CN114987651A

CN114987651A - Universal robot chassis

Info

Publication number: CN114987651A
Application number: CN202210692807.0A
Authority: CN
Inventors: 黎勇跃; 陈如申
Original assignee: Hangzhou Shenhao Technology Co Ltd
Current assignee: Hangzhou Shenhao Technology Co Ltd
Priority date: 2022-06-17
Filing date: 2022-06-17
Publication date: 2022-09-02

Abstract

The invention relates to the technical field of robots, in particular to a universal robot chassis, which is characterized in that the robot chassis is supported at a fixed point by arranging a lifting assembly, so that the robot chassis is convenient to observe, maintain and assemble. Simultaneously, the lifting subassembly cooperation is provided with infrared ray sensing device, when the lifting subassembly carries out the lifting to the robot chassis, stops the wheel and rotates, maintains the stable in structure that the fixed point supported, practices thrift the power, prolongs the time of endurance on robot chassis. The sectional type shell is arranged on the robot chassis, so that the robot chassis shell can be locally disassembled while the robot chassis is protected, and local maintenance is completed on the premise of not influencing the overall structure. In addition, the robot chassis can also be applied to a robot function mechanism needing to be lifted locally at a fixed point.

Description

Universal robot chassis

Technical Field

The invention relates to the technical field of robots, in particular to a universal robot chassis.

Background

The existing robot chassis is mostly of a wheel type structure and is used for driving the upper part of the robot to move to a target position to complete a preset action. But current robot chassis is mostly the integral type structure, when guaranteeing the wholeness, brings the inconvenience for follow-up maintenance or replacement part. In addition, current robot chassis is mostly single wheeled structure, can not have the function of fixed point position lifting upper portion mechanism concurrently, need additionally set up elevating system on upper portion to with the functional mechanism lifting of upper portion to predetermineeing the elevation. Therefore, the robot chassis with the lifting function is convenient to maintain and has wide attention.

Disclosure of Invention

Technical problem to be solved

In view of the above disadvantages and shortcomings of the prior art, the present invention provides a universal robot chassis, which solves the technical problems that the conventional robot chassis is inconvenient to maintain and does not have a lifting function.

(II) technical scheme

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

a universal robot chassis, the robot chassis comprising: the device comprises a sectional type shell positioned on the outer side, a wheel mechanism positioned in the sectional type shell, a driving assembly used for driving the wheel mechanism, a lifting assembly used for lifting a chassis of the robot, an infrared sensing device used for matching the lifting assembly to control the movement of the wheel mechanism, and a control device used for controlling the driving assembly;

the wheel mechanism includes: the structure comprises a structural frame and two groups of wheel assemblies respectively arranged on two sides of the structural frame; the driving component is arranged in the structural frame and is in transmission connection with the wheel component,

the lifting subassembly is located structural frame's middle part, is connected with structural frame, and the lifting subassembly includes: comprises a plurality of pairs of connecting rods and a connecting rod driving device for driving the connecting rods; each pair of connecting rods are distributed in a crossed mode, the middle portions of the connecting rods are hinged, the connecting rods located at the top are connected with the structural frame, small driven wheels are arranged at the lower end portions of the connecting rods located at the bottom, and the small driven wheels are in contact with the ground.

A chassis groove is formed in the lower surface of the sectional type shell inwards, and the wheel mechanism, the driving assembly and the lifting assembly are all located in the chassis groove in the lower surface;

the sectional type shell is divided into a detachable three-section structure and comprises a left side section, an intermediate section and a right side section, wherein a plurality of slots are formed in two sides of the cross section of the intermediate section, and inserting pieces are arranged on the left side section and the right side section which are located on two sides of the sectional type shell and are arranged in corresponding positions, so that the left side section, the intermediate section and the right side section can be assembled into the complete sectional type shell.

The drive assembly includes: a first drive motor disposed in front of the structural frame, a second drive motor disposed in back of the structural frame, a third drive motor disposed on the left side of the structural frame, and a fourth drive motor disposed on the right side of the structural frame;

and the speed reducer is matched with the first driving motor, the second driving motor, the third driving motor and the fourth driving motor.

The wheel assembly includes: a wheel and a transmission assembly; the wheel includes a hub and a tire.

The transmission assembly includes: the two groups of wheel shafts are symmetrically arranged along the center line of the wheel assembly, a first group of wheel shafts positioned on the front side are connected with a first driving motor, and a second group of wheel shafts positioned on the rear side are connected with a second driving motor; one end of the outer side of the wheel shaft penetrates through the structural frame, and the outer side of the wheel shaft is sleeved with the hub.

A second chain wheel is sleeved on one side of the first group of wheel shafts connected with the first driving motor, and a third chain wheel is sleeved on one side of the second group of wheel shafts connected with the second driving motor;

and a third group of wheel shafts are arranged on the inner sides of the third driving motor and the fourth driving motor, a first chain wheel is sleeved on the third group of wheel shafts, the first chain wheel is respectively connected with a second chain wheel positioned on the front side through a first chain, and the first chain wheel is respectively connected with a third chain wheel positioned on the rear side through a second chain.

The bottom of the structural frame is further provided with an infrared sensing device, the infrared sensing device is matched with the lifting assembly, when the lifting assembly lifts the robot chassis, the infrared sensing device senses that the wheels leave the ground, the infrared sensing device gives out an instruction, and the wheels stop rotating.

And a power supply device for providing a power supply is also arranged in the structural frame of the robot chassis.

(III) advantageous effects

The invention has the beneficial effects that: the invention provides a universal robot chassis, which realizes fixed-point support of a fixed-point position through the arrangement of a lifting assembly, and is convenient for observation, maintenance and assembly of the robot chassis. Simultaneously, the lifting subassembly cooperation is provided with infrared ray sensing device, when the lifting subassembly carries out the lifting to the robot chassis, stops the wheel and rotates, maintains the stable in structure that the fixed point supported, practices thrift the power, prolongs the time of endurance on robot chassis. The sectional type shell is arranged on the robot chassis, so that the robot chassis shell can be locally disassembled while the robot chassis is protected, and local maintenance is completed on the premise of not influencing the overall structure. In addition, the robot chassis can also be applied to a robot function mechanism needing to be lifted locally at a fixed point.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a perspective view of the connecting rod of the present invention;

FIG. 3 is a perspective view of the link and link drive of the present invention;

fig. 4 is a perspective view of the link of the present invention supported partially below the removable housing.

[ description of reference ]

1: a segmented outer shell;

2: a lifting assembly;

3: an infrared sensing device;

4: a structural frame;

5: a hub;

6: a tire;

7: a wheel axle;

8: a second sprocket;

9: a first drive motor;

10: a second drive motor;

11: a third drive motor;

12: a fourth drive motor;

13: a first sprocket;

14: a third sprocket;

15: a connecting rod;

16: a link driving device.

Detailed Description

For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. Where directional terms such as "left", "right", etc. are used herein, reference is made to the orientation of fig. 1.

In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The invention provides a universal robot chassis which is convenient to maintain, has a mechanism with an upper part lifting function, and is suitable for flat ground or a working table surface in indoor and outdoor places. The robot chassis includes: a sectional housing 1 located on the outside, a wheel mechanism, a drive assembly, a lifting assembly 2, an infrared sensing device 3, and a control device located inside the sectional housing 1.

The sectional type shell 1 is disc-shaped, the outer edge of the sectional type shell protrudes downwards, and the lower surface of the sectional type shell is inwards provided with a chassis groove which plays a role in protecting an internal structure. The wheel mechanism, the driving assembly, the lifting assembly 2, the infrared sensing device 3 and the control device are all positioned in a chassis groove on the lower surface. Sectional type shell 1 divides into detachable three-section structure, including left side section, interlude and right side section, and wherein, the cross-section both sides of interlude are equipped with a plurality of slot, are located the left side section and the right side section of both sides and are equipped with the inserted sheet on the position that correspond to make left side section, interlude and right side section can assemble into complete sectional type shell 1. The provision of the segmented housing 1 facilitates maintenance or inspection of the structure protected within the segmented housing 1.

Optionally, the joints of the left section, the middle section and the right section of the detachable housing 1 can be connected by a reversible shaft, and can be selected according to the specific conditions and requirements of the functional mechanism on the upper part of the robot chassis.

Wheel mechanism is used for driving the chassis of robot and takes place the displacement, and wheel mechanism includes: the structural frame 4 is respectively provided with two groups of wheel assemblies at two sides of the structural frame 4.

The drive assembly is arranged inside the structural frame 4 and is in transmission connection with the wheel assembly for driving the wheel assembly to rotate. The drive assembly includes: a first drive motor 9 arranged in front of the structural frame 4, a second drive motor 10 arranged behind the structural frame 4, a third drive motor 11 arranged on the left side of the structural frame 4, and a fourth drive motor 12 arranged on the right side of the structural frame 4. The first drive motor 9, the second drive motor 10, the third drive motor 11 and the fourth drive motor 12 are provided with speed reducers in a matching manner.

The wheel assembly includes: a wheel and a transmission assembly. The wheel comprises a hub 5 and a tyre 6.

The transmission assembly includes: and two groups of wheel shafts 7 are symmetrically arranged along the midline of the wheel assembly, wherein the first group of wheel shafts 7 at the front side are connected with a first driving motor 9, and the second group of wheel shafts 7 at the rear side are connected with a second driving motor 10. One end of the outer side of the wheel shaft 7 penetrates through the structural frame 4, and the hub 5 is sleeved on the outer side of the wheel shaft 7.

The side of the first group of wheel shafts 7 connected with the first driving motor 9 is sleeved with a second chain wheel 8, and the side of the second group of wheel shafts 7 connected with the second driving motor 10 is sleeved with a third chain wheel 14.

A third group of wheel shafts 7 are arranged on the inner sides of the third driving motor 11 and the fourth driving motor 12, a first chain wheel 13 is sleeved on the third group of wheel shafts 7, the first chain wheel 13 is respectively connected with a second chain wheel 8 positioned on the front side through a first chain, and the first chain wheel 13 is respectively connected with a third chain wheel 14 positioned on the rear side through a second chain.

The first driving motor 9, the second driving motor 10, the third driving motor 11 and the fourth driving motor 12 are used in cooperation with the speed reducer, and meanwhile, the first driving motor, the second driving motor, the third driving motor and the fourth driving motor are matched with the transmission assembly to drive the wheels to rotate so as to finish walking and moving on the ground. Meanwhile, the structure arrangement relationship of the multiple groups of driving motors and the multiple groups of chains is favorable for the cooperative motion of the front and rear wheels.

Preferably, a sealing ring is arranged at the joint of the wheel shaft 7 and the structural frame 4 so as to seal and prevent dust of the internal structure.

The power supply device for providing power for the driving device is arranged in the structural frame 4 of the robot chassis, and the rechargeable lithium battery is adopted in the embodiment and can be arranged according to actual requirements.

The lifting assembly 2 is located in the middle of the structural frame 4, is connected with the structural frame 4, and the lifting assembly 2 comprises: including pairs of links 15 and link driving means 16 for driving the links 15. Each pair of connecting rods 15 are distributed in a crossed manner, the middle parts of the connecting rods are hinged, the connecting rods 15 positioned at the top are connected with the structural frame 4, through grooves are formed in the connecting rods 15 positioned at the top, and sliding wheels matched with the connecting rods 15 are arranged in the through grooves. The lower ends of the pair of links 15 at the bottom are provided with small driven wheels which are in contact with the ground. When a plurality of pairs of connecting rod 15 are in fold condition, follow driving wheel and ground contact, through ground frictional force, follow the wheel and rotate, give simultaneously from 15 ascending holding power of connecting rod under the fold condition of driving wheel upper portion, avoid connecting rod 15 in robot chassis motion process, the structure receives the influence of gravity to take place slight gliding, if connecting rod 15 is direct and ground contact, can take place violent friction, influence the overall stability on wheel motion and robot chassis.

The connecting rod driving device 16 is connected with the control device, the fixed end of the connecting rod driving device 16 is connected with the structural frame 4 through a connecting piece, and the driving end of the connecting rod driving device 16 is connected with a pair of symmetrically arranged connecting rods 15. The length extension direction of the connecting rod driving device 16 is the horizontal direction, and the conversion from the horizontal linear motion to the vertical linear motion of the connecting rod driving device 16 is realized through the connecting rod 15 hinged to the middle part, so that the connecting rod 15 is folded or unfolded to complete the lifting in the vertical direction.

Select connecting rod drive arrangement 16 and a plurality of modes that cooperate to connecting rod 15 and realize supporting robot chassis, compare and adopt other setting modes such as meshing drive mechanism, under the prerequisite that realizes going up and down, the structure is simpler, and the installation space who occupies is littleer, and it is more convenient that the maintenance is changed, more is fit for the less robot chassis of size, has simplified and has become linear motion's middle transmission by the rotation of output shaft for work efficiency is present.

Preferably, the link driving means 16 is a linear motor.

Alternatively, the connecting piece can adopt a fixed shaft and a fixed seat to connect the structural frame 4.

The bottom of the structural frame 4 is also provided with an infrared sensing device 3, and the infrared sensing device 3 comprises an infrared transmitting tube, an infrared receiving tube for receiving reflected infrared rays and a single chip microcomputer control device. After the infrared sensing device 3 is started, the infrared transmitting tube transmits infrared rays to a designated sensing area (ground), the infrared rays are blocked, the infrared rays are reflected to the infrared receiving tube, and at the moment, the infrared sensing device 3 does not transmit signals to the singlechip control device. When the upper part of the robot chassis leaves a designated sensing area, the infrared receiving tube cannot receive an infrared signal, the infrared sensing device 3 generates a pulse signal and transmits the pulse signal to the single chip control device, the single chip control device sends a signal to the control device, the control device closes the first driving motor 9, the second driving motor 10, the third driving motor 11 and the fourth driving motor 12, and the wheels stop rotating. In addition, after the wheel stops rotating, the wheel can be turned on again through the manual control device.

Cooperate with lifting subassembly 2 through infrared sensing device 3, when 2 lifting robot chassis of lifting subassembly, leave ground through 3 response wheels of infrared sensing device, infrared sensing device 3 sends the appointed, and wheel stall to practice thrift the power, the time of endurance on extension robot chassis makes lifting subassembly 2 support more stable simultaneously.

The control device adopts a remote control device with a communication device, and a user can start the starting and the running of the robot chassis through remote control.

When the robot chassis or a functional mechanism arranged on the upper part of the robot chassis needs to be maintained, the robot chassis is controlled to run to a specified position through the control device, the lifting assembly 2 is started, the connecting rod 15 is pushed to stretch in the vertical direction through the connecting rod driving device 16 of the lifting assembly 2, so that the upper robot chassis is lifted, meanwhile, when the wheels are away from the ground, the infrared sensing device 3 gives out a specification, the wheels stop rotating to support the whole robot chassis, fixed-point support at the fixed-point position is realized, observation, maintenance and assembly of the robot chassis are facilitated, meanwhile, the sectional shell 1 of the robot chassis can be locally disassembled, and local maintenance is completed on the premise that the integral structure is not influenced. In addition, the robot chassis can also be applied to a robot functional mechanism needing to be lifted locally at a fixed point position, and the elevation lifting of the fixed point position is completed by matching with the functional mechanism on the upper part of the chassis.

The invention provides a universal robot chassis which is suitable for flat ground in indoor and outdoor places, can be widely applied to factory production or production line type manual maintenance, realizes fixed-point support of fixed-point positions through the arrangement of a lifting assembly 2, and is convenient for observation, maintenance and assembly of the robot chassis. Simultaneously, lifting subassembly 2 cooperation is provided with infrared sensing device 3, when lifting subassembly 2 carries out the lifting to the robot chassis, stops the wheel and rotates, maintains the stable in structure that the fixed point supported, practices thrift the power, prolongs the duration on robot chassis. The sectional type shell 1 is arranged on the robot chassis, so that the robot chassis shell can be locally disassembled while the robot chassis is protected, and local maintenance is completed on the premise of not influencing the overall structure. In addition, the robot chassis can also be applied to a robot function mechanism needing to be lifted locally at a fixed point, compared with a traditional robot chassis with a lifting mechanism arranged on the upper portion, the lifting assembly 2 and the bottom structure frame 4 are combined, so that the lifting assembly 2 can be accommodated in the bottom structure frame 4 in a non-working state, the overall appearance of the robot chassis is not affected, the function of the lifting upper mechanism is achieved, and meanwhile, a supporting function can be achieved, and a user can replace parts or maintain and repair conveniently in the later period.

In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

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; can be directly connected or indirectly connected through an intermediate medium; either as communication within the two elements or as an interactive relationship of the two elements. 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, a first feature may be "on" or "under" a second feature, and the first and second features may be in direct contact, or the first and second features may be in indirect contact via an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean 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 second feature, or may simply mean that the first feature is at a lower level than the second feature.

In the description herein, the description of the terms "one embodiment," "some embodiments," "an embodiment," "an example," "a specific example" or "some examples" or the like, means 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 should be understood that the above embodiments are illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiments without departing from the scope of the present invention.

Claims

1. A universal robot chassis, the robot chassis comprising: the robot chassis comprises a sectional type shell (1) positioned on the outer side, a wheel mechanism positioned in the sectional type shell (1), a driving assembly used for driving the wheel mechanism, a lifting assembly (2) used for lifting the chassis of the robot, an infrared sensing device (3) used for controlling the movement of the wheel mechanism by matching with the lifting assembly (2), and a control device used for controlling the driving assembly;

the wheel mechanism includes: the structure comprises a structural frame (4) and two groups of wheel assemblies which are respectively arranged on two sides of the structural frame (4); the driving component is arranged inside the structural frame (4) and is in transmission connection with the wheel component,

the lifting assembly (2) is located in the middle of the structural frame (4) and is connected with the structural frame (4), and the lifting assembly (2) comprises: comprises a plurality of pairs of connecting rods (15) and a connecting rod driving device (16) for driving the connecting rods (15); each pair of connecting rods (15) are distributed in a crossed mode, the middle portions of the connecting rods are hinged, the pair of connecting rods (15) located at the top are connected with the structural frame (4), small driven wheels are arranged at the lower end portions of the pair of connecting rods (15) located at the bottom, and the small driven wheels are in contact with the ground.

2. The universal robotic chassis of claim 1, wherein: a chassis groove is formed in the lower surface of the sectional type shell (1) inwards, and the wheel mechanism, the driving assembly and the lifting assembly (2) are all located in the chassis groove in the lower surface;

sectional type shell (1) divide into detachable three-section structure, including left side section, interlude and right side section, wherein, the cross-section both sides of interlude are equipped with a plurality of slot, are located the left side section and the right side section of both sides and are equipped with the inserted sheet on the position that correspond to make left side section, interlude and right side section can assemble into complete sectional type shell (1).

3. The universal robotic chassis of claim 1, wherein: the drive assembly includes: a first drive motor (9) arranged in front of the structural frame (4), a second drive motor (10) arranged behind the structural frame (4), a third drive motor (11) arranged on the left side of the structural frame (4), and a fourth drive motor (12) arranged on the right side of the structural frame (4);

and the speed reducer is matched with the first driving motor (9), the second driving motor (10), the third driving motor (11) and the fourth driving motor (12).

4. The universal robotic chassis of claim 3, wherein: the wheel assembly includes: a wheel and a transmission assembly; the wheel comprises a hub (5) and a tyre (6).

5. The universal robotic chassis of claim 4, wherein: the transmission assembly includes: the two sets of wheel shafts (7) are symmetrically arranged along the center line of the wheel assembly, the first set of wheel shaft (7) positioned on the front side is connected with a first driving motor (9), and the second set of wheel shaft (7) positioned on the rear side is connected with a second driving motor (10); one end of the outer side of the wheel shaft (7) penetrates through the structural frame (4), and the outer side of the wheel shaft (7) is sleeved with the hub (5).

6. The universal robotic chassis of claim 5, wherein: a second chain wheel (8) is sleeved on one side, connected with the first driving motor (9), of the first group of wheel shafts (7), and a third chain wheel (14) is sleeved on one side, connected with the second driving motor (10), of the second group of wheel shafts (7);

a third group of wheel shafts (7) are arranged on the inner sides of the third driving motor (11) and the fourth driving motor (12), a first chain wheel (13) is sleeved on each wheel shaft (7) of the third group, the first chain wheels (13) are respectively connected with second chain wheels (8) located on the front side through first chains, and the first chain wheels (13) are respectively connected with third chain wheels (14) located on the rear side through second chains.

7. The universal robotic chassis of claim 1, wherein: the bottom of structural framework (4) still is equipped with infrared sensing device (3), infrared sensing device (3) cooperate with lifting subassembly (2), when lifting subassembly (2) lifting robot chassis, leave ground through infrared sensing device (3) response wheel, infrared sensing device (3) send the appointed, wheel stall.

8. The universal robotic chassis of claim 1, wherein: and a power supply device for providing a power supply is also arranged in the structural frame (4) of the robot chassis.