A robot frame with a drive structure

Abstract

The present invention relates to the technical field of robots, and particularly relates to a robot frame with a driving structure, which includes a frame body and driving mechanisms installed on both sides of the frame body; the frame body includes a cross beam frame, side plates arranged on both sides of the cross beam frame, and a power supply installed on the cross beam frame, and the power supply is electrically connected to the driving mechanisms. The driving mechanisms include a first driving device and a second driving device respectively connected to both sides of the side plates. The side plates include a connecting plate, a first connecting frame and a second connecting frame respectively connected to both sides of the connecting plate. The first driving device is provided with a first base, and the first base is fixedly connected to the first connecting frame. The second driving device is provided with a second base, and the second base is fixedly connected to the second connecting frame. The side plates of the present invention have a connecting plate and two connecting frames to cooperate with the connection of the driving devices, and the overall structure is stable and reliable, and the assembly is convenient. Especially when used for connecting the driving devices of the robot walking frame, the stability is good.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a robot frame with a drive structure. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in performing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] With the progress of technology, the application of robots has become more and more widespread. For example, cleaning robots, freight robots, inspection robots, etc. can achieve intelligent control. Existing robots generally include a frame and a set of moving wheels. Some robots include a drive mechanism that cooperates with the moving wheels to perform various actions, and during the action process, the drive mechanism and drive components need to cooperate to perform various actions. The frames of existing robots generally have a single structure, and the drive structures are all externally installed, resulting in poor structural stability. Therefore, the frame structure of existing robots can be further improved. Summary of the Invention

[0004] To solve the above problems, the present invention provides a robot frame with a drive structure, in which the side plates have a connecting plate and two connecting brackets to cooperate with the drive device for connection. The overall structure is stable and reliable, and the assembly is convenient. In particular, it is used for connecting the drive device of the robot walking frame, and has good stability.

[0005] The technical solution adopted by the present invention is: 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 power supply installed on the cross beam frame. The power supply is electrically connected to the drive mechanisms. The drive mechanisms include a first drive device and a second drive device respectively connected to both sides of the side plates. The side plates include a connecting plate, a first connecting bracket and a second connecting bracket respectively connected to both sides of the connecting plate. The first drive device is provided with a first base, and the first base is fixedly connected to the first connecting bracket. The second drive device is provided with a second base, and the second base is fixedly connected to the second connecting bracket.

[0006] For further improvement of the above solution, the first drive device is connected with a first swing arm, and the second drive device is connected with a second swing arm. The first swing arm includes a first connecting portion connected to the first drive device and a first extension foot connected to the first connecting portion; the second swing arm includes a second connecting portion connected to the second drive device and a second extension foot connected to the second connecting portion.

[0007] A further improvement to the above solution is that the connection plate is provided with a fixed connection groove and a fixed connection hole, the fixed connection groove is a rectangular groove or a polygonal connection groove, and the fixed connection groove passes through the connection plate.

[0008] A further improvement to the above solution is that the first connecting frame is provided with a first positioning platform, the second connecting frame is provided with a second positioning platform, and the first positioning platform and the second positioning platform are both assembled in the fixed connecting groove.

[0009] A further improvement to the above scheme is that a first assembly groove is provided on a side of the first connecting frame facing away from the first positioning platform, the first assembly groove is fixedly assembled with the first base, the first assembly groove is connected to a first wiring groove, and the first wiring groove extends to the outside of the first connecting frame.

[0010] A further improvement to the above scheme is that a second assembly groove is provided on a side of the second connecting frame facing away from the second positioning platform, the second assembly groove is fixedly assembled and connected to the second base, the second assembly groove is connected to a second wiring groove, and the second wiring groove extends to the outside of the second connecting frame.

[0011] A further improvement to the above solution is that the first connecting frame is evenly and circumferentially provided with first fixing arms, the first fixing arms are provided with first locking holes, and the first locking holes correspond to the fixing connection holes.

[0012] A further improvement to the above solution is that the second connecting frame is evenly and circumferentially provided with second fixing arms, the second fixing arms are provided with second locking holes, and the second locking holes are connected to the first locking holes by screws passing through the fixing connection holes.

[0013] A further improvement to the above scheme is that the first drive device is an outer rotor direct drive motor, the first drive device is provided with a first rotor housing, and the first rotor housing can be rotatably connected to the first base; the second drive device is an outer rotor direct drive motor, the second drive device is provided with a second rotor housing, and the second rotor housing can be rotatably connected to the second base.

[0014] A further improvement to the above scheme is that the first connecting portion includes a first fixed locking sleeve and a first movable locking sleeve, the first fixed locking sleeve and the first movable locking sleeve cooperate to form a first locking cavity, the first locking cavity is fixedly locked to the first driving device, and the first extension leg and the first fixed locking sleeve are integrally formed.

[0015] A further improvement to the above scheme is that the second connecting portion includes a second fixed locking sleeve and a second movable locking sleeve, the second fixed locking sleeve cooperates with the second movable locking sleeve to form a second locking cavity, the second locking cavity is fixedly locked to the second driving device, and the second extension foot and the second fixed locking sleeve are integrally formed.

[0016] The beneficial effects of the present invention are as follows:

[0017] Compared with the existing robot frame, the inspection robot frame of the present invention is provided with driving mechanisms on both sides of the frame. The driving mechanisms are used to connect the walking structures for the robot to walk, and the frame is assembled by side plates and cross beam frames, with a stable and reliable structure. The side plates have connecting plates and two connecting frames to cooperate with the driving devices for connection, and the overall structure is stable and reliable, and is convenient to assemble. Especially for connecting the driving devices to the robot walking frame, the stability is good. Specifically, a frame body and driving mechanisms installed on both sides of the frame body are provided; the frame body includes a cross beam frame, side plates arranged 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 mechanisms. The driving mechanisms include a first driving device and a second driving device respectively connected to both sides of the side plates. The side plates include a connecting plate, a first connecting frame and a second connecting frame respectively connected to both sides of the connecting plate. The first driving device is provided with a first base, and the first base is fixedly connected to the first connecting frame. The second driving device is provided with a second base, and the second base is fixedly connected to the second connecting frame; the connecting frame is fixedly connected to the base, and the driving device is an outer rotor motor, which is convenient to realize the walking drive of the robot and has a reliable structure.

[0018] The first driving device is connected with a first swing arm, and the second driving device is connected with a second swing arm. The first swing arm includes a first connecting portion connected to the first driving device and a first extension foot connected to the first connecting portion; the second swing arm includes a second connecting portion connected to the second driving device and a second extension foot connected to the second connecting portion; the swing arms are provided for connecting the leg structures of the robot, and both driving mechanisms are connected with the swing arms, which can realize the driving of various actions and has a reliable structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structural schematic diagram of the robot frame with a driving structure according to the present invention;

[0020] Figure 2 is Figure 1 the exploded structural schematic diagram of the robot frame with a driving structure in;

[0021] Figure 3 is Figure 1 the exploded structural schematic diagram of the driving mechanism of the robot frame with a driving structure in;

[0022] Figure 4 is Figure 1 the exploded structural schematic diagram of the driving mechanism of the robot frame with a driving structure from another perspective in.

[0023] Description of reference numerals: frame body 10, cross beam frame 101, power supply 102, drive 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 wire groove 123, first fixed arm 124, first locking hole 124a, second connection frame 13, second positioning platform 131, second assembly groove 132, second wire groove 133, second fixed arm 134, second locking hole 134a, first drive device 2, first base 21, second base 22, first rotor housing 22, first swing arm 23, first connection part 231, first fixed locking sleeve 231a, first movable locking sleeve 231b, first extension foot 232, second drive device 3, second base 31, second rotor housing 32, second swing arm 33, second connection part 331, second fixed locking sleeve 331a, second movable locking sleeve 331b, second extension foot 332. Detailed implementation manners

[0024] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0025] 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 there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0027] As Figures 1 to 4 shown, a robot frame with a drive structure includes a frame 10 and drive mechanisms 20 installed on both sides of the frame 10, and the frame 10 can rotate and move relative to the drive mechanisms 20; the frame 10 includes side plates 1, a cross beam frame 101 connecting the side plates 1, and a power supply 102 installed on the cross beam frame 101 and connected to the drive mechanisms 20; the drive mechanisms 20 include a first drive device 2 and a second drive device 3 respectively connected to both sides of the side plate 1, a first link device 4 connected to the first drive device 2, a second link device 5 connected to the second drive device 3, and a third drive device 6 connected to the first link device 4 and the second link device 5.

[0028] 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 cooperate with the two connecting frames to cooperate with the bases of the two driving devices for connection, the structure is stable and reliable, and is suitable for the robot legs to perform various actions. The connecting frames on both sides cooperate with the connecting plate 11 to connect the frame 10 of the robot, the structure is easy to assemble, and at the same time cooperate with the driving device and the connecting rod device for stable driving, the structure is reliable, and the robot can stably perform various actions.

[0029] The connecting plate 11 is provided with a fixed connecting groove 111 and a fixed connecting hole 112. The fixed connecting groove 111 is a rectangular groove or a polygonal connecting groove. The fixed connecting groove 111 passes through the connecting plate 11. The first connecting frame 12 is provided with a first positioning platform 121. The second connecting frame 13 is provided with a second positioning platform 131. The first positioning platform 121 and the first positioning platform 121 are both assembled on the fixed connecting groove 111. The positioning platform cooperates with the fixed connecting groove 111 to perform a fixed connection, and the structure is easy to assemble and has good stability.

[0030] The first connecting frame 12 is provided with a first assembly groove 122 on the side facing away from the first positioning platform 121, and the first assembly groove 122 is fixedly assembled and connected to the first base 21, and the first assembly groove 122 is connected to the first wiring groove 123, and the first wiring groove 123 extends to the outside of the first connecting frame 12; the second connecting frame 13 is provided with a second assembly groove 132 on the side facing away from the second positioning platform 131, and the second assembly groove 132 is fixedly assembled and connected to the second base 31, and the second assembly groove 132 is connected to the second wiring groove 133, and the second wiring groove 133 extends to the outside of the second connecting frame 13; through the fixed connection of the assembly groove with the base, the structure is easy to assemble, stable and reliable, and at the same time, the wiring groove is provided for the line direction of the driving device, and the overall structure is simple and reliable.

[0031] The first connecting frame 12 is evenly and circumferentially provided with first fixing arms 124, and the first fixing arms 124 are provided with first locking holes 124a, and the first locking holes 124a correspond to the fixed connection holes 112; the second connecting frame 13 is evenly and circumferentially provided with second fixing arms 134, and the second fixing arms 134 are provided with second locking holes 134a, and the second locking holes 134a are connected to the first locking holes 124a by screws passing through the fixed connection holes 112; the fixing arms are used for structural fixed connection, so that the connection between the driving device and the connecting frame and the side panel 1 is more stable, the overall structure is reliable, and it can be assembled by screws, which is convenient to assemble.

[0032] The first driving device 2 is an outer-rotor direct-drive motor. The first driving device 2 is provided with a first rotor housing 22, and the first rotor housing 22 is rotatably connected to a first base 21; the second driving device 3 is an outer-rotor direct-drive motor. The second driving device 3 is provided with a second rotor housing 32, and the second rotor housing 32 is rotatably connected to a second base 31. Using an outer-rotor motor as the drive of the structure facilitates driving the link device to move, and realizes the standing and lying-down operations of the robot drive mechanism 20.

[0033] The first link device 4 includes a first connecting portion 41 connected to the first driving device 2, a first extending leg 42 connected to the first connecting portion 41, and a first movable leg 43 movably connected to the first extending leg 42. The first extending 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, a second extending leg 52 connected to the second connecting portion 51, and a second movable leg 53 movably connected to the second extending leg 52. The second extending leg 52 is provided with a second limiting block 521 corresponding to the second movable leg 53. Through the movable leg and the extending leg that are movably connected, a movable joint is formed. Under the action of the limiting block, the limit of the movable position is formed, and under the driving action of the driving device, the frame 10 has a floating head-up action, and the detectable range is larger.

[0034] A first rotating shaft 422 is provided between the first extended foot 42 and the first movable foot 43, and the first rotating shaft 422 is connected with a first guide wheel 423; the first connecting portion 41 includes a first fixed locking sleeve 411 and a first movable locking sleeve 412, the first fixed locking sleeve 411 and the first movable locking sleeve 412 cooperate to form a first locking cavity, the first locking cavity is fixedly locked to the first driving device 2, the first extended foot 42 and the first fixed locking sleeve 411 are integrally formed, the first extended foot 42 is provided with a first reinforcing rib 424, and the first reinforcing rib 424 is connected with the first fixed locking sleeve 411; a second rotating shaft 522 is provided between the second extended foot 52 and the second movable foot 53, one end of the second movable foot 53 far from the second rotating shaft 522 is provided with a third rotating shaft 523, and the third rotating shaft 523 is connected with the first movable foot 43; the second connecting portion 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 cavity, the second locking cavity is fixedly locked to the second driving device 3, the second extended foot 52 and the second fixed locking sleeve 511 are integrally formed, the second extended foot 52 is provided with a second reinforcing rib 524, and the second reinforcing rib 524 is connected with the second fixed locking sleeve 511; the connecting portion is arranged to be fixedly connected with the rotor housing in a matching manner, the structure is stable, at the same time, the extended feet and the movable feet are arranged to cooperate, the structure is reliable, and a guide wheel is arranged to play an auxiliary role in moving when lying down.

[0035] The third driving device 6 is provided with a third base 61, the third base 61 is connected with the second movable foot 53, the third driving device 6 is a hub motor, it 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 sleeved outside the third rotor housing 62; the hub motor is adopted to drive the mechanism 20 to move, and the third base 61 is arranged to be fixedly connected with the second movable foot 53 in a matching manner, which is convenient for assembly.

[0036] The present invention employs a frame 10 rotatably and movably connected to a driving mechanism 20. During operation, the two driving mechanisms 20 on both sides serve as the walking and joints of the robot. A first limiting block 421 and a second limiting block 521 are provided on the driving mechanism 20 to limit the position during the robot's lying-down movement. When lying down to a specified angle, the height position is limited. After the limitation, under the action of the driving device, the frame 10 can still rotate following the driving device, enabling the swinging and floating space required for the movement of the frame 10, allowing the frame 10 to perform a raising-head action, with a larger detection and inspection range and better stability for the robot. Specifically, a frame 10 and driving mechanisms 20 installed on both sides of the frame 10 are provided, and the frame 10 is rotatably and movably connected to the driving mechanisms 20; the frame 10 includes side plates 1, a crossbeam frame 101 connecting the side plates 1, and a power supply 102 installed on the crossbeam 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, a first link device 4 connected to the first driving device 2, a second link device 5 connected to the second driving device 3, and a third driving device 6 connected to the first link device 4 and the second link device 5; through the support and installation of the crossbeam frame 101 in cooperation with the side plates 1, the structure is stable and reliable. At the same time, a power supply 102 is provided to supply power to the driving devices on the driving mechanism 20.

[0037] The above embodiments merely illustrate several implementation manners of the present invention, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation to the scope of the invention patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the invention patent of the present invention shall be subject to the appended claims.

Claims

1. A robot frame with a drive structure, characterized in that: The machine body comprises a frame body and a driving mechanism installed on both sides of the frame body; the frame body comprises a crossbeam frame, side plates arranged on both sides of the crossbeam frame, and a power supply installed on the crossbeam frame, the power supply is electrically connected to the driving mechanism, the driving mechanism comprises a first driving device and a second driving device respectively connected to both sides of the side plates, the side plates comprise a connecting plate, a first connecting frame and a second connecting frame respectively connected to 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, the second driving device is provided with a second base, the second base is fixedly connected to the second connecting frame; The first drive device is connected to a first swing arm, the second drive device is connected to a second swing arm, the first swing arm includes a first connection portion connected to the first drive device, and a first extension leg connected to the first connection portion; the second swing arm includes a second connection portion connected to the second drive device, and a second extension leg connected to the second connection portion; The connecting plate is provided with a fixed connecting groove and a fixed connecting hole, the fixed connecting groove is a rectangular groove or a polygonal connecting groove, and the fixed connecting groove passes through the connecting plate; The first connecting frame is evenly provided with first fixing arms in a circumferential direction. The first fixing arms are provided with first locking holes, and the first locking holes correspond to the fixing connection holes.

2. The robot frame with a drive structure according to claim 1, characterized in that: The first connecting frame is provided with a first positioning platform, and the second connecting frame is provided with a second positioning platform. The first positioning platform and the second positioning platform are both assembled in the fixed connecting groove.

3. The robot frame with a drive structure according to claim 2, characterized in that: The first connecting frame is provided with a first assembly groove on one side facing away from the first positioning platform. The first assembly groove is fixedly assembled and connected to the first base. The first assembly groove is connected to a first wiring groove, and the first wiring groove extends to the outside of the first connecting frame.

4. The robot frame with a drive structure according to claim 3, characterized in that: The second connecting frame is provided with a second assembly groove on one side facing away from the second positioning platform. The second assembly groove is fixedly assembled and connected to the second base. The second assembly groove is connected to a second wiring groove, and the second wiring groove extends to the outside of the second connecting frame.

5. The robot frame with a drive structure according to claim 1, characterized in that: The second connecting frame is evenly provided with second fixing arms in a circumferential direction, and the second fixing arms are provided with second locking holes. The second locking holes are connected to the first locking holes by screws passing through the fixing connection holes.

6. The robot frame with a drive structure according to claim 1, characterized in that: The first driving device is an outer rotor direct drive motor, the first driving device is provided with a first rotor housing, and the first rotor housing can be rotatably connected to the first base; the second driving device is an outer rotor direct drive motor, the second driving device is provided with a second rotor housing, and the second rotor housing can be rotatably connected to the second base.

7. The robot frame with a drive structure according to claim 1, characterized in that: The first connecting portion includes a first fixed locking sleeve and a first movable locking sleeve. The first fixed locking sleeve cooperates with the first movable locking sleeve to form a first locking cavity. The first locking cavity is fixedly locked to the first driving device. The first extending leg and the first fixed locking sleeve are integrally formed.

8. The robot frame with a drive structure according to claim 7, characterized in that: The second connecting portion includes a second fixed locking sleeve and a second movable locking sleeve. The second fixed locking sleeve cooperates with the second movable locking sleeve 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.

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