CN211335493U

CN211335493U - Running gear that robot used

Info

Publication number: CN211335493U
Application number: CN201921042539.8U
Authority: CN
Inventors: 朱柯衡
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-07-05
Filing date: 2019-07-05
Publication date: 2020-08-25
Anticipated expiration: 2029-07-05

Abstract

The utility model discloses a walking device for a robot, which comprises a chassis, wherein the left end of the chassis is provided with a driven shaft, the two ends of the driven shaft are connected with wheels, the right end of the chassis is provided with a driving shaft, the two ends of the driving shaft are connected with the wheels, the lower side of the middle part of the chassis is fixedly provided with a storage battery, the left side of the storage battery is fixedly provided with an air compressor, the right side of the storage battery is fixedly provided with a driving motor, and the; an air spring is fixedly installed at the corner of the upper side of the chassis, a height valve is arranged beside the air spring, a first electromagnetic valve and a second electromagnetic valve are arranged on the lower side of the air spring, and an air inlet of the air spring is respectively connected with the height valve, the first electromagnetic valve and the second electromagnetic valve through air pipes; an air storage cylinder is installed on the upper side of the middle of the chassis, an air inlet of the air storage cylinder is connected with an air compressor through an air pipe, and an air outlet of the air storage cylinder is connected with a first electromagnetic valve through the air pipe. The utility model discloses can realize the autostabilization function, play the effect that keeps the object level on the bearing platform.

Description

Running gear that robot used

Technical Field

The utility model relates to the technical field of robots, specifically be a running gear that robot used.

Background

A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace the work of human work, such as manufacturing, construction, or other dangerous work. Robots are the product of advanced integrated control theory, mechatronics, computers, materials, and bionics. At present, robots are more and more widely applied in daily life, such as current automatic express delivery robots and meal delivery robots.

Present food delivery robot is when sending a meal, because the variety of road conditions, often can walk some great roads of slope, the soup class food does not lacked in guest's the ordering again, and food delivery robot's running gear structure is comparatively simple again, does not have the automatic stabilization function again, the balance of unable automatically regulated cutlery box, therefore the condition that dish soup or soup overflow from food delivery box appears easily takes place, seriously influences guest's service satisfaction, still cause the waste of food easily.

Therefore, we propose a walking device for robots.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a running gear that robot was used for the running gear of the current food delivery robot who solves the aforesaid and mentions can not adjust the balanced function of cutlery box according to the road conditions.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a walking device for a robot comprises a chassis, wherein a driven shaft is installed at the left end of the chassis, wheels are connected to two ends of the driven shaft, a driving shaft is installed at the right end of the chassis, the wheels are connected to two ends of the driving shaft, a storage battery is fixedly installed on the lower side of the middle of the chassis, an air compressor is fixedly installed on the left side of the storage battery, a driving motor is fixedly installed on the right side of the storage battery, and the driving motor is connected with the driving shaft through a universal shaft; an air spring is fixedly installed at the edge of the upper side of the chassis, an altitude valve is arranged beside the air spring, a first electromagnetic valve and a second electromagnetic valve are arranged on the lower side of the air spring, and an air inlet of the air spring is respectively connected with the altitude valve, the first electromagnetic valve and the second electromagnetic valve through air pipes; an air storage cylinder is fixedly mounted on the upper side of the middle part of the chassis, an air inlet of the air storage cylinder is connected with an air compressor through an air pipe, and an air outlet of the air storage cylinder is connected with a first electromagnetic valve through the air pipe; the air spring upper end fixed mounting is in the lower surface of bearing platform, the lower surface middle part fixed mounting of bearing platform has horizontal detector one and horizontal detector two, horizontal detector one sets up along the fore-and-aft direction level, horizontal detector two sets up along left right direction level, horizontal detector one right side fixed mounting has the singlechip, horizontal detector one, horizontal detector two, singlechip altitude valve, solenoid valve one and two electric connection of solenoid valve.

Preferably, the number of the air springs is 4, and the number of the altitude valve, the number of the first electromagnetic valve and the number of the second electromagnetic valve are also 4 respectively.

Preferably, the first horizontal detector and the second horizontal detector are composed of a shell, mercury liquid and bubbles, a first electrode is arranged in the middle of the lower surface of the shell, a second electrode is arranged on the left side of the upper surface of the shell, and a third electrode is arranged on the right side of the upper surface of the shell.

Preferably, the shock absorber is arranged on the inner side of the wheel, so that the shock absorbing function of the device can be enhanced.

Preferably, the upper surface of the bearing platform is provided with an installation connecting hole, so that the upper end of the bearing platform is convenient to additionally install the robot body and the storage device.

The beneficial effects of the utility model reside in that:

the utility model can drive the driving shaft to move through the driving motor by arranging the storage battery and the driving motor, thereby realizing the walking function; the function of automatically keeping the bearing platform horizontal can be realized by arranging the first level detector, the second level detector, the air spring, the height valve and the electromagnetic valve, so that the function of keeping an object on the bearing platform horizontal can be realized.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the level detector of the present invention.

Fig. 3 is an air spring layout diagram according to an embodiment of the present invention.

Fig. 4 is a logic diagram of circuit connection according to an embodiment of the present invention.

In the figure: 1 chassis, 2 bearing platforms, 3 wheels, 4 driven shafts, 5 driving shafts, 6 level detectors I, 7 level detectors II, 8 singlechips, 9 altitude valves, 10 air springs, 11 air compressors, 12 storage batteries, 13 driving motors, 14 universal shafts, 15 air cylinders, 16 air pipes, 17 electromagnetic valves I, 18 electromagnetic valves II, 19 shock absorbers, 20 shells, 21 mercury liquid, 22 air bubbles, 23 first electrodes, 24 second electrodes, 25 third electrodes, 101 air springs I, 102 air springs II, 103 air springs III and 104 air springs IV.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it is to be understood that the terms "upper side", "lower side", "inner side", "middle part", "left end", "right end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-4, a walking device for a robot comprises a chassis 1, wherein a driven shaft 4 is installed at the left end of the chassis 1, wheels 3 are connected to two ends of the driven shaft 4, shock absorbers are arranged on the inner sides of the wheels 3, and are more beneficial to enhancing the shock absorbing function of the device, a driving shaft 5 is installed at the right end of the chassis 1, the wheels 3 are connected to two ends of the driving shaft 5, a storage battery 12 is fixedly installed at the lower side of the middle of the chassis 1, an air compressor 11 is fixedly installed at the left side of the storage battery 12, a driving motor 13 is fixedly installed at the right side of the storage battery 12, the driving motor 13 is of an HLD48V1000W model of; 4 air springs 10 are fixedly installed at the upper side corner of the chassis 1 and are respectively a first air spring 101, a second air spring 102, a third air spring 103 and a fourth air spring 104, 1 height valve 9 is arranged beside each air spring 10, the height valves 9 are of Weibo 4640023000 type, the lower side of each air spring 10 is provided with a first electromagnetic valve 17 and a second electromagnetic valve 18, the electromagnetic valves are of Weibo 4720726280 type, and air inlets of the air springs 10 are respectively connected with the height valves 9, the first electromagnetic valves 17 and the second electromagnetic valves 18 through air pipes 16; an air storage cylinder 15 is fixedly mounted on the upper side of the middle of the chassis 1, an air inlet of the air storage cylinder 15 is connected with the air compressor 11 through an air pipe 16, and an air outlet of the air storage cylinder 15 is connected with a first electromagnetic valve 17 through the air pipe 16.

The upper end of the air spring 10 is fixedly arranged on the lower surface of the bearing table 2, the upper surface of the bearing table 2 is provided with a mounting and connecting hole, a robot body and a storage device are conveniently and additionally arranged on the upper end of the bearing table 2, a first horizontal detector 6 and a second horizontal detector 7 are fixedly arranged in the middle of the lower surface of the bearing table 2, the first horizontal detector 6 is horizontally arranged along the front-back direction, the second horizontal detector 7 is horizontally arranged along the left-right direction, the horizontal detector is composed of a shell 20, mercury liquid 21 and bubbles 22, a first electrode 23 is arranged in the middle of the lower surface of the shell 20, a second electrode 24 is arranged on the left side of the upper surface of the shell 20, a third electrode 25 is arranged on the right side of the upper surface of the shell 20, the first electrode 23 is an anode, the second electrode 24 and the third electrode 25 are cathodes, a closed loop can, the horizontal state of the bearing platform 2 can be accurately detected, the single chip microcomputer 8 is fixedly mounted on the right side of the first horizontal detector 6, and the first horizontal detector 6, the second horizontal detector 7, the single chip microcomputer 8, the altitude valve, the first electromagnetic valve and the second electromagnetic valve are electrically connected.

The utility model discloses a theory of operation: the utility model discloses at the during operation, by battery 12 as power drive driving motor 13 work, driving motor 13 drive shaft 5 moves, thereby make this device can remove, when going up a slope, the front wheel is higher than the rear wheel this moment, thereby make bearing platform 2 form the angle of high back low before, at this moment, bubble 22 in horizontal detector one 6 can move the front end, second electrode 24 breaks away from the soaking of mercury liquid 21 this moment, thereby first electrode 23 and second electrode 24 support become the broken circuit and send the signal of telecommunication to singlechip 8, singlechip 8 receives the signal of telecommunication and can control the second 18 circular telegrams of solenoid valve below air spring 101 and the second 102 of air spring, the exhaust air makes the height reduction of first 101 of air spring and second 102 of air spring after the second 18 circular telegrams of solenoid valve; meanwhile, the singlechip 8 can also control the first electromagnetic valve 17 below the third air spring 103 and the fourth air spring 104 to work, the first electromagnetic valve 17 works to enable compressed air in the air storage cylinder 15 to enter the air springs, so that the heights of the third air spring 103 and the fourth air spring 104 are increased, and after the heights of the first air spring 101 and the second air spring 102 are reduced and the heights of the third air spring 103 and the fourth air spring 104 are increased to enable the bearing platform 2 to recover the horizontal state, the second electrode 24 of the horizontal detector 6 returns to the mercury liquid 21 to form a loop, so that the singlechip 8 controls the electromagnetic valves to stop working. Similarly, when the left side of the device is higher than the bottom of the right side, the air bubble 22 in the second level detector 7 moves to the left end, so that a signal is sent to the single chip microcomputer 8, the single chip microcomputer 8 controls the second electromagnetic valve 18 below the first air spring 101 and the third air spring 103 to work and lower the two air springs, and simultaneously controls the first electromagnetic valve 17 below the second air spring 102 and the fourth air spring 104 to work and raise the two air springs, so that the bearing platform 2 is kept horizontal.

When the bearing platform 2 is in a horizontal state, the singlechip 8 controls the height valve 9 to work, and when the height between the bearing platform 2 and the chassis 1 is lower than a set value, the height valve 9 controls air to enter the air spring to enable the height to rise to the set value; when the height between the bearing platform 2 and the chassis 1 is higher than the set value, the height valve 9 will control the air to be discharged out of the air spring to reduce the height to the set value.

Further, the above-mentioned fixed connection and fixed mounting are to be understood in a broad sense unless otherwise specifically stated or limited, and may be, for example, welding, gluing, or integrally formed, as is conventional in the art.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a running gear that robot used, includes the chassis, its characterized in that: the left end of the chassis is provided with a driven shaft, the two ends of the driven shaft are connected with wheels, the right end of the chassis is provided with a driving shaft, the two ends of the driving shaft are connected with the wheels, the lower side of the middle part of the chassis is fixedly provided with a storage battery, the left side of the storage battery is fixedly provided with an air compressor, the right side of the storage battery is fixedly provided with a driving motor, and the driving motor is connected with the driving shaft through a; an air spring is fixedly installed at the edge of the upper side of the chassis, an altitude valve is arranged beside the air spring, a first electromagnetic valve and a second electromagnetic valve are arranged on the lower side of the air spring, and an air inlet of the air spring is respectively connected with the altitude valve, the first electromagnetic valve and the second electromagnetic valve through air pipes; an air storage cylinder is fixedly mounted on the upper side of the middle part of the chassis, an air inlet of the air storage cylinder is connected with an air compressor through an air pipe, and an air outlet of the air storage cylinder is connected with a first electromagnetic valve through the air pipe; the air spring upper end fixed mounting is in the lower surface of bearing platform, the lower surface middle part fixed mounting of bearing platform has horizontal detector one and horizontal detector two, horizontal detector one sets up along the fore-and-aft direction level, horizontal detector two sets up along left right direction level, horizontal detector one right side fixed mounting has the singlechip, horizontal detector one, horizontal detector two, singlechip, altitude valve, solenoid valve one and two electric connection of solenoid valve.

2. A walking device for a robot according to claim 1, wherein: the number of the air springs is 4, and the number of the altitude valves, the number of the first electromagnetic valves and the number of the second electromagnetic valves are also 4 respectively.

3. A walking device for a robot according to claim 1, wherein: the first horizontal detector and the second horizontal detector are composed of a shell, mercury liquid and bubbles, a first electrode is arranged in the middle of the lower surface of the shell, a second electrode is arranged on the left side of the upper surface of the shell, and a third electrode is arranged on the right side of the upper surface of the shell.

4. A walking device for a robot according to claim 1, wherein: the inner side of the wheel is provided with a shock absorber.

5. A walking device for a robot according to claim 1, wherein: the upper surface of the bearing table is provided with an installation connecting hole.