CN109969288B

CN109969288B - Robot walking device

Info

Publication number: CN109969288B
Application number: CN201711467171.5A
Authority: CN
Inventors: 曲道奎; 王文钊; 徐方; 邹风山; 何元一; 徐冰
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2017-12-28
Filing date: 2017-12-28
Publication date: 2021-09-03
Anticipated expiration: 2037-12-28
Also published as: CN109969288A

Abstract

The invention discloses a robot walking device. The robot walking device of the present invention comprises: the device comprises a driving wheel assembly, a rear swing shaft assembly, a universal wheel swing assembly and a first universal wheel; the driving wheel assembly, the rear swing shaft assembly and the first universal wheel are arranged at the bottom of the robot body; the universal wheel swinging assembly is arranged on the swinging surface of the rear swinging shaft assembly; the driving wheel assembly provides power for the robot walking device; the universal wheel swinging assembly and the first universal wheel support the robot walking device to move integrally. The robot walking device provided by the invention can ensure that six wheels of the robot walking device are in contact with the ground, so that the walking precision is higher.

Description

Robot walking device

Technical Field

The invention relates to the field of automation equipment, in particular to a robot walking device.

Background

With the increasing of the aging problem of the world population, China gradually faces the aging problem of the population. As the population of the elderly increases, the social labor will be reduced, and thus the automated robots are more and more widely used.

The traveling device is a traveling device equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. Its main function is that it can accurately walk and stop to the appointed place according to the route planning and operation requirement under the computer monitoring, so that it can implement a series of operation functions. The existing walking device is characterized by wheeled movement and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like; and is not limited by site, road and space. Along with the increasingly high degree of automation of modern society, the demand to the robot is also increasing, and running gear is also more and more extensive in the robot field, and in the running gear of robot, running gear can realize the walking of robot, realizes high-efficient, nimble operating mode operation.

According to the requirements of working conditions, the robot needs to walk in two directions sometimes. The existing robot walking device comprises a robot body, a set of driving unit arranged below the robot body, and universal wheels arranged on four corners below the robot body, wherein the driving unit is provided with two walking wheels, and the four universal wheels are supporting wheels to form a six-wheel walking mechanism. The scheme can not ensure that 6 wheels touch the ground, so that the walking precision of the robot is reduced, and the autonomous navigation precision is poor.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and adopts the following technical scheme:

the invention provides a robot walking device. The robot walking device includes:

the device comprises a driving wheel assembly, a rear swing shaft assembly, a universal wheel swing assembly and a first universal wheel;

the driving wheel assembly, the rear swing shaft assembly and the first universal wheel are arranged at the bottom of the robot body;

the universal wheel swinging assembly is arranged on the swinging surface of the rear swinging shaft assembly;

the driving wheel assembly provides power for the robot walking device;

the universal wheel swinging assembly and the first universal wheel support the robot walking device to move integrally.

In some embodiments, the drive wheel assembly includes a drive motor, a drive support, a drive wheel, a spring, a guide member, and a guide shaft; the guide component is connected with the driving support seat through a guide shaft and can axially move along the guide shaft;

the spring is arranged between the driving supporting seat and the guide component so as to provide elastic supporting force for the driving wheel;

the driving motor is arranged on the motor and is arranged on the guide part;

the driving wheel is coaxially connected with an output shaft of the driving motor.

In some embodiments, the number of springs is two.

In some embodiments, the spring is a compression spring.

In some embodiments, the number of drive wheel assemblies is two.

In some embodiments, the first universal wheel is two.

In some embodiments, the pitch axis assembly comprises: the fixed seat, the swinging shaft and the rear swinging shaft swinging seat;

the fixed seat is fixed;

the fixed seat, the swinging shaft and the swinging seat of the rear swinging shaft are coaxially arranged;

the rear swing shaft swing seat can swing left and right around the swing shaft.

In some embodiments, the universal wheel swing assembly comprises a universal wheel swing seat, a second universal wheel, and a buffer spring;

the universal wheel swing seat is installed on the rear swing shaft swing seat and can swing around the rear swing shaft swing seat, and the buffer spring is arranged between the universal wheel swing seat and the robot body.

In some embodiments, the buffer spring is a compression spring.

In some embodiments, the two ends of the swinging seat of the rear swinging shaft are provided with spring holes for accommodating the buffer springs.

The invention has the technical effects that: the robot walking device disclosed by the invention realizes six-wheel walking of the robot through the driving wheel assembly, the rear swing shaft assembly, the universal wheel swing assembly and the first universal wheel, and can ensure that the six wheels of the robot walking device are all contacted with the ground, so that the walking precision is higher, the whole structure is compact, the layout is reasonable, and the robot walking device has a huge prospect in the field of autonomous walking.

Drawings

Fig. 1 schematically shows an overall configuration diagram of a robot walking device according to one embodiment of the present invention;

FIG. 2 is a schematic structural view of a drive wheel assembly according to one embodiment of the present invention;

FIG. 3 is a schematic structural view of a rear swing shaft assembly according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a gimbal assembly according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.

Referring to fig. 1 to 4, a robot walking device 100 according to one embodiment of the present invention is illustrated. The robot walking device 100 includes:

the present invention provides a robot running gear 100. The robot walking device 100 includes:

a driving wheel assembly 12, a rear swing shaft assembly 13, a universal wheel swing assembly 14 and a first universal wheel 15;

the driving wheel assembly 12, the rear swing shaft assembly 13 and the first universal wheel are arranged at the bottom of the robot body 11;

the universal wheel swinging assembly 14 is installed on the swinging surface of the rear swinging shaft assembly 13;

the driving wheel assembly 12 provides power for the robot walking device 100;

the universal wheel swinging assembly 14 and the first universal wheel 15 support the robot walking device 100 to move integrally. The swing plane of the rear swing shaft assembly 13 is specifically the lower surface of the rear swing shaft assembly 13 shown in fig. 3.

Referring to fig. 2, in some embodiments, the driving wheel assembly 12 includes a driving motor 21, a driving support seat 22, a driving wheel 23, a spring 24, a guide member 25 and a guide shaft 26; the guide part 25 is connected with the driving support seat 22 through a guide shaft 26 and can move axially along the guide shaft 26;

the spring 24 is installed between the driving support 22 and the guide member 25 so as to provide an elastic supporting force for the driving wheel 23;

the driving motor 21 is arranged on the motor installation guide part 25;

the drive wheel 23 is coaxially connected to an output shaft of the drive motor 21.

In some embodiments, there are two springs 24.

In some embodiments, the spring 24 is a compression spring.

In some embodiments, there are two drive wheel assemblies 12.

In some embodiments, there are two first universal wheels 15.

Referring to fig. 3, in some embodiments, the rear swing shaft assembly 13 includes: a fixed seat 31, a swinging shaft 32 and a rear swinging shaft swinging seat 33;

the fixed seat 31 is fixed;

the fixed seat 31, the swinging shaft 32 and the rear swinging shaft swinging seat 33 are coaxially arranged;

the rear swing shaft swing base 33 can swing left and right around the swing shaft 32.

Referring to fig. 4, in some embodiments, the universal wheel swing assembly 14 includes a universal wheel swing base 41, a second universal wheel 42, and a damping spring 43;

the universal wheel swing base 41 is mounted on the rear swing shaft swing base 33 and can swing around the rear swing shaft swing base 33, and the buffer spring 43 is disposed between the universal wheel swing base 41 and the robot body 11. Specifically, the swing surface of the rear swing shaft assembly 13 is a lower surface of the rear swing shaft swing seat 33 shown in fig. 3.

In some embodiments, the buffer spring 43 is a compression spring.

In some embodiments, the two ends of the rear swing shaft swing seat 33 are provided with spring holes for accommodating the buffer springs 43.

The invention has the technical effects that: the robot walking device disclosed by the invention realizes six-wheel walking of a robot through the driving wheel assembly, the rear swing shaft assembly, the universal wheel swing assembly and the first universal wheel, wherein the two driving assemblies are arranged in parallel, the wheel axes are on the same straight line, the driving force is provided for the robot, the two first universal wheels and the universal wheel swing assembly are arranged at the bottom of the robot, 4 universal wheels are used for supporting the robot at 4 corners at the bottom of the robot, when the ground is uneven, the driving wheel assembly 12 can ensure that the driving wheel 23 is in contact with the ground through the spring 24, and sufficient power is provided. The universal wheel swing assembly 14 swings around the rear swing shaft assembly 13 to adjust the height difference generated by uneven ground, so that the first universal wheel and the second universal wheel are both in contact with the ground, and the damping spring 43 is used for buffering to ensure that the robot does not tip over. Six wheels of the robot walking device can be in contact with the ground, so that the robot walking device is higher in walking precision, compact in overall structure, reasonable in layout and has great prospect in the field of autonomous walking.

The following describes the robot walking device 100 according to the present invention in detail with reference to specific embodiments.

Referring to fig. 1 to 4, a robot walking device 100 according to an embodiment of the present invention is shown. The robot walking device 100.

Referring to fig. 1, the invention discloses a robot walking device, which comprises a robot body 11, 2 driving wheel assemblies 12, 1 rear swing shaft assembly 13, 1 universal wheel swing assembly 14 and 2 first universal wheels 15. The 2 driving wheel assemblies 12, the rear swing shaft assembly 13 and the 2 first universal wheels 15 are mounted at the bottom of the robot body 11 through screws (not shown), the universal wheel swing assembly 14 is mounted on the swing surface of the rear swing shaft assembly 13, the driving wheel assemblies 12 provide power, and the universal wheel swing assembly 14 and the first universal wheels 15 support the robot to move integrally.

Referring to fig. 2, the driving wheel assembly 12 includes 1 driving motor 21, 1 driving support 22, 1 driving wheel 23, 2 springs 24, 1 guiding member 25, and 2 guiding shafts 26. The guide member 25 is connected to the drive support base 22 via 2 guide shafts 26 and is axially movable along the guide shafts 26. The 2 springs 24 are arranged between the driving support seat 22 and the guide part 25 to provide elastic supporting force for the driving wheel 23, the driving motor 21 is arranged on the motor arranged on the guide part 25, and the output shaft of the driving motor 21 of the driving wheel 23 is coaxially connected.

Referring to fig. 3, the rear swing shaft assembly 13 includes a fixed seat 31, a swing shaft 32 and a rear swing shaft swing seat 33. The fixed seat 31 is fixed, the fixed seat 31, the swing shaft 32 and the rear swing shaft swing seat 33 are coaxially installed, and the rear swing shaft swing seat 33 can swing left and right around the swing shaft 32.

Referring to fig. 4, the universal wheel swing assembly 14 includes a universal wheel swing base 41, a universal wheel 42, and a buffer spring 43. The universal wheel swing base 41 is attached to the rear swing shaft swing base 33, swings around the swing shaft 32, and the buffer spring 43 contacts the robot body 11.

The robot running gear can use on cleaning the robot, when cleaning the robot and need cleaning ground, it is higher to the walking precision requirement on ground, if robot running gear can not land completely, can lead to some places can not clean totally, and the robot running gear who provides in this embodiment, through the driving wheel subassembly, back pendulum shaft subassembly, the six rounds of walks that the robot was realized to universal wheel pendulum subassembly and first universal wheel, and can guarantee that robot running gear's six wheels all contact with ground, thereby the precision of walking is higher, and overall structure is compact, and is rationally distributed, have huge prospect in the field of cleaning.

It will be further appreciated by those of skill in the art that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a running gear of robot, its setting is on the robot, its characterized in that includes: the device comprises a driving wheel assembly, a rear swing shaft assembly, a universal wheel swing assembly and a first universal wheel;

the driving wheel assembly provides power for the robot walking device; the universal wheel swinging assembly and the first universal wheel support robot walking device move integrally;

the rear swing shaft assembly includes: the fixed seat, the swinging shaft and the rear swinging shaft swinging seat;

the fixed seat is fixed;

the rear swing shaft swing seat can swing left and right around the swing shaft;

the universal wheel swinging assembly comprises a universal wheel swinging seat, second universal wheels and buffer springs, wherein 2 second universal wheels are arranged at two ends of the universal wheel swinging assembly, and spring holes for accommodating the buffer springs are arranged at two ends of the rear swinging shaft swinging seat;

2. The robot walking apparatus of claim 1, wherein the driving wheel assembly comprises a driving motor, a driving support, a driving wheel, a spring, a guide member and a guide shaft; the guide component is connected with the driving support seat through a guide shaft and can axially move along the guide shaft;

the driving motor is arranged on the motor and is arranged on the guide part;

3. The robot walking apparatus of claim 2, wherein the number of the springs is two.

4. The robotic walking device of claim 2, wherein the spring is a compression spring.

5. The robot walker of claim 1 wherein the drive wheel assemblies are two in number.

6. The robotic walking device of claim 1, wherein the first universal wheel is two.

7. The robot walking apparatus of claim 1, wherein the buffer spring is a compression spring.