WO2022016494A1 - 一种新型人工智能助教机器人底盘结构 - Google Patents
一种新型人工智能助教机器人底盘结构 Download PDFInfo
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- WO2022016494A1 WO2022016494A1 PCT/CN2020/104057 CN2020104057W WO2022016494A1 WO 2022016494 A1 WO2022016494 A1 WO 2022016494A1 CN 2020104057 W CN2020104057 W CN 2020104057W WO 2022016494 A1 WO2022016494 A1 WO 2022016494A1
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- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
Definitions
- the invention relates to the field of robots, in particular to a chassis structure of a novel artificial intelligence teaching assistant robot.
- the main purpose of the present invention is to provide a chassis structure of a novel artificial intelligence teaching assistant robot, which can effectively solve the problems in the background technology.
- the chassis structure of a novel artificial intelligence teaching assistant robot includes a load-bearing base, two sides of the load-bearing base are symmetrically installed with connecting buckles on both sides, left and right, and upper and lower, and the corresponding connecting buckle sides are movably installed with crawler tracks through a movable rod structure.
- a stabilizer rod is fixedly installed at the top center of the load-bearing base, and a fixed column is symmetrically installed around the stabilizer rod, and the fixed column is movably connected to the shock-absorbing movable structure through a fixed clip.
- the connecting clips are provided with card holes therethrough, connecting pieces are movably installed between the connecting clips, the connecting holes provided on the connecting pieces correspond to the card holes, and one end of the connecting pieces is fixedly installed with a telescopic outer rod,
- a telescopic inner rod is installed through the telescopic outer rod, a movable ring is movably arranged on the outer surface of the telescopic inner rod, and the inner surface of the movable ring is fitted with the outer surface of the telescopic inner rod, and the upper surface of the movable ring is provided with a connecting column and only
- the upper movable ring is installed on the same side, the other end of the telescopic inner rod is movably installed with a rotating ball, and the rotating ball is fixedly installed in the fixed plate.
- a motor is arranged in the center of the outer surface of the fixing plate, an output rod is installed on the output end of the motor, and the output rod penetrates the fixing plate.
- the inner central shaft of the track is connected to the output rod, the central shaft is provided with an internal gear, the outer surface of the inner gear is movably mounted with a gear belt, and the inner surface of the gear belt is provided with outer rings at both ends, and the The outer surface of the outer ring fits the track.
- fixed clips are installed symmetrically on the upper part of the outer surface of the fixed column, the fixed clips are provided with installation holes, and the clips are movably installed in the fixed clips, and the clips are provided with fixed holes and fixed
- the hole corresponds to the position of the installation hole, the chuck is fixedly installed on the outer surface of the fixed seat, the other side of the fixed seat is installed with a hydraulic rod, the hydraulic rod is installed with a movable inner rod and the other end is fixedly installed on another fixed seat
- the corresponding surface of the fixed seat is provided with a spring, and the inner surface of the spring is in contact with the outer surface of the hydraulic rod, and the connecting column is movably connected in the fixed clip under the telescopic fixed seat.
- the present invention has the following beneficial effects.
- the large-area contact between the track and the ground can increase the stability of the teaching assistant robot, and the cooperation of the spring, the hydraulic rod and the movable inner rod can minimize the fluctuation of the robot during operation and increase the stability.
- the rotating ball can minimize the shaking in the side direction, the stabilizer bar can play the purpose of the final stable movement, and the load-bearing base can make the entire lower body of the robot more stable and will not be accidentally pushed by the child. Reduce accidents.
- FIG. 1 is a schematic diagram of the overall structure of the chassis structure of a novel artificial intelligence teaching assistant robot of the present invention.
- FIG. 2 is a schematic diagram of a lateral decompression structure of a chassis structure of a novel artificial intelligence teaching assistant robot of the present invention.
- FIG. 3 is a view of the crawler structure of the chassis structure of a novel artificial intelligence teaching assistant robot of the present invention.
- FIG. 4 is a view of the upper and lower decompression structure of the chassis structure of a novel artificial intelligence teaching assistant robot of the present invention.
- connection may be a fixed connection It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components.
- connected may be a fixed connection It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components.
- the chassis structure of a new type of artificial intelligence teaching assistant robot includes a load-bearing base 1, the left and right sides of the load-bearing base 1, and the upper and lower sides of the load-bearing base 1 are symmetrically installed with connecting buckles 2, and the corresponding connecting buckles 2 side of the load-bearing base 1 pass through
- the movable rod structure is movably installed with the crawler track 18, the top center of the load-bearing base 1 is fixedly installed with a stabilizer rod 28, and the stabilizer rod 28 is symmetrically installed with a fixed column 19 around, and the fixed column 19 is movably connected to the shock-absorbing movable structure through the fixed clip 20.
- the connecting buckle 2 in order to minimize the force on the entire base from left and right, the connecting buckle 2 is provided with a card hole 3 through it, a connecting piece 4 is movably installed between the connecting buckle 2, and the connecting piece 4 is provided with
- the connecting hole 5 corresponds to the clamping hole 3
- one end of the connecting piece 4 is fixedly installed with a telescopic outer rod 6, and a telescopic inner rod 7 is installed through the telescopic outer rod 6, and the outer surface of the telescopic inner rod 7 is movably provided with a movable ring 8 and the movable ring 8
- the inner surface fits the outer surface of the telescopic inner rod 7, the upper surface of the movable ring 8 is provided with a connecting column 9 and only the upper movable ring 8 on the same side is installed, the other end of the telescopic inner rod 7 is movably installed with a rotating ball 10, and the rotating ball 10 is fixedly installed on the In the fixed plate 11, the movement of the rotating ball 10 on the fixed plate
- the motor 12 in order to facilitate the normal installation and operation of the motor 12, the motor 12 is arranged in the center of the outer surface of the fixing plate 11, and the output rod 13 is installed at the output end of the motor 12, and the output rod 13 penetrates the fixing plate 11, and the fixing plate 11 is used as a Supports the structure and protects the motor 12 .
- the inner center shaft 14 of the crawler belt 18 is connected to the output rod 13 , an internal gear 15 is provided outside the central shaft 14 , and a gear belt 16 is movably mounted on the outer surface of the inner gear 15 .
- Both ends of the inner surface of 16 are provided with an outer ring 17, the outer surface of the outer ring 17 fits the crawler 18, and drives the inner gear 15 to move on the gear belt 16 through the central shaft 14, so that the outer ring 17 drives the crawler 18 to move.
- fixed clips 20 are installed symmetrically on the upper part of the outer surface of the fixed column 19.
- the fixed clips 20 are provided with mounting holes 21.
- the fixed clips 20 are movably installed with clips 22.
- the clips 22 are provided with fixed holes 23 and fixed holes. 23 corresponds to the position of the mounting hole 21, the chuck 22 is fixedly installed on the outer surface of the fixed seat 24, the other side of the fixed seat 24 is installed with a hydraulic rod 25, the hydraulic rod 25 is penetrated with a movable inner rod 26 and the other end is fixedly installed on another fixed
- the outer surface of the seat 24, the corresponding surface of the fixed seat 24 is provided with a spring 27 and the inner surface of the spring 27 is in contact with the outer surface of the hydraulic rod 25; The cooperating operation of the rod 26 and the spring 27 can greatly reduce the shaking of the robot up and down during operation.
- the present invention is a chassis structure of a new type of artificial intelligence teaching assistant robot
- the load-bearing base 1 can increase the weight of the overall structure, and will not be accidentally touched and pushed by children during use to reduce accidents.
- the connection piece 4 is fixed through the three connecting holes 5 of the card hole.
- the coordinated operation of the telescopic outer rod 6 and the telescopic inner rod 7 can minimize the shaking caused by the force generated from left and right when the robot is running.
- the outer surface of the movable ring 8 is provided with The connecting column 9 is connected with the clamp head 22, the rotating ball 10 can rotate freely on the fixed plate 11, the rotating balls 10 on the left and right sides can rotate to a fixed degree and cooperate with the inner telescopic inner rod 7 to operate, the fixed plate 11 not only functions
- the connection function can also provide a fulcrum for the installation of the motor 12, which makes the motor 12 more convenient to install and protects the motor 12 to a certain extent, so that the motor 12 will not be damaged by foreign objects carried by the crawler belt 18. Stop operation, the output rod 13 is connected to the central shaft 14 The center shaft 14 provides the energy required for rotation to drive the rotation of the internal gear 15.
- the gear belt 16 fits the outer surface of the internal gear 15 to achieve the condition of simultaneous operation and drives the outer ring 17 and the crawler 18 to achieve the purpose of making the robot operate.
- the column 19 provides a fulcrum for the fixed seat 24, the hydraulic rod 25 and the movable inner rod 26 to facilitate their fixed installation.
- the fixed seat 24 is installed at a 45° angle. The operation greatly reduces the probability of falling down due to the shaking from the upper and lower sides.
- the stabilizer bar 28 can make the whole robot reach a state of balanced operation, and the chassis becomes more stable and the whole machine is safer with three decompression processes.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
一种新型人工智能助教机器人底盘结构，包括负重底座（1），负重底座（1）两侧左右、上下两两对称安装有连接卡扣（2），负重底座（1）对应连接卡扣（2）侧通过活动杆结构活动安装有履带（18），负重底座（1）顶端中心固定安装有稳定杆（28），稳定杆（28）四周对称安装有固定柱（19），固定柱（19）通过固定夹片（20）活动连接避震活动结构。
Description
本发明涉及机器人领域，特别涉及一种新型人工智能助教机器人底盘结构。
现在科技发展迅速机器人科技已经大面积扑向生活，现有的机器人的底座结构简单，不能对冲击力进行很好的缓冲，机器人容易受到损坏，实用性不强，不能满足人们的使用需求，鉴于以上现有技术中存在的缺陷，有必要将其进一步改进，使其更具备实用性，才能符合实际使用情况。
本发明的主要目的在于提供一种新型人工智能助教机器人底盘结构，可以有效解决背景技术中的问题。
为实现上述目的，本发明采取的技术方案为。
一种新型人工智能助教机器人底盘结构，包括负重底座，所述负重底座两侧左右、上下两两对称安装有连接卡扣，所述负重底座对应连接卡扣侧通过活动杆结构活动安装有履带，所述负重底座顶端中心固定安装有稳定杆,所述稳定杆四周对称安装有固定柱，所述固定柱通过固定夹片活动连接避震活动结构。
优选的，所述连接卡扣上贯穿设置有卡孔，所述连接卡扣之间活动安装有连接片且连接片上设置的连接孔对应卡孔，所述连接片一端固定安装有伸缩外杆，所述伸缩外杆内贯穿安装有伸缩内杆，所述伸缩内杆外表面活动设置有活动环且活动环内表面贴合伸缩内杆外表面，所述活动环上表面设置有连接柱且只有同侧上方活动环安装，所述伸缩内杆另一端活动安装有转动球，所述转动球固定安装在固定板内。
优选的，所述固定板外表面中心设置有马达，所述马达输出端安装有输出杆且输出杆贯穿固定板。
优选的，所述履带内中心轴连接输出杆，所述中心轴外设有内齿轮，所述内齿轮外表面活动安装有齿轮带，所述齿轮带内表面两端设置有外圈，所述外圈外表面贴合履带。
优选的，所述固定柱外表面上部两两对称安装有固定夹片，所述固定夹片设置有安装孔，所述固定夹片内活动安装卡头，所述卡头设置有固定孔且固定孔对应安装孔位置，所述卡头固定安装在固定座外表面，所述固定座另一面安装有液压杆，所述液压杆内贯穿安装有活动内杆且另一端固定安装在另一固定座外表面，所述固定座对应面设置有弹簧且弹簧内表面贴合液压杆外表面，所述伸缩固定座下方固定夹夹片内活动连接连接柱。
与现有技术相比，本发明具有如下有益效果。
本发明中，利用履带对地面的大面积接触可以增加助教机器人的稳定，弹簧、液压杆和活动内杆的配合可以最大程度减少机器人在运行使发生上下波动增加稳定，伸缩外杆、伸缩内杆和转动球可以最大减少来着侧方向的晃动，稳定杆可以起到最后平稳的活动目的，负重底座可以让整个机器人下半身变得更加稳重不会发生被孩子误碰推到的情况，可以最大程度减少意外发生。
图1为本发明一种新型人工智能助教机器人底盘结构的整体结构示意图。
图2为本发明一种新型人工智能助教机器人底盘结构的横向减压结构示意图。
图3为本发明一种新型人工智能助教机器人底盘结构的履带结构视图。
图4为本发明一种新型人工智能助教机器人底盘结构的上下减压结构视图。
图中：1、负重底座；2、连接卡扣；3、卡孔；4、连接片；5、连接孔；6、伸缩外杆；7、伸缩内杆；8、活动环；9、连接柱；10、转动球；11、固定板；12、马达；13、输出杆；14、中心轴；15、内齿轮；16、齿轮带；17、外圈；18、履带；19、固定柱；20、固定夹片；21、安装孔；22、卡头；23、固定孔；24、固定座；25、液压杆；26、活动内杆；27、弹簧；28、稳定杆。
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。
在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”“前端”、“后端”、“两端”、“一端”、“另一端”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“设置有”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
如图1-4所示，一种新型人工智能助教机器人底盘结构包括负重底座1，负重底座1两侧左右、上下两两对称安装有连接卡扣2，负重底座1对应连接卡扣2侧通过活动杆结构活动安装有履带18，负重底座1顶端中心固定安装有稳定杆28,稳定杆28四周对称安装有固定柱19，固定柱19通过固定夹片20活动连接避震活动结构。
在本实施例中，为了让整个底座最大程度减少来着左右受到的力，连接卡扣2上贯穿设置有卡孔3，连接卡扣2之间活动安装有连接片4且连接片4上设置的连接孔5对应卡孔3，连接片4一端固定安装有伸缩外杆6，伸缩外杆6内贯穿安装有伸缩内杆7，伸缩内杆7外表面活动设置有活动环8且活动环8内表面贴合伸缩内杆7外表面，活动环8上表面设置有连接柱9且只有同侧上方活动环8安装，伸缩内杆7另一端活动安装有转动球10，转动球10固定安装在固定板11内，通过固定板11上转动球10的运动挤压伸缩内杆7在伸缩外杆6内边表活动从而最大减少来着横方向的力。
在本实施例中，为了方便马达12的正常安装和运行，固定板11外表面中心设置有马达12，马达12输出端安装有输出杆13且输出杆13贯穿固定板11，利用固定板11当做支撑结构并保护马达12。
在本实施例中，为了进一步让履带18自由活动运作，履带18内中心轴14连接输出杆13，中心轴14外设有内齿轮15，内齿轮15外表面活动安装有齿轮带16，齿轮带16内表面两端设置有外圈17，外圈17外表面贴合履带18，通过中心轴14带动内齿轮15在齿轮带16上活动，让外圈17带动履带18活动。
此外，固定柱19外表面上部两两对称安装有固定夹片20，固定夹片20设置有安装孔21，固定夹片20内活动安装卡头22，卡头22设置有固定孔23且固定孔23对应安装孔21位置，卡头22固定安装在固定座24外表面，固定座24另一面安装有液压杆25，液压杆25内贯穿安装有活动内杆26且另一端固定安装在另一固定座24外表面，固定座24对应面设置有弹簧27且弹簧27内表面贴合液压杆25外表面，伸缩固定座24下方固定夹夹片20内活动连接连接柱9，液压杆25、活动内杆26和弹簧27的配合运作可以大幅度减少机器人在运作使上下产生的晃动。
需要说明的是，本发明为一种新型人工智能助教机器人底盘结构，负重底座1可以增加整体结构的重量在使用过程中不会发生被孩子误碰推到的情况减少意外，连接卡扣2 与连接片4连接通过卡孔3个连接孔5固定，伸缩外杆6和伸缩内杆7的配合运作可以在机器人运行时最大程度减少左右产生的力带来的晃动，活动环8外表面设置的连接柱9连接着卡头22，转动球10可以在固定板11上自由转动，左右两边的的转动球10可以进行不动程度的转动配合内部伸缩内杆7来运作，固定板11不仅起到连接作用还能为马达12的安装提供支点让马达12更方便安装并起到一定程度的保护作用使马达12不会被履带18带起的异物碰伤停止运作，输出杆13连接着中心轴14位中心轴14提供转动所需的能量带动内齿轮15的转动，齿轮带16贴合内齿轮15外表面可以达到同时运作的条件并带动外圈17和履带18来达到让机器人运作的目的，固定柱19为固定座24、液压杆25、活动内杆26提供支点方便其固定安装，对固定座24呈45°对应安装通过内部液压杆25活动内杆26和弹簧27的配合运作降低整个机器人在运行使来自上下的抖动情况大幅降低倒下的概率，稳定杆28可以使整个机器人达到平衡运行的状态，用三次减压过程让底盘变得更稳定让整个机器更加安全。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。
本发明要求保护范围由所附的权利要求书及其等效物界定。
Claims (5)
- 一种新型人工智能助教机器人底盘结构，其特征在于：包括负重底座（1），所述负重底座（1）两侧左右、上下两两对称安装有连接卡扣（2），所述负重底座（1）对应连接卡扣（2）侧通过活动杆结构活动安装有履带（18），所述负重底座（1）顶端中心固定安装有稳定杆（28）,所述稳定杆（28）四周对称安装有固定柱（19），所述固定柱（19）通过固定夹片（20）活动连接避震活动结构。
- 根据权利要求1所述的一种新型人工智能助教机器人底盘结构，其特征在于：所述连接卡扣（2）上贯穿设置有卡孔（3），所述连接卡扣（2）之间活动安装有连接片（4）且连接片（4）上设置的连接孔（5）对应卡孔（3），所述连接片（4）一端固定安装有伸缩外杆（6），所述伸缩外杆（6）内贯穿安装有伸缩内杆（7），所述伸缩内杆（7）外表面活动设置有活动环（8）且活动环（8）内表面贴合伸缩内杆（7）外表面，所述活动环（8）上表面设置有连接柱（9）且只有同侧上方活动环（8）安装，所述伸缩内杆（7）另一端活动安装有转动球（10），所述转动球（10）固定安装在固定板（11）内。
- 根据权利要求2所述的一种新型人工智能助教机器人底盘结构，其特征在于：所述固定板（11）外表面中心设置有马达（12），所述马达（12）输出端安装有输出杆（13）且输出杆（13）贯穿固定板（11）。
- 根据权利要求1所述的一种新型人工智能助教机器人底盘结构，其特征在于：所述履带（18）内中心轴（14）连接输出杆（13），所述中心轴（14）外设有内齿轮（15），所述内齿轮（15）外表面活动安装有齿轮带（16），所述齿轮带（16）内表面两端设置有外圈（17），所述外圈（17）外表面贴合履带（18）。
- 5.根据权利要求1所述的一种新型人工智能助教机器人底盘结构，其特征在于：所述固定柱（19）外表面上部两两对称安装有固定夹片（20），所述固定夹片（20）设置有安装孔（21），所述固定夹片（20）内活动安装卡头（22），所述卡头（22）设置有固定孔（23）且固定孔（23）对应安装孔（21）位置，所述卡头（22）固定安装在固定座（24）外表面，所述固定座（24）另一面安装有液压杆（25），所述液压杆（25）内贯穿安装有活动内杆（26）且另一端固定安装在另一固定座（24）外表面，所述固定座（24）对应面设置有弹簧（27）且弹簧（27）内表面贴合液压杆（25）外表面，所述伸缩固定座（24）下方固定夹夹片（20）内活动连接连接柱（9）。
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