CN109131633B - Mobile base and intelligent robot thereof - Google Patents
Mobile base and intelligent robot thereof Download PDFInfo
- Publication number
- CN109131633B CN109131633B CN201810902831.6A CN201810902831A CN109131633B CN 109131633 B CN109131633 B CN 109131633B CN 201810902831 A CN201810902831 A CN 201810902831A CN 109131633 B CN109131633 B CN 109131633B
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- steering
- lifting
- driving
- base main
- fixedly arranged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a movable base and an intelligent robot thereof, which comprise a base main body, a steering device for realizing the steering function, a wheel groove, a power device for providing driving force, a fixed support, a lifting device and a lifting hole, wherein the fixed support is fixedly arranged at the central position of the base main body, the lifting device is fixedly arranged on the fixed support, one side of the lifting device, which is close to a lifting disc, is fixedly provided with a steering gear for driving the whole device to rotate when the lifting device jacks up the whole device, the lifting hole is arranged on the base main body which is positioned right below the fixed support, the lifting device can pass through the lifting hole to reach the ground, and the driving gear and the steering gear are mutually meshed. The driving wheels and the steering wheels are arranged, so that the whole device is stable in the driving process, is not easy to turn on one side and has good stability; the lifting device and the steering driving device are arranged, so that the whole device can realize pivot turning, and the device is small in occupied space, flexible and convenient.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a mobile base and an intelligent robot thereof.
Background
At present, with the rapid development of scientific technology, robots play an important role in our daily life and work. Generally, a robot has certain moving functions including moving and turning, and a key component for realizing the functions is a moving base. At present, robots can be divided into wheel type, multi-legged type, crawler type and hybrid type according to different driving modes, wheel type robots are most widely applied in daily life, and wheel type robots are divided into three-wheel type, four-wheel type and multi-wheel type. In the daily use process, the wheeled robot has the following obvious defects: 1. the three-wheeled robot is easy to have unstable and side-turning conditions in the process of plane high-speed running; 2. four-wheel and multi-wheel robots cannot turn on the spot in a small space, and have large turning radius, inflexible turning and poor turning performance.
Disclosure of Invention
The present invention is directed to a mobile base to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a moving base, includes the base main part, is used for realizing turning to the power device of device, race, the power that provides drive power of function, the mutual symmetry of race is seted up in the base main part, turn to the fixed front end that sets up in the base main part of device, the fixed rear end that sets up in the base main part of power device still includes
The fixed bracket is fixedly arranged at the central position of the base main body, the lifting device is fixedly arranged on the fixed bracket and used for lifting the whole device, a steering gear used for driving the whole device to rotate when the lifting device jacks up the whole device is fixedly arranged on one side of the lifting device close to the lifting disc,
a lifting hole provided on the base main body right below the fixing bracket, through which the lifting device can pass to reach the ground, and
and the steering driving device is fixedly arranged on the base main body close to one side of the power device, and the driving gear and the steering gear are meshed with each other.
Preferably, the steering device comprises a steering connecting rod, a steering arm, a steering wheel arranged in a wheel groove and a steering motor, the steering arm is movably arranged on the base main body close to one side of the steering device through a pin shaft, one end of the steering arm is movably connected with the steering wheel arranged in the wheel groove, the other end of the steering arm is movably connected with the steering connecting rod, the steering motor drives the steering connecting rod, and the steering arm is linked to rotate around the pin shaft, so that the steering wheel achieves a steering function.
Preferably, the lifting device comprises a lifting screw rod, a lifting driving device and a lifting disc, the lifting disc is fixedly arranged on the lifting screw rod far away from one end of the lifting driving device, the lifting screw rod is meshed with the lifting driving device, and the lifting driving device is fixedly arranged on the fixing support and used for providing driving force so that the whole device moves upwards along the lifting screw rod.
Preferably, the lower surface of the lifting plate is flush with the lower surface of the base main body.
Preferably, power device includes the drive shaft, installs drive wheel, the power motor in the drive shaft, power motor is fixed to be set up in the base main part, is located the left side of fixed bolster, power motor drive shaft is rotatory, the linkage drive wheel, and then provides drive power for whole device.
Preferably, the steering driving device comprises a driving motor and a driving gear, the driving motor is fixedly arranged on the base main body, the driving gear is driven by the driving motor to rotate, and then the whole device rotates around the steering gear meshed with the driving gear when the lifting device jacks up the lifting device.
An intelligent robot comprises the mobile base.
Compared with the prior art, the invention has the beneficial effects that:
1. the driving wheels and the steering wheels are arranged, so that the whole device is stable in the driving process, is not easy to turn on one side and has good stability;
2. according to the invention, the lifting device and the steering driving device are arranged, so that the whole device can realize in-situ turning, and the device has the advantages of small occupied space, flexibility, convenience and quickness.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention
FIG. 3 is a front view of the present invention;
FIG. 4 is a front view of the lift of the present invention;
FIG. 5 is a schematic view of the construction of the lifting device and the steering gear of the present invention;
FIG. 6 is a top view of the steering drive of the present invention;
FIG. 7 is a schematic view of a steering driving device according to the present invention;
fig. 8 is a state diagram of the lifting device of the present invention for lifting up the whole device.
In the figure: the device comprises a base body 1, a steering device 2, a steering connecting rod 21, a steering arm 22, a steering wheel 23, a steering motor 24, a wheel groove 3, a lifting hole 4, a fixing bracket 5, a lifting device 6, a lifting screw 61, a lifting driving device 62, a lifting disc 63, a steering gear 7, a power device 8, a driving shaft 81, a driving wheel 82, a power motor 83, a steering driving device 9, a driving motor 91 and a driving gear 92.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides a technical solution:
a movable base comprises a base body 1, a steering device 2 and a wheel groove 3 which are used for achieving a steering function, and a power device 8 which provides driving force, wherein the wheel grooves 3 are symmetrically arranged on the base body 1, the steering device 2 is fixedly arranged at the front end of the base body 1, the power device 8 is fixedly arranged at the rear end of the base body 1, the steering device 2 comprises a steering connecting rod 21, a steering arm 22, a steering wheel 23 and a steering motor 24, the steering wheel 23 and the steering motor 24 are arranged in the wheel groove 3, the steering arm 22 is movably arranged on the base body 1 close to one side of the steering device 2 through a pin shaft, one end of the steering arm is movably connected with the steering wheel 23 in the wheel groove 3, the other end of the steering arm is movably connected with the steering connecting rod 21, the steering motor 24 drives the steering connecting rod 21, the steering arm 22 is linked to rotate around the pin shaft, so that the steering wheel, when needing to carry out the low-angle turn, only the accessible turn to device 2 turn can, power device 8 includes drive shaft 81, install drive wheel 82, the driving motor 83 on drive shaft 81, the driving motor 83 is fixed to be set up on base main part 1, is located the left side of fixed bolster 5, and driving shaft 81 is rotatory to the driving motor 83 drive, linkage drive wheel 82, and then for whole device provides drive power
A fixed bracket 5 fixedly arranged at the central position of the base main body 1, a lifting device 6 fixedly arranged on the fixed bracket 5 and used for lifting the whole device, a steering gear 7 fixedly arranged at one side of the lifting device 6 close to a lifting disc 63 and used for driving the whole device to rotate when the lifting device 6 jacks up the whole device, the lifting device 6 comprises a lifting screw rod 61, a lifting driving device 62 and a lifting disc 63, the lifting disc 63 is fixedly arranged on the lifting screw rod 61 at one end far away from the lifting driving device 62, the lower surface of the lifting disc 63 is level with the lower surface of the base main body 1, the lifting screw rod 61 is mutually meshed with the lifting driving device 62, the lifting driving device 62 is fixedly arranged on the fixed bracket 5 and used for providing driving force to enable the whole device to move upwards along the lifting screw rod 61,
a lifting hole 4 which is arranged on the base main body 1 positioned right below the fixed bracket 5, a lifting device 6 can pass through the lifting hole 4 to reach the ground,
the steering driving device 9 is fixedly arranged on the base main body 1 close to one side of the power device 8, the driving gear 92 and the steering gear 7 are meshed with each other, the steering driving device 9 comprises a driving motor 91 and the driving gear 92, the driving motor 91 is fixedly arranged on the base main body 1, the driving gear 92 is driven by the driving motor 91 to rotate, and therefore the whole device can rotate around the steering gear 7 meshed with the driving gear 92 when the lifting device 6 jacks up the lifting device.
An intelligent robot comprises the mobile base.
The working principle is as follows: when less space intelligent robot need turn, elevating gear 6 drives whole device upward movement for lifting disk 63 reachs ground, and then with whole device jack-up, under the effect that turns to drive arrangement 9, whole device encircles the required angle of the rotation of steering gear 7, and when the turn was accomplished, elevating gear 6 drove whole device downstream, and lifting disk 63 leaves ground, reachs the home position with base main part 1 lower surface parallel and level, and whole turn process is ended.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a moving base, includes base main part (1), is used for realizing turning to device (2), race (3) of function, provides power device (8) of drive power, the mutual symmetry of race (3) is seted up on base main part (1), turn to the fixed front end that sets up on base main part (1) of device (2), power device (8) are fixed the rear end that sets up on base main part (1), its characterized in that: also comprises
The fixed support (5) is fixedly arranged at the central position of the base main body (1), a lifting device (6) used for lifting the whole device is fixedly arranged on the fixed support (5), a steering gear (7) used for driving the whole device to rotate when the lifting device (6) jacks up the whole device is fixedly arranged on one side, close to the lifting disc (63), of the lifting device (6),
a lifting hole (4) which is provided on the base main body (1) right below the fixing support (5), through which lifting means (6) can pass to reach the ground, and
the steering driving device (9) is fixedly arranged on the base main body (1) close to one side of the power device (8), the steering driving device (9) comprises a driving gear (92), and the driving gear (92) is meshed with the steering gear (7); the lifting device (6) comprises a lifting screw rod (61), a lifting driving device (62) and a lifting disc (63), the lifting disc (63) is fixedly arranged on the lifting screw rod (61) far away from one end of the lifting driving device (62), the lifting screw rod (61) is meshed with the lifting driving device (62), and the lifting driving device (62) is fixedly arranged on the fixing support (5) and used for providing driving force so that the whole device moves upwards along the lifting screw rod (61); the lower surface of the lifting disc (63) is flush with the lower surface of the base main body (1); the steering driving device (9) comprises a driving motor (91) and a driving gear (92), the driving motor (91) is fixedly arranged on the base main body (1), the driving gear (92) is driven to rotate by the driving motor (91), and then the whole device rotates around the steering gear (7) meshed with the driving gear (92) when the lifting device (6) jacks up the lifting device.
2. A motion base according to claim 1, wherein: the steering device (2) comprises a steering connecting rod (21), a steering arm (22), a steering wheel (23) and a steering motor (24), wherein the steering wheel (23) and the steering motor (24) are arranged in a wheel groove (3), the steering arm (22) is movably arranged on a base main body (1) close to one side of the steering device (2) through a pin shaft, one end of the steering arm is movably connected with the steering wheel (23) in the wheel groove (3), the other end of the steering arm is movably connected with the steering connecting rod (21), the steering motor (24) drives the steering connecting rod (21), and the steering arm (22) is linked to rotate around the pin shaft, so that the steering wheel (23) can realize the.
3. A motion base according to claim 1, wherein: power device (8) include drive shaft (81), install drive wheel (82), power motor (83) on drive shaft (81), power motor (83) are fixed to be set up on base main part (1), are located the left side of fixed bolster (5), power motor (83) drive shaft (81) are rotatory, linkage drive wheel (82), and then provide drive power for whole device.
4. An intelligent robot, its characterized in that: comprising a mobile base according to any of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810902831.6A CN109131633B (en) | 2018-08-09 | 2018-08-09 | Mobile base and intelligent robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810902831.6A CN109131633B (en) | 2018-08-09 | 2018-08-09 | Mobile base and intelligent robot thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109131633A CN109131633A (en) | 2019-01-04 |
| CN109131633B true CN109131633B (en) | 2020-12-01 |
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ID=64792244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810902831.6A Active CN109131633B (en) | 2018-08-09 | 2018-08-09 | Mobile base and intelligent robot thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN109131633B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6064082A (en) * | 1983-09-20 | 1985-04-12 | Showa Aircraft Ind Co Ltd | Travel device |
| DK199801069A (en) * | 1998-08-26 | 2000-02-27 | Christensen Boerge | Parking bracket for car trailer |
| CN106828667B (en) * | 2017-03-15 | 2018-10-23 | 中国农业大学 | A kind of robot implement porter |
| CN108099867B (en) * | 2017-12-11 | 2023-06-09 | 浙江大学 | Poultry house mobile robot chassis capable of steering in situ |
| CN108082280A (en) * | 2018-01-22 | 2018-05-29 | 湖南星邦重工有限公司 | A kind of walking chassis and the high-altitude operation vehicle with the walking chassis |
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2018
- 2018-08-09 CN CN201810902831.6A patent/CN109131633B/en active Active
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| Publication number | Publication date |
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| CN109131633A (en) | 2019-01-04 |
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Address after: 230601 floor 14, building A3, intelligent equipment science and Technology Park, No. 3693, Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: ANHUI AVATAR TECHNOLOGY Co.,Ltd. Address before: 230601 floor 6, innovation square, South South Yanhu high tech R & D base, Xiyou Road East, ciguang Road, economic and Technological Development Zone, Hefei (Tsinghua Science and Technology City, Hefei) Applicant before: ANHUI AVATAR TECHNOLOGY Co.,Ltd. |
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