CN220996110U - Omnibearing liftable robot chassis structure - Google Patents
Omnibearing liftable robot chassis structure Download PDFInfo
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- CN220996110U CN220996110U CN202323235265.3U CN202323235265U CN220996110U CN 220996110 U CN220996110 U CN 220996110U CN 202323235265 U CN202323235265 U CN 202323235265U CN 220996110 U CN220996110 U CN 220996110U
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Abstract
The disclosure belongs to the technical field of nuclear power, and particularly relates to an omnibearing liftable robot chassis structure. The omnibearing liftable robot chassis structure has the following advantages: the walking steering mechanism of the robot chassis realizes the walking and steering functions through the two motors, has compact structure and greatly saves space. The height of the main body box of the robot is changed through the lifting mechanism and the lifting auxiliary mechanism so as to adapt to the practical requirements of obstacle surmounting and lifting of the main body box of different obstacles. A plurality of punching positioning areas are arranged in the chassis main body frame, so that the walking steering mechanism can be installed at multiple positions while the structure is light, and further the requirements of the chassis heights of robots under different working conditions are met. The height of the wheels ensures that the universal wheels have certain obstacle surmounting and ground clinging capabilities.
Description
Technical Field
The utility model belongs to the technical field of nuclear power, and particularly relates to an omnibearing liftable robot chassis structure.
Background
Along with the development of science and technology, more and more intelligent mobile robots are in our lives, and convenience is brought to our lives. When the intelligent mobile robot works, the intelligent mobile robot is driven to walk mainly by controlling the driving wheel through the walking motor. While the intelligent mobile robot passes over the obstacle with lower height mainly through the universal wheels, in the related art, the intelligent mobile robot adopting the structure cannot usually cross over the higher obstacle, so that the using effect of the equipment is seriously affected, and therefore, the capability of the robot for crossing the obstacle is needed to be improved.
Disclosure of utility model
In order to overcome the problems in the related art, the chassis structure of the omnibearing liftable robot is provided.
According to an aspect of the disclosed embodiments, there is provided an omnidirectional liftable robot chassis structure including: four groups of walking steering mechanisms, two groups of lifting mechanisms, a chassis main body frame and a robot main body box;
The robot main body box is fixedly connected in the chassis main body frame, one group of lifting mechanisms are arranged at one end of the chassis main body frame, the other group of lifting mechanisms are arranged at the other end of the chassis main body frame, and each traveling steering mechanism is fixedly connected at one corner of the bottom end of the chassis main body frame;
Each group of walking steering mechanism comprises a walking servo motor, a motor connecting bending plate and a steering motor, wherein the walking servo motor and the steering motor are arranged on the motor connecting bending plate, the motor connecting bending plate is fixedly connected with the bottom end of the chassis main body frame, the walking servo motor is used for linear movement, and the steering motor is used for rotating the walking servo motor;
Each group of lifting mechanisms comprises a gear box, a screw rod nut, a connecting plate, a bearing seat and a hollow cup motor, wherein the hollow cup motor and the gear box are fixedly connected at the upper end of the chassis main body frame; the hollow cup motor is controlled to drive the screw rod to rotate through the transmission of the gear box, so that the screw rod nut is driven to drive the robot main body to ascend or descend.
In one possible implementation manner, the omnibearing liftable robot chassis structure further includes: two groups of lifting mechanisms;
The lifting mechanism comprises a chassis main body frame, a box body, a bending plate, a sliding block, a lifting mechanism and a lifting mechanism.
In one possible implementation, the output shaft of the coreless motor is capable of outputting different rotational speeds to accommodate the speed requirements of different lift scenarios.
In one possible implementation, the chassis main body frame is a rectangular parallelepiped frame structure.
In one possible implementation, the attitude of each travel steering mechanism can be controlled separately.
The beneficial effects of the present disclosure are: compared with the prior art, the omnibearing liftable robot chassis structure disclosed by the disclosure has the following advantages: the walking steering mechanism of the robot chassis realizes the walking and steering functions through the two motors, has compact structure and greatly saves space. The height of the main body box of the robot is changed through the lifting mechanism and the lifting auxiliary mechanism so as to adapt to the practical requirements of obstacle surmounting and lifting of the main body box of different obstacles. A plurality of punching positioning areas are arranged in the chassis main body frame, so that the walking steering mechanism can be installed at multiple positions while the structure is light, and further the requirements of the chassis heights of robots under different working conditions are met. The height of the wheels ensures that the universal wheels have certain obstacle surmounting and ground clinging capabilities.
Drawings
Fig. 1 is a perspective view of an omnidirectional liftable robot chassis structure according to an exemplary embodiment.
Fig. 2 is a schematic diagram of a lifting body shown according to an example embodiment.
Fig. 3 is a schematic view of a lifting mechanism shown according to an exemplary embodiment.
Fig. 4 is a schematic view of a lift assistance mechanism shown according to an exemplary embodiment.
Fig. 5 is a schematic view of a travel steering mechanism, shown according to an exemplary embodiment.
In the figure:
1-lifting mechanism, 2-lifting auxiliary mechanism, 3-chassis main body frame, 4-robot main body box,
5 Walking steering mechanism, 6-gear box, 7-screw rod, 8-screw rod nut,
9-Connecting plates, 10-hollow cup motors, 11-bearing seats, 12-sliding rails and 13-sliding blocks,
14-The box body is connected with the bending plate, 15-the walking servo motor, 16-the motor is connected with the bending plate,
17-Steering motor.
Detailed Description
The utility model will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in fig. 1 to 5, the omnibearing liftable robot chassis structure of the present disclosure includes: four sets of walking steering mechanisms 5, two sets of lifting mechanisms 1, two sets of lifting mechanisms 2, a chassis main body frame 3 and a robot main body box 4. The chassis main body frame 3 is a cuboid frame structure, the robot main body box 4 is fixedly connected in the chassis main body frame 3, one group of lifting mechanisms 1 are arranged at one end of the chassis main body frame 3, the other group of lifting mechanisms 1 are arranged at the other end of the chassis main body frame 3, and each traveling steering mechanism 5 is fixedly connected at one corner of the bottom end of the chassis main body frame 3.
Each group of walking steering mechanisms 5 comprises a walking servo motor 15, a motor connecting bending plate 16 and a steering motor 17, the walking servo motor 15 and the steering motor 17 are arranged on the motor connecting bending plate 16, the motor connecting bending plate 16 is fixedly connected with the bottom end of the chassis main body frame 3, the walking servo motor 15 and the steering motor 17 are arranged in a right angle, the walking servo motor 15 is used for linear movement, the steering motor 17 is used for rotating the walking servo motor 15, and the gesture of each walking steering mechanism 5 can be controlled respectively, so that the omnidirectional walking and steering functions of the chassis structure of the omnidirectional liftable robot are met.
Each group of lifting mechanism 1 comprises a gear box 6, a screw rod 7, a screw rod nut 8, a connecting plate 9, a bearing seat 11 and a hollow cup motor 10, wherein the hollow cup motor 10 and the gear box 6 are fixedly connected to the upper end of the chassis main body frame 3, the gear box 6 is in transmission connection with the screw rod 7 through the gear box 6, the screw rod 7 is vertically arranged, the screw rod nut 8 is connected to the screw rod 7 through threads, the screw rod nut 8 is fixedly connected with the robot main body box 4 through the connecting plate 9, the lower end of the screw rod 7 is connected to the bearing seat 11, and the bearing seat 11 is fixed on the chassis main body frame. The driving screw rod 7 of the control hollow cup motor 10 through the transmission of the gear box 6 rotates, so that the driving screw rod nut 8 drives the robot main body to ascend or descend, and the output shaft of the hollow cup motor can output different rotating speeds to adapt to the speed requirements of different lifting scenes.
One group of lifting mechanisms 2 are arranged on one side of the chassis main body frame 3, the other group of lifting mechanisms 2 are arranged on the other side of the chassis main body frame 3, each group of lifting mechanisms 2 comprises a sliding rail 12, a sliding block 13 and a box body connecting bent plate 14, the box body connecting bent plate 14 is in a right angle shape, one side of the lifting mechanism is fixedly connected with the robot main body box 4, the other side of the lifting mechanism is in sliding connection with the sliding rail 12 through the sliding block 13, and in the process that the lifting mechanism 1 drives the robot main body box 4 to move up and down, each lifting mechanism 2 plays a guiding role on the movement of the robot main body box 4, so that the lifting mechanism 1 is assisted to complete the lifting task of the robot main body box 4.
In one example of application, the lifting mechanism, the lifting assist mechanism, and the box body connecting bend plate are connected to the robot main box via the connecting plate, and the traveling steering mechanism is connected to the chassis main frame. When the main body box is lifted, the lifting mechanism is driven by the hollow cup motor to operate so as to complete lifting of the box body, and the traveling servo motor steering motor operates so as to complete traveling and steering of the robot chassis.
The omnibearing liftable robot chassis structure has the following advantages: the walking steering mechanism of the robot chassis realizes the walking and steering functions through the two motors, has compact structure and greatly saves space. The height of the main body box of the robot is changed through the lifting mechanism and the lifting auxiliary mechanism so as to adapt to the practical requirements of obstacle surmounting and lifting of the main body box of different obstacles. A plurality of punching positioning areas are arranged in the chassis main body frame, so that the walking steering mechanism can be installed at multiple positions while the structure is light, and further the requirements of the chassis heights of robots under different working conditions are met. The height of the wheels ensures that the universal wheels have certain obstacle surmounting and ground clinging capabilities.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (5)
1. The utility model provides an all-round liftable robot chassis structure which characterized in that, all-round liftable robot chassis structure includes: four groups of walking steering mechanisms, two groups of lifting mechanisms, a chassis main body frame and a robot main body box;
The robot main body box is fixedly connected in the chassis main body frame, one group of lifting mechanisms are arranged at one end of the chassis main body frame, the other group of lifting mechanisms are arranged at the other end of the chassis main body frame, and each traveling steering mechanism is fixedly connected at one corner of the bottom end of the chassis main body frame;
Each group of walking steering mechanism comprises a walking servo motor, a motor connecting bending plate and a steering motor, wherein the walking servo motor and the steering motor are arranged on the motor connecting bending plate, the motor connecting bending plate is fixedly connected with the bottom end of the chassis main body frame, the walking servo motor is used for linear movement, and the steering motor is used for rotating the walking servo motor;
Each group of lifting mechanisms comprises a gear box, a screw rod nut, a connecting plate, a bearing seat and a hollow cup motor, wherein the hollow cup motor and the gear box are fixedly connected at the upper end of a chassis main body frame; the hollow cup motor is controlled to drive the screw rod to rotate through the transmission of the gear box, so that the screw rod nut is driven to drive the robot main body to ascend or descend.
2. The all-round liftable robot chassis structure of claim 1, further comprising: two groups of lifting mechanisms;
The lifting mechanism comprises a chassis main body frame, a box body, a bending plate, a sliding block, a lifting mechanism and a lifting mechanism.
3. The omnibearing liftable robot chassis structure of claim 1, wherein the output shaft of the coreless motor can output different rotation speeds to adapt to the speed requirements of different lifting scenes.
4. The all-round liftable robot chassis structure of claim 1, wherein the chassis main body frame is a rectangular parallelepiped frame structure.
5. The all-round liftable robot chassis structure of claim 1, wherein the posture of each traveling steering mechanism can be controlled individually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323235265.3U CN220996110U (en) | 2023-11-29 | 2023-11-29 | Omnibearing liftable robot chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323235265.3U CN220996110U (en) | 2023-11-29 | 2023-11-29 | Omnibearing liftable robot chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220996110U true CN220996110U (en) | 2024-05-24 |
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ID=91126234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323235265.3U Active CN220996110U (en) | 2023-11-29 | 2023-11-29 | Omnibearing liftable robot chassis structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220996110U (en) |
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2023
- 2023-11-29 CN CN202323235265.3U patent/CN220996110U/en active Active
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