CN110733045A

CN110733045A - Chassis mechanism of service robot

Info

Publication number: CN110733045A
Application number: CN201911058846.XA
Authority: CN
Inventors: 陈伟; 黄建; 黄新
Original assignee: Anhui Puhua Smart Robot Technology Co Ltd
Current assignee: Anhui Puhua Smart Robot Technology Co Ltd
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-01-31

Abstract

The invention belongs to the technical field of robots, in particular to a chassis mechanism of service robots, which aims at solving the problems that a comparison file can play a role in shock absorption and buffering when a robot moves, but still has buffering force when the robot does not move, is inconvenient to use and does not have stability when the base is placed statically.

Description

Chassis mechanism of service robot

Technical Field

The invention relates to the technical field of robots, in particular to a chassis mechanism of service robots.

Background

Through search, application No. 201721100983.1 discloses a chassis mechanism of the service robot, which comprises a chassis, mounting holes are formed in two sides of the chassis, driving wheels and a driving mechanism are mounted in the mounting holes, wheel carriers are mounted at four corners of the bottom surface of the chassis, walking wheels are rotatably mounted on the wheel carriers, a fixing plate is arranged above the chassis, gaskets are fixed at four corners of the bottom surface of the fixing plate, a buffer mechanism is connected between the gaskets and the chassis, fixing heads are fixed on two sides of the middle of the bottom surface of the fixing plate, groups of adjusting rods are hinged on each side of the fixing head, the two adjusting rods are symmetrically arranged along the fixing heads, groups of limiting seats are fixed on two sides of the top surface of the chassis, a sliding rod is connected between each side of the limiting seats, groups of second springs and a sliding sleeve group of second springs are sleeved on the sliding rod, ends of the second springs are connected with a group, the sliding sleeve ends of the sliding sleeves are connected with a group of a sliding sleeve, and a sliding sleeve is connected with a corresponding shock-reducing lug connected with a sliding sleeve, and a wheel type chassis bearing device is connected with the chassis.

Although the above patent document can play a role in damping and buffering when the robot moves, the damping force still exists when the robot does not move, which is inconvenient to use, and the base does not have stability when the base is placed still.

Disclosure of Invention

The invention aims to solve the problems that although a comparison file can play a role in shock absorption and buffering when a robot moves, buffering force still exists when the robot does not move, the robot is inconvenient to use, and a base does not have the defect of stability when the base is placed still, and provides service robot chassis mechanisms.

In order to achieve the purpose, the invention adopts the following technical scheme:

service robot chassis mechanisms comprise a base, wherein two mounting holes are formed in the base, driving wheels and driving mechanisms are respectively mounted in the two mounting holes, four traveling wheels are arranged at the bottom of the base, a fixing plate is arranged at the top of the base, four buffer cylinders are fixedly mounted at the top of the base, stand columns are slidably mounted on the four buffer cylinders, and the tops of the four stand columns are fixedly connected with the bottom of the fixing plate;

the top of base is provided with two push rod motors, and equal fixed mounting has same connecting plates on the output shaft of two push rod motors, and the equal fixed mounting in both sides of connecting plate has the supporting leg, supporting leg and base swing joint, and the top fixed mounting of base has four welding rods, and slidable mounting has the post of stabilizing on the welding rod, and the post of stabilizing cooperatees with the supporting leg that corresponds, and the top of stabilizing the post is provided with the rubber pad.

Preferably, side fixed mounting of supporting leg has the rack, and side fixed mounting of stabilizing the post has the second rack, and the top fixed mounting of base has four bracing pieces, all rotates on four bracing pieces to install the gear, and rack and second rack all with the gear engagement that corresponds, the gear plays the transmission effect of power.

Preferably, sliding mounting has the extrusion piece in the buffer cylinder, fixed mounting has with springs between extrusion piece and the buffer cylinder that corresponds, extrusion piece and the stand fixed connection that corresponds, jolt that the robot received when the spring can alleviate the removal.

Preferably, a sliding groove is formed in the side of the welding rod, a sliding block is fixedly mounted on the side of the stabilizing column, the sliding block is in sliding connection with the corresponding sliding groove, and the sliding block plays a supporting and guiding role for the stabilizing column.

Preferably, four rectangular holes have been seted up on the base, the supporting leg all with the rectangular hole swing joint that corresponds with the rack, all cooperate the controller on push rod motor and the actuating mechanism, the bottom of supporting leg is provided with the callus on the sole.

Compared with the prior art, the invention has the advantages that:

(1) this scheme is fixed the robot at the top of fixed plate, promotes the connecting plate upward movement through two push rod motors when needing to remove, and the connecting plate drives four equal upward movements of supporting leg and leaves ground, removes the fixed to the base.

(2) The scheme can relieve jolting of the robot in moving through the spring.

(3) After this scheme removes the completion, two push rod motors of reverse start for four equal downstream of supporting leg and ground contact increase the stability when base is placed.

(4) This scheme supporting leg moves the stationary blade through the rack that corresponds, gear and second rack and forms thrust to the fixed plate, avoids the robot to be in elastic state when placing, facilitates the use.

The invention not only can play a role in damping and buffering when the robot moves, but also can prevent the robot from being in an elastic state when being placed, can also increase the stability of the base when being placed and is convenient to use.

Drawings

Fig. 1 is a schematic structural diagram of chassis mechanisms of service robots according to the present invention;

FIG. 2 is a schematic side view of chassis mechanism of service robots according to the present invention;

fig. 3 is a schematic structural diagram of part a of chassis mechanisms of service robots according to the present invention.

In the figure, 1 base, 2 driving wheels, 3 buffer cylinders, 4 upright posts, 5 fixing plates, 6 springs, 7 push rod motors, 8 connecting plates, 9 supporting legs, 10 th th racks, 11 gears, 12 second racks, 13 stabilizing posts, 14 welding rods, 15 rectangular holes, 16 traveling wheels and 17 extrusion sheets.

Detailed Description

The technical solutions in this embodiment will be described clearly and completely with reference to the drawings in this embodiment, and it is obvious that the described embodiment is only a partial embodiment, not a complete embodiment, of this embodiment .

Example

Referring to fig. 1-3, service robot chassis mechanisms, including base 1, two mounting holes have been seted up on base 1, all install drive wheel 2 and actuating mechanism in two mounting holes, base 1's bottom is provided with four walking wheels 16, base 1's top is provided with fixed plate 5, base 1's top fixed mounting has four buffer cylinders 3, equal slidable mounting has stand 4 on four buffer cylinders 3, the top of four stand 4 all with the bottom fixed connection of fixed plate 5, base 1's top is provided with two push rod motors 7, equal fixed mounting has with connecting plate 8 on two push rod motor 7's the output shaft, the equal fixed mounting in both sides of connecting plate 8 has supporting leg 9, supporting leg 9 and base 1 swing joint, base 1's top fixed mounting has four welding rod 14, slidable mounting has stabilization column 13 on welding rod 14, stabilization column 13 cooperatees with corresponding supporting leg 9, the top of stabilization column 13 is provided with the rubber pad.

In this embodiment, the side of the supporting leg 9 is fixedly provided with the rack 10, the side of the stabilizing column 13 is fixedly provided with the second rack 12, the top of the base 1 is fixedly provided with four supporting rods, the four supporting rods are all rotatably provided with the gear 11, the rack 10 and the second rack 12 are both meshed with the corresponding gear 11, and the gear 11 plays a role in force transmission.

In this embodiment, slidable mounting has extrusion piece 17 in the buffer cylinder 3, and fixed mounting has with springs 6 between extrusion piece 17 and the buffer cylinder 3 that corresponds, and extrusion piece 17 and the stand 4 fixed connection that corresponds, the jolt that the robot received when the spring 6 can alleviate the removal.

In this embodiment, the side of the welding rod 14 is provided with a sliding groove, the side of the stabilizing column 13 is fixedly provided with a sliding block, the sliding block is connected with the corresponding sliding groove in a sliding manner, and the sliding block plays a role in supporting and guiding the stabilizing column 13.

In this embodiment, four rectangular holes 15 have been seted up on base 1, supporting leg 9 and rack 10 all with the rectangular hole 15 swing joint that corresponds, all cooperate the controller on push rod motor 7 and the actuating mechanism, the bottom of supporting leg 9 is provided with the callus on the sole, the model of push rod motor 7 is OK648, the model of controller is 60 HE.

Example two

Referring to fig. 1-3, service robot chassis mechanisms, including base 1, two mounting holes have been seted up on base 1, all install drive wheel 2 and actuating mechanism in two mounting holes, base 1's bottom is provided with four walking wheels 16, base 1's top is provided with fixed plate 5, base 1's top has four buffer tanks 3 through welded fastening, equal slidable mounting has stand 4 on four buffer tanks 3, four stand 4's top all passes through screw fixed connection with fixed plate 5's bottom, base 1's top is provided with two push rod motors 7, all install with same connecting plate 8 through welded fastening on two push rod motor 7's the output shaft, connecting plate 8's both sides all install supporting leg 9 through welded fastening, supporting leg 9 and base 1 swing joint, base 1's top has four welding rod 14 through welded fastening installs, slidable mounting has stabilization column 13 on welding rod 14, stabilization column 13 cooperatees with corresponding 359, the top of stabilization column 13 is provided with the rubber pad.

In this embodiment, the side of the supporting leg 9 is provided with the rack 10 by welding, the side of the stabilizing column 13 is provided with the second rack 12 by welding, the top of the base 1 is provided with four supporting rods by welding, the four supporting rods are all rotatably provided with the gears 11, the rack 10 and the second rack 12 are all meshed with the corresponding gears 11, and the gears 11 play a role in force transmission.

In this embodiment, slidable mounting has extrusion piece 17 in the buffer cylinder 3, and install through welded fastening between extrusion piece 17 and the buffer cylinder 3 that corresponds with springs 6, extrusion piece 17 and the stand 4 that corresponds pass through screw fixed connection, and the jolt that the robot received when the removal can be alleviated to spring 6.

In this embodiment, the side of the welding rod 14 is provided with a sliding groove, the side of the stabilizing column 13 is fixedly provided with a sliding block by welding, the sliding block is connected with the corresponding sliding groove in a sliding manner, and the sliding block plays a role in supporting and guiding the stabilizing column 13.

In this embodiment, during the use, fix the top at fixed plate 5 with the robot, with electrical equipment switch on, when the robot needs to remove, promote connecting plate 8 upward movement through two push rod motors 7, connecting plate 8 drives the equal upward movement of four supporting legs 9 and leaves ground, remove the fixed to base 1, when removing base 1 and robot through actuating mechanism and drive wheel 2, remove the technique that proposes for the comparison file to actuating mechanism and the cooperation of drive wheel 2, do not do the repeated description here, jolt that the robot received when removing can be alleviated through spring 6, remove the back of accomplishing, two push rod motors 7 of reverse start, make the equal downward movement of four supporting legs 9 and ground contact, stability when increasing base 1 and placing, simultaneously supporting leg 9 is through the second rack 10 that corresponds, gear 11 and second rack 12 drive stable post 3 upward movement form thrust to fixed plate 5, avoid the robot to be in elastic state when placing.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention in the technical scope of the present invention.

Claims

The service robot chassis mechanism comprises a base (1), wherein two mounting holes are formed in the base (1), driving wheels (2) and a driving mechanism are mounted in the two mounting holes, four traveling wheels (16) are arranged at the bottom of the base (1), and a fixing plate (5) is arranged at the top of the base (1), and is characterized in that four buffer cylinders (3) are fixedly mounted at the top of the base (1), stand columns (4) are slidably mounted on the four buffer cylinders (3), and the tops of the four stand columns (4) are fixedly connected with the bottom of the fixing plate (5);

the top of base (1) is provided with two push rod motors (7), equal fixed mounting has with connecting plates (8) on the output shaft of two push rod motors (7), the equal fixed mounting in both sides of connecting plate (8) has supporting leg (9), supporting leg (9) and base (1) swing joint, the top fixed mounting of base (1) has four welding rod (14), slidable mounting has on welding rod (14) stabilizes post (13), it cooperatees with supporting leg (9) that correspond to stabilize post (13).
2. The service robot chassis mechanism of claim 1, wherein the side of the support leg (9) is fixedly installed with a th rack (10), the side of the stabilizing column (13) is fixedly installed with a second rack (12), the top of the base (1) is fixedly installed with four support rods, the four support rods are all rotatably installed with gears (11), and the th rack (10) and the second rack (12) are both meshed with the corresponding gears (11).
3. The service robot chassis mechanism of claim 1, wherein, the buffer cylinder (3) is internally and slidably provided with a squeezing sheet (17), springs (6) are fixedly arranged between the squeezing sheet (17) and the corresponding buffer cylinder (3), and the squeezing sheet (17) is fixedly connected with the corresponding upright post (4).
4. The service robot chassis mechanism of claim 1, wherein a sliding slot is opened on the side of the welding rod (14), and a sliding block is fixedly installed on the side of the stabilizing post (13) and is slidably connected with the corresponding sliding slot.
5. The kinds of service robot chassis mechanisms of claim 1, wherein the base (1) is opened with four rectangular holes (15), the support leg (9) and the rack (10) are both movably connected with the corresponding rectangular holes (15), and the push rod motor (7) and the driving mechanism are both matched with controllers.