CN210414520U

CN210414520U - Extensible mobile robot

Info

Publication number: CN210414520U
Application number: CN201921308175.3U
Authority: CN
Inventors: 张淅真
Original assignee: Jinsong Tianjin Automation Technology Co Ltd
Current assignee: Jinsong Tianjin Automation Technology Co Ltd
Priority date: 2019-08-13
Filing date: 2019-08-13
Publication date: 2020-04-28
Anticipated expiration: 2029-08-13

Abstract

The utility model discloses an extensible mobile robot, which comprises a chassis, wherein the upper wall surface of the chassis is provided with a robot body, a storage battery is arranged in the robot body, the upper end of the robot body is provided with a wireless transceiver, a singlechip controller is arranged in the robot body, and the lower wall surface of the chassis is provided with a mobile structure; this extensible mobile robot reasonable in design, this two pairs of walking wheels in novel all possess shock-absorbing function, when walking on rugged road surface, can keep walking wheel and road surface contact all the time, when walking wheel action advances the depressed part, the walking wheel is under damping spring's effect, pop out downwards, the walking wheel falls into sunken holding device's equilibrium in the twinkling of an eye, prevent that the device from constantly rocking takes place to turn on one's side, can carry out the adjustment on certain angle to the front end walking wheel through rotating-structure, can carry power for rear end walking wheel through drive structure, through moving-structure, drive structure and rotating-structure can make the device turn to when walking.

Description

Extensible mobile robot

Technical Field

The utility model relates to the technical field of robot, specifically be an extensible mobile robot.

Background

Robots are machine devices that perform work automatically, that can accept human commands, run preprogrammed programs, or outline actions based on principles formulated with artificial intelligence techniques, and whose task is to assist or replace human work, such as manufacturing, construction, or dangerous work.

The existing extensible mobile robot can move smoothly on a smooth road surface, and when the extensible mobile robot moves on a rugged road surface, the robot often turns over due to the rugged road surface in the moving process, so that the extensible mobile robot is inconvenient to use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an extensible mobile robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an extensible mobile robot comprises a chassis, wherein a robot body is arranged on the upper wall surface of the chassis, a storage battery is arranged in the robot body, a wireless transceiver is arranged at the upper end of the robot body, a single chip microcomputer controller is arranged in the robot body, and a mobile structure is arranged on the lower wall surface of the chassis;

the moving structure comprises fixed blocks arranged at four corners of a lower wall surface of the chassis, grooves are formed in the fixed blocks, damping springs are arranged on the inner lower wall surface of each groove, the lower ends of the damping springs, far away from the ends of the lower wall surface of the grooves, are fixedly connected with connecting blocks, the lower ends of the connecting blocks are rotatably connected with connecting rods, uniform traveling wheels are fixedly arranged at the lower ends of the connecting rods, a rotating structure is assembled between the pair of traveling wheels at the front end, and a driving structure is assembled between the pair of traveling wheels at the rear end;

the rotating structure comprises a cross rod which is rotatably installed on the inner sides of a pair of the traveling wheels at the front end, vertical rods are fixedly installed on the cross rod in an upward extending mode, rotating rods are fixedly assembled on the pair of the vertical rods in an inward extending mode, the pair of the rotating rods are connected through a first motor, the ends, far away from the vertical rods, of the pair of the rotating rods are installed on a first motor driving end in an up-and-down rotating mode, the first motor is installed at the front end of the lower wall face of the chassis, and the power supply input end of the;

drive structure is including installing in the bearing box of chassis lower extreme and installing in the rear end a pair of connecting axle between the walking wheel, the second motor is installed to the wall on the bearing box, be equipped with the master gear on the second motor drive end, connecting axle both ends fixed mounting is at the interior lateral wall face of walking wheel, the bearing box is run through respectively to the connecting axle left and right sides, fixed cover is equipped with the pinion on the connecting axle, pinion and master gear meshing, be connected through the telescopic link between the wall under wall and the chassis on the bearing box, telescopic link upper end fixed mounting is wall under the chassis, telescopic link lower extreme fixed mounting is wall on the bearing box, second motor power input end links to each other with the battery.

Preferably, the input ends of the first motor and the second motor are electrically connected with the output end of the single chip microcomputer controller through a lead.

Preferably, the wireless transceiver is an electromagnetic wave transceiver, and a module for data transmission and conversion with the wireless transceiver is arranged in the single chip microcomputer controller.

Preferably, the front end of the upper wall surface of the chassis is provided with a balancing weight.

Preferably, the rotation angle of the first motor is-50 degrees and +50 degrees.

Compared with the prior art, the beneficial effects of the utility model are that: this extensible mobile robot reasonable in design, this two pairs of walking wheels in novel all possess shock-absorbing function, when walking on rugged road surface, can keep walking wheel and road surface contact all the time, when walking wheel action advances the depressed part, the walking wheel is under damping spring's effect, pop out downwards, the walking wheel falls into sunken holding device's equilibrium in the twinkling of an eye, prevent that the device from constantly rocking takes place to turn on one's side, can carry out the adjustment on certain angle to the front end walking wheel through rotating-structure, can carry power for rear end walking wheel through drive structure, through moving-structure, drive structure and rotating-structure can make the device turn to when walking.

Drawings

FIG. 1 is a front view of the present invention;

fig. 2 is a rear view of the utility model with a schematic structure.

1-chassis, 2-robot body, 3-wireless transceiver, 4-moving structure, 41-fixed block, 42-groove, 43-damping spring, 44-connecting block, 45-connecting rod, 46-traveling wheel, 5-rotating structure, 6-driving structure, 51-cross rod, 52-vertical rod, 53-rotating rod, 54-first motor, 61-bearing box, 62-connecting shaft, 63-second motor, 64-main gear, 65-pinion, 66-telescopic rod and 7-counterweight.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution: the utility model provides an extensible mobile robot, its includes chassis 1, and the wall is provided with robot 2 on chassis 1, and robot 2 embeds the battery, and 2 upper ends of robot are provided with

wireless transceiver

3, and 2 insides of robot are equipped with single chip microcomputer controller, and chassis 1 lower wall is equipped with mobile structure 4.

During the use, personnel use the remote controller to carry out remote control to the robot, the ultrasonic signal transmission that the remote controller sent gives wireless transceiver 3, wireless transceiver 3 receives behind the ultrasonic signal and converts it into the signal of telecommunication and gives the inside module of single chip microcomputer control ware through the wire transmission, single chip microcomputer control ware receives the signal that the module transmitted and carries out the operation and the analysis calculation of data, and then control drive structure 6 and rotating-structure 5 realize the action of robot, cooperation between through drive structure 6 and rotating-structure 5 can turn to the removal to the robot.

Remove structure 4 including installing fixed block 41 in the wall four corners department under chassis 1, fixed block 41 is inside all to have seted up recess 42, damping spring 43 is all installed to the wall down in the recess 42, damping spring 43 lower extreme is kept away from recess 42 and is held equal fixedly connected with connecting block 44 by wall down, connecting block 44 lower extreme is all rotated and is connected with connecting rod 45, connecting rod 45 lower extreme fixed mounting has all to walk wheel 46, be equipped with rotating-structure 5 between a pair of walking wheel 46 of front end, be equipped with between a pair of walking wheel 46 of rear end and drive structure 6.

Because the robot can meet rugged road conditions when walking, because two teams exist independently for walking wheel 46, and walking wheel 46 is connected with damping spring 43 through connecting rod 45 and connecting block 44, when one or several of them meet the rugged road sections, damping spring 43 can play the effect of buffering, guarantee that walking wheel 46 can paste the walking in ground all the time, when walking into the depressed part, damping spring 43 pops out downwards, at the maintenance device's equilibrium in the twinkling of an eye that falls into the depressed part, prevent that the device from turning on one's side.

Rotating-structure 5 is including rotating the horizontal pole 51 of installing in the inboard a pair of walking wheels 46 of front end, horizontal pole 51 upwards extends equal fixed mounting has montant 52, a pair of montant 52 inwards extends equal fixed mounting and is equipped with dwang 53, connect through first motor 54 between a pair of dwang 53, a pair of dwang 53 is kept away from montant 52 and is held equal tilting and install on first motor 54 drive end, first motor 54 is installed in chassis 1 lower wall front end, first motor 54 power input end links to each other with the battery.

Start first motor 54 through single chip microcomputer controller, first motor 54 rotates, it rotates to drive dwang 53, dwang 53 rotates, it rotates to drive montant 52, because montant 52 is connected with horizontal pole 51, and then drive horizontal pole 51 and rotate, because the rotation of horizontal pole 51, walking wheel 46 rotates through connecting rod 45 and installs on connecting block 44, can drive walking wheel 46 and carry out the rotation on the removal angle, and then realize turning to the function, because dwang 53 can rotate from top to bottom on first motor 54 drive end, when walking wheel 46 reciprocates under damping spring when the effect, dwang 53 can remove together thereupon.

The driving structure 6 comprises a bearing box 61 arranged at the lower end of the chassis 1 and a connecting shaft 62 arranged between a pair of walking wheels 46 at the rear end, a second motor 63 is arranged on the upper wall surface of the bearing box 61, a main gear 64 is arranged on the driving end of the second motor 63, two ends of the connecting shaft 62 are fixedly arranged on the inner wall surfaces of the walking wheels 46, the bearing box 61 is respectively penetrated through the left side and the right side of the connecting shaft 62, a pinion 65 is fixedly sleeved on the connecting shaft 62, the pinion 65 is meshed with the main gear 64, the upper wall surface of the bearing box 61 is connected with the lower wall surface of the chassis 1 through a telescopic rod 66, the upper end of the telescopic rod 66 is fixedly arranged on the lower wall surface of the chassis 1, the lower.

The second motor 63 is driven to rotate by the singlechip controller, the second motor 63 rotates to drive the main gear 64 to rotate, the pinion 65 is driven to rotate due to the meshing of the pinion 65 and the main gear 64, the connecting shaft 62 is driven to rotate, the two ends of the connecting shaft 62 are connected with the rear-end travelling wheels 46, the rear-end travelling wheels 46 are driven to travel, power is provided by the rear-end travelling wheels 46, the device can travel, and the bearing box 61 is installed on the lower wall surface of the chassis 1 through the telescopic rods 66, so when the rear-end travelling wheels 46 move up and down under the action of the damping springs 43, the bearing box 61 also moves together.

The input ends of the first motor 54 and the second motor 63 are electrically connected with the output end of the singlechip controller through a lead.

The wireless transceiver 3 is an electromagnetic wave transceiver, and a module for data transmission and conversion with the wireless transceiver 3 is arranged in the single chip microcomputer controller.

The front end of the upper wall surface of the chassis 1 is provided with a balancing weight 7.

The counterweight block 7 can balance the gravity at the front end and the rear end of the chassis 1, and prevent the front end of the chassis 1 from being pressed to cause the side turning of the device when the rear-end travelling wheels 46 are driven.

The first motor 54 is rotated at-50 degrees, +50 degrees.

The working principle is as follows: drive rear end walking wheel 46 through drive structure 6 and provide power for the device, turn to front end walking wheel 46 through rotating-structure 5, can turn to when walking the device to moving-structure 4 has shock-absorbing function, prevents to be meetting rugged and uneven highway section because constantly rocking, causes turning on one's side of device.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An extensible mobile robot is characterized by comprising a chassis (1), wherein a robot body (2) is arranged on the upper wall surface of the chassis (1), a storage battery is arranged in the robot body (2), a wireless transceiver (3) is arranged at the upper end of the robot body (2), a single chip microcomputer controller is arranged in the robot body (2), and a mobile structure (4) is arranged on the lower wall surface of the chassis (1);

the movable structure (4) comprises fixed blocks (41) arranged at four corners of a lower wall surface of the chassis (1), grooves (42) are formed in the fixed blocks (41), damping springs (43) are arranged on the inner lower wall surface of each groove (42), the lower ends of the damping springs (43) far away from the grooves (42) are fixedly connected with connecting blocks (44), the lower ends of the connecting blocks (44) are rotatably connected with connecting rods (45), uniform walking wheels (46) are fixedly arranged at the lower ends of the connecting rods (45), a rotating structure (5) is assembled between the pair of walking wheels (46) at the front end, and a driving structure (6) is assembled between the pair of walking wheels (46) at the rear end;

the rotating structure (5) comprises a cross rod (51) which is rotatably installed at the front end of the inner side center of the pair of traveling wheels (46) and is deviated from the front position, vertical rods (52) are fixedly installed on the upward extension of the cross rod (51), rotating rods (53) are fixedly assembled on the inward extension of the pair of vertical rods (52), the pair of rotating rods (53) are connected through a first motor (54), the ends, far away from the vertical rods (52), of the pair of rotating rods (53) are installed on the driving end of the first motor (54) in a vertically rotating mode, the first motor (54) is installed at the front end of the lower wall face of the chassis (1), and the power supply input end of the first motor (54) is;

the driving structure (6) comprises a bearing box (61) arranged at the lower end of the chassis (1) and a connecting shaft (62) arranged at the rear end of the bearing box and between the traveling wheels (46), a second motor (63) is arranged on the upper wall surface of the bearing box (61), a main gear (64) is arranged at the driving end of the second motor (63), two ends of the connecting shaft (62) are fixedly arranged on the inner side wall surface of the traveling wheels (46), the bearing box (61) is respectively penetrated through the left side and the right side of the connecting shaft (62), an auxiliary gear (65) is fixedly sleeved on the connecting shaft (62), the auxiliary gear (65) is meshed with the main gear (64), the upper wall surface of the bearing box (61) is connected with the lower wall surface of the chassis (1) through an expansion link (66), the upper end of the expansion link (66) is fixedly arranged on the lower wall surface of the chassis (1), and the lower end of, and the power supply input end of the second motor (63) is connected with a storage battery.

2. The extensible mobile robot as claimed in claim 1, wherein the input terminals of the first motor (54) and the second motor (63) are electrically connected to the output terminal of the mcu through wires.

3. The extensible mobile robot as claimed in claim 1, wherein the wireless transceiver (3) is an electromagnetic wave transceiver, and a module for data transmission and conversion with the wireless transceiver (3) is disposed inside the single chip microcomputer controller.

4. An expandable mobile robot according to claim 1, characterized in that the front end of the upper wall of the chassis (1) is equipped with a counterweight (7).

5. An expandable mobile robot according to claim 1, characterized in that the angle of rotation of the first motor (54) is-50 degrees and +50 degrees.