A flexible and reliable transmission mechanism for intelligent robots

Abstract

The present invention discloses a flexible and reliable intelligent robot transmission mechanism, including a driving main bracket, the left and right sides of the driving main bracket are respectively fixedly connected with a first driving side plate and a second driving side plate, the first driving side plate and the second driving side plate are respectively fixedly installed with a first gear box and a second gear box on the opposite side, and the first gear box and the second gear box are respectively fixedly installed with a first driving motor and a second driving motor on the opposite side. The flexible and reliable intelligent robot transmission mechanism, through the coordinated use of the first driving motor, the second driving motor, the driving wheel, the first pan-tilt motor, the first motor synchronous wheel, the first synchronous belt, the first large synchronous wheel, the second pan-tilt motor, the second motor synchronous wheel, the second synchronous belt, the second large synchronous wheel and the first lifting force arm, enables the intelligent robot to flexibly move forward, backward, left and right, and at the same time, the robot can turn its head, shake its head, lift its head and nod its head.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent robots, and in particular to a flexible and reliable intelligent robot transmission mechanism. Background Art

[0002] With the progress of society and the improvement of people's living standards, smart robots are becoming more and more popular in the home field, especially in the field of child care. Various smart robots have emerged, but they generally have defects: the cute ones cannot exercise with people and are not fun enough; the movable ones are relatively large and not cute enough. In particular, there are very few smart robots that are both cute and can move flexibly. There are few smart robots that can provide smart care and protect the safety of the home. Basically, they have complex structures and are very expensive.

[0003] Most of the traditional intelligent robots do not have the function of flexible movement, which makes the intelligent robots bulky and does not meet the needs of existing users. Therefore, we propose a flexible and reliable intelligent robot transmission mechanism. Summary of the invention

[0004] The purpose of the present invention is to provide a flexible and reliable intelligent robot transmission mechanism to solve the problem mentioned in the above background technology that most traditional intelligent robots do not have the function of flexible movement, which makes the intelligent robots bulky in movement and does not meet the usage needs of existing users.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a flexible and reliable intelligent robot transmission mechanism, comprising a driving main bracket, wherein the left and right sides of the driving main bracket are respectively fixedly connected with a first driving side plate and a second driving side plate, the first driving side plate and the second driving side plate are respectively fixedly installed with a first gear box and a second gear box on opposite sides thereof, the first gear box and the second gear box are respectively fixedly installed with a first driving motor and a second driving motor on opposite sides thereof, and the output ends of the first gear box and the second gear box on opposite sides thereof respectively penetrate through the outside of the first driving side plate and the second driving side plate and are movably connected with driving wheels.

[0006] A pan / tilt frame is fixedly installed at a center position on the top of the driving main bracket, a first pan / tilt motor is fixedly installed at a right position on the top of the pan / tilt frame, a first motor synchronous wheel is fixedly installed on the output shaft on the top of the first pan / tilt motor, a first large synchronous wheel is arranged at a center position on the top of the pan / tilt frame, a deep groove ball bearing is fixedly installed inside the first large synchronous wheel, the bottom of the first large synchronous wheel is movably connected to the top of the pan / tilt frame through the axial direction of the bearing, the surface of the first large synchronous wheel and the first motor synchronous wheel are connected by a first synchronous belt transmission, the top of the first large synchronous wheel is fixedly connected to the pan / tilt main bracket, a second pan / tilt motor is fixedly installed at a center position on the left side of the pan / tilt main bracket, the output end on the right side of the second pan / tilt motor passes through the right side of the pan / tilt main bracket and is fixedly installed with the second motor synchronous wheel, the top of the right side of the pan / tilt main bracket is movably connected with the second large synchronous wheel through a bearing, the surfaces of the second large synchronous wheel and the second motor synchronous wheel are connected by a second synchronous belt transmission, the right end of the second large synchronous wheel is fixedly installed with a first lifting lever arm, and the top of the left side of the pan / tilt main bracket is movably installed with a second lifting lever arm.

[0007] Preferably, gears are fixedly installed inside the first gear box and the second gear box, and three groups of gears are provided.

[0008] Preferably, the surface of the driving wheel is provided with a tire, and the surface of the tire is provided with anti-skid grooves.

[0009] Preferably, a return spring is fixedly connected to the right side of the bottom surface of the gimbal main bracket, and the right side of the return spring is fixedly connected to the gimbal base frame.

[0010] Preferably, a universal wheel bracket is fixedly installed at a center position on the front surface of the driving main bracket, and a universal wheel is movably connected to the bottom of the universal wheel bracket.

[0011] Preferably, the first drive motor and the second drive motor are both DC motors, and the models of the first drive motor and the second drive motor are both RS-385PH-16140.

[0012] Preferably, the first gimbal motor and the second gimbal motor are both stepper motors, and the models of the first gimbal motor and the second gimbal motor are both PKP243D23A-L.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The flexible and reliable intelligent robot transmission mechanism, through the coordinated use of the first drive motor, the second drive motor, the drive wheel, the first pan-tilt motor, the first motor synchronous wheel, the first synchronous belt, the first large synchronous wheel, the second pan-tilt motor, the second motor synchronous wheel, the second synchronous belt, the second large synchronous wheel and the first lifting force arm, enables the intelligent robot to flexibly move forward, backward, left and right, and can also turn the robot's head, shake its head, raise its head and nod, thereby improving the flexibility of the intelligent robot and the practicality of the intelligent robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a 30° side view of the structure of the present invention;

[0016] Figure 2 This is a front view of the structure of the present invention;

[0017] Figure 3 It is a rear view of the structure of the present invention;

[0018] Figure 4 For the present invention Figure 1 A is a partial enlarged schematic diagram of the middle part.

[0019] In the figure: 1. driving main bracket; 2. first driving side plate; 3. second driving side plate; 4. first driving motor; 5. second driving motor; 6. first gear box; 7. second gear box; 8. driving wheel; 9. tire; 10. pan / tilt base; 11. first pan / tilt motor; 12. first motor synchronous wheel; 13. first synchronous belt; 14. first large synchronous wheel; 15. reset spring; 16. pan / tilt main bracket; 17. second pan / tilt motor; 18. second motor synchronous wheel; 19. second synchronous belt; 20. second large synchronous wheel; 21. first lifting arm; 22. second lifting arm; 23. universal wheel bracket; 24. universal wheel. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-4The present invention provides a technical solution: a flexible and reliable intelligent robot transmission mechanism, comprising a driving main bracket 1, wherein the left and right sides of the driving main bracket 1 are respectively fixedly connected with a first driving side plate 2 and a second driving side plate 3, the first driving side plate 2 and the second driving side plate 3 are respectively fixedly installed with a first gear box 6 and a second gear box 7 on opposite sides thereof, the first gear box 6 and the second gear box 7 are respectively fixedly installed with a first driving motor 4 and a second driving motor 5 on opposite sides thereof, and the output ends of the first gear box 6 and the second gear box 7 on opposite sides thereof respectively penetrate the outside of the first driving side plate 2 and the second driving side plate 3 and are movably connected with a driving wheel 8.

[0022] A pan / tilt chassis 10 is fixedly installed at a center position on the top of the driving main bracket 1, a first pan / tilt motor 11 is fixedly installed at a right position on the top of the pan / tilt chassis 10, a first motor synchronous wheel 12 is fixedly installed on the output shaft on the top of the first pan / tilt motor 11, a first large synchronous wheel 14 is arranged at a center position on the top of the pan / tilt chassis 10, a deep groove ball bearing is fixedly installed inside the first large synchronous wheel 14, the bottom of the first large synchronous wheel 14 is movably connected to the top of the pan / tilt chassis 10 through the bearing axial direction, the surfaces of the first large synchronous wheel 14 and the first motor synchronous wheel 12 are connected through a first synchronous belt 13, and the first large synchronous wheel 1 4 is fixedly connected with a pan / tilt main bracket 16, a second pan / tilt motor 17 is fixedly installed at a center position on the left side of the pan / tilt main bracket 16, an output end on the right side of the second pan / tilt motor 17 passes through the right side of the pan / tilt main bracket 16 and is fixedly installed with a second motor synchronous wheel 18, a second large synchronous wheel 20 is movably connected with the top of the right side of the pan / tilt main bracket 16 through a bearing, the second large synchronous wheel 20 and the surface of the second motor synchronous wheel 18 are transmission-connected through a second synchronous belt 19, a first lifting lever arm 21 is fixedly installed at the right end of the second large synchronous wheel 20, and a second lifting lever arm 22 is movably installed at the top of the left side of the pan / tilt main bracket 16.

[0023] In the present invention, gears are fixedly installed inside the first gear box 6 and the second gear box 7, and three groups of gears are provided. The gears can play the role of reducing speed and increasing output torque.

[0024] In the present invention, a tire 9 is sleeved on the surface of the driving wheel 8, and anti-skid patterns are arranged on the surface of the tire 9, which can play an anti-skid role.

[0025] In the present invention, a reset spring 15 is fixedly connected to the right side of the bottom surface of the pan / tilt main bracket 16 , and the right side of the reset spring 15 is fixedly connected to the pan / tilt base frame 10 , so that the reset spring 15 can play a role in reset.

[0026] In the present invention, a universal wheel bracket 23 is fixedly installed at the center of the front surface of the driving main bracket 1, and a universal wheel 24 is movably connected to the bottom of the universal wheel bracket 23, and the universal wheel 24 can facilitate the movement of the intelligent robot.

[0027] In the present invention, the first drive motor 4 and the second drive motor 5 are both DC motors, and the models of the first drive motor 4 and the second drive motor 5 are both RS-385PH-16140; this is a commonly used connection method, so it is not shown in the figure.

[0028] In the present invention, the first pan-tilt motor 11 and the second pan-tilt motor 17 both adopt stepper motors, and the models adopted by the first pan-tilt motor 11 and the second pan-tilt motor 17 are both PKP243D23A-L; this is a commonly used connection method, so it is not shown in the figure.

[0029] Working principle: When the intelligent robot moves, the first drive motor 4 and the second drive motor 5 respectively drive the first gear box 6 and the second gear box 7 to rotate the two drive wheels 8. The three sets of gears can reduce speed and increase output torque, so that the robot can move forward and backward and turn left and right; when the intelligent robot needs to turn its head or shake its head, the first pan-tilt motor 11 rotates the first motor synchronous wheel 12 through the output end. When the first motor synchronous wheel 12 rotates, it drives the first large synchronous wheel 14 to rotate through the first synchronous belt 13. When the first large synchronous wheel 14 rotates, the pan-tilt main bracket 16 rotates accordingly, so that the head of the intelligent robot can move forward and backward, turn left and right, and turn around ... The head of the intelligent robot can turn its head and shake its head; when the intelligent robot needs to raise its head and nod, the second pan-tilt motor 17 rotates the second motor synchronous wheel 18 through the output end. When the second motor synchronous wheel 18 rotates, it drives the second large synchronous wheel 20 to rotate through the second synchronous belt 19. When the second large synchronous wheel 20 rotates, the first lifting force arm 21 rotates accordingly, thereby making the head of the intelligent robot raise its head and nod; when the first pan-tilt motor 11 is not working, the robot returns to a position facing forward under the pulling force of the reset spring 15, and when the second pan-tilt motor 17 is not working, the robot returns to a position where the face is horizontal and facing forward under the action of gravity.

[0030] To sum up: this flexible and reliable intelligent robot transmission mechanism, through the coordinated use of the first drive motor 4, the second drive motor 5, the drive wheel 8, the first pan-tilt motor 11, the first motor synchronous wheel 12, the first synchronous belt 13, the first large synchronous wheel 14, the second pan-tilt motor 17, the second motor synchronous wheel 18, the second synchronous belt 19, the second large synchronous wheel 20 and the first lifting force arm 21, solves the problem that most traditional intelligent robots do not have the function of flexible movement, which makes the intelligent robots bulky in movement and does not meet the usage needs of existing users.

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0032] The electrical components mentioned in this article are all electrically connected to an external main controller and a 24V lithium battery, and the main controller can be a conventional known device for controlling a computer or the like.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexible and reliable intelligent robot transmission mechanism, comprising a driving main support (1), characterized in that: The left and right sides of the driving main bracket (1) are respectively fixedly connected with a first driving side plate (2) and a second driving side plate (3); the first driving side plate (2) and the second driving side plate (3) are respectively fixedly installed with a first gear box (6) and a second gear box (7) on opposite sides; the first gear box (6) and the second gear box (7) are respectively fixedly installed with a first driving motor (4) and a second driving motor (5) on opposite sides; the output ends of the first gear box (6) and the second gear box (7) on opposite sides respectively penetrate the outside of the first driving side plate (2) and the second driving side plate (3) and are movably connected with a driving wheel (8); A pan / tilt base frame (10) is fixedly mounted at a center position on the top of the driving main support (1), a first pan / tilt motor (11) is fixedly mounted at a right position on the top of the pan / tilt base frame (10), a first motor synchronous wheel (12) is fixedly mounted on the output shaft on the top of the first pan / tilt motor (11), a first large synchronous wheel (14) is arranged at a center position on the top of the pan / tilt base frame (10), a deep groove ball bearing is fixedly mounted inside the first large synchronous wheel (14), the bottom of the first large synchronous wheel (14) is movably connected to the top of the pan / tilt base frame (10) via the bearing axial direction, the surfaces of the first large synchronous wheel (14) and the first motor synchronous wheel (12) are transmission-connected via a first synchronous belt (13), a pan / tilt main support (16) is fixedly mounted at the top of the first large synchronous wheel (14), a second pan / tilt motor (17) is fixedly mounted at a center position on the left side of the pan / tilt main support (16), the second pan / tilt motor (17) is fixedly mounted on the right side of the second pan / tilt motor (17) The output end of the side passes through the right side of the pan-tilt main bracket (16) and is fixedly installed with a second motor synchronous wheel (18); the top of the right side of the pan-tilt main bracket (16) is movably connected with a second large synchronous wheel (20) through a bearing; the second large synchronous wheel (20) and the surface of the second motor synchronous wheel (18) are connected by a second synchronous belt (19); the right end of the second large synchronous wheel (20) is fixedly installed with a first lifting force arm (21); the top of the left side of the pan-tilt main bracket (16) is movably installed with a second lifting force arm (22); the first gear box (6) and the second gear box (7) are both fixedly installed with gears inside, and three groups of gears are arranged; the surface of the driving wheel (8) is sleeved with a tire (9), and the surface of the tire (9) is provided with anti-skid grooves; a reset spring (15) is fixedly connected to the right side of the bottom surface of the pan-tilt main bracket (16), and the right side of the reset spring (15) is fixedly connected to the pan-tilt base frame (10).

2. A flexible and reliable intelligent robot transmission mechanism according to claim 1, characterized in that: A universal wheel bracket (23) is fixedly mounted at a central position on the front surface of the driving main bracket (1), and a universal wheel (24) is movably connected to the bottom of the universal wheel bracket (23).

3. A flexible and reliable intelligent robot transmission mechanism according to claim 1, characterized in that: The first drive motor (4) and the second drive motor (5) are both DC motors, and the models of the first drive motor (4) and the second drive motor (5) are both RS-385PH-16140.

4. A flexible and reliable intelligent robot transmission mechanism according to claim 1, characterized in that: The first pan-tilt motor (11) and the second pan-tilt motor (17) are both stepper motors, and the first pan-tilt motor (11) and the second pan-tilt motor (17) are both PKP243D23A-L models.

Images