CN116750095A

CN116750095A - Robot chassis

Info

Publication number: CN116750095A
Application number: CN202311049596.XA
Authority: CN
Inventors: 刘亚男
Original assignee: Shenyang Lebo Technology Co ltd
Current assignee: Shenyang Lebo Technology Co ltd
Priority date: 2023-08-21
Filing date: 2023-08-21
Publication date: 2023-09-15

Abstract

The invention discloses a robot chassis, which belongs to the technical field of robots and comprises a movable chassis formed by movable wheels and a machine body, wherein the machine body is provided with two first U-shaped brackets and two second U-shaped brackets, the two first U-shaped brackets are rotatably provided with the same first rotating rod, and the two second U-shaped brackets are rotatably provided with the same second rotating rod; through setting up the lead screw, rotate the movable block that wherein one side can drive wherein one side and remove, and then can drive the movable rod of wherein one side and the U-shaped seat and the diagonal bar removal on it for wherein the diagonal bar of one side can take place the angle variation, and then can prop up one side of layer board, because the lead screw of opposite side does not take place to rotate, make the opposite side of layer board can not prop up, and then make the layer board can form the contained angle with the fuselage, when the fuselage is in the slope, can guarantee that the layer board is parallel with ground, and then can prevent equipment or supplies on the layer board from droing, avoid equipment and supplies damage.

Description

Robot chassis

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot chassis.

Background

The mobile robot has stronger environment adaptation and sensing, dynamic decision and planning, behavior control and execution and other capacities, and has wide application prospects in the fields of fire fighting, military reconnaissance, mine sweeping and danger elimination, nuclear pollution prevention and other dangerous and severe environments, civil material handling and the like. The mobile robot chassis is used as the most basic unit of the mobile robot and is used for carrying a control system, a detection system, a manipulator and other parts to the operation site to execute specific operation tasks, and the performance quality of the mobile robot chassis directly influences the overall performance of the robot; with the wide application of robots, the working environment of the robots is more and more complex, which has a larger influence on the adaptability of the robot base; the inclination of base layer board can not be adjusted to current robot base, and when the robot base moved on the slope, the layer board on robot base and the base all was in the inclination parallel with the slope, this equipment and the material that makes on the robot base are easy to slide, cause the damage of equipment and material.

Disclosure of Invention

The present invention is directed to a robot chassis, which solves the problems set forth in the background art.

In order to achieve the above purpose, the present invention provides the following technical solutions: the robot chassis comprises a mobile chassis composed of mobile wheels and a machine body, wherein the machine body is provided with two first U-shaped brackets and two second U-shaped brackets, the two first U-shaped brackets are rotatably provided with the same first rotating rod, the two second U-shaped brackets are rotatably provided with the same second rotating rod, the first rotating rod and the second rotating rod are rotatably sleeved with two first movable rings, the four first movable rings are provided with the same supporting plate, the machine body is symmetrically provided with two adjusting mechanisms, the two adjusting mechanisms are all located under the supporting plate, and the adjusting mechanisms are used for adjusting the inclination angle of the supporting plate;

the adjusting mechanism comprises a screw rod, a movable block and two first fixed blocks, wherein the two first fixed blocks are arranged on a machine body, the screw rod is rotatably arranged on the two first fixed blocks through a bearing, one end of the screw rod is rotatably penetrated through one of the first fixed blocks, the movable block is in threaded connection with the screw rod, a movable rod is arranged on the movable block, two U-shaped seats are arranged on the movable rod, inclined rods are rotatably arranged on the U-shaped seats, second movable rings are rotatably sleeved on the first rotary rods and the second rotary rods respectively, and a driving mechanism is further arranged on the machine body and used for driving the screw rod in the two adjusting mechanism to rotate.

As a preferred implementation mode, actuating mechanism is located under the layer board, actuating mechanism is located between two adjustment mechanism, actuating mechanism includes motor, worm wheel and switching component, the motor sets up on the fuselage, the worm sets up the tip at the motor output shaft, still be provided with two second fixed blocks on the fuselage, two through the bearing rotation on the second fixed block be provided with same pivot, the worm wheel cup joints in the pivot, the worm wheel is located between two second fixed blocks, worm wheel and worm drive are connected, two the one end that the lead screw is close to mutually all is provided with the prism piece, the both ends of pivot all are provided with interior prism, interior prism and prism looks adaptation, one of them the prism piece is pegged graft in one of them interior prism is intraductal, and wherein another the prism piece can peg graft in another one of them interior prism is intraductal.

As a preferred implementation mode, the switching component comprises an electric push rod, a fixed ring and a movable ring, wherein the electric push rod is arranged on one of the first fixed blocks, the movable ring is arranged at the end part of an output shaft of the electric push rod, the movable ring is in sliding sleeve connection with a rotating shaft, the fixed ring is fixedly in sleeve connection with the rotating shaft, and the movable ring is positioned between the fixed ring and one of the prismatic blocks.

As a preferable implementation mode, sliding rods are arranged between the two first U-shaped brackets and the two second U-shaped brackets, sliding sleeves are sleeved on the two sliding rods in a sliding manner, and the four sliding sleeves are respectively connected with the two movable rods.

As a preferred implementation mode, two limiting blocks are further arranged on the machine body, the two limiting blocks are located below the supporting plate, and the two sliding rods penetrate through the two limiting blocks respectively.

As a preferred implementation mode, the supporting plate is provided with a containing groove, two connecting shafts are rotationally arranged in the containing groove, the two connecting shafts are respectively provided with a widening plate, and the two widening plates are respectively positioned in the containing groove.

As a preferable implementation mode, a plurality of supporting blocks are arranged in the accommodating groove, a plurality of through holes are formed in each of the two widening plates, and the supporting blocks penetrate through the through holes respectively.

Compared with the prior art, the invention has the beneficial effects that:

according to the robot chassis, the screw rod is arranged, the screw rod on one side can drive the movable block on the other side to move, and then the moving rod on one side and the U-shaped seat and the inclined rod on the moving rod can be driven to move, so that the inclined rod on one side can change in angle, and then one side of the supporting plate can be supported, the screw rod on the other side does not rotate, so that the other side of the supporting plate can not be supported, and then the supporting plate can form an included angle with the machine body, when the machine body is inclined, the supporting plate can be ensured to be parallel to the ground, equipment or materials on the supporting plate can be prevented from falling off, and equipment and materials are prevented from being damaged;

according to the robot chassis, the sliding rod is arranged, the sliding sleeve arranged on the sliding rod in a sliding manner is utilized, and then the sliding sleeve is connected with the moving rod, so that the sliding rod can support the movable block through the sliding sleeve and the moving rod, the movable block is prevented from being stressed to bend the screw rod greatly, and the stability is improved;

this robot chassis utilizes the connecting axle that sets up in the holding tank and opens up wide board through seting up the holding tank on the layer board, and upset opens up wide board and makes its one end remove out the holding tank, and then makes two widening boards can expand, and then can enlarge the area of layer board, and the layer board of being convenient for installs great equipment to and place more supplies on the layer board of being convenient for.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the structure of the widening plate after adjustment in the present invention;

FIG. 3 is a schematic view of a partial structure of the present invention;

FIG. 4 is a schematic view of the structure of the adjusting mechanism of the present invention;

FIG. 5 is an enlarged schematic view of the structure of FIG. 4A according to the present invention;

fig. 6 is a schematic structural view of the expanded widening plate according to the present invention.

In the figure: 1. a moving wheel; 2. a body; 3. a first U-shaped bracket; 4. a second U-shaped bracket; 5. a first rotating lever; 6. a second rotating rod; 7. a first movable ring; 8. a supporting plate; 9. a screw rod; 10. a movable block; 11. a first fixed block; 12. a moving rod; 13. a U-shaped seat; 14. a diagonal rod; 15. a second movable ring; 16. a motor; 17. a worm; 18. a worm wheel; 19. a second fixed block; 20. a rotating shaft; 21. prismatic blocks; 22. an inner prismatic barrel; 23. an electric push rod; 24. a fixing ring; 25. a moving ring; 26. a slide bar; 27. a sliding sleeve; 28. a limiting block; 29. a through hole; 30. a receiving groove; 31. a connecting shaft; 32. expanding a wide plate; 33. and a supporting block.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.

Referring to fig. 1-5, the invention provides a robot chassis, which comprises a moving chassis formed by a moving wheel 1 and a machine body 2, wherein the machine body 2 is provided with two first U-shaped brackets 3 and two second U-shaped brackets 4, the two first U-shaped brackets 3 are rotatably provided with the same first rotating rod 5, the two second U-shaped brackets 4 are rotatably provided with the same second rotating rod 6, the first rotating rod 5 and the second rotating rod 6 are rotatably sleeved with two first movable rings 7, the four first movable rings 7 are provided with the same supporting plate 8, the machine body 2 is symmetrically provided with two adjusting mechanisms, the two adjusting mechanisms are all positioned under the supporting plate 8, and the adjusting mechanisms are used for adjusting the inclination angle of the supporting plate 8;

the adjusting mechanism comprises a screw rod 9, a movable block 10 and two first fixed blocks 11, wherein the two first fixed blocks 11 are arranged on the machine body 2, the screw rod 9 is rotatably arranged on the two first fixed blocks 11 through a bearing, one end of the screw rod 9 rotatably penetrates through one of the first fixed blocks 11, the movable block 10 is in threaded connection with the screw rod 9, a movable rod 12 is arranged on the movable block 10, two U-shaped seats 13 are arranged on the movable rod 12, inclined rods 14 are rotatably arranged on the two U-shaped seats 13, second movable rings 15 are rotatably sleeved on the two inclined rods 14, the two second movable rings 15 in the two adjusting mechanisms are rotatably sleeved on the first rotary rods 5 and the second rotary rods 6 respectively, a driving mechanism is further arranged on the machine body 2, and the driving mechanism is used for driving the screw rod 9 in the two adjusting mechanisms to rotate;

when the machine body 2 is positioned on a slope with high left and low right, the machine body 2 is also positioned in a state with high left and low right, the screw rod 9 on the right side is rotated at the moment, the screw rod 9 on the right side can drive the movable block 10 on the right side to move, and then the movable rod 12 on the right side and the U-shaped seat 13 can be driven to move, so that one end of the inclined rod 14 on the right side can gradually move to the right side of the machine body 2, and then one end of the inclined rod 14 on the right side can rotate on the U-shaped seat 13, the other end of the inclined rod 14 on the right side can rotate on the second rotating rod 6 through the second movable ring 15, at the moment, one end of the inclined rod 14 is gradually lifted, one side of the supporting plate 8 can be lifted, and the first rotating rod 5 on the left side can not move due to the fact that the screw rod 9 on the left side is not moved, when the right side of the supporting plate 8 is lifted, the inclined angle of the supporting plate 8 can be adjusted by taking the first rotating rod 5 as an axis, so that the inclined angle of the supporting plate 8 can be positioned in a horizontal state, when the machine body 2 is positioned on a slope with high left and the upper side, the same working principle can be lifted, and the supporting plate 8 can rotate around the second moving state, and the supporting plate 8 can be lifted horizontally; the driving mechanism is positioned right below the supporting plate 8, the driving mechanism is positioned between two adjusting mechanisms, the driving mechanism comprises a motor 16, a worm 17, a worm wheel 18 and a switching assembly, the motor 16 is arranged on the machine body 2, the worm 17 is arranged at the end part of an output shaft of the motor 16, two second fixing blocks 19 are further arranged on the machine body 2, the two second fixing blocks 19 are rotatably provided with the same rotating shaft 20 through bearings, the worm wheel 18 is sleeved on the rotating shaft, the worm wheel 18 is positioned between the two second fixing blocks 19, the worm wheel 18 is in transmission connection with the worm 17, prismatic blocks 21 are arranged at one end, close to the two screw rods 9, of the rotating shaft 20, inner prismatic cylinders 22 are matched with the prismatic blocks 21, one prismatic block 21 is inserted into one of the prismatic cylinders 22, the other prismatic block 21 can be inserted into the other prismatic cylinder 22, and when the screw rods 9 on the left side need to be rotated, the rotating shaft 20 can drive the left inner prismatic cylinders 22 to rotate, the left prismatic cylinders 22 can be sleeved on the motor blocks 21, then the worm wheel 17 can drive the worm wheels 17 to drive the left prismatic cylinders 22 to rotate, and the left prismatic cylinders 21 can drive the screw rods 17 to rotate, and the left prismatic cylinders 20 can drive the left prismatic cylinders to rotate, and the left prismatic cylinders 20 to rotate;

when the screw rod 9 on the right side needs to be rotated, the sliding rotating shaft 20 drives the inner prism barrel 22 on the right side to be sleeved on the prism block 21 on the right side, at the moment, the inner prism barrel 22 on the left side is separated from the prism block 21 on the left side, then the rotating shaft 20 is driven to rotate through the motor 16, the worm 17 and the worm wheel 18, the inner prism barrel 22 can be driven to rotate, and then the prism block 21 on the right side and the screw rod 9 can be driven to rotate, the switching assembly comprises an electric push rod 23, a fixed ring 24 and a movable ring 25, the electric push rod 23 is arranged on one of the first fixed blocks 11, the movable ring 25 is arranged at the end part of an output shaft of the electric push rod 23, the movable ring 25 is in sliding sleeve joint on the rotating shaft 20, the fixed ring 24 is fixedly sleeve joint on the rotating shaft 20, the movable ring 25 is positioned between the fixed ring 24 and one of the prism blocks 21, the electric push rod 23 is started to push the movable ring 25 to move, so that the movable ring 24 can be pushed by the movable ring 25, the rotating shaft 20 can move leftwards, at the moment, the left screw rod 9 can be rotated, the electric push rod 23 is started to pull the moving ring 25 to move, the moving ring 25 can push the right inner prism barrel 22, the inner prism barrel 22 can be contacted with the prism blocks 21, at the moment, the right screw rod 9 can be rotated, sliding rods 26 are respectively arranged between the two first U-shaped brackets 3 and the two second U-shaped brackets 4, sliding sleeves 27 are respectively sleeved on the two sliding rods 26, the four sliding sleeves 27 are respectively connected with the two moving rods 12, the sliding rods 26 can support the movable blocks 10 through the sliding sleeves 27 and the moving rods 12, the pressure of the inclined rods 14 on the moving rods 12 can be shared, the screw rod 9 is prevented from being excessively bent due to stress, the stability is improved, two limiting blocks 28 are also arranged on the machine body 2, the two limiting blocks 28 are respectively arranged below the supporting plates 8, the two sliding rods 26 respectively penetrate through the two limiting blocks 28, stopper 28 can support slide bar 26, avoids the middle part atress distortion of slide bar 26, has improved stability.

Referring to fig. 6, on the basis of the first embodiment, an accommodating groove 30 is formed in the supporting plate 8, two connecting shafts 31 are rotatably disposed in the accommodating groove 30, widening plates 32 are disposed on the two connecting shafts 31, the two widening plates 32 are disposed in the accommodating groove 30, one ends of the widening plates 32 are moved out of the accommodating groove 30 by overturning the widening plates 32, so that the two widening plates 32 can be unfolded, the area of the supporting plate 8 can be enlarged, the supporting plate 8 is convenient for installing larger equipment, and more materials can be placed on the supporting plate 8, a plurality of supporting blocks 33 are disposed in the accommodating groove 30, a plurality of through holes 29 are formed in the two widening plates 32, the plurality of supporting blocks 33 penetrate through the plurality of through holes 29 respectively, when the widening plates 32 are folded, the widening plates 32 are disposed in the accommodating groove 30, the supporting blocks 33 are disposed in the through holes 29, the unfolded widening plates 32 are identical to the heights of the supporting blocks 33 after the widening plates 32 are unfolded, flatness is guaranteed, and the equipment can be convenient for installing the supporting blocks 33 and the supporting blocks 32 and guaranteeing stable placement.

When the machine body 2 is inclined rightwards in use, the electric push rod 23 is started to pull the movable ring 25 to move, so that the movable ring 25 can push the right inner prismatic cylinder 22, the right inner prismatic cylinder 22 is sleeved on the right prismatic block 21, then the motor 16 is started to drive the worm 17 to rotate, the worm 17 drives the rotating shaft 20 to rotate through the worm wheel 18, the right screw rod 9 can be driven to rotate through the inner prismatic cylinder 22 and the prismatic block 21, the movable block 10 and a supporting rod on the movable block can be driven to move by the rotation of the screw rod 9, one end of the right inclined rod 14 can be driven to move, the inclined state of the right inclined rod 14 is changed, the right side of the supporting plate 8 can be pushed to rise, the supporting plate 8 is driven to rotate by taking the first rotary rod 5 as an axis, the supporting plate 8 can be rotated to be in a horizontal state, when the machine body 2 is inclined leftwards, the electric push rod 23 is started to push the movable ring 25 to move, the movable ring 25 can push the fixed ring 24 to drive the rotating shaft 20 to move, so that the left inner prism barrel 22 can be sleeved on the left prism block 21, at the moment, the right inner prism barrel 22 is separated from the right prism block 21, then the motor 16 is started to drive the worm 17 to rotate, so that the left screw rod 9 can be driven to rotate by the worm wheel 18, the rotating shaft 20, the inner prism barrel 22 and the prism block 21, and then the left side of the supporting plate 8 can be lifted, the supporting plate 8 can rotate by taking the second rotating rod 6 as an axis, the supporting plate 8 can be rotated to be in a horizontal state, when large equipment needs to be installed, the widening plate 32 is overturned, so that one side of the widening plate 32 moves out of the accommodating groove 30, at the moment, a part of the widening plate 32 is contacted with the inner bottom surface of the accommodating groove 30, and the connecting shaft 31 limits the widening plate 32, so that the widening plate 32 can form a lever, and further the widening plate 32 can be fixed in the horizontal state, is convenient for installing equipment and storing materials.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot chassis, includes by removal wheel (1) and fuselage (2) constitution mobile chassis, its characterized in that: two first U-shaped brackets (3) and two second U-shaped brackets (4) are arranged on the machine body (2), the same first rotating rod (5) is rotatably arranged on the two first U-shaped brackets (3), the same second rotating rod (6) is rotatably arranged on the two second U-shaped brackets (4), two first movable rings (7) are rotatably sleeved on the first rotating rod (5) and the second rotating rod (6), the same supporting plate (8) is arranged on the four first movable rings (7), two adjusting mechanisms are symmetrically arranged on the machine body (2), and the two adjusting mechanisms are all located under the supporting plate (8) and are used for adjusting the inclination angle of the supporting plate (8);

the utility model provides an adjusting mechanism includes lead screw (9), movable block (10) and two first fixed blocks (11), two all set up on fuselage (2) first fixed block (11), lead screw (9) are rotated through the bearing and are set up on two first fixed blocks (11), one end rotation of lead screw (9) runs through one of them first fixed block (11), movable block (10) threaded connection is on lead screw (9), be provided with movable rod (12) on movable block (10), be provided with two U-shaped seat (13) on movable rod (12), two all rotate on U-shaped seat (13) and be provided with down tube (14), two all be provided with second expansion ring (15) on down tube (14), two among the adjusting mechanism second expansion ring (15) rotate respectively and cup joint on first bull stick (5) and second bull stick (6), still be provided with actuating mechanism on fuselage (2), actuating mechanism is arranged in two in the actuating mechanism screw (9) rotate.

2. A robot chassis according to claim 1, characterized in that: the utility model provides a drive mechanism is located under layer board (8), drive mechanism is located between two adjustment mechanism, drive mechanism includes motor (16), worm (17), worm wheel (18) and switching assembly, motor (16) set up on fuselage (2), worm (17) set up the tip at motor (16) output shaft, still be provided with two second fixed blocks (19) on fuselage (2), two through the bearing rotation on second fixed block (19) be provided with same pivot (20), worm wheel (18) cup joint on pivot (20), worm wheel (18) are located between two second fixed blocks (19), worm wheel (18) and worm (17) transmission are connected, two the one end that lead screw (9) are close to all is provided with prismatic block (21), the both ends of pivot (20) all are provided with interior prismatic cylinder (22), interior prismatic cylinder (22) and prismatic block (21) looks adaptation, one of them piece (21) are in one of them prismatic cylinder (22) in another prismatic cylinder (22).

3. A robot chassis according to claim 2, characterized in that: the switching assembly comprises an electric push rod (23), a fixed ring (24) and a movable ring (25), wherein the electric push rod (23) is arranged on one of the first fixed blocks (11), the movable ring (25) is arranged at the end part of an output shaft of the electric push rod (23), the movable ring (25) is in sliding sleeve joint with a rotating shaft (20), the fixed ring (24) is fixedly sleeved on the rotating shaft (20), and the movable ring (25) is positioned between the fixed ring (24) and one of the prismatic blocks (21).

4. A robot chassis according to claim 1, characterized in that: slide bars (26) are arranged between the two first U-shaped brackets (3) and the two second U-shaped brackets (4), sliding sleeves (27) are sleeved on the two slide bars (26) in a sliding manner, and the four sliding sleeves (27) are respectively connected with the two movable rods (12).

5. A robotic chassis as claimed in claim 4, wherein: two limiting blocks (28) are further arranged on the machine body (2), the two limiting blocks (28) are located below the supporting plate (8), and the two sliding rods (26) penetrate through the two limiting blocks (28) respectively.

6. A robot chassis according to claim 1, characterized in that: the support plate (8) is provided with a containing groove (30), two connecting shafts (31) are rotationally arranged in the containing groove (30), widening plates (32) are arranged on the connecting shafts (31), and the widening plates (32) are located in the containing groove (30).

7. A robotic chassis as claimed in claim 6, wherein: a plurality of supporting blocks (33) are arranged in the accommodating groove (30), a plurality of through holes (29) are formed in the two widening plates (32), and the supporting blocks (33) penetrate through the through holes (29) respectively.