CN113815018A

CN113815018A - Robot driving chassis

Info

Publication number: CN113815018A
Application number: CN202111193899.XA
Authority: CN
Inventors: 刘洋
Original assignee: Jiangsu Qijie Robot Intelligent Technology Co Ltd
Current assignee: Jiangsu Qijie Robot Intelligent Technology Co Ltd
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2021-12-21
Anticipated expiration: 2041-10-13
Also published as: CN113815018B

Abstract

The invention belongs to the field of driving chassis, in particular to a robot driving chassis, which comprises a chassis main body, a motor, a wheel hub and a tire; the tire is arranged on the outer side of the hub, the two sides of the chassis main body are provided with shielding mechanisms, and the top end of the chassis main body is provided with a storage mechanism; play through the cooperation between each mechanism and restrain driving chassis produced vibration when removing, shelter from raise dust or sewage that bring up when removing, conveniently change the tire that wearing and tearing are excessive, be convenient for fix power battery and carry out the effect protected power battery.

Description

Robot driving chassis

Technical Field

The invention relates to the field of driving chassis, in particular to a robot driving chassis.

Background

The robot is an intelligent machine with semi-autonomous or fully-autonomous working capacity, can replace and assist people to complete complex, dangerous and heavy work, and improves the working efficiency.

The driving chassis is an important component for driving the robot to move, and the current driving chassis can better drive the robot to move along with the development of science and technology.

Most of the existing driving chassis cannot restrain vibration generated during moving, cannot shield raised dust or sewage brought up during moving, is inconvenient to replace a driving wheel, cannot well fix a power battery, and causes abnormal phenomena such as instability or stop moving of a robot in the moving process; accordingly, a robot driving chassis is proposed to address the above problems.

Disclosure of Invention

The invention provides a robot driving chassis, which aims to solve the problems that the existing driving chassis can not restrain vibration generated during movement, can not shield raised dust or sewage brought up during movement, is inconvenient to replace a driving wheel and can not well fix a power battery, and the defects of the prior art are overcome.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a robot driving chassis, which comprises a chassis main body, a motor, a hub and a tire; the both sides of chassis main part bottom all are provided with buffer gear, the motor sets up the inside at buffer gear, wheel hub sets up the both sides in chassis main part bottom, and is provided with coupling mechanism between wheel hub and the buffer gear, the tire sets up the outside at wheel hub, the both sides of chassis main part are provided with shelters from the mechanism, the top of chassis main part is provided with deposits the mechanism, plays through the cooperation between each mechanism and suppresses the produced vibration of drive chassis when removing, shelters from raise dust or sewage that play when removing, conveniently changes the tire that the wearing and tearing are excessive, is convenient for fix power battery and carry out the effect protected to power battery.

Preferably, the buffer mechanism comprises a main buffer spring, an extrusion block, a hinge rod, a push block, a guide rail and an auxiliary buffer spring, buffer grooves are formed in two sides of the bottom end of the chassis main body, the main buffer spring is arranged in the buffer grooves, the extrusion block is arranged at the bottom end of the main buffer spring, one side, close to the extrusion block, of the hinge rod is movably connected with the extrusion block through a rotating shaft, the push block is movably connected with one end, far away from the extrusion block, of the hinge rod through the rotating shaft, the push block is connected in the buffer cavity in a sliding manner, the buffer cavity is formed in the bottom end of the chassis main body and is close to the central position, the guide rail is fixedly connected in the buffer cavity, the guide rail penetrates through the push block to enable the push block to be sleeved on the outer side of the guide rail, the auxiliary buffer spring is wound on the outer side of the guide rail, and plays a role in inhibiting effect on vibration generated when the driving chassis moves through the buffer mechanism, the stability of the driving chassis in moving is improved.

Preferably, one side fixedly connected with first slider on extrusion piece top, and first slider sliding connection is in the inside of first spout, first spout is seted up in the inside one side of dashpot, plays the effect that prevents to extrude the piece and deviate from the dashpot through the effect of first slider and the combination of first spout, makes the extrusion piece only can move from top to bottom in the dashpot is inside.

Preferably, one side of the auxiliary buffer spring close to the push block is fixedly connected with the push block, one side of the auxiliary buffer spring far away from the push block is fixedly connected in the buffer cavity, and the effect of the restoring force of the auxiliary buffer spring is used for further inhibiting and buffering the jolt generated when the device moves.

Preferably, the connecting mechanism comprises a connecting shaft, a connecting block, a connecting groove, a rack, a gear, a connecting rod, a knob and a torsion spring, the motor is arranged in the main buffer spring, one side of the connecting shaft, which is close to the motor, is fixedly connected with the motor, two ends of the connecting shaft, which are far away from one side of the motor, are provided with connecting cavities, the connecting block is sleeved in the connecting cavity, the connecting block is clamped with the connecting groove, the connecting groove is arranged on the inner side of the wheel hub, one end of the connecting block, which is far away from the connecting groove, is fixedly connected with the rack, the rack is sleeved in the accommodating cavity, the accommodating cavity is arranged at one end of the connecting cavity, which is far away from the connecting block, the gear is meshed with the rack, the connecting rod is fixedly connected with the gear, one side of the connecting rod, which is far away from the gear, penetrates through the connecting shaft and extends to the outer side of the connecting rod, the knob is fixedly connected with the connecting rod, and the torsion spring is wound on the outer side of the connecting shaft, the effect of conveniently changing the tire with excessive wear is played through the effect of the connecting mechanism.

Preferably, anti-skidding line has been seted up in the outside of knob, one side and the knob fixed connection that the torsional spring is close to the knob, and the torsional spring keeps away from one side and connecting axle fixed connection of knob, and the effect through the anti-skidding line that the knob outside was seted up plays the effect that increases the frictional force between finger and the knob, prevents the slippage when rotating the knob, plays the effect that makes knob automatic re-setting and drive other part antiport and removal through the effect of the reducing force of torsional spring.

Preferably, the connecting block is close to one side fixedly connected with movable block of connecting chamber one end, and movable block sliding connection is in the inside of activity groove, the activity groove is seted up in the one side of connecting intracavity portion, plays the effect that reduces the connecting block and be connected frictional force between the intracavity wall through the effect of movable block and activity groove combination, makes the connecting block more smooth and easy when removing, prevents that the connecting block from because of and being connected the frictional force between the intracavity wall too big and the card is died when removing.

Preferably, the shielding mechanism comprises a protection plate, a first insertion block, a limiting spring, a limiting block, a stop block, a connecting column, a first spring and a pulling plate, the protection plate is arranged on two sides of the chassis main body, the first insertion block is fixedly connected with the protection plate and is inserted in the first insertion groove, the first insertion groove is arranged on two sides of the chassis main body, a limiting cavity is arranged at the top end of the first insertion block, the limiting spring is arranged in the limiting cavity, the limiting block is sleeved in the limiting cavity and is clamped with the limiting groove, the limiting groove is arranged at the bottom end of the stop block, the stop block is arranged in the movable cavity, the movable cavity is arranged at the top end of the first insertion groove, the connecting column is fixedly connected with the stop block, the first spring is wound on the outer side of the connecting column, and the pulling plate is fixedly connected on one side of the connecting column far away from the stop block, the device has the advantages that the device can be prevented from being splashed by blocking dirt brought up when the device is moved through the shielding mechanism.

Preferably, the storage mechanism comprises a storage cavity, a power battery, a clamping block, a moving block, a tension spring, a first baffle plate, a second baffle plate, a pulling block, a second inserting block, a second spring and a clamping block, the storage cavity is arranged at the top end of the chassis main body, the power battery is arranged in the storage cavity, the clamping block is abutted against two sides of the bottom end of the power battery, the moving block is fixedly connected at the bottom end of the clamping block and is slidably connected in a moving groove, the moving groove is arranged at two sides of the bottom end of the inner part of the storage cavity, the tension spring is arranged in the moving groove, the first baffle plate is arranged at one side of the top end of the storage cavity, the second baffle plate is arranged at the other side of the top end of the storage cavity, the pulling block is respectively arranged at the top ends of the first baffle plate and the second baffle plate, the first baffle plate and the second baffle plate are both sleeved in the storage groove, the storage groove is arranged at two sides of the top end of the chassis main body, the second inserted block fixed connection is in the one side that the second baffle is close to first baffle, and the second inserted block inserts the inside of establishing at the second slot, the second slot is seted up in one side that first baffle is close to the second baffle, the block chamber has all been seted up at the both ends of second inserted block, the second spring sets up the inside in block chamber, the fixture block cover is established in the inside in block chamber, and fixture block and draw-in groove block, the draw-in groove is seted up at the inside both ends of second slot, plays the effect of fixing and protecting power battery through depositing the mechanism.

Preferably, the end of the clamping block close to the clamping groove is in an arc-shaped design, the clamping block is matched with the clamping groove, and the effect of connecting the second baffle and the first baffle is achieved through the combination of the clamping block and the clamping groove.

The invention has the advantages that:

1. according to the invention, through the structural design of the buffer mechanism, the function of inhibiting vibration generated by potholes on the ground during movement is realized, the effect of buffering jolts is realized through the effect of the main buffer spring, the effect of further buffering jolts is realized through the combined effect of the main buffer spring, the hinged rod, the push block and the auxiliary buffer spring, the problem that the vibration generated during movement cannot be inhibited in most of the existing driving chassis is solved, and the stability of the driving chassis during movement is improved;

2. according to the invention, through the structural design of the shielding mechanism, the function of blocking raised dust, mud, sewage and the like brought by moving is realized, the dirt brought by moving is blocked through the effect of the protection plate, the splashing of the dirt is prevented, the effect of conveniently disassembling, cleaning and installing the protection plate is realized through the mutual matching effect of other components in the shielding mechanism, and the problem that the conventional driving chassis cannot block the raised dust or the sewage brought by moving is solved;

3. according to the invention, through the structural design of the connecting mechanism, the function of conveniently replacing the wheel hub and the tire is realized, the gear is driven to rotate by rotating the knob, the rack meshed with the gear moves to drive the connecting block to move, the clamping between the connecting block and the connecting groove is released, and the connection between the connecting block and the wheel hub is released, so that the problem that the driving wheel is inconvenient to replace by the conventional driving chassis is solved, and the tire with excessive wear is convenient to replace;

4. according to the invention, through the structural design of the storage mechanism, the function of conveniently fixing and replacing the power battery is realized, the power battery is fixed through the matching action of the clamping block, the moving block and the tension spring, the power battery is prevented from shaking in the storage cavity due to bumping during moving, the effect of protecting the storage cavity is realized through the matching action of the second baffle and the first baffle, the problem that the conventional driving chassis cannot well fix the power battery is solved, and the stability of the storage cavity is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic perspective view of a first embodiment;

FIG. 2 is a schematic cross-sectional front view illustrating a structure of the first embodiment;

FIG. 3 is an enlarged schematic view of a portion A of FIG. 2 according to the first embodiment;

FIG. 4 is an enlarged structural diagram of the first embodiment at B in FIG. 3;

FIG. 5 is an enlarged structural view of the first embodiment at C in FIG. 2;

FIG. 6 is an enlarged structural view of the first embodiment at D in FIG. 2;

FIG. 7 is an enlarged structural view of the first embodiment at E in FIG. 2;

FIG. 8 is a schematic structural diagram of a partial front cross-section according to a second embodiment;

fig. 9 is a schematic structural view of a partial front cross section in the third embodiment.

In the figure: 1. a chassis main body; 21. a buffer tank; 22. a main buffer spring; 23. extruding the block; 24. a hinged lever; 25. a push block; 26. a buffer chamber; 27. a guide rail; 28. an auxiliary buffer spring; 29. a first slider; 210. a first chute; 3. a motor; 41. a connecting shaft; 46. a connecting cavity; 47. connecting blocks; 48. connecting grooves; 49. a rack; 410. a receiving cavity; 411. a gear; 412. a connecting rod; 413. a knob; 414. a torsion spring; 415. a movable block; 416. a movable groove; 5. a hub; 6. a tire; 71. a protection plate; 72. a first insert block; 73. a first slot; 74. a limiting cavity; 75. a limiting spring; 76. a limiting block; 77. a limiting groove; 78. a stopper; 79. a movable cavity; 710. connecting columns; 711. a first spring; 712. pulling a plate; 713. a guide block; 714. a guide groove; 81. a storage chamber; 82. a power battery; 83. a clamping block; 84. a moving block; 85. a moving groove; 86. a tension spring; 87. a first baffle plate; 88. a second baffle; 89. pulling the block; 810. a receiving groove; 811. a second insert block; 812. a second slot; 813. a clamping cavity; 814. a second spring; 815. a clamping block; 816. a card slot; 817. a second slider; 818. a second runner.

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.

Example one

Referring to fig. 1 to 7, a robot driving chassis includes a chassis body 1, a motor 3, a hub 5, and a tire 6; the two sides of the bottom end of the chassis main body 1 are both provided with a buffer mechanism, the motor 3 is arranged inside the buffer mechanism, the wheel hubs 5 are arranged on the two sides of the bottom end of the chassis main body 1, a connecting mechanism is arranged between the wheel hubs 5 and the buffer mechanism, the tire 6 is arranged on the outer side of the wheel hubs 5, the two sides of the chassis main body 1 are provided with shielding mechanisms, and the top end of the chassis main body 1 is provided with a storage mechanism;

during operation plays through the cooperation between each mechanism and suppresses the produced vibration of drive chassis when removing, shelters from raise dust or sewage that bring when removing, conveniently changes the tire 6 that wearing and tearing are excessive, is convenient for fix power battery 82 and carry out the effect protected power battery 82.

The buffer mechanism comprises a main buffer spring 22, a squeezing block 23, a hinge rod 24, a pushing block 25, a guide rail 27 and an auxiliary buffer spring 28, both sides of the bottom end of the chassis main body 1 are provided with buffer slots 21, the main buffer spring 22 is arranged inside the buffer slots 21, the extrusion block 23 is arranged at the bottom end of the main buffer spring 22, one side of the hinged rod 24 close to the extrusion block 23 is movably connected with the extrusion block 23 through a rotating shaft, the push block 25 is movably connected with one end of the hinge rod 24 far away from the extrusion block 23 through a rotating shaft, the pushing block 25 is connected inside the buffer cavity 26 in a sliding manner, the buffer cavity 26 is arranged at the bottom end of the chassis main body 1 close to the central position, the guide rail 27 is fixedly connected inside the buffer cavity 26, the guide rail 27 penetrates through the push block 25, so that the push block 25 is sleeved on the outer side of the guide rail 27, and the auxiliary buffer spring 28 is wound on the outer side of the guide rail 27;

during operation, when the device jolts in the in-process that removes, wheel hub 5 drives through connecting axle 41 and extrudes piece 23 and produce and remove under the effect of pothole, make extrusion piece 23 produce the extrusion to main buffer spring 22, make main buffer spring 22 produce elastic deformation, restrain jolting through the effect of main buffer spring's 22 reducing force, make driving chassis remain stable, drive articulated rod 24 and promote ejector pad 25 when extrusion piece 23 produces and removes simultaneously, make ejector pad 25 slide and produce the extrusion to assisting buffer spring 28 in the inside of cushion chamber 26, make and assist buffer spring 28 and produce elastic deformation, further restrain vibration and jolt through the effect of assisting buffer spring's 28 reducing force.

One side of the top end of the extrusion block 23 is fixedly connected with a first sliding block 29, the first sliding block 29 is connected inside a first sliding groove 210 in a sliding manner, and the first sliding groove 210 is formed in one side inside the buffer groove 21;

during operation, the first sliding block 29 and the first sliding groove 210 are combined to prevent the extrusion block 23 from falling out of the buffer groove 21, so that the extrusion block 23 can only move up and down in the buffer groove 21.

One side of the auxiliary buffer spring 28 close to the push block 25 is fixedly connected with the push block 25, and one side of the auxiliary buffer spring 28 far away from the push block 25 is fixedly connected inside the buffer cavity 26;

during operation, the restoring force of the auxiliary buffer spring 28 acts to further suppress and buffer the pitching generated during the movement of the device.

The connecting mechanism comprises a connecting shaft 41, a connecting block 47, a connecting groove 48, a rack 49, a gear 411, a connecting rod 412, a knob 413 and a torsion spring 414, the motor 3 is arranged in the main buffer spring 22, one side of the connecting shaft 41 close to the motor 3 is fixedly connected with the motor 3, the connecting chamber 46 is arranged at the two ends of the connecting shaft 41 far away from one side of the motor 3, the connecting block 47 is sleeved inside the connecting chamber 46, the connecting block 47 is clamped with the connecting groove 48, the connecting groove 48 is arranged on the inner side of the hub 5, one end of the connecting groove 48 is far away from the connecting block 47, the rack 49 is arranged inside the accommodating chamber 410, the accommodating chamber 410 is arranged at one end of the connecting chamber 46 far away from the connecting block 47, the gear 411 is meshed with the rack 49, the connecting rod 412 is fixedly connected with the gear 411, one side of the connecting rod 412 far away from the gear 411 runs through the connecting shaft 41 and extends to the outer side of the connecting shaft 41, the knob 413 is fixedly connected with the connecting rod 412, and the torsion spring 414 is wound on the outer side of the connecting rod 412;

when the tire replacing device works, when the tire 6 needs to be replaced, firstly, the rotary knob 413 drives the gear 411 to rotate through the connecting rod 412, the gear 411 rotates to drive the meshed rack 49 to move, the rack 49 drives the connecting block 47 to move, the clamping between the connecting block 47 and the connecting groove 48 is released, at the moment, the connection between the connecting shaft 41 and the hub 5 is released, the hub 5 can be taken down to replace the tire 6, when the hub 5 and the tire 6 need to be installed, the reverse operation is carried out, the torsional spring 414 is driven to generate elastic deformation when the rotary knob 413 rotates, after the rotary knob 413 is loosened, the rotary knob 413 drives the gear 411 to reversely rotate under the reducing force of the torsional spring 414, the rack 49 drives the connecting block 47 to restore to be clamped with the connecting groove 48, the effect of connecting between the connecting shaft 41 and the hub 5 is achieved, and the tire 6 is installed.

The outer side of the knob 413 is provided with anti-skid grains, one side of the torsion spring 414 close to the knob 413 is fixedly connected with the knob 413, and one side of the torsion spring 414 far away from the knob 413 is fixedly connected with the connecting shaft 41;

during operation, the effect of the anti-skidding line of seting up through the knob 413 outside plays the effect that increases the frictional force between finger and the knob 413, prevents to slide when rotating knob 413, plays the effect that makes knob 413 automatic re-setting and drive other part antiport and removal through the effect of the restoring force of torsional spring 414.

One side of the connecting block 47, which is close to one end of the connecting cavity 46, is fixedly connected with a movable block 415, the movable block 415 is slidably connected inside a movable groove 416, and the movable groove 416 is formed in one side inside the connecting cavity 46;

during operation, the effect of reducing the frictional force between connecting block 47 and the inner wall of connecting chamber 46 is played through the effect of activity piece 415 and activity groove 416 combination, makes connecting block 47 more smooth and easy when removing, prevents that connecting block 47 from removing because of with the too big card of frictional force between the inner wall of connecting chamber 46 extremely.

The shielding mechanism comprises a protection plate 71, a first insertion block 72, a limiting spring 75, a limiting block 76, a stop block 78, a connecting column 710, a first spring 711 and a pulling plate 712, wherein the protection plate 71 is arranged on two sides of the chassis main body 1, the first insertion block 72 is fixedly connected with the protection plate 71, the first insertion block 72 is inserted in a first slot 73, the first slot 73 is arranged on two sides of the chassis main body 1, a limiting cavity 74 is arranged on the top end of the first insertion block 72, the limiting spring 75 is arranged in the limiting cavity 74, the stop block 76 is sleeved in the limiting cavity 74, the stop block 76 is clamped with the limiting groove 77, the limiting groove 77 is arranged at the bottom end of the stop block 78, the stop block 78 is arranged in the movable cavity 79, the movable cavity 79 is arranged on the top end of the first slot 73, the connecting columns 710 and 78 are fixedly connected, the first spring 711 is wound on the outer side of the connecting column 710, the pulling plate 712 is fixedly connected to one side of the connecting column 710 far away from the stop block 78;

when the protective plate 71 is required to be taken down for cleaning, the pulling plate 712 is pulled outwards at first, so that the pulling plate 712 drives the stop block 78 to move through the connecting column 710 and extrudes the first spring 711, the first spring 711 generates elastic deformation, the stop block 78 extrudes the limit block 76 when the stop block 78 moves, the limit block 76 moves towards the inside of the limit cavity 74 and extrudes the limit spring 75, the limit spring 75 generates elastic deformation, the limit block 76 is released from being clamped with the limit groove 77 at the moment, the protective plate 71 is pulled outwards to draw the first insert block 72 out of the first slot 73 to detach the protective plate 71, when the protective plate 71 is required to be installed, the first insert block 72 is firstly inserted into the first slot 73, stopper 76 receives the extrusion of stopper 76 inner wall to the inside in spacing chamber 74 and removes when first inserted block 72 carries out the male, and produce the extrusion to spacing spring 75, make spacing spring 75 produce elastic deformation, the inner wall of stopper 76 disappears to the extrusion of stopper 76 after first inserted block 72 inserts the inside of first slot 73 completely, stopper 76 restores to the original position and with spacing groove 77 block under the effect of the reducing force of 7 this moment, play and carry out spacing effect to guard plate 71.

The storage mechanism comprises a storage cavity 81, a power battery 82, a clamping block 83, a moving block 84, a tension spring 86, a first baffle plate 87, a second baffle plate 88, a pulling block 89, a second inserting block 811, a second spring 814 and a clamping block 815, the storage cavity 81 is arranged at the top end of the chassis main body 1, the power battery 82 is arranged in the storage cavity 81, the clamping block 83 is abutted against two sides of the bottom end of the power battery 82, the moving block 84 is fixedly connected to the bottom end of the clamping block 83, the moving block 84 is slidably connected to the inside of a moving groove 85, the moving groove 85 is arranged at two sides of the bottom end of the storage cavity 81, the tension spring 86 is arranged in the moving groove 85, the first baffle plate 87 is arranged at one side of the top end of the storage cavity 81, the second baffle plate 88 is arranged at the other side of the top end of the storage cavity 81, the pulling block 89 is respectively arranged at the top ends of the first baffle plate 87 and the second baffle plate 88, the first baffle 87 and the second baffle 88 are both sleeved in the accommodating groove 810, the accommodating groove 810 is formed in two sides of the top end of the chassis main body 1, the second inserting block 811 is fixedly connected to one side, close to the first baffle 87, of the second baffle 88, the second inserting block 811 is inserted in the second inserting groove 812, the second inserting groove 812 is formed in one side, close to the second baffle 88, of the first baffle 87, clamping cavities 813 are formed in two ends of the second inserting block 811, the second spring 814 is arranged in the clamping cavity 813, the clamping block 815 is sleeved in the clamping cavity 813, the clamping block 815 is clamped with the clamping groove 816, and the clamping groove is formed in two ends of the inside of the second inserting groove 812;

when the power battery 82 is to be fixed, firstly, the pulling block 89 pulls the first baffle plate 87 and the second baffle plate 88 towards two sides respectively, the first baffle plate 87 and the second baffle plate 88 move towards the inside of the accommodating groove 810 under the action of the pulling force, at this time, the clamping block 815 is extruded by the clamping groove 816 and moves towards the inside of the clamping cavity 813, the clamping block 815 extrudes the second spring 814 to generate elastic deformation, the clamping block 815 releases the clamping with the clamping groove 816, the connection state of the first baffle plate 87 and the second baffle plate 88 is released, then two sides of the bottom end of the power battery 82 are contacted with the clamping block 83, then the power battery 82 is pressed downwards, two groups of clamping blocks 83 slide towards two sides respectively under the action of the downward pressure, and the moving block 84 is driven to move, so that the moving block 84 pulls the tension spring 86 to generate elastic deformation, after the power battery 82 is contacted with the bottom end inside the storage cavity 81, the power battery 82 is held and fixed by the holding block 83 by the restoring force of the tension spring 86, and the power battery 82 is taken out in the reverse direction.

One end of the fixture block 815 close to the clamping groove 816 is designed in an arc shape, and the fixture block 815 is matched with the clamping groove 816;

when the device works, the effect of connecting the second baffle 88 and the first baffle 87 is achieved through the combined action of the fixture block 815 and the fixture groove 816.

Example two

Referring to fig. 8, in a first comparative example, as another embodiment of the present invention, a guide block 713 is fixedly connected inside the movable chamber 79, and the guide block 713 is matched with a guide slot 714, and the guide slot 714 is formed on the stopper 78; in operation, the guide block 713 is inserted into the guide groove 714 as the stopper 78 moves, and the stopper 78 is guided by the combined action of the guide block 713 and the guide groove 714 to prevent the stopper 78 from rattling during movement, and the guide block 713 functions to prevent the stopper 76 from engaging with the interior of the movable chamber 79 and blocking the movable chamber 79 when the first insert block 72 is inserted.

EXAMPLE III

Referring to fig. 9, in a first comparative example, as another embodiment of the present invention, both sides of one end of the fixture block 815 close to the second spring 814 are fixedly connected with a second slider 817, the second slider 817 is slidably connected inside a second sliding groove 818, and the second sliding groove 818 is disposed on both sides inside the clamping cavity 813; during operation, the second slider 817 slides synchronously in the second sliding groove 818 along with the movement of the fixture block 815, the contact area between the fixture block 815 and the inner wall of the clamping cavity 813 is reduced through the combined action of the second slider 817 and the second sliding groove 818, and the friction force between the fixture block 815 and the inner wall of the clamping cavity 813 is further reduced, so that the fixture block 815 is smoother during movement, the fixture block 815 is prevented from being clamped due to overlarge friction force between the fixture block 815 and the inner wall of the clamping cavity 813 during movement, and meanwhile, the effect of limiting the movement distance of the fixture block 815 is achieved through the combined action of the second slider 817 and the second sliding groove 818, and the fixture block 815 is prevented from being separated from the inside of the clamping cavity 813.

The working principle is as follows: when the device bumps in the moving process, the hub 5 drives the extrusion block 23 to move under the action of hollow holes through the connecting shaft 41, the extrusion block 23 extrudes the main buffer spring 22, the main buffer spring 22 generates elastic deformation, the bump is restrained under the action of the reducing force of the main buffer spring 22, the driving chassis is kept stable, meanwhile, the extrusion block 23 drives the hinged rod 24 to push the push block 25 when moving, the push block 25 slides in the buffer cavity 26 and extrudes the auxiliary buffer spring 28, the auxiliary buffer spring 28 generates elastic deformation, and the vibration and the bump are further restrained under the action of the reducing force of the auxiliary buffer spring 28.

When the tire 6 is to be replaced, firstly, the rotary knob 413 drives the gear 411 to rotate through the connecting rod 412, the gear 411 rotates to drive the meshed rack 49 to move, the rack 49 drives the connecting block 47 to move, the connecting block 47 is released from being clamped with the connecting groove 48, at the moment, the connection between the connecting shaft 41 and the hub 5 is released, the hub 5 can be taken down to replace the tire 6, when the hub 5 and the tire 6 are to be installed, the reverse operation is performed, the torsional spring 414 is driven to generate elastic deformation when the rotary knob 413 rotates, after the rotary knob 413 is loosened, the rotary knob 413 drives the gear 411 to reversely rotate under the reducing force of the torsional spring 414, the rack 49 drives the connecting block 47 to restore to be clamped with the connecting groove 48, the effect of connecting between the connecting shaft 41 and the hub 5 is achieved, and the hub 5 and the tire 6 are installed.

Dirt brought up when moving is blocked through the effect of the protection plate 71, the dirt is prevented from splashing everywhere, when the protection plate 71 is to be taken down for cleaning, the pulling plate 712 is pulled outwards at first, the pulling plate 712 drives the stop block 78 to move through the connecting column 710 and extrudes the first spring 711, the first spring 711 generates elastic deformation, the stop block 78 extrudes the limit block 76 when the stop block 78 moves, the limit block 76 moves towards the inside of the limit cavity 74 and extrudes the limit spring 75, the limit spring 75 generates elastic deformation, the limit block 76 is released from being clamped with the limit groove 77 at the moment, the protection plate 71 is pulled outwards, the first insertion block 72 can be pulled out from the first slot 73 to detach the protection plate 71, when the protection plate 71 is to be installed, the first insertion block 72 is inserted into the first slot 73 at first, the limit block 76 is extruded towards the inside of the limit cavity 74 by the inner wall of the limit block 76 when the first insertion block 72 is inserted The part moves, and produces the extrusion to spacing spring 75, makes spacing spring 75 produce elastic deformation, and the inner wall of spacing piece 76 disappears to the extrusion of spacing piece 76 after first inserted block 72 inserts the inside of first slot 73 completely, and spacing piece 76 restores to the normal position and with spacing groove 77 block under the effect of the reducing force of 7 this moment, plays and carries out spacing effect to guard plate 71.

When the power battery 82 is to be fixed, firstly, the pulling block 89 pulls the first baffle plate 87 and the second baffle plate 88 towards two sides respectively, the first baffle plate 87 and the second baffle plate 88 both move towards the inside of the accommodating groove 810 under the action of the pulling force, at this time, the fixture block 815 is extruded by the clamping groove 816 and moves towards the inside of the clamping cavity 813, the fixture block 815 extrudes the second spring 814 to generate elastic deformation, the fixture block 815 releases the clamping with the clamping groove 816, the connection state of the first baffle plate 87 and the second baffle plate 88 is released, then two sides of the bottom end of the power battery 82 are contacted with the clamping blocks 83, then the power battery 82 is pressed downwards, two groups of clamping blocks 83 slide towards two sides respectively under the action of the downwards pressing force, the moving block 84 is driven to move, the moving block 84 pulls the tension springs 86 to generate elastic deformation, after the power battery 82 is contacted with the bottom end inside the storing cavity 81, the power battery 82 is held and fixed by the holding block 83 by the restoring force of the tension spring 86, and the power battery 82 is taken out in the reverse direction.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to 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 do not necessarily 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.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. A robot drive chassis, characterized by: comprises a chassis main body (1), a motor (3), a wheel hub (5) and a tire (6); the both sides of chassis main part (1) bottom all are provided with buffer gear, motor (3) set up the inside at buffer gear, wheel hub (5) set up the both sides in chassis main part (1) bottom, and are provided with coupling mechanism between wheel hub (5) and the buffer gear, tire (6) set up the outside at wheel hub (5), the both sides of chassis main part (1) are provided with shelters from the mechanism, the top of chassis main part (1) is provided with deposits the mechanism.

2. A robot drive chassis according to claim 1, wherein: the buffer mechanism comprises a main buffer spring (22), an extrusion block (23), an articulated rod (24), a push block (25), a guide rail (27) and an auxiliary buffer spring (28), buffer grooves (21) are formed in two sides of the bottom end of the chassis main body (1), the main buffer spring (22) is arranged in the buffer grooves (21), the extrusion block (23) is arranged at the bottom end of the main buffer spring (22), one side of the articulated rod (24) close to the extrusion block (23) is movably connected with the extrusion block (23) through a rotating shaft, the push block (25) and one end of the articulated rod (24) far away from the extrusion block (23) are movably connected through a rotating shaft, the push block (25) is slidably connected in the buffer cavity (26), the buffer cavity (26) is arranged at the bottom end of the chassis main body (1) close to the central position, the guide rail (27) is fixedly connected in the buffer cavity (26), and the guide rail (27) penetrates through the push block (25) to enable the push block (25) to be sleeved on the outer side of the guide rail (27), and the auxiliary buffer spring (28) is wound on the outer side of the guide rail (27).

3. A robot drive chassis according to claim 2, wherein: one side fixedly connected with first slider (29) on extrusion piece (23) top, and first slider (29) sliding connection is in the inside of first spout (210), one side in buffer slot (21) is seted up in first spout (210).

4. A robot drive chassis according to claim 3, wherein: one side of the auxiliary buffer spring (28) close to the push block (25) is fixedly connected with the push block (25), and one side of the auxiliary buffer spring (28) far away from the push block (25) is fixedly connected in the buffer cavity (26).

5. A robot drive chassis according to claim 4, wherein: the connecting mechanism comprises a connecting shaft (41), a connecting block (47), a connecting groove (48), a rack (49), a gear (411), a connecting rod (412), a knob (413) and a torsion spring (414), the motor (3) is arranged in the main buffer spring (22), one side of the connecting shaft (41) close to the motor (3) is fixedly connected with the motor (3), the two ends of one side of the motor (3) are far away from the connecting shaft (41) are both provided with a connecting cavity (46), the connecting block (47) is sleeved in the connecting cavity (46), the connecting block (47) is clamped with the connecting groove (48), the connecting groove (48) is arranged on the inner side of the hub (5), one end of the connecting groove (48) is far away from the connecting groove (47) through the connecting block (47), the rack (49) is arranged in the accommodating cavity (410), and the accommodating cavity (410) is arranged at one end of the connecting cavity (46) far away from the connecting block (47), gear (411) and rack (49) meshing, connecting rod (412) and gear (411) fixed connection, and connecting rod (412) keep away from one side of gear (411) and run through connecting axle (41) and extend to the outside of connecting axle (41), knob (413) and connecting rod (412) fixed connection, torsional spring (414) twines in the outside of connecting rod (412).

6. A robot drive chassis according to claim 5, wherein: anti-skidding line has been seted up in the outside of knob (413), one side and knob (413) fixed connection that torsional spring (414) are close to knob (413), and one side and connecting axle (41) fixed connection that knob (413) were kept away from in torsional spring (414).

7. A robot drive chassis according to claim 6, wherein: one side fixedly connected with movable block (415) that connecting block (47) are close to connecting chamber (46) one end, and movable block (415) sliding connection is in the inside of activity groove (416), activity groove (416) are seted up in the inside one side of connecting chamber (46).

8. A robot drive chassis according to claim 7, wherein: the shielding mechanism comprises a protection plate (71), a first insertion block (72), a limiting spring (75), a limiting block (76), a stop block (78), a connecting column (710), a first spring (711) and a pulling plate (712), wherein the protection plate (71) is arranged on two sides of the chassis main body (1), the first insertion block (72) is fixedly connected with the protection plate (71), the first insertion block (72) is inserted in the first insertion groove (73), the first insertion groove (73) is arranged on two sides of the chassis main body (1), the top end of the first insertion block (72) is provided with the limiting cavity (74), the limiting spring (75) is arranged in the limiting cavity (74), the limiting block (76) is arranged in the limiting cavity (74) in a clamping manner, the limiting block (76) is clamped with the limiting groove (77), the limiting groove (77) is arranged at the bottom end of the stop block (78), and the stop block (78) is arranged in the movable cavity (79), the movable cavity (79) is formed in the top end of the first slot (73), the connecting column (710) is fixedly connected with the stop block (78), the first spring (711) is wound on the outer side of the connecting column (710), and the pulling plate (712) is fixedly connected to one side, away from the stop block (78), of the connecting column (710).

9. A robot drive chassis according to claim 8, wherein: the storage mechanism comprises a storage cavity (81), a power battery (82), a clamping block (83), a moving block (84), a tension spring (86), a first baffle (87), a second baffle (88), a pulling block (89), a second inserting block (811), a second spring (814) and a clamping block (815), the storage cavity (81) is arranged at the top end of the chassis main body (1), the power battery (82) is arranged in the storage cavity (81), the clamping block (83) is abutted against two sides of the bottom end of the power battery (82), the moving block (84) is fixedly connected to the bottom end of the clamping block (83), the moving block (84) is slidably connected to the inside of the moving groove (85), the moving groove (85) is arranged at two sides of the bottom end of the storage cavity (81), the tension spring (86) is arranged in the moving groove (85), the first baffle (87) is arranged at one side of the top end of the storage cavity (81), the second baffle (88) is arranged on the other side of the top end of the storage cavity (81), the pulling block (89) is respectively arranged on the top ends of the first baffle (87) and the second baffle (88), the first baffle (87) and the second baffle (88) are sleeved in the accommodating groove (810), the accommodating groove (810) is formed in two sides of the top end of the chassis main body (1), the second inserting block (811) is fixedly connected to one side, close to the first baffle (87), of the second baffle (88), the second inserting block (811) is inserted in the second inserting groove (812), the second inserting groove (812) is formed in one side, close to the second baffle (88), of the first baffle (87), clamping cavities (813) are formed in two ends of the second inserting block (811), the second spring (814) is arranged in the clamping cavity (813), and the clamping block (815) is sleeved in the clamping cavity (813), and the clamping block (815) is clamped with the clamping groove (816), and the clamping groove (816) is arranged at two ends inside the second slot (812).

10. A robot drive chassis according to claim 9, wherein: one end of the clamping block (815) close to the clamping groove (816) is designed in an arc shape, and the clamping block (815) is matched with the clamping groove (816).