WO2023178954A1

WO2023178954A1 - Robot chassis having driving structure

Info

Publication number: WO2023178954A1
Application number: PCT/CN2022/119882
Authority: WO
Inventors: 郁亚南; 廖铉泓; 张益通; 吴建波; 蓝博
Original assignee: 东莞市本末科技有限公司
Priority date: 2022-03-24
Filing date: 2022-09-20
Publication date: 2023-09-28
Also published as: CN114559446A

Abstract

Provided is a robot chassis having a driving structure, the robot chassis comprising a chassis body (10) and driving mechanisms (20) mounted on two sides of the chassis body (10). The chassis body (10) comprises a cross beam frame (101), side plates (1) arranged on two sides of the cross beam frame (101), and a power source (102) mounted on the cross beam frame (101). The power source (102) is electrically connected to the driving mechanisms (20); each driving mechanism (20) comprises a first driving device (2) and a second driving device (3) respectively connected to two sides of a side plate (1); each side plate (1) comprises a connection plate (11), and a first connection frame (12) and a second connection frame (13) respectively connected to two sides of the connection plate (11); each first driving device (2) is provided with a first base (21), and the first base (21) is fixedly connected to a first connection frame (12); and each second driving device (3) is provided with a second base (31), and the second base (31) is fixedly connected to a second connection frame (13). Each side plate (1) is provided with the connection plate (11) and two connection frames to achieve connection of the driving devices thereto, so that the overall structure is stable and reliable, is convenient to assemble, and in particular ensures high stability when being used for connection of a robot walking chassis and driving devices.

Description

Robot frame with drive structure

Cross-references to related applications.

This application claims priority to the Chinese patent application submitted to the China Patent Office on March 24, 2022, with the application number 202210296631.7 and the invention name "Robot Frame with Drive Structure", the entire content of which is incorporated into this application by reference.

Technical field

The invention relates to the field of robot technology, and in particular to a robot frame with a drive structure.

Background technique

Robots are intelligent machines that can work semi- or fully autonomously. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, and serve human life. Expand or extend the scope of human activities and abilities.

With the advancement of science and technology, the application of robots is becoming more and more common, such as cleaning robots, freight robots, inspection robots, etc., which can realize intelligent control. Existing robots generally include racks and mobile wheels. Some robots include The leg structure cooperates with the moving wheel set to realize various actions, and during the action process, the leg structure and the driving element need to cooperate to make various actions.

technical problem

The existing robot frame generally has a single structure, the driving structure is installed externally, and the structural stability is poor. Therefore, the existing robot frame structure can be further improved.

Technical solutions

In order to solve the above problems, the present invention provides a side plate with a connecting plate and two connecting frames to cooperate with the driving device. The overall structure is stable and reliable, and it is easy to assemble. It is especially used for connecting the driving device of the robot walking frame and has good stability. Robot frame with drive structure.

The above objectives can be achieved using the following technical solutions.

A robot frame with a drive structure, including a frame body and drive mechanisms installed on both sides of the frame body; the frame body includes a cross beam frame, side plates provided on both sides of the cross beam frame, and a drive mechanism installed on the cross beam frame The power supply is electrically connected to the driving mechanism. The driving mechanism includes a first driving device and a second driving device respectively connected to both sides of the side plate. The side plate includes a connecting plate and is connected to both sides of the connecting plate. The first connecting frame and the second connecting frame, the first driving device is provided with a first base, the first base is fixedly connected to the first connecting frame, the second driving device is provided with a second base , the second base is fixedly connected to the second connecting frame.

The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the invention will become apparent from the description, drawings and claims.

beneficial effects

Compared with the existing robot frame, the present invention is used for inspection robot frames. Driving mechanisms are provided on both sides of the frame. The driving mechanisms are used to connect the walking structures of the robots, while the frame consists of side plates and cross beams. The frame is assembled, and the structure is stable and reliable. The side panels have connecting plates and two connecting frames to cooperate with the driving device. The overall structure is stable and reliable, and it is easy to assemble. It is especially used for connecting the driving device of the robot walking frame and has good stability. Specifically, a frame body and a driving mechanism installed on both sides of the frame body are provided; the frame body includes a cross beam frame, side plates provided on both sides of the cross beam frame, and a power supply installed on the cross beam frame. The power supply is electrically connected to the driving mechanism. The driving mechanism includes a first driving device and a second driving device respectively connected to both sides of the side plate. The side plate includes a connecting plate and a first connecting frame connected to both sides of the connecting plate. and a second connecting frame, the first driving device is provided with a first base, the first base is fixedly connected to the first connecting frame, the second driving device is provided with a second base, the second The base is fixedly connected to the second connecting frame; the connecting frame is fixedly connected to the base, and the driving device is an external rotor motor, which facilitates the walking drive of the robot and has a reliable structure.

The first driving device is connected to a first swing arm, the second driving device is connected to a second swing arm, and the first swing arm includes a first connecting portion connected to the first driving device, and a first connecting portion connected to the first driving device. The first extension leg; the second swing arm includes a second connection part connected to the second driving device, and a second extension leg connected to the second connection part; the swing arm is provided for connecting the leg structure of the robot, Moreover, both driving mechanisms are connected to swing arms, which can drive various actions and have a reliable structure.

Description of the drawings

To better describe and illustrate embodiments and/or examples of those inventions disclosed herein, reference may be made to one or more of the accompanying drawings. The additional details or examples used to describe the drawings should not be construed as limiting the scope of any of the disclosed inventions, the embodiments and/or examples presently described, and the best modes currently understood of these inventions.

In the attached picture.

Figure 1 is a schematic three-dimensional structural diagram of the robot frame with a drive structure of the present invention.

Figure 2 is a schematic diagram of the exploded structure of the robot frame with drive structure in Figure 1.

Figure 3 is an exploded structural diagram of the drive mechanism of the robot frame with drive structure in Figure 1.

Figure 4 is a schematic exploded view of the drive mechanism of the robot frame with drive structure in Figure 1 from another perspective.

Explanation of reference signs: frame body 10, beam frame 101, power supply 102, driving mechanism 20, side plate 1, connecting plate 11, fixed connection groove 111, fixed connection hole 112, first connection frame 12, first positioning platform 121 , first assembly groove 122, first wiring groove 123, first fixed arm 124, first locking hole 124a, second connecting frame 13, second positioning platform 131, second assembly groove 132, second wiring groove 133. The second fixed arm 134, the second locking hole 134a, the first driving device 2, the first base 21, the second base 22, the first rotor housing 22, the first swing arm 23, and the first connecting part 231 , the first fixed locking sleeve 231a, the first movable locking sleeve 231b, the first extension foot 232, the second driving device 3, the second base 31, the second rotor housing 32, the second swing arm 33, the second connection part 331, a second fixed locking sleeve 331a, a second movable locking sleeve 331b, and a second extension leg 332.

Embodiments of the invention

In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough understanding of the present disclosure will be provided.

It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may also be intervening elements present.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention.

As shown in Figures 1 to 4, a robot frame with a drive structure includes a frame 10 and drive mechanisms 20 installed on both sides of the frame 10. The frame 10 can rotate in the drive mechanism 20; The frame 10 includes a side panel 1, a cross beam frame 101 connecting the side panels 1, and a power supply 102 installed on the cross beam frame 101 and connected to the driving mechanism 20; The first driving device 2 and the second driving device 3, the first link device 4 connected to the first driving device 2, the second link device 5 connected to the second driving device 3, and the first link device connected to 4 and the third drive device 6 of the second linkage 5 .

The side plate 1 includes a connecting plate 11, a first connecting frame 12 and a second connecting frame 13 respectively connected to both sides of the connecting plate 11. The first driving device 2 is provided with a first base 21. The first base 21 is fixedly connected to the first connecting frame 12, the second driving device 3 is provided with a second base 31, the second base 31 is fixedly connected to the second connecting frame 13; the side plate 1 is provided with a connecting plate 11 to match The two connecting frames are connected with the bases of the two driving devices. The structure is stable and reliable, and is suitable for various movements of the robot legs. The connecting frames on both sides cooperate with the connecting plates 11 to connect the frame 10 of the robot. The structure is easy to assemble. At the same time, it cooperates with the driving device and the link device for stable driving. The structure is reliable and can make the robot perform various actions stably.

The connecting plate 11 is provided with a fixed connecting slot 111 and a fixed connecting hole 112. The fixed connecting slot 111 is a rectangular slot or a polygonal connecting slot. The fixed connecting slot 111 penetrates the connecting plate 11. The first connecting frame 12 is provided with a first positioning platform 121, and the second connecting frame 13 is provided with a second positioning platform 131. Both the first positioning platform 121 and the first positioning platform 121 are assembled in the fixed connection groove 111; through the positioning platform The fixed connection groove 111 is used for the fixed connection, and the structure is easy to assemble and has good stability.

A first assembly groove 122 is provided on a side of the first connecting frame 12 away from the first positioning platform 121. The first assembly groove 122 is fixedly assembled and connected to the first base 21. The first assembly groove 122 is connected with a first wiring. slot 123, the first wiring slot 123 extends to the outside of the first connecting frame 12; the second connecting frame 13 is provided with a second assembly slot 132 on a side away from the second positioning platform 131, and the second assembly slot 132 is connected to the second assembly slot 132. The second base 31 is fixedly assembled and connected. The second assembly groove 132 is connected with a second wiring groove 133. The second wiring groove 133 extends to the outside of the second connecting frame 13; the assembly groove cooperates with the fixation of the base. The connection and structure are easy to assemble, stable and reliable. At the same time, wiring troughs are provided for the wiring of the driving device. The overall structure is simple and reliable.

The first connecting frame 12 is evenly provided with first fixed arms 124 circumferentially. The first fixed arms 124 are provided with first locking holes 124a. The first locking holes 124a correspond to the fixed connection holes 112; the second The connecting frame 13 is evenly provided with second fixed arms 134 circumferentially. The second fixed arms 134 are provided with second locking holes 134a. The second locking holes 134a are connected to the first lock through screws passing through the fixed connection holes 112. The tight hole 124a is connected; the fixed arm is used for structural fixed connection, so that the connection between the driving device and the connecting frame and the side plate 1 is more stable, the overall structure is reliable, and it can be assembled by screws, and the assembly is easy.

The first driving device 2 is an external rotor direct drive motor. The first driving device 2 is provided with a first rotor housing 22. The first rotor housing 22 is rotatably connected to the first base 21; the second driving device 3 is an external rotor direct drive motor. The second driving device 3 is provided with a second rotor housing 32. The second rotor housing 32 is rotatably connected to the second base 31. Using an external rotor motor as the drive of the structure is convenient. The connecting rod device is driven to move, so that the robot driving mechanism 20 can stand and lie down.

The first link device 4 includes a first connecting part 41 connected to the first driving device 2 , a first extending leg 42 connected to the first connecting part 41 , and a first movable leg movably connected to the first extending leg 42 43. The first extension leg 42 is provided with a first limiting block 421 corresponding to the first movable leg 43. The second link device 5 includes a second connecting portion 51 connected to the second driving device 3, and a second connecting portion 51 connected to the second driving device 3. The second extension leg 52 of the two connecting parts 51 and the second movable leg 53 can be movably connected to the second extension leg 52. The second extension leg 52 is provided with a second limiting block 521 corresponding to the second movable leg 53. A movable joint is formed through the movable legs and the extension legs that are movably connected, and the limit of the movable position is formed under the action of the limit block. Under the driving action of the driving device, the frame 10 has a floating head-up action, which can detect The scope is greater.

A first rotating shaft 422 is connected between the first extending leg 42 and the first movable leg 43, and the first rotating shaft 422 is connected to a first guide wheel 423; the first connecting part 41 includes a first fixed locking sleeve 411 and a first rotating shaft 422. A movable locking sleeve 412. The first fixed locking sleeve 411 cooperates with the first movable locking sleeve 412 to form a first locking cavity. The first locking cavity is fixedly locked to the first driving device 2, so The first extension leg 42 and the first fixed locking sleeve 411 are integrally formed, the first extension leg 42 is provided with a first reinforcing rib 424, and the first reinforcing rib 424 is connected to the first fixed locking sleeve 411; A second rotating shaft 522 is connected between the second extending leg 52 and the second movable leg 53. A third rotating shaft 523 is provided at an end of the second movable leg 53 away from the second rotating shaft 522. The third rotating shaft 523 is connected to the first rotating leg 522. The movable legs 43 are connected; the second connection part 51 includes a second fixed locking sleeve 511 and a second movable locking sleeve 512. The second fixed locking sleeve 511 and the second movable locking sleeve 512 cooperate to form a second Locking chamber, the second locking chamber is fixedly locked to the second driving device 3, the second extension foot 52 and the second fixed locking sleeve 511 are integrally formed, the second extension foot 52 is provided with a third Two reinforcing ribs 524, the second reinforcing rib 524 is connected to the second fixed locking sleeve 511; the connecting part is provided to be fixedly connected to the rotor shell, the structure is stable, and the extension foot and the movable foot are provided to cooperate, the structure is reliable, and the guide is provided The wheel is used to assist movement when lying down.

The third driving device 6 is provided with a third base 61, and the third base 61 is connected to the second movable foot 53. The third driving device 6 is a hub motor, and is provided with a third rotor housing 62. The third rotor housing 62 is rotatably connected to the third base 61, and a wheel sleeve 63 is set on the outside of the third rotor housing 62; a hub motor is used to move the driving mechanism 20, and the third base 61 is provided to cooperate with the second The movable legs 53 are fixedly connected and are easy to assemble.

The present invention adopts a frame 10 that is rotatably and movably connected to the driving mechanism 20. During operation, the two driving mechanisms 20 on both sides serve as the walking and joints of the robot, and a first limiting block 421 is provided on the driving mechanism 20. and the second limiting block 521, which is used to limit the position when the robot lies down. When the robot lies down to a specified angle, the height position is limited. After the position is limited, under the action of the driving device, the frame 10 can still follow the driving device. The rotation creates a swinging and floating space where the frame 10 needs to move, so that the frame 10 can raise its head, and the robot has a wider range and better stability during detection and inspection. Specifically, a frame 10 and a driving mechanism 20 installed on both sides of the frame 10 are provided. The frame 10 can rotate in the driving mechanism 20; the frame 10 includes a side plate 1, and the side plate 1 is connected to the frame 10. The cross beam frame 101, and the power supply 102 installed on the cross beam frame 101 and connected to the driving mechanism 20; the driving mechanism 20 includes a first driving device 2 and a second driving device 3 respectively connected to both sides of the side plate 1. The first link device 4 of the first drive device 2, the second link device 5 connected to the second drive device 3, and the third drive device 6 connected to the first link device 4 and the second link device 5 ; Through the support and installation of the cross beam frame 101 and the side plate 1, the structure is stable and reliable. At the same time, a power supply 102 is provided for powering the driving device on the driving mechanism 20.

The above-mentioned embodiments only express several implementation modes of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present invention. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the scope of protection of the patent of the present invention should be determined by the appended claims.

Claims

A robot frame with a drive structure, characterized by: including a frame body and driving mechanisms installed on both sides of the frame body; the frame body includes a cross beam frame, side plates located on both sides of the cross beam frame, and A power supply installed on the crossbeam frame, the power supply is electrically connected to the driving mechanism, the driving mechanism includes a first driving device and a second driving device respectively connected to both sides of the side plate, the side plate includes a connecting plate, respectively connected to The first connecting frame and the second connecting frame on both sides of the connecting plate, the first driving device is provided with a first base, the first base is fixedly connected to the first connecting frame, and the second driving device is provided with a second base, the second base is fixedly connected to the second connecting frame;

The first driving device is connected to a first swing arm, the second driving device is connected to a second swing arm, and the first swing arm includes a first connecting portion connected to the first driving device, and a first connecting portion connected to the first driving device. A first extension leg of the connection part; the second swing arm includes a second connection part connected to the second driving device, and a second extension leg connected to the second connection part.
The robot frame with drive structure according to claim 1, characterized in that: the connecting plate is provided with a fixed connection slot and a fixed connection hole, the fixed connection slot is a rectangular slot or a polygonal connection slot, and the fixed connection slot is a rectangular slot or a polygonal connection slot. The groove penetrates the connecting plate.
The belt drive structure robot frame according to claim 1, characterized in that: the first connection frame is equipped with a first positioning platform, the second connection frame is equipped with a second positioning platform, the first positioning platform and the third positioning platform The two positioning tables are both assembled in the fixed connection groove.
The belt drive structure robot frame according to claim 3, characterized in that: the first connecting frame is provided with a first assembly groove on a side facing away from the first positioning platform, and the first assembly groove is fixedly assembled with the first base. connection, the first assembly groove is connected with a first wiring groove, and the first wiring groove extends to the outside of the first connection frame.
The belt drive structure robot frame according to claim 4, characterized in that: the second connecting frame is provided with a second assembly groove on a side facing away from the second positioning platform, and the second assembly groove is fixedly assembled with the second base. connection, the second assembly groove is connected with a second wiring groove, and the second wiring groove extends to the outside of the second connection frame.
The belt drive structure robot frame according to claim 1, characterized in that: the first connecting frame is evenly provided with first fixed arms circumferentially, and the first fixed arms are provided with first locking holes, and the The first locking hole corresponds to the fixed connection hole.
The belt drive structure robot frame according to claim 6, characterized in that: the second connecting frame is evenly provided with second fixed arms circumferentially, and the second fixed arms are provided with second locking holes, and the second fixed arms are provided with second locking holes. The second locking hole is connected to the first locking hole by a screw passing through the fixed connection hole.
The robot frame with drive structure according to claim 1, characterized in that: the first drive device is an external rotor direct drive motor, the first drive device is provided with a first rotor shell, and the first rotor shell It is rotatably connected to the first base; the second driving device is an external rotor direct drive motor, the second driving device is provided with a second rotor shell, and the second rotor shell is rotatably connected to the second base.
The belt drive structure robot frame according to claim 1, characterized in that: the first connection part includes a first fixed locking sleeve and a first movable locking sleeve, and the first fixed locking sleeve and the first movable locking sleeve The movable locking sleeve cooperates to form a first locking cavity. The first locking cavity is fixedly locked to the first driving device. The first extension leg and the first fixed locking sleeve are integrally formed.
The belt drive structure robot frame according to claim 9, characterized in that: the second connection part includes a second fixed locking sleeve and a second movable locking sleeve, and the second fixed locking sleeve and the second The movable locking sleeve cooperates to form a second locking cavity. The second locking cavity is fixedly locked to the second driving device. The second extension leg and the second fixed locking sleeve are integrally formed.