frame comprises wheel bearing mounting plates at two sides, a bottom plate fixing frame, a bottom plate and frame side plates, the bottom plate fixing frame is respectively fixed with the two sides of the bottom plate and the wheel bearing mounting plates, the frame side plates are connected with the wheel bearing mounting plates at two ends, and wheel shafts are arranged on the wheel bearing mounting plates; the main body frame can rotate around the wheel shaft; when the driving motor arranged on the bottom plate is driven, the wheels are driven to rotate around the wheel shafts, or the main body frame is driven to rotate around the wheel shafts.

Further:

the two frame side plates are vertically arranged in parallel, and the two frame side plates arranged in parallel are fixedly connected with the two wheel bearing mounting plates to form a square frame.

And a pair of reverse synchronous mechanisms which are used for controlling the gyros arranged on the bottom plate to have the same deflection speed and opposite deflection directions are fixed on the side plates of the frame, and the reverse synchronous mechanisms are positioned above the square frame.

The pair of gyros are vertically arranged in parallel, the upper gyros shaft is connected with the reverse synchronizing mechanism, and the lower gyros shaft is arranged in the gyros shaft hole on the bottom plate.

The transmission mechanism is a synchronous belt transmission mechanism.

The synchronous belt transmission mechanism comprises a small synchronous belt wheel, a large synchronous belt wheel and a synchronous belt, the synchronous belt is sleeved on the small synchronous belt wheel and the large synchronous belt wheel, and the power output by the main driving motor is transmitted to the wheel shaft through the small synchronous belt wheel, the synchronous belt and the large synchronous belt wheel in sequence.

The synchronous belt transmission mechanism further comprises a synchronous belt tensioning device, and the synchronous belt tensioning device is arranged on the inner side of the bottom plate fixing frame.

There is provided a robot including a main body frame and wheels on both sides of the main body frame, the main body frame being any one of the above.

The main body frame provides support for all parts, has high strength and rigidity and strong stability, and can prevent vibration and noise caused by resonance when the robot works.

Drawings

FIG. 1 is a schematic view of a robot with an outer shell removed according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of an embodiment of the robot with the housing and one wheel removed;

FIG. 3 is a first perspective view of an embodiment of the main frame, on which a driving motor and a transmission mechanism are mounted;

FIG. 4 is a second schematic perspective view of the embodiment of the main frame, on which a driving motor, a transmission mechanism, a top and a reverse synchronization mechanism are mounted;

FIG. 5 is a schematic view of a transmission mechanism within the body frame;

fig. 6 is a schematic view of a mounting position of a driving motor in the main body frame;

figure 7 is a schematic view of the timing belt tensioner installation location within the main body frame.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 2, a robot includes a main body 10, wheels 20 at both sides of the main body 10, and a head 30 above the main body.

As shown in fig. 2 and 5, the main body frame 11 of the main body 10 further includes a wheel bearing mounting plate 111, a frame side plate 112, a bottom plate fixing bracket 113, and a bottom plate 114. Two frame side plates 112 arranged in parallel are fixedly connected with two wheel bearing mounting plates 111 to form a square frame 110, two sides of the bottom plate 114 are respectively fixed with a bottom plate fixing frame 113 arranged vertically, and the bottom plate fixing frame 113 is fixed with the wheel bearing mounting plates 111. The wheel bearing mounting plate 111 has a wheel shaft 21 built therein.

As shown in fig. 3 to 6, the two driving motors 12 are mounted on the bottom plate 114 of the main body frame 11 and are respectively coupled to the wheel shaft 21 through a transmission mechanism.

In some embodiments, the drive mechanism may be a synchronous belt drive mechanism 15. As shown in fig. 5, the synchronous belt transmission mechanism 15 includes a small synchronous pulley 151, a large synchronous pulley 152 and a synchronous belt 153, the synchronous belt 153 is sleeved on the small synchronous pulley 151 and the large synchronous pulley 152, and the power output by the driving motor 12 is transmitted to the wheel shaft 21 through the small synchronous pulley 151, the synchronous belt 153 and the large synchronous pulley 152 in sequence. The timing belt driving mechanism further includes a timing belt tensioning device 135, see fig. 7, which is disposed inside the bottom plate fixing frame 113.

As shown in fig. 2 and 4, the main body frame 11 is provided with a pair of gyros 13 and a counter-synchronizing mechanism 14 for controlling the pair of gyros to have the same yaw rate but opposite yaw directions, and the counter-synchronizing mechanism 14 is fixed to the frame side plate 112 and positioned above the square frame 110. The pair of gyros 13 are vertically arranged in parallel, the upper gyroscopic shaft is fixed with the reverse synchronizing mechanism 14, and the lower gyroscopic shaft is fixed on the bottom plate 114 by means of a gyroscopic shaft hole on the bottom plate 114.

As shown in fig. 2 and 4, the swing axis of the main body frame 11 is coaxial with the wheel axis 21. When the main driving motor is driven, the output shaft of the main driving motor drives the wheels 20 to rotate through the transmission mechanism 13, and simultaneously, the whole main body frame 11 can be driven to drive all the components arranged on the main body frame 11 to swing back and forth, and the whole main body 10 can be driven to swing back and forth relative to the wheel shafts.

In the normal walking state of the robot, the driving motor 12 drives the wheels 20 to rotate, and the main body 10 is also subjected to the driving force, but since the gyro 13 is arranged in the main body, when the main body tends to swing in any direction back and forth, the gyro also tends to swing in the direction. According to the self-stability of the spinning top, the spinning top will automatically generate a deflection to counteract the swinging tendency, so the main body 10 will be kept vertical. If the wheels of the robot are blocked by the obstacle and cannot rotate when the robot encounters the obstacle, the driving torque is increased, the driving main body 10 swings, and the gyroscope automatically swings to generate a gyroscope torque with the same magnitude and the opposite direction of the driving torque. However, when the gyro is deflected to the maximum deflection angle, the gyro moment cannot be output any more, and the driving moment swings the driving body 10 forward or backward. At this time, the main body is swung to a maximum swing angle with a small gyro moment resistance. The swing motor arranged on the reverse synchronizing mechanism 14 can be started to lock the gyroscope or control the gyroscope to slowly swing back.

The main body frame 11 provides support for each component, has high strength and rigidity, and is strong in stability, and can prevent the robot from generating resonance when working to cause vibration and noise.

It should be understood that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the same, and some details thereof may be implemented in other forms by corresponding design changes. It will be apparent to those skilled in the art that modifications may be made to the above-described embodiments, or that equivalents may be substituted for elements thereof; and such modifications and substitutions are intended to be included within the scope of the appended claims.

Claims

1. A body frame for a robot, characterized in that: the main body frame comprises wheel bearing mounting plates on two sides, a bottom plate fixing frame, a bottom plate and frame side plates, the bottom plate fixing frame is respectively fixed with the two sides of the bottom plate and the wheel bearing mounting plates, the frame side plates are connected with the wheel bearing mounting plates on two ends, and wheel shafts are arranged on the wheel bearing mounting plates; the main body frame can rotate around the wheel shaft; the rotating shaft of the main body frame is coaxial with the wheel shaft, and when the driving motor arranged on the bottom plate is driven, the wheels are driven to rotate around the wheel shaft, and meanwhile, the whole main body frame can be driven to drive all the parts arranged on the main body frame to swing back and forth.

2. The main body frame for a robot of claim 1, wherein: the two frame side plates are vertically arranged in parallel, and the two frame side plates arranged in parallel are fixedly connected with the two wheel bearing mounting plates to form a square frame.

3. The main body frame for a robot of claim 2, wherein: and a pair of reverse synchronous mechanisms which are used for controlling the gyros arranged on the bottom plate to have the same deflection speed and opposite deflection directions are fixed on the side plates of the frame, and the reverse synchronous mechanisms are positioned above the square frame.

4. The main body frame for a robot of claim 3, wherein: the pair of gyros are vertically arranged in parallel, the upper gyros shaft is connected with the reverse synchronizing mechanism, and the lower gyros shaft is arranged in the gyros shaft hole on the bottom plate.

5. The main body frame for a robot of claim 1, wherein: the drive motor is connected with the wheel shaft by a transmission mechanism.

6. The main body frame for a robot of claim 5, wherein: the transmission mechanism is a synchronous belt transmission mechanism.

7. The main body frame for a robot of claim 6, wherein: the synchronous belt transmission mechanism comprises a small synchronous belt wheel, a large synchronous belt wheel and a synchronous belt, the synchronous belt is sleeved on the small synchronous belt wheel and the large synchronous belt wheel, and the power output by the main driving motor is transmitted to the wheel shaft through the small synchronous belt wheel, the synchronous belt and the large synchronous belt wheel in sequence.

8. The main body frame for a robot of claim 7, wherein: the synchronous belt transmission mechanism further comprises a synchronous belt tensioning device, and the synchronous belt tensioning device is arranged on the inner side of the bottom plate fixing frame.

9. The utility model provides a robot, includes main body frame and the wheel that is located main body frame both sides, its characterized in that: the main body frame is the main body frame for a robot according to any one of claims 1 to 8.