CN216266143U - Robot base frame and robot - Google Patents

Abstract

The utility model provides a robot base frame and a robot. The robot base frame includes: a support: the first side frame end is provided with a first sliding rail and a third sliding rail at intervals, and the second side frame end is provided with a second sliding rail and a fourth sliding rail at intervals; first slip table: the second sliding rail is arranged between the first sliding rail and the second sliding rail and can move along the sliding rails; a first rotary mounting seat is arranged on the first sliding table; a second sliding table: the first sliding table is arranged at an interval with the first sliding table, is arranged between the third sliding rail and the fourth sliding rail and can move along the sliding rails; and a second rotary mounting seat is arranged on the second sliding table. The robot based on the pedestal structure comprises two independent robot main bodies, two sliding tables of the pedestal are designed into movable structures, the distance between shafts is adjustable, and the robot main bodies can be adapted to the movement of the robot main bodies.

Description

Robot base frame and robot

Technical Field

The utility model relates to a robot base frame and a robot.

Background

Robots are used in many fields and can perform diverse tasks.

The robot is a robot specially used for searching survivors in the ruins of underground shopping malls after a major earthquake to perform rescue tasks and a stretcher robot used for transporting injured people after rescuing people. The robot needs to move on site in various first-aid or rescue activities, the environmental terrain generally has non-flat characteristics, such as high steps, stairs, grooves and the like, has higher requirements on the mobility, the ground adaptability and the reliability of the robot, has higher requirements on the high rigidity, the light weight and the functionality of the whole axle of the robot for transfer application, and cannot meet the functional requirements of the stair-climbing stretcher robot compared with the single function of other axles and only has the supporting function.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solve one of the above problems, and provides a robot base frame and a robot having stable support performance.

In order to achieve the technical effects, the technical scheme adopted by the utility model is as follows:

a robotic base frame comprising:

a support: the first side frame end is provided with a first sliding rail and a third sliding rail at intervals, and the second side frame end is provided with a second sliding rail and a fourth sliding rail at intervals;

first slip table: the second sliding rail is arranged between the first sliding rail and the second sliding rail and can move along the sliding rails; a first rotary mounting seat is arranged on the first sliding table;

a second sliding table: the first sliding table is arranged at an interval with the first sliding table, is arranged between the third sliding rail and the fourth sliding rail and can move along the sliding rails; and a second rotary mounting seat is arranged on the second sliding table.

In some embodiments of the utility model: the base frame further includes:

a bidirectional screw: the first sliding table and the second sliding table are connected respectively;

a driving mechanism: the bidirectional screw rod is connected with the bidirectional screw rod to drive the bidirectional screw rod to rotate;

the driving mechanism is arranged on the support.

In some embodiments of the utility model: the drive mechanism includes:

a drive motor;

a first drive wheel: is connected with the power output end of the driving motor;

a second transmission wheel: is connected with a first driving wheel through a driving belt;

the second transmission wheel is fixedly arranged on the bidirectional screw rod.

In some embodiments of the utility model: the bidirectional screw rod sliding mechanism is characterized in that a first screw rod sliding block is arranged on the first sliding table, a second screw rod sliding block is arranged on the second sliding table, and the bidirectional screw rod is connected with the first screw rod sliding block and the second screw rod sliding block.

In some embodiments of the utility model: the two-way lead screw is provided with a first limiting block along the penetrating end of the first lead screw sliding block, and a second limiting block is arranged along the penetrating end of the second lead screw sliding block.

In some embodiments of the utility model: the holder further comprises:

the driving mechanism mounting seat: the second side frame is arranged between the first side frame and the second side frame and is positioned on the upper end surface of the frame;

the driving motor is installed on the lower end face of the installation seat.

In some embodiments of the utility model: a first side cross beam and a second side cross beam are arranged between the first side frame and the second side frame, and the first sliding table and the second sliding table are arranged between the first side cross beam and the second side cross beam;

the first side cross beam is provided with a first long hole penetrating through the side wall of the first side cross beam, and the first sliding table can penetrate out of the first long hole;

the second side cross beam is provided with a second long hole penetrating through the side wall of the second side cross beam, and the second sliding table can penetrate out through the second long hole.

In some embodiments of the utility model: the first sliding rail and the third sliding rail are movably arranged on the first side frame, and the second sliding rail and the fourth sliding rail are slidably arranged on the second side frame;

the end parts of the first sliding rail and the second sliding rail can penetrate out along the first long hole;

the end parts of the third sliding rail and the fourth sliding rail can penetrate out along the second long hole.

In some embodiments of the utility model: there is further provided a robot comprising: a first robot main body, a second robot main body and the robot base frame; the first sliding table is connected with the first robot main body, and the second sliding table is connected with the second robot main body.

In some embodiments of the utility model: the first robot main body and the second robot main body comprise top plates, shaft holes are formed in the top plates, the first rotary mounting seat is mounted in the shaft hole of the first robot main body, and the second rotary mounting seat is mounted in the shaft hole of the second robot main body.

Compared with the prior art, the robot base frame and the robot provided by the utility model have the beneficial effects that:

(1) a robot base frame for double-point installation is provided. The base frame has two slide tables as a whole, and each slide table all is as an installation point, can be installed to the robot main part. The support is used as a main body of the robot for bearing the object to be transported, and the stability of bearing support is ensured by the double-point mounting structure.

(2) The robot based on the pedestal structure comprises two independent robot main bodies. In order to adapt to the structure, the two sliding tables of the base frame are designed into movable structures, the distance between the shafts is adjustable, and the movable structures can adapt to the movement of the robot main body.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of a robot base frame;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is a schematic view of the driving mechanism;

FIG. 4 is a structural diagram of the lifting mechanism in a fully lowered state;

FIG. 5 is a schematic diagram of a partially raised structure of the lifting mechanism;

FIG. 6 is a schematic structural view of the lifting mechanism in a completely green state;

FIG. 7 is a schematic view of a walking chassis structure;

FIG. 8 is a cross-sectional structural view of the walking chassis;

FIG. 9 is a schematic view of a robot base frame and a robot main body mounting structure;

in the above drawings:

1-support, 101-first side frame, 102-second side frame, 103-drive mechanism mount, 104-first side beam, 105-second side beam;

201-a first slide rail, 202-a second slide rail, 203-a third slide rail, 204-a fourth slide rail;

301-a first sliding table, 3011-a first rotary mounting base, 3012-a first lead screw sliding block, 302-a second sliding table, 3021-a second rotary mounting base, 3022-a second lead screw sliding block;

401-a bidirectional screw, 4011-a first limit block, 4012-a second limit block, 402-a driving motor, 403-a first driving wheel, 404-a second driving wheel and 405-a driving belt;

5-a connecting shaft;

601-a first side main front wheel, 602-a first side main rear wheel, 6031-a first side main track support, 6032-track supporting wheels, 6033-a first side main track body, 604-a first side main middle wheel;

701-a second side main front wheel, 702-a second side main rear wheel, 7031-a first side main track support, 7032-a track support wheel, 7033-a first side main track, 704-a second side main middle wheel;

801-first drive mechanism, 802-second drive mechanism, 803-turbine drive assembly;

901-base, 902-base shield;

1001-first side auxiliary front wheel, 1002-first side auxiliary rear wheel, 1003-first side auxiliary track, 10031-first side mounting long hole, 1004-first side extension handle and 1005-first side universal wheel;

1101-a second side auxiliary front wheel, 1102-a second side auxiliary rear wheel, 1103-a second side auxiliary track, 11031-a second side mounting long hole, 1104-a second side extension handle and 1105-a second side universal wheel;

12-base, 1201-articulated arm;

13-top plate, 1301-shaft hole;

1401-a first section of groove track, 1402-a second section of groove track;

15-a first set of articulated links;

16-a second set of articulated links;

17-a third set of articulated links;

18-a fourth set of articulated links;

19-middle connecting rod;

20-a jacking plate;

21-a connecting rod;

22-a reed jacking mechanism;

23-a first robot body;

24-a second robot body;

25-robot base frame.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "disposed on," "connected to," another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "upper", "lower", "bottom", and the like, as used herein, are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present invention and simplicity of description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be considered limiting.

The present invention first provides a robot base frame, comprising:

support 1: the frame-shaped frame comprises a first side frame 101 and a second side frame 102 which are oppositely arranged at intervals, a first sliding rail 201 and a third sliding rail 203 are arranged at intervals at the end of the first side frame, the positions of the first sliding rail 201 and the third sliding rail 203 are opposite, a second sliding rail 202 and a fourth sliding rail 204 are arranged at intervals at the end of the second side frame 102, and the positions of the second sliding rail 202 and the fourth sliding rail 204 are opposite;

first slide table 301: the sliding device is arranged between the first sliding rail 201 and the second sliding rail 202 and can move along the two sliding rails; the first sliding table 301 is provided with a first rotary mounting seat 3011 for mounting the first sliding table 301 to the robot main body;

the second slide table 302: the first sliding table 301 is arranged at an interval, is arranged between the third sliding rail 203 and the fourth sliding rail 204, and can move along the sliding rails; two of the second slide tables 302 are provided with second rotary mounting seats 3021 for mounting the second slide tables 302 to the robot main body.

The robot base frame, on which the object to be carried may be disposed, serves as a carrier for the robot. The first rotary mounting seat 3011 and the second rotary mounting seat 3021 form a double-point mounting structure, which can improve the support stability and the carrying stability of the robot. Meanwhile, the two sliding tables can move relatively, so that the flexibility of coordination work between the sliding tables and the robot main body is guaranteed.

In some embodiments of the utility model: in order to improve the flexibility of the base frame installation structure, the base frame installation structure further comprises:

the bidirectional screw 401: are respectively connected with the first sliding table 301 and the second sliding table 302;

a driving mechanism: the bidirectional screw rod is connected with the bidirectional screw rod to drive the bidirectional screw rod to rotate;

the driving mechanism is mounted on the support and is located between the first sliding rail 201 and the third sliding rail 203.

Based on this kind of structure, make things convenient for the mechanical regulation of wheel base between first slip table 301 and the second slip table 302.

In some embodiments of the utility model: the drive mechanism includes:

a drive motor 402;

first driving pulley 403: is connected with the power output end of the driving motor;

second driving wheel 404: connected to the first drive pulley 403 via a drive belt 405;

wherein, the second driving wheel 404 is fixedly arranged on the bidirectional screw 402.

The driving motor 402 rotates to drive the first driving wheel 403 to rotate, and the driving belt 405 transmits the acting force to the second driving wheel 404, so as to drive the bidirectional screw 402 to rotate.

The rotation of the bidirectional screw 402 drives the first sliding table 403 and the second sliding table 404 to move relatively or oppositely, so as to adjust the axle distance between the two sliding tables.

In order to solve the problem of installation between the driving mechanism and the sliding table, some embodiments of the utility model: first slip table 301 is last to be provided with first lead screw slider 3012, is provided with second lead screw slider 3022 on the second slip table 302, and two-way lead screw 401 is connected with first lead screw slider 3012 and second lead screw slider 3022. The two lead screw sliding blocks are provided with threads matched with the lead screw 401 and are in threaded connection with the bidirectional lead screw 401. This structure can stably restrict the relative movement of the two slide tables.

In order to control the movement distance of the two sliding tables and avoid overlarge distance between the sliding tables and reduced support stability caused by transitional movement, in some embodiments of the utility model: the bidirectional screw 401 is provided with a first limiting block 4011 along the penetrating end of the first screw slider 3012, and a second limiting block 4012 along the penetrating end of the second screw slider 3022.

In some embodiments of the utility model: the stand further comprises:

drive mechanism mount 103: is arranged between the first side frame 101 and the second side frame 102, is positioned on the upper end surface of the frames, and is positioned between the first slide rail 201 and the third slide rail 203;

the driving motor 402 is mounted on the lower end surface of the mounting base 103.

In some embodiments of the utility model: a first side cross beam 104 and a second side cross beam 105 are arranged between the first side frame 101 and the second side frame 102, and a first sliding table 301 and a second sliding table 302 are arranged between the first side cross beam 104 and the second side cross beam 105;

the first side cross beam 104 is provided with a first long hole 1041 penetrating through the side wall thereof, and the first sliding table 301 can penetrate out through the first long hole 1041 in the moving process;

the second side cross beam 105 is provided with a second long hole 1042 penetrating through the side wall thereof, and the second sliding table 302 can penetrate through the second long hole 1042 in the moving process.

The structure of slot hole provides the motion space for the motion of slip table, can improve the regulating variable of interval between the slip table.

In order to further improve the relative mobility of the slide, some embodiments of the utility model: the first sliding rail 201 and the third sliding rail 203 are movably mounted on the first side frame 101, and the second sliding rail 202 and the fourth sliding rail 204 are slidably mounted on the second side frame 102;

the end parts of the first slide rail 201 and the second slide rail 202 can penetrate out along the first long hole 1041;

the end portions of the third slide rail 203 and the fourth slide rail 204 can penetrate out along the second long hole 1042.

Based on the aforementioned robot base frame 25, some embodiments of the utility model: there is further provided a robot, with reference to fig. 9, comprising: a first robot main body 23 and a second robot main body 24, and the robot base frame described above; the first slide table 301 is connected to the first robot main body 23, and the second slide table 301 is connected to the second robot main body 24.

To address the problem of mounting between the base and the robot body, some embodiments of the utility model: the first robot main body 23 and the second robot main body 24 each include a top plate 13, each top plate 13 is provided with a shaft hole 1301, the first rotary mounting base 3011 is mounted in the shaft hole of the first robot main body 23, and the second rotary mounting base 3021 is mounted in the shaft hole 301 of the second robot main body 24.

The two robot main bodies are independent main bodies, can adopt the same structure, and can independently execute motion instructions without mutual interference. Because asynchronous movement may exist between the two robot main bodies, the movement of the robot main bodies can be adapted in a mode of adjusting the distance between the two sliding tables.

Hereinafter, an embodiment structure of the robot main body is further provided.

Referring to fig. 4 to 6, each robot body includes a base 12 and a top plate 13, the base 12 and the top plate 13 are connected via at least one set of scissors lifting assembly, in a use state, the position of the base 12 is relatively fixed, and the extension and retraction of the scissors lifting assembly can control and adjust the distance between the base 12 and the top plate 13. When the lifting assembly moves, the robot base frame moves synchronously with the lifting assembly. It should be noted that the two sets of robot bodies move independently, which facilitates the adjustment of the level of the base frame. For example, when the level of the walking position of the first group of robot main bodies is higher than the level of the walking position of the second group of robot main bodies, the lifting mechanism of the second group of robot main bodies can be adjusted to adjust the level of the pedestal.

Every group cuts fork lifting unit includes: grooved rails and four sets of articulated rods.

Groove rail: are respectively arranged on the base 12 and the top plate 13; in this embodiment, the grooved rail is a segmented structure, the base 12 includes two grooved rails, which are respectively a first grooved rail 1401 and a second grooved rail 1402, the two grooved rails can be butted or arranged at intervals, the directions of the notches of the slider grooves of the two grooved rails face to the side, and the directions of the notches of the slider grooves of the two grooved rails face to the opposite directions; the top plate 13 also has correspondingly arranged groove tracks, which are not visible in the figure;

first set of hinge rods 15: the telescopic connecting rod chain mechanism comprises a plurality of connecting rods in shaft connection, a connecting rod chain is formed between every two connecting rods, two adjacent connecting rods can rotate mutually, and the first group of hinged rods 15 stretch out and draw back in the rotating process; two connecting rods positioned at the end parts of the first group of hinged rods 15 are respectively and axially connected with the base 12 and the top plate 13 and can rotate relative to the base 12 and the top plate 13;

second set of hinge rods 16: the two connecting rods positioned at the end parts of the second group of hinged rods 16 are respectively in shaft connection with the base and the top plate and can rotate relative to the base 12 and the top plate 13; the second group of hinged rods 15 and the first group of hinged rods 15 are arranged at intervals along the first direction with the axial connection positions of the base 12 and the top plate 13, adjacent connecting rods can rotate along the direction parallel to the first direction, and the grooved rails are arranged in the intervals of the first direction of the axial connection positions;

third group hinge lever 17: the connecting rods are connected by a plurality of shafts, two connecting rods positioned at the end parts of the third group of hinged rods 17 are both provided with sliding blocks, and the sliding blocks are positioned in the sliding rails; specifically, the first grooved rail 1401 is positioned at one side close to the first group of hinged rods 15, the second grooved rail 1402 is positioned close to the second group of hinged rods 16, and the third group of hinged rods 17 are installed with the first grooved rail 1401 in a matching way;

fourth group hinge lever 18: the connecting rods are connected by a plurality of shafts, two connecting rods positioned at the end parts of the fourth group of hinged rods 18 are both provided with sliding blocks, and the sliding blocks are positioned in the sliding rails; the fourth group of hinged rods 18 is matched with the second grooved rail 1402, and the joint of the fourth group of hinged rods 18 and the sliding groove on the base 12 is positioned on one side close to the second group of hinged rods 16 relative to the joint of the third group of hinged rods 17 and the sliding groove of the base;

the middle connecting rod 19: the connecting rods in the third group of hinged rods 17 and the connecting rods in the fourth group of hinged rods 18 are connected correspondingly, and here, the correspondence refers to that: one end of the middle connecting rod 19 is connected with the shaft connecting position of the first connecting rod and the second connecting rod in the third group of hinged rods 17, and the other end of the middle connecting rod is connected with the shaft connecting position of the first connecting rod and the second connecting rod in the fourth group of hinged rods 18;

the rod walls of the middle extension rods 19 are provided with long holes 1901, and the long holes 1901 of the odd-numbered middle extension rods 19 are used for accommodating connecting shafts of adjacent connecting rods of the first group of hinge rods 15 and the second group of hinge rods 16 from the base 12 to the top plate 13, and the long holes 1901 of the even-numbered middle extension rods 19 are used for accommodating connecting shafts of adjacent connecting rods of the third group of hinge rods 17 and the fourth group of hinge rods 18. At the corresponding coupling position, the coupling shaft between the two links is lengthened, so that the extension is disposed in the corresponding long hole 1901.

The first set of hinge rods 15 and the second set of hinge rods 16 are fixed relatively to the base 12 and the top plate 13; different from the two groups of hinge rods, the two ends of the third group of hinge rods 17 and the fourth group of hinge rods 18 are movable ends. The purpose of the long hole 1901 on the middle connecting rod 19 is to limit the movement of the third and fourth groups of hinged rods 17 and 18, so as to ensure that the lifting mechanism can lift in the vertical direction.

In some embodiments of the present invention, the coupling positions of the second set of hinge rods 16 and the base 12 and the top plate 13 and the coupling positions of the first set of hinge rods 15 and the base 12 and the top plate 13 are both spaced in the second direction, and the groove rails are disposed in the second direction of the coupling positions; the second direction is perpendicular to the first direction. The structure can enhance the compactness of the whole structure and avoid the motion interference among the groups of shaft rods.

In some embodiments of the present invention, the long holes 1901 on the middle extension rods are arranged in segments, the long holes on the side of the odd number of middle extension rods close to the second group of hinge rods 16 are used for accommodating the connecting shafts of the first group of hinge rods 15, and the long holes on the side close to the first group of hinge rods 15 are used for accommodating the connecting shafts of the third group of hinge rods 17; the long holes on the side of the even number of middle extension bars close to the second set of hinge bars 16 are used for accommodating the connecting shafts of the fourth set of hinge bars 18, and the long holes on the side close to the first set of hinge bars 15 are used for accommodating the connecting shafts of the third set of hinge bars 17. The long hole 1901 has a segmented structure, so that the motion interference between adjacent motion rods can be further avoided.

In some embodiments of the present invention, in order to further improve the structural stability of the lifting mechanism, the scissors lifting assembly includes two sets, which are spaced apart from each other on the base 12. Specifically, the rod sets of the two sets of lifting assemblies are arranged on the base 12 in parallel. The two groups of mechanisms adopt symmetrical structures.

In some embodiments of the present invention, the connecting rod assembly further comprises a plurality of connecting rod sets, each connecting rod set comprises two connecting rods 21; direction from base 12 to top plate 13:

the odd groups of connecting rod groups are respectively connected with connecting shafts of adjacent shaft rods in a third group of hinged rods 17 in the two groups of scissor lifting assemblies, and connecting shafts of adjacent shaft rods in a fourth group of hinged rods 18;

the even groups of connecting rod groups are respectively connected with connecting shafts of adjacent shaft rods in the first group of hinged rods 15 and connecting shafts of adjacent shaft rods in the second group of hinged rods 16 in the two groups of scissor lifting assemblies.

The connecting rod group is used for connecting the two groups of scissor lifting assemblies, so that the two groups of lifting assemblies move synchronously, and stable lifting action is ensured.

In some embodiments of the utility model, further comprising:

jacking plate 20: two connecting rods 21 in a first group of connecting rod groups from the base 12 to the top plate 13;

the lifting driving mechanism: the power output end is connected with a jacking plate 20, and in the embodiment, the lifting driving mechanism is a reed jacking mechanism 22. The reed jacking mechanism 22 is arranged on the bottom plate 12, and the telescopic reeds 22 are connected with the jacking plate 20.

The jacking plate 20 is shaped like a Chinese character 'ji', and can cover the reed jacking mechanism 22, so that a certain protection effect is provided.

The second embodiment of the present invention further provides a stair climbing robot, which is a robot capable of climbing on a climbing road in a broad sense, and may be a stair or a steep slope.

The stair climbing robot includes a robot main body and the lifting mechanism provided in the foregoing first embodiment, and the base frame is provided on the top plate 13.

For the assembly of the chassis and the walking, the base 12 side is provided with an articulated arm 1201 for mounting the lifting mechanism to the robot walking mechanism.

The walking chassis can be realized by the following structures comprising:

a first side main travel mechanism;

the second side main walking mechanism: the first side main walking mechanism is arranged at intervals;

connecting the shaft: connecting the first side main traveling mechanism and the second side main traveling mechanism; the first side main travelling mechanism and the second side main travelling mechanism can travel synchronously;

the first side auxiliary walking mechanism: the connecting shaft 5 is in shaft connection with the main travelling mechanism at the side close to the first side;

the second side auxiliary walking mechanism: and the connecting shaft 5 is in shaft connection with the main travelling mechanism at the side close to the second side.

The first side auxiliary travelling mechanism and the second side auxiliary travelling mechanism are positioned in front of the travelling direction. And in the process that the first side main walking mechanism and the second side main walking mechanism move forwards, the first side auxiliary walking mechanism and the second side auxiliary walking mechanism walk forwards synchronously. Meanwhile, the first side auxiliary walking mechanism and the second side auxiliary walking mechanism can rotate around the connecting shaft 5, when the walking chassis walks to a climbing road section, the first side auxiliary walking mechanism and the second side auxiliary walking mechanism rotate around the connecting shaft 5, and then the walking chassis finishes climbing walking.

In some embodiments of the present invention, a structure for implementing the first side main traveling mechanism and the second side main traveling mechanism is further provided.

The first side main traveling mechanism includes: a first side main front wheel 601 and a first side main rear wheel 602 which are arranged at intervals, and a first side main crawler belt is arranged around the first side main front wheel 601 and the first side main rear wheel 602;

the second side main travel mechanism includes: a second side main front wheel 701 and a second side main rear wheel 702 which are arranged at intervals, and a second side main crawler belt is arranged around the second side main front wheel 701 and the second side main rear wheel 702;

the first side main front wheel 601 and the second side main front wheel 701 are connected through a connecting shaft 5, the first side main rear wheel 602 is connected with the second side main rear wheel 702, the first side main rear wheel 602 is connected with a first driving mechanism 801, the second side main rear wheel 702 is connected with a second driving mechanism 802, and the two main rear wheels are used as driving wheels and are driven to rotate respectively. The driving wheels on the two sides can be respectively and independently driven, and the functions of integral movement differential steering and pivot steering of the chassis base are realized.

Furthermore, the connecting shaft 5 is also a driven rotating structure, a worm is adopted, and the walking chassis further comprises a turbine driving assembly 803 which is matched with the worm to drive the worm to rotate.

Further, a belt or a crawler may be provided around the first side main front wheel 601 and the first side main rear wheel 602, and in this embodiment, the crawler is used in consideration of the need of the traveling chassis to travel on the ground such as stairs.

Further, in some embodiments of the present invention, the first side main traveling mechanism further includes: a first side main middle wheel 604, wherein the first side main middle wheel 604 is positioned above the middle part of the first side main front wheel 601 and the first side main rear wheel 602, and a first side main crawler belt is arranged around the first side main front wheel 601, the first side main middle wheel 604 and the first side main rear wheel 602;

the corresponding second side main traveling mechanism further includes: a second side main middle wheel 704, the second side main middle wheel 704 being located above the middle of the second side main front wheel 701 and the second side main rear wheel 702, and a second side main track being provided around the second side main front wheel 701, the second side main middle wheel 704, and the second side main rear wheel 702.

In some embodiments of the present invention, there is further provided a track and primary travel mechanism engagement structure. The first side main track comprises a first side main track support 6031, track supporting wheels 6032 arranged on the first side main track support 6031 at intervals, and a first side main track body 6033 arranged around the first side main front wheel 601, the first side main middle wheel 604, the first side main rear wheel 602 and the track supporting wheels 6032; the first side main front wheel 601 and the first side main rear wheel 602 are coupled to a first side track shoe support 6031, and the first side track support wheels 6032 are arranged between the first side main front wheel 601 and the first side main rear wheel 602.

Correspondingly, the second side main track comprises a second side main track support 7031, track supporting wheels 7032 arranged on the second side main track support 7031 at intervals, and a second side main track body 7033 arranged around the second side main front wheel 701, the second side main middle wheel 704, the second side main rear wheel 702 and the track supporting wheels 7032; wherein, the second side main front wheel 701 and the second side main rear wheel 702 are coupled with the second side track shoe bracket 7031, and the second side track supporting wheel 7032 is arranged between the second side main front wheel 701 and the second side main rear wheel 702.

The walking chassis further comprises a chassis base 901 and a chassis shield 902, the chassis base 901 is connected with a first side crawler support 6031 and a second side crawler support 7031, the connecting shaft 5, the worm and gear drive assembly 802, the drive mechanism 801 and the like are all arranged on the chassis base 901, and the drive mechanism 801 is connected with a first side main rear wheel and a second side main rear wheel; the chassis cover 902 protects the chassis base 901 and the drive mechanism 801.

The articulated arm 1201 is connected to the finger board base 901 to enable the installation of the lifting mechanism and the walking chassis.

The whole body of the chassis base 901 and the chassis shield 902 is formed by machining hard aluminum alloy.

In some embodiments of the present invention, an implementation structure of the auxiliary walking mechanism is further provided.

The first side auxiliary walking mechanism comprises: a first side auxiliary front wheel 1001 and a first side auxiliary rear wheel 1002 which are arranged at intervals, and a first side auxiliary crawler 1003 which is arranged around the first side auxiliary front wheel 1001 and the first side auxiliary rear wheel 1002;

the second side auxiliary walking mechanism comprises: a second side auxiliary front wheel 1101 and a second side auxiliary rear wheel 1102 arranged at an interval, and a second side auxiliary crawler 1103 arranged around the second side auxiliary front wheel 1101 and the second side auxiliary rear wheel 1102;

the first side auxiliary rear wheel 1002 is coupled with the connecting shaft 5; the second side auxiliary rear wheel 1102 is journaled to the connecting shaft 5.

In the structure, the main track and the auxiliary track are both formed by casting special hard rubber, the outer side of the track is provided with special cross grains to increase the stair climbing capacity, and the inner side of the track is meshed with the driving wheel and the driven wheel by independently designing tooth shapes.

Further, in some embodiments of the utility model: a first side auxiliary front wheel 1001 and a first side auxiliary rear wheel 1002 are aligned in the extending direction of the first side main front wheel 601 and the first side main rear wheel 602; the second side auxiliary front wheel 1101 and the second side auxiliary rear wheel 1102 are aligned in the extending direction of the second side main front wheel 701 and the second side main rear wheel 702; the first side auxiliary rear wheel 1002 is coupled to the link shaft 5, and the second side auxiliary rear wheel 1102 is coupled to the link shaft 5.

In some embodiments of the utility model: the first side auxiliary crawler comprises a first side auxiliary crawler support 1003 and a first side auxiliary crawler body 1004, a first side auxiliary front wheel 1001 and a first side auxiliary rear wheel 1002 are in shaft connection with the first side auxiliary crawler support 1003, and the first side auxiliary crawler body 1004 is arranged around the first side auxiliary front wheel 1001 and the first side auxiliary rear wheel 1002;

accordingly, the second side-secondary track includes a second side-secondary track frame 1103 and a second side-secondary track body 1104, the second side-secondary front wheel 1101 and the second side-secondary rear wheel 1102 are coupled to the second side-secondary track frame 1103, and the second side-secondary track body 1104 is disposed around the second side-secondary front wheel 1101 and the second side-secondary rear wheel 1102.

The first side auxiliary walking mechanism comprises: a first side extension bar 1004 and a first side universal wheel 1005 mounted on the first side extension bar 1004, wherein the first side extension bar 1004 is connected with the first side auxiliary crawler frame 1003 and extends to the front of the first side main front wheel 601;

the second side auxiliary walking mechanism comprises: a second side extension handle 1104 and a second side universal wheel 1105 mounted on the second side extension handle 1104, wherein the second side extension handle 1104 is connected to the second side sub crawler frame 1103 and extends forward of the second side main front wheel 701.

Because the universal wheels are arranged, the direction moving property of the walking chassis is more flexible, the small turning radius steering or pivot steering of the chassis base when the auxiliary track and the main track form an included angle can be realized, and the walking chassis base can meet the full adaptation of multiple terrains.

The length of the first side auxiliary travelling mechanism and the length of the second side auxiliary travelling mechanism are increased by the design of the extension handle, so that the first side auxiliary travelling mechanism and the second side auxiliary travelling mechanism form a luffing mechanism relative to the main travelling mechanism. The walking chassis is more suitable for climbing of large-amplitude stairs, and the walking stability of the walking mechanism is enhanced. In this embodiment, the wheel base of both sides main track is 450mm, and the wheel base of assisting the track is 240mm, and total track effective length is 690mm when main track and assisting the track keep the coplanar, can stride across tertiary step span completely, keeps the even running that the chassis base climbed the building.

Furthermore, a structure for assisting the walking mechanism to adjust the walking length is provided. Specifically, in some embodiments of the present invention:

a first side mounting long hole 10031 is formed in the first side crawler frame 1003 in the extending direction of the first side crawler frame 1003, and the first side extension handle 1004 is mounted to the first side mounting long hole 10031 through a fixing member;

a second side mounting elongated hole 11031 is provided along the extending direction of the second side track frame 1103, and the second side extension handle 1104 is mounted to the second side mounting elongated hole 11031 via a fixing member.

The mounting position of the first side extension handle 1004 relative to the first side crawler frame 1003 can be adjusted, and the position is fixed through the fixing piece after the adjustment; similarly, the second side extension handle 1104 is adjustable relative to the first side track frame 1003 and is fixed in position by the fixing member after being adjusted. Based on the structure, the overall length of the first side auxiliary walking mechanism and the second side auxiliary walking mechanism is adjustable.

A signal receiver can be arranged on the walking chassis and can be in wireless communication with the handheld controller. When the signal receiver receives the control signal, the worm and the worm of the worm wheel are adjusted to rotate, so that the first side auxiliary walking mechanism and the second side auxiliary walking mechanism rotate relative to the worm, and the ground surface walks or climbs a stair.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A robotic base frame, comprising:

a support: the first side frame end is provided with a first sliding rail and a third sliding rail at intervals, and the second side frame end is provided with a second sliding rail and a fourth sliding rail at intervals;

first slip table: the second sliding rail is arranged between the first sliding rail and the second sliding rail and can move along the sliding rails; a first rotary mounting seat is arranged on the first sliding table;

a second sliding table: the first sliding table is arranged at an interval with the first sliding table, is arranged between the third sliding rail and the fourth sliding rail and can move along the sliding rails; and a second rotary mounting seat is arranged on the second sliding table.

2. The robotic pedestal of claim 1, wherein the pedestal further comprises:

a bidirectional screw: the first sliding table and the second sliding table are connected respectively;

a driving mechanism: the bidirectional screw rod is connected with the bidirectional screw rod to drive the bidirectional screw rod to rotate;

the driving mechanism is arranged on the support.

3. The robotic pedestal of claim 2, wherein the drive mechanism comprises:

a drive motor;

a first drive wheel: is connected with the power output end of the driving motor;

a second transmission wheel: is connected with a first driving wheel through a driving belt;

the second transmission wheel is fixedly arranged on the bidirectional screw rod.

4. The robotic pedestal of claim 2 or 3, wherein: the bidirectional screw rod sliding mechanism is characterized in that a first screw rod sliding block is arranged on the first sliding table, a second screw rod sliding block is arranged on the second sliding table, and the bidirectional screw rod is connected with the first screw rod sliding block and the second screw rod sliding block.

5. The robotic pedestal of claim 4, wherein: the two-way lead screw is provided with a first limiting block along the penetrating end of the first lead screw sliding block, and a second limiting block is arranged along the penetrating end of the second lead screw sliding block.

6. The robotic pedestal of claim 3, wherein the support further comprises:

the driving mechanism mounting seat: the second side frame is arranged between the first side frame and the second side frame and is positioned on the upper end surface of the frame;

the driving motor is installed on the lower end face of the installation seat.

7. The robotic pedestal of claim 1, wherein a first side cross-member and a second side cross-member are disposed between the first side frame and the second side frame, the first slip table and the second slip table being disposed between the first side cross-member and the second side cross-member;

the first side cross beam is provided with a first long hole penetrating through the side wall of the first side cross beam, and the first sliding table can penetrate out of the first long hole;

the second side cross beam is provided with a second long hole penetrating through the side wall of the second side cross beam, and the second sliding table can penetrate out through the second long hole.

8. The robotic pedestal of claim 7, wherein the first and third slide rails are movably mounted on the first side frame, and the second and fourth slide rails are slidably mounted on the second side frame;

the end parts of the first sliding rail and the second sliding rail can penetrate out along the first long hole;

the end parts of the third sliding rail and the fourth sliding rail can penetrate out along the second long hole.

9. A robot, comprising: a first robot body and a second robot body, and a robot base frame according to any one of claims 1 to 8; the first sliding table is connected with the first robot main body, and the second sliding table is connected with the second robot main body.

10. A robot as recited in claim 9, wherein: the first robot main body and the second robot main body comprise top plates, shaft holes are formed in the top plates, the first rotary mounting seat is mounted in the shaft hole of the first robot main body, and the second rotary mounting seat is mounted in the shaft hole of the second robot main body.

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