CN210234683U

CN210234683U - Charging connector extending-out mechanism of walking unit

Info

Publication number: CN210234683U
Application number: CN201920684922.7U
Authority: CN
Inventors: Qin Wang; 王沁; Bo Tang; 唐博; Kangxin Liu; 刘康鑫; Xingang Wang; 王鑫刚; Junlin Lu; 卢俊林; Jia Wang; 王佳
Original assignee: Xian Technological University
Current assignee: Xian Technological University
Priority date: 2019-05-14
Filing date: 2019-05-14
Publication date: 2020-04-03
Anticipated expiration: 2029-05-14

Abstract

The utility model discloses a charging connector extending mechanism of a walking unit, which comprises a robot walking base, wherein the front side and the rear side of the bottom end of the robot walking base are respectively provided with two universal wheels, and the left side and the right side of the bottom end of the robot walking base are respectively provided with a left driving wheel and a right driving wheel; a first driving wheel motor and a second driving wheel motor are respectively arranged at the front side and the rear side in the robot walking base; the utility model has the advantages of simple structure, be provided with the automatic mechanism that stretches out of head that charges, be in the withdrawal state in robot working process, avoid being damaged by situations such as dabble.

Description

Charging connector extending-out mechanism of walking unit

Technical Field

The utility model belongs to the robot field.

Background

The walking robot needs to return to and fill electric pile department before the battery that self carried exhausts and charges, if the robot is in the course of the work, if the joint that charges exposes outside totally and is easily splashed wet by outside liquid.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the deficiencies in the prior art, the utility model provides a can automatic lean out the joint mechanism that probes that charges of a walking unit of joint that charges.

The technical scheme is as follows: in order to achieve the purpose, the charging connector extending mechanism of the walking unit comprises a robot walking base, wherein two universal wheels are respectively arranged on the front side and the rear side of the bottom end of the robot walking base, and a left driving wheel and a right driving wheel are respectively arranged on the left side and the right side of the bottom end of the robot walking base; a first driving wheel motor and a second driving wheel motor are respectively arranged at the front side and the rear side in the robot walking base; the first driving wheel motor and the second driving wheel motor are respectively connected with the right driving wheel and the left driving wheel through a first synchronous belt unit and a second synchronous belt unit in a driving way;

a charging connector detection window is arranged at the front end of the robot walking base; the robot walking base is internally provided with a charging connector extending mechanism.

Further, the charging connector extending mechanism comprises a mechanism base, an output motor is mounted on the mechanism base, and a bearing seat is fixedly mounted on the upper side of a motor shell of the output motor; a gear is synchronously arranged on a motor shaft of the output motor; the gear is meshed with the gear; the axis of the transmission gear is coaxially provided with a threaded transmission hole in a through manner, and the external thread of the threaded linkage rod is in threaded fit with the threaded transmission hole; one end of the transmission gear, which is close to the bearing seat, is integrally and coaxially provided with a cylinder body, and the inner diameter of the cylinder body is larger than the outer diameter of the threaded linkage rod; the bearing is rotationally arranged in the bearing seat, and the inner ring of the bearing is tightly matched with the outer wall of the barrel.

Furthermore, one end of the threaded linkage rod, which is close to the charging connector detection window, is connected with a buffer spring, and one end of the buffer spring is coaxially connected with the charging connector; one end of the threaded linkage rod, which is far away from the charging connector, is fixedly connected with a guide pillar with a regular hexagonal section; the mechanism base is also fixedly provided with a guide post seat, the top of the guide post seat is provided with a hexagonal guide hole which is transversely penetrated, and the guide post penetrates through the hexagonal guide hole in a sliding manner; and the thread linkage rod and the guide post are internally provided with a lead channel which is communicated with the same axis.

Has the advantages that: the utility model has the advantages of simple structure, be provided with the automatic mechanism that stretches out of head that charges, be in the withdrawal state in robot working process, avoid being damaged by situations such as dabble.

Drawings

FIG. 1 is a schematic front view of a robot;

FIG. 2 is a schematic backside view of the robot;

FIG. 3 is a schematic view of a robot arm structure;

FIG. 4 is a schematic structural view of a manipulator;

FIG. 5 is a schematic view of the internal transmission structure of the manipulator;

FIG. 6 is a schematic view of a robot walking base;

fig. 7 is a partially enlarged schematic view of a charging head detection window of a robot walking base;

FIG. 8 is a schematic diagram of the transmission of a driving wheel in a robot walking base;

FIG. 9 is a schematic structural view of a sprinkler unit;

fig. 10 is a schematic structural view of a charging connector extending mechanism;

fig. 11 is a cut-away schematic view of the charging connector.

Detailed Description

The present invention will be further described with reference to the accompanying drawings, and in order to better illustrate the technical effects of the present mechanism, the present embodiment is described by the overall structure of the robot.

Introduction of the structure of the present solution is an intelligent home robot as shown in fig. 1 to 11, which includes a robot walking base 42, a robot execution body 49 and a robot head 47; the robot execution trunk 49 is fixed above the robot walking base 42 through a plurality of support frames 108, and the robot head 47 is installed on the upper side of the robot execution trunk 49; two mechanical arms 48 are respectively and symmetrically arranged at two sides of the robot execution body 49, and a manipulator 16 is arranged at the execution tail end of each mechanical arm 48; a water tank is installed inside the robot execution body 49, a camera unit 50 is installed on the front side of the robot execution body 49, and a water sprinkling unit is installed on the back side of the robot execution body 49; and the water inlet end of the sprinkling unit is communicated with the water tank.

A vertical sprinkler head detecting groove 29 is arranged on the back side of the robot execution body 49; the water sprinkling unit comprises a large first steering gear 22 fixedly installed inside a robot execution body 49, a steering gear output gear 24 is synchronously arranged at the output end of the first steering gear 22, the water sprinkling unit further comprises a swinging rod 26, a sector gear 23 is fixedly arranged at the root of the swinging rod 26, a rotating shaft 25 is rotatably connected to the axis of the sector gear 23, the rotating shaft 25 is connected to a shell of the first steering gear 22, and the rotation of the output gear 24 can be meshed to drive the sector gear 23 to rotate along the rotating shaft 25; the tail end of the swinging rod 26 is fixedly provided with a liquid pump 28, and the water inlet end of the liquid pump 28 is communicated with a water tank in the robot execution body 49 through a flexible water guide pipe 27; the water outlet end of the liquid pump 28 is provided with a sprinkler head 029, and the water outlet end of the sprinkler head 029 extends out of the sprinkler head extending groove 29.

The mechanical arm 48 comprises a mechanical arm seat 21, the mechanical arm seat 21 is fixedly installed at the waist position of the robot execution body 49, the mechanical arm 48 comprises a first arm 20, a second arm 19 and a third arm 17, the root of the first arm 20 is fixed on the mechanical arm seat 21, the tail end of the first arm 20 is rotatably connected with one end of the second arm 19, and a driving device on the first arm 20 can drive the second arm 19 to swing; one end of the third arm 17 is rotatably connected with the other end of the second arm 19, and the driving device on the second arm 19 can drive the third arm 17 to swing; the other end of the third arm 17 is fixedly provided with a second steering engine 019, and the manipulator 16 is installed at the tail end of an output shaft of the second steering engine 019.

The front side and the rear side of the bottom end of the robot walking base 42 are respectively provided with two universal wheels 43, and the left side and the right side of the bottom end of the robot walking base 42 are respectively provided with a left driving wheel 44.1 and a right driving wheel 44.2; a first driving wheel motor 104 and a second driving wheel motor 103 are respectively arranged at the front side and the rear side in the robot walking base 42; the first driving pulley motor 104 and the second driving pulley motor 103 are respectively connected with the right driving pulley 44.2 and the left driving pulley 44.1 through the first synchronous belt unit 102 and the second synchronous belt unit 101.

The manipulator 16 comprises a manipulator support 46, and the manipulator support 46 is fixedly installed at the tail end of an output shaft of the second steering engine 019; the manipulator support 46 is symmetrically engaged with the left gear 33 and the right gear 32; the left driving rod 34 and the right driving rod 304 are symmetrical left and right; the roots of the left driving rod 34 and the right driving rod 304 are respectively and fixedly connected with the left gear 33 and the right gear 32, and the rotation energy of the left gear 33 and the right gear 32 respectively and synchronously drives the left driving rod 34 and the right driving rod 304 to swing; a third steering gear 30 is further mounted on the manipulator support 46, and the third steering gear 30 is in driving connection with the left gear 33 or the right gear 32; the left driven rod 38 and the right driven rod 39 are symmetrical left and right, the left driven rod 38 and the right driven rod 39 are parallel to the front sides of the left driving rod 34 and the right driving rod 304 respectively, and the inner side ends of the left driven rod 38 and the right driven rod 39 are hinged to the manipulator support 46 respectively; the clamping device further comprises a left clamping claw 35 and a right clamping claw 40 which are symmetrical left and right, and the tail ends of the left clamping claw 35 and the right clamping claw 40 are respectively hinged with the tail ends of the left driving rod 34 and the right driving rod 304; the middle parts of the left clamping claw 35 and the right clamping claw 40 are respectively hinged with the outer side ends of the left driven rod 38 and the right driven rod 39; the clamping sides of the front ends of the left clamping claw 35 and the right clamping claw 40 are respectively symmetrically provided with a clamping concave cambered surface 36, and two ends of each clamping concave cambered surface 36 are respectively provided with a sawtooth surface 37.

A charging connector detection window 41 is arranged at the front end of the robot walking base 42; a charging connector extending mechanism is arranged in the robot walking base 42;

the charging connector extending-out mechanism comprises a mechanism base 0107, an output motor 9 is mounted on the mechanism base 0107, and a bearing seat 5 is fixedly mounted on the upper side of a motor shell of the output motor 9; a gear 8 is synchronously arranged on a motor shaft 15 of the output motor 9; the gear box is characterized by further comprising a threaded linkage rod 3 and a transmission gear 4, wherein the transmission gear 4 is meshed with the gear 8; a threaded transmission hole 4.1 is formed in the axis of the transmission gear 4 in a penetrating manner with the same axis, and the external thread of the threaded linkage rod 3 is in threaded fit with the threaded transmission hole 4.1; one end of the transmission gear 4 close to the bearing seat 5 is integrally and coaxially provided with a cylinder body 12, and the inner diameter of the cylinder body 12 is larger than the outer diameter of the threaded linkage rod 3; a bearing 11 is rotatably arranged in the bearing seat 5, and an inner ring of the bearing 11 is tightly matched with the outer wall of the cylinder 12;

one end of the threaded linkage rod 3, which is close to the charging connector detection window 41, is connected with a buffer spring 2, and one end of the buffer spring 2 is coaxially connected with a charging connector 1; one end of the threaded linkage rod 3, which is far away from the charging connector 1, is coaxially and fixedly connected with a guide pillar 6 with a regular hexagonal section; the mechanism base 0107 is also fixedly provided with a guide post seat 10, the top of the guide post seat 10 is provided with a hexagonal guide hole 7 which is transversely penetrated, and the guide post 6 slidably penetrates through the hexagonal guide hole 7; and a lead channel 13 is arranged in the threaded linkage rod 3 and the guide post 6 in a coaxial through manner.

The operation method, the process and the technical progress of the robot are organized as follows:

the robot walking method comprises the following steps: if the straight walking is needed, the first driving wheel motor 104 and the second driving wheel motor 103 respectively drive the right driving wheel 44.2 and the left driving wheel 44.1 to rotate forwards or reversely synchronously through the first synchronous belt unit 102 and the second synchronous belt unit 101; if the pivot steering is needed, the rotating directions of the right driving wheel 44.2 and the left driving wheel 44.1 are controlled to be opposite, and the pivot steering of the robot can be realized by the equal rotating speed; if temporary turning is needed, the rotating speed difference of the right driving wheel 44.2 and the left driving wheel 44.1 is respectively controlled, so that the turning amplitude is controlled, and if the straight walking state needs to be recovered, the rotating speeds of the right driving wheel 44.2 and the left driving wheel 44.1 are only required to be adjusted to be the same again;

the watering and humidifying method comprises the following steps: the robot walks to a designated position, then the liquid pump 28 is started, the liquid pump 28 pumps water in the water tank through the flexible water guide pipe 27, the pumped water is sprayed out to the rear of the robot through the water spraying head 029, the robot slowly walks forwards in the process that the water spraying head 029 sprays out backwards, and further the places where the robot walks are sprayed and humidified; the robot can walk forwards while spraying water backwards, so that the phenomenon that the robot slips when walking on the sprayed bottom surface is avoided; meanwhile, the swinging rod 26 is continuously swung up and down by controlling the first steering engine 22; so that the coverage area of the water sprayed by the sprinkler head 029 is larger;

the method for clamping the object comprises the following steps: controlling a third steering engine 30 to rotate in the forward direction, so that the left gear 33 and the right gear 32 do meshing motion until the left clamping jaw 35 and the right clamping jaw 40 are completely opened, and the distance between the clamping concave arc surface 36 of the left clamping jaw 35 and the clamping concave arc surface 36 of the right clamping jaw 40 is larger than that of an object to be clamped; the robot walks to the vicinity of an object to be clamped, and then adjusts the posture of the manipulator 16 through the cooperation of the first arm 20, the second arm 19 and the third arm 17, so that the object to be clamped is positioned between the left clamping claw 35 and the right clamping claw 40 of the manipulator 16; then, controlling a third steering engine 30 to rotate reversely, so that the left gear 33 and the right gear 32 do meshing motion until the clamping concave arc surface 36 of the left clamping jaw 35 and the clamping concave arc surface 36 of the right clamping jaw 40 clamp the object inwards; then the posture of the object clamped by the manipulator 16 is adjusted through the cooperation of the first arm 20, the second arm 19 and the third arm 17, and then the robot travels to a specified position;

the charge connector exploring method comprises the following steps:

in the use process of the robot, the charging connector 1 is positioned at the inner side of the charging connector detection window 41, and if the electric quantity blocks carried by the robot are completely exhausted, the robot is controlled to walk to the position of the specified charging socket, and the charging connector detection window 41 on the robot walking base 42 is aligned to the external charging socket; then starting an output motor 9, wherein the output motor 9 drives a gear 8 to rotate, and then the gear 8 drives a transmission gear 4 to rotate under the meshing action, and the transmission gear cannot move along the axis under the constraint of a cylinder 12 and a bearing 11 in a close fit state; meanwhile, the thread linkage rod 3 can not rotate but can move along the axis under the constraint of the regular hexagonal guide post 6 and the hexagonal guide hole 7; because the external thread of the threaded linkage rod 3 is in threaded fit with the threaded transmission hole 4.1 on the transmission gear 4, the transmission gear 4 drives the threaded linkage rod 3 to displace along the axis through threaded transmission, and further the charging connector 1 at the front end of the threaded linkage rod 3 synchronously displaces until the charging connector 1 outwards protrudes out of the charging connector detection window 41, and then the charging connector 1 protruding out of the charging connector detection window 41 is inserted into an external charging socket; when the charging connector 1 needs to be retracted, only the output motor 9 needs to be operated reversely.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. The utility model provides a walking unit's joint that charges mechanism of popping out which characterized in that: the robot walking mechanism comprises a robot walking base (42), wherein the front side and the rear side of the bottom end of the robot walking base (42) are respectively provided with two universal wheels (43), and the left side and the right side of the bottom end of the robot walking base (42) are respectively provided with a left driving wheel (44.1) and a right driving wheel (44.2); a first driving wheel motor (104) and a second driving wheel motor (103) are respectively arranged at the front side and the rear side in the robot walking base (42); the first driving wheel motor (104) and the second driving wheel motor (103) are respectively connected with the right driving wheel (44.2) and the left driving wheel (44.1) in a driving way through a first synchronous belt unit (102) and a second synchronous belt unit (101);

a charging connector detection window (41) is arranged at the front end of the robot walking base (42); the robot walking base (42) is internally provided with a charging connector extending mechanism.

2. The charging connector protrusion mechanism of the walking unit as claimed in claim 1, wherein: the charging connector extending mechanism comprises a mechanism base (0107), an output motor (9) is mounted on the mechanism base (0107), and a bearing seat (5) is fixedly mounted on the upper side of a motor shell of the output motor (9); a gear (8) is synchronously arranged on a motor shaft (15) of the output motor (9); the gear box is characterized by further comprising a threaded linkage rod (3) and a transmission gear (4), wherein the transmission gear (4) is in meshed connection with the gear (8); a threaded transmission hole (4.1) is arranged at the axis of the transmission gear (4) in a penetrating way with the same axis, and the external thread of the threaded linkage rod (3) is in threaded fit with the threaded transmission hole (4.1); one end, close to the bearing seat (5), of the transmission gear (4) is integrally and coaxially provided with a cylinder body (12), and the inner diameter of the cylinder body (12) is larger than the outer diameter of the threaded linkage rod (3); a bearing (11) is rotationally arranged in the bearing seat (5), and the inner ring of the bearing (11) is tightly matched with the outer wall of the cylinder body (12).

3. The charging connector protrusion mechanism of the walking unit as claimed in claim 2, wherein: one end of the threaded linkage rod (3) close to the charging connector detection window (41) is connected with a buffer spring (2), and one end of the buffer spring (2) is coaxially connected with the charging connector (1); one end of the threaded linkage rod (3) far away from the charging connector (1) is coaxially and fixedly connected with a guide post (6) with a regular hexagonal section; a guide post seat (10) is also fixedly installed on the mechanism base (0107), a hexagonal guide hole (7) which is transversely penetrated is formed in the top of the guide post seat (10), and the guide post (6) penetrates through the hexagonal guide hole (7) in a sliding mode; and a lead channel (13) is arranged in the threaded linkage rod (3) and the guide post (6) in a coaxial through manner.