CN216359986U - Installation base, elevating system and stair climbing robot - Google Patents

Abstract

The utility model provides an installation base, a lifting mechanism and a stair climbing robot. The installation base includes: a base body; a slide rail: the sliding device comprises a first sliding rail and a second sliding rail which are arranged on the end surface of one side of a base body at intervals in parallel; a slide block: the sliding device comprises a first sliding block arranged on a first sliding rail and a second sliding block arranged on a second sliding rail; connecting piece: connecting the first slider and the second slider; a screw mechanism: the screw rod shaft is connected with the connecting piece; connecting arm: the connecting device comprises a first connecting arm connected with the first sliding block in a shaft mode and a second connecting arm connected with the second sliding block in a shaft mode. The lifting mechanism comprises the mounting base and the top plate which are connected through a lifting component. The lifting mechanism can be installed on a stair climbing robot. The mounting base has an angle adjusting function, can be mounted with the robot walking mechanism in a matching mode, adjusts the relative angle of the base by adjusting the relative position of the connecting arm on the sliding rail, and guarantees the conveying stability of the robot.

Description

Installation base, elevating system and stair climbing robot

Technical Field

The utility model relates to the technical field of walking robots, in particular to an installation base, a lifting mechanism and a stair climbing robot.

Background

Robots are used in many fields and can perform diverse tasks. Due to the limitation of the application scene of the robot, part of the robot needs to walk on the uneven ground.

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.

In various emergency or rescue activity sites, the environmental terrain generally has non-flat characteristics, and particularly the stair road condition aimed at by the stretcher robot has higher requirements on the ground adaptability and the reaction speed of the robot. In this case, the angle of the robot needs to be finely adjusted, for example, when the robot runs to a bumpy road section, the angle of the base needs to be finely adjusted to keep the carrying smooth.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solve one of the above problems, and provides a robot mounting base having a tilt adjusting function, a lifting mechanism, and a stair climbing robot.

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

a mounting base, comprising:

a base body;

a slide rail: the sliding device comprises a first sliding rail and a second sliding rail which are arranged on the end surface of one side of a base body at intervals in parallel;

a slide block: the sliding device comprises a first sliding block arranged on a first sliding rail and a second sliding block arranged on a second sliding rail;

connecting piece: connecting the first slider and the second slider;

a screw mechanism: the screw rod shaft is connected with the connecting piece;

connecting arm: the connecting device comprises a first connecting arm connected with the first sliding block in a shaft mode and a second connecting arm connected with the second sliding block in a shaft mode.

In some embodiments of the utility model: the connecting piece is the connecting plate, and one side towards the lead screw axle of connecting plate is provided with the lead screw slider, the lead screw slider includes the screw, the lead screw axle passes the lead screw slider.

In some embodiments of the utility model:

the first sliding block is provided with a first shaft block, the first shaft block is provided with a shaft hole, and the first connecting arm is arranged in the shaft hole through a pin shaft;

a second shaft block is mounted on the second sliding block, a shaft hole is formed in the second shaft block, and the second connecting arm is mounted to the shaft hole through a pin shaft;

the positions of the shaft holes on the first shaft block and the second shaft block are configured to enable the first connecting arm and the second connecting arm to rotate towards the direction close to or far away from the base body after being installed.

In some embodiments of the utility model: one end of the first connecting arm far away from the first sliding block and one end of the second connecting arm far away from the second sliding block are both provided with shaft holes for connecting the mounting base to the adapting mechanism.

In some embodiments of the utility model: the articulated arm is arranged on the lower bottom surface of the base body at intervals and is arranged in parallel with the first slide rail and the second slide rail; and a hinge shaft hole is formed in the hinge arm and used for connecting the mounting base to the adapting mechanism.

In some embodiments of the utility model: the screw rod mechanism is arranged between the gap between the two hinged arms and the gap between the first sliding rail and the second sliding rail.

In some embodiments of the utility model: further provides a lifting mechanism, which comprises the installation base and a top plate; the installation base with connect through at least a set of lifting unit between the roof, lifting unit lift process, the relative distance between adjustable base and the roof.

In some embodiments of the utility model: cut fork lifting unit includes:

groove rail: is arranged on the base and the top plate;

a first set of hinge rods: the two connecting rods positioned at the end parts of the first group of hinged rods are respectively in shaft connection with the base and the top plate;

a second set of hinge rods: the two connecting rods positioned at the end parts of the second group of hinged rods are respectively in shaft connection with the base and the top plate; the second group of hinged rods and the first group of hinged rods are arranged at intervals along the first direction with the coupling positions of the base and the top plate, and the groove rails are arranged at intervals in the first direction with the coupling positions;

third set of articulated rods: the sliding block is positioned in the sliding rail;

fourth group hinge bar: the connecting rods are connected by a plurality of shafts, and the two connecting rods positioned at the end parts of the fourth group of hinged rods are both provided with sliding blocks which are positioned in the sliding rails; the joint of the fourth group of hinged rods and the upper rail groove of the base is positioned on one side close to the second group of hinged rods relative to the joint of the third group of hinged rods and the base sliding groove;

a middle connecting rod: connecting the connecting rod in the corresponding third group of hinged rods with the connecting rod in the fourth group of hinged rods; the wall of the middle connecting rod is provided with a long hole, the base faces the top plate, the long holes of the odd-numbered middle connecting rods are used for accommodating connecting shafts of the first group of hinged rods and the adjacent connecting rods of the second group of hinged rods, and the long holes of the even-numbered middle connecting rods are used for accommodating connecting shafts of the third group of hinged rods and the adjacent connecting rods of the fourth group of hinged rods.

In some embodiments of the utility model: the stair climbing robot comprises the lifting mechanism and a walking chassis, wherein the lifting mechanism is connected with the walking chassis.

In some embodiments of the utility model: the walking chassis comprises:

a first side main travel mechanism;

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

connecting the shaft: connecting a first side main traveling mechanism and a second side main traveling mechanism at first end sides corresponding to the first side main traveling mechanism and the second side main traveling mechanism;

a driving mechanism: the first driving mechanism is connected with the first side main traveling mechanism at the second end side of the first side main traveling mechanism, and the second driving mechanism is connected with the second side main traveling mechanism at the second end side of the second side main traveling mechanism; the first driving mechanism and the second driving mechanism are connected through a second connecting shaft of the shaft;

the articulated arm is in shaft joint with the connecting shaft, and the connecting arm is in shaft joint with the second connecting shaft.

In some embodiments of the utility model: the controller is used for controlling the movement of the lead screw mechanism; the base body is provided with a level gauge, the control system is connected with the level gauge to acquire a level signal and control the movement of the screw rod mechanism based on the level signal.

Compared with the prior art, the utility model has the beneficial effects that:

the installation base can be installed in a manner of being matched with a robot walking mechanism, the relative position of the connecting arm on the sliding rail can be adjusted through adjusting, the relative angle of the base is adjusted, and the conveying stability of the robot is guaranteed.

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 view of a mounting base structure;

FIG. 2 is a structural diagram of the lifting mechanism in a fully lowered state;

FIG. 3 is a schematic diagram of a partially raised structure of the lifting mechanism;

FIG. 4 is a schematic structural view of the lifting mechanism in a completely green state;

FIG. 5 is a schematic view of a walking chassis structure;

FIG. 6 is a cross-sectional structural view of the walking chassis;

FIG. 7 is a schematic view of a hub construction;

FIG. 8 is a schematic view of a small wheel structure;

FIG. 9 is a schematic view of the locking structure;

FIG. 10 is a schematic view of a wheel structure constructed from a set of wheel structures;

FIG. 11 is a schematic view of a wheel structure constructed from two sets of wheel structures;

in the above drawings:

1-hub, 101-hub body, 102-shaft hole, 103-wheel support, 104-shaft groove and 105-wheel support through hole;

2-small wheel, 201-wheel body, 202-first side wheel shaft, 203-second side wheel shaft;

3-lock catch, 301-lock catch main body part, 302-lock catch through hole, 303-U-shaped wheel groove and 304-step structure.

4-a fixing piece;

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-worm gear drive assembly;

901-base, 902-base shield, 9021-mounting hole;

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, 12011-articulated shaft hole, 1202-slide, 1203-slide, 1204-linkage, 1205-drive motor, 1206-screw shaft, 1207-first linkage arm, 1208-second linkage arm;

13-a top plate;

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-reed jacking mechanism.

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.

The present invention first provides a mounting base, comprising:

a base body 12;

slide rail 1202: the sliding rail comprises a first sliding rail and a second sliding rail (wherein the second sliding rail is not visible in a drawing) which are arranged on the end surface of one side of a base body at intervals in parallel;

the slider 1203: comprises a first slide block arranged on a first slide rail and a second slide block arranged on a second slide rail (wherein the second slide block is not visible in the figure);

the connecting piece 1204: connecting a first slider and the second slider;

a screw mechanism: comprises a driving motor 1205 and a screw shaft 1206, wherein the screw shaft 1206 is connected with a connecting piece 1204;

connecting arm: including a first link arm 1207 pivotally coupled to the first slider and a second link arm 1208 pivotally coupled to the second slider.

The first connecting arm 1207 and the second connecting arm 1208 of the mounting base may be adapted to mount to other mechanisms. Due to the relative rotation structure between the slider 1203 and the installation base, when the position of the slider 1203 relative to the sliding rail 1202 is adjusted, the horizontal angle of the installation base is adjusted.

In some embodiments of the utility model: the connecting piece is the connecting plate, and the one side of orientation lead screw axle 1206 of connecting plate is provided with the lead screw slider, and the lead screw slider includes the screw, and lead screw axle 1206 passes the lead screw slider. As a preferred embodiment, the screw mechanism is arranged at the central position between the first slide rail and the second slide rail, and the screw slide block is arranged at the middle position of the connecting plate.

In some embodiments of the utility model: a first shaft block 1209 is mounted on the first sliding block, a shaft hole is formed in the first shaft block 1209, and a first connecting arm 1207 is mounted to the shaft hole through a pin shaft;

a second shaft block (not visible in the drawing) is arranged on the second sliding block, a shaft hole is formed in the second shaft block, and the second connecting arm is arranged in the shaft hole through a pin shaft;

the positions of the first shaft 1209 and the second shaft holes are configured such that the first connecting arm 1207 and the second connecting arm 1208 can rotate in a direction towards or away from the base body when the first connecting arm 1209 and the second connecting arm 1208 are mounted.

In some embodiments of the utility model: one end of the first connecting arm far away from the first sliding block and one end of the second connecting arm far away from the second sliding block are both provided with shaft holes for connecting the mounting base to the adapting mechanism.

The first shaft blocks 1209 and the second shaft blocks may also be arranged below the connection plate if the connection plate is long enough. Through this kind of structure, realize that two linking arms can the bi-polar rotate.

In some embodiments of the utility model: the base further comprises two articulated arms 1201 which are arranged on the lower bottom surface of the base body at intervals and are arranged in parallel with the first slide rail and the second slide rail; the hinge arm 1201 is provided with a hinge shaft aperture 12011 for connecting the mounting base to the adapter mechanism.

In some embodiments of the utility model: the lifting mechanism is structurally characterized by referring to fig. 2 to 4, and comprises a base body 12 and a top plate 13, wherein the base body 12 and the top plate 13 are connected through at least one group of scissor lifting assemblies, in a use state, the position of the base body 12 is relatively fixed, and the telescopic movement of the scissor lifting assemblies can control and adjust the distance between the base body 12 and the top plate 13.

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

Groove rail: are respectively arranged on the base body 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; the two connecting rods positioned at the end parts of the first group of hinged rods 15 are respectively coupled with the base body 12 and the top plate 13 and can rotate relative to the base body 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 body 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 body 12 and the top plate 13, adjacent connecting rods can rotate along the direction parallel to the first direction, and the groove rails are arranged at intervals in 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 hinge rods 18 is matched with the second grooved rail 1402, and the joint of the fourth group of hinge rods 18 and the sliding groove on the base body 12 is positioned on one side close to the second group of hinge rods 16 relative to the joint of the third group of hinge 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 body 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 body 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 body 12 and the top plate 13 and the coupling positions of the first set of hinge rods 15 and the base body 12 and the top plate 13 are both spaced in the second direction, and the groove tracks are disposed in the spacing 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 body 12. Specifically, the rod sets of the two sets of lifting assemblies are arranged on the base body 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 the base body 12 toward the 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 body 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 present invention further provides a stair climbing robot according to a third embodiment of the present invention, which refers to a robot capable of climbing on a climbing road in a broad sense, and may be a stair or a steep slope.

In some embodiments of the utility model: the stair climbing robot comprises the lifting mechanism and a walking chassis, and the lifting mechanism is connected with the walking chassis. The stair climbing robot includes a robot main body and the lifting mechanism provided in the foregoing first embodiment, and the robot carrying mechanism is provided on the top plate 13.

The walking chassis comprises:

a first side main travel mechanism;

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

connecting shaft 5: connecting a first side main traveling mechanism and a second side main traveling mechanism at first end sides corresponding to the first side main traveling mechanism and the second side main traveling mechanism;

a driving mechanism: the device comprises a first driving mechanism 801 and a second driving mechanism 802, wherein the first driving mechanism 801 is connected with a first side main traveling mechanism at the second end side of the first side main traveling mechanism, and the second driving mechanism 802 is connected with a second side main traveling mechanism at the second end side of the second side main traveling mechanism; the first driving mechanism 801 and the second driving mechanism 802 are connected through a second connecting shaft;

the hinge arm 12 is coupled to the connecting shaft 5, and the first connecting arm 1207 and the second connecting arm 1208 are coupled to the second connecting shaft.

To illustrate the improved intelligence of the tilt adjustment, some embodiments of the utility model: the controller is used for controlling the movement of the lead screw mechanism; the base body is provided with a level gauge, the control system is connected with the level gauge to acquire a level signal, and the motion of the screw rod mechanism is controlled based on the level signal.

When the level gauge detects that the base main body is in a non-horizontal state, the lead screw is started and rotates. The first connecting arm 1207 and the second connecting arm 1208 rotate at one end about the position of the coupling with the second connecting shaft and at the other end about the position of the coupling with the shaft block. The hinge arm 12 rotates about the mounting position with the connecting shaft 5. The level of the base body 12 is adjusted by three-point linkage.

Further, the walking chassis further comprises:

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 worm wheel 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, a connecting shaft 5, a worm and gear drive assembly 802, a drive mechanism 801 and the like are 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 base shield 902 is provided with two sets of mounting holes 9021, which are matched with the positions of the two hinge arms 1201, the first connecting arm 1207 and the second connecting arm 1208. The hinge arm 1201, the first connection arm 1207, and the second connection arm 1208 are connected to the connection shaft 5 and the second connection shaft, respectively, through the mounting hole 9021.

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. After the signal receiver receives the control signal, the worm and gear 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.

Another embodiment of the present invention further provides a wheel that can be used as a universal wheel mounted on the first side extension handle 1004 and the second side extension handle 1104, and has the advantages of small size and high energy bearing capacity.

The single wheel comprises at least one set of wheel structures, and the wheel structures comprise a hub 1, a small wheel 2 and a lock catch 3.

Hub 1: the hub comprises a hub main body 101, wherein the hub main body 101 is circular, and a shaft hole 102 is formed in the center of the hub main body; toothed wheel supports 103 are arranged along the outer peripheral wall of the hub main body 101 at intervals, and shaft grooves 104 are formed in the end parts of the wheel supports 103, which extend along the radial direction of the hub main body 101; each of the wheel holders 103 has the same size and is arranged on the hub main body 101 at an equal angular interval.

A small wheel 2: comprises a wheel body 201, a first side wheel shaft 202 and a second side wheel shaft 203 which are arranged along the two axial sides of the wheel body; the first side wheel shaft 202 and the second side wheel shaft 203 are respectively arranged in the shaft grooves 104 of two adjacent wheel holders; the axle groove 104 is a semicircular groove, the first side wheel axle 202 and the second side wheel axle 203 are positioned in the wheel groove 104 and can rotate freely, and meanwhile, the wheel groove 104 can bear the load of the small wheel 2, so that the bearing capacity of the wheel is improved.

And (3) locking and buckling: the lock catch main body part 301 forms a U-shaped wheel groove structure and can be installed at each wheel hub in a matched mode, the U-shaped wheel groove 303 is clamped at the position of the shaft groove 104, the lock catch main body part 301 is connected with the wheel support 103, the lock catch main body part is matched with the wheel support 103 to limit the wheel shaft on the corresponding side, and the wheel shaft cannot be stopped from rotating in a space limited by the lock catch main body part and the wheel support 103.

In order to solve the problem of installation between the lock catch 3 and the wheel holder 103, in some embodiments of the present invention, the wheel holder 103 is provided with a wheel holder through hole 105 penetrating through the thickness direction thereof, and the wheel holder through hole 105 is located below the wheel groove 104, i.e., the through hole 105 is located on a side closer to the center of the wheel hub relative to the wheel groove 104; the two side walls of the U-shaped wheel groove 303 of the lock catch are provided with lock catch through holes 302, when the lock catch 3 is installed at the wheel hub 1, the lock catch through holes 302 are opposite to the wheel support through holes 105, and the fixing piece 4 penetrates through the lock catch through holes 301 and the wheel support through holes 105 to fix the lock catch 3 and the wheel hub 1.

As a more preferable embodiment, in some embodiments of the present invention, after the lock catch 3 is mounted to the wheel holder 103, the inner walls of the two sides of the U-shaped wheel groove 303 of the lock catch are attached to the two sides of the wheel holder 103, and this structure can ensure the stability of the mounting of the small wheel 2 and avoid the shaking after the mounting.

In order to further improve the fixing effect of the lock catch 3 on the small wheel 2, in some embodiments of the present invention, the radial depth of the inner wall of the lock catch U-shaped wheel groove 303 near the groove bottom is greater than the radial depths of the two side walls, and the two side walls opposite to the groove bottom form a stepped structure 304 to form a stepped groove. The stepped structure has a limiting effect on the wheel shaft, and the wheel shaft is prevented from sliding in the lock catch 3 in a transition mode and falling off.

In some embodiments of the present invention, 12 wheel holders 103 are uniformly arranged along the outer peripheral wall of the hub, and the arrangement gap between every two adjacent wheel holders 103 is a central angle of 30 °.

In order to further improve the bearing capacity of the wheel, the utility model comprises two groups of wheel structures, and the wheel hubs of the two groups of wheel structures are fixedly arranged on the same wheel shaft. The bearing capacity of the whole wheel can be improved by the structural cooperation of the multiple groups of wheels, and the wheel is suitable for products with large volume and heavy weight.

In some embodiments of the present invention, the wheel holders of the two wheel structures are arranged in a staggered manner, and taking the structure in which the wheel holders 103 on a single wheel hub are arranged at a central angle of 30 ° as an example, the wheel holders of the two wheel structures are arranged in a staggered manner by 15 °. Can guarantee like this that every two arbitrary wheels of group wheel structure hold in the palm the clearance between 103 all to set up the wheel of another group wheel structure and hold in the palm 103, improve the support ability of wheel.

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 (13)

1. A mounting base, comprising:

a base body;

a slide rail: the sliding device comprises a first sliding rail and a second sliding rail which are arranged on the end surface of one side of a base body at intervals in parallel;

a slide block: the sliding device comprises a first sliding block arranged on a first sliding rail and a second sliding block arranged on a second sliding rail;

connecting piece: connecting the first slider and the second slider;

a screw mechanism: the screw rod shaft is connected with the connecting piece;

connecting arm: the connecting device comprises a first connecting arm connected with the first sliding block in a shaft mode and a second connecting arm connected with the second sliding block in a shaft mode.

2. The mounting base of claim 1, wherein: the connecting piece is the connecting plate, and one side towards the lead screw axle of connecting plate is provided with the lead screw slider, the lead screw slider includes the screw, the lead screw axle passes the lead screw slider.

3. The mounting base of claim 1, wherein:

the first sliding block is provided with a first shaft block, the first shaft block is provided with a shaft hole, and the first connecting arm is arranged in the shaft hole through a pin shaft;

a second shaft block is mounted on the second sliding block, a shaft hole is formed in the second shaft block, and the second connecting arm is mounted to the shaft hole through a pin shaft;

the positions of the shaft holes on the first shaft block and the second shaft block are configured to enable the first connecting arm and the second connecting arm to rotate towards the direction close to or far away from the base body after being installed.

4. The mounting base of claim 1 or 3, wherein the end of the first connecting arm remote from the first slider and the end of the second connecting arm remote from the second slider are provided with shaft holes for connecting the mounting base to the adapter mechanism.

5. The mounting base of claim 1, further comprising two hinge arms spaced apart from each other on a lower bottom surface of the base body and disposed in parallel with the first and second rails; and a hinge shaft hole is formed in the hinge arm and used for connecting the mounting base to the adapting mechanism.

6. A lifting mechanism comprising the mounting base of any one of claims 1 to 4, and a top plate; the mounting base is connected with the top plate through at least one group of scissor lifting assemblies, and the relative distance between the base and the top plate can be adjusted in the lifting process of the lifting assemblies.

7. The lift mechanism of claim 6, wherein the scissors lift assembly comprises:

groove rail: is arranged on the base and the top plate;

a first set of hinge rods: the two connecting rods positioned at the end parts of the first group of hinged rods are respectively in shaft connection with the base and the top plate;

a second set of hinge rods: the two connecting rods positioned at the end parts of the second group of hinged rods are respectively in shaft connection with the base and the top plate; the second group of hinged rods and the first group of hinged rods are arranged at intervals along the first direction with the coupling positions of the base and the top plate, and the groove rails are arranged at intervals in the first direction with the coupling positions;

third set of articulated rods: the sliding block is positioned in the sliding rail;

fourth group hinge bar: the connecting rods are connected by a plurality of shafts, and the two connecting rods positioned at the end parts of the fourth group of hinged rods are both provided with sliding blocks which are positioned in the sliding rails; the joint of the fourth group of hinged rods and the upper rail groove of the base is positioned on one side close to the second group of hinged rods relative to the joint of the third group of hinged rods and the base sliding groove;

a middle connecting rod: connecting the connecting rod in the corresponding third group of hinged rods with the connecting rod in the fourth group of hinged rods; the wall of the middle connecting rod is provided with a long hole, the base faces the top plate, the long holes of the odd-numbered middle connecting rods are used for accommodating connecting shafts of the first group of hinged rods and the adjacent connecting rods of the second group of hinged rods, and the long holes of the even-numbered middle connecting rods are used for accommodating connecting shafts of the third group of hinged rods and the adjacent connecting rods of the fourth group of hinged rods.

8. A stair climbing robot comprising the lifting mechanism of claim 6 or 7 and a walking chassis, wherein the lifting mechanism is connected with the walking chassis.

9. The stair climbing robot according to claim 8, further comprising a controller for controlling movement of the lead screw mechanism; the base body is provided with a level gauge, the controller is connected with the level gauge to acquire a level signal and control the movement of the screw rod mechanism based on the level signal.

10. A lift mechanism comprising the mounting base of claim 5, and a top plate; the mounting base is connected with the top plate through at least one group of scissor lifting assemblies, and the relative distance between the base and the top plate can be adjusted in the lifting process of the lifting assemblies.

11. The lift mechanism of claim 10, wherein the scissors lift assembly comprises:

groove rail: is arranged on the base and the top plate;

a first set of hinge rods: the two connecting rods positioned at the end parts of the first group of hinged rods are respectively in shaft connection with the base and the top plate;

a second set of hinge rods: the two connecting rods positioned at the end parts of the second group of hinged rods are respectively in shaft connection with the base and the top plate; the second group of hinged rods and the first group of hinged rods are arranged at intervals along the first direction with the coupling positions of the base and the top plate, and the groove rails are arranged at intervals in the first direction with the coupling positions;

third set of articulated rods: the sliding block is positioned in the sliding rail;

fourth group hinge bar: the connecting rods are connected by a plurality of shafts, and the two connecting rods positioned at the end parts of the fourth group of hinged rods are both provided with sliding blocks which are positioned in the sliding rails; the joint of the fourth group of hinged rods and the upper rail groove of the base is positioned on one side close to the second group of hinged rods relative to the joint of the third group of hinged rods and the base sliding groove;

a middle connecting rod: connecting the connecting rod in the corresponding third group of hinged rods with the connecting rod in the fourth group of hinged rods; the wall of the middle connecting rod is provided with a long hole, the base faces the top plate, the long holes of the odd-numbered middle connecting rods are used for accommodating connecting shafts of the first group of hinged rods and the adjacent connecting rods of the second group of hinged rods, and the long holes of the even-numbered middle connecting rods are used for accommodating connecting shafts of the third group of hinged rods and the adjacent connecting rods of the fourth group of hinged rods.

12. A stair climbing robot comprising the lifting mechanism of claim 10 or 11 and a walking chassis, wherein the lifting mechanism is connected with the walking chassis.

13. A stair climbing robot as claimed in claim 12, wherein said walking chassis comprises:

a first side main travel mechanism;

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

connecting the shaft: connecting a first side main traveling mechanism and a second side main traveling mechanism at first end sides corresponding to the first side main traveling mechanism and the second side main traveling mechanism;

a driving mechanism: the first driving mechanism is connected with the first side main traveling mechanism at the second end side of the first side main traveling mechanism, and the second driving mechanism is connected with the second side main traveling mechanism at the second end side of the second side main traveling mechanism; the first driving mechanism and the second driving mechanism are connected through a second connecting shaft of the shaft;

the articulated arm is in shaft joint with the connecting shaft, and the connecting arm is in shaft joint with the second connecting shaft.

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