A robot base

Abstract

The application provides a novel robot base, which comprises a shell, a moving assembly, a supporting assembly and a driving assembly, the supporting assembly is provided with a supporting column, a tooth column part and a pressing part, the tooth column part comprises an upper tooth column, a lower tooth column and a stopper, the tooth groove shape formed by the combination of the upper tooth column and the stopper can be correspondingly engaged with the tooth groove shape of the lower tooth column, the upper tooth column and the lower tooth column can be relatively moved with the stopper, and the lower tooth column is elastically connected with the supporting column through a second spring; the upper tooth column pushes the lower tooth column to rotate and move, so that the stopper and the lower tooth column are engaged, and the stopper locks the lower tooth column. The moving assembly in contact with the ground is lifted by the supporting assembly, so that the moving assembly is separated from the ground, the robot is prevented from being stopped on a slope, the second motor needs to be locked or controlled for a long time to output a locked-rotor torque, and the service life of the second motor is shortened due to the pressure of the robot itself for a long time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a robot base. BACKGROUND

[0002] With the continuous development of robots, people find that robots fixed in a certain position cannot fully meet the needs in all aspects. Therefore, mobile robots are derived. Mobile robots are divided into wheeled mobile robots, walking mobile robots and tracked mobile robots, etc., among which wheeled mobile robots are most common in daily life.

[0003] Wheeled robots can move in any direction by changing the direction and speed of each wheel. When the robot needs to stop moving on a slope for a long time and work, the common way to prevent the robot from sliding down the slope is to lock the motor driving the wheel, or to control the motor output to block the torque. When the above method is used for a long time to prevent the robot from sliding down the slope, the motor is worn out, thereby shortening the service life of the motor. Or a cylinder is used to push a support column to support the robot, and the cylinder will leak and deform when compressed for a long time. SUMMARY

[0004] In order to overcome the technical problems that the current mobile robot adopts motor locking to prevent sliding down the slope, which shortens the service life of the motor, and adopts a cylinder support, which causes the cylinder to leak and deform, the present application provides a robot base.

[0005] The present application provides a robot base, which comprises a shell, a moving assembly, a support assembly and a driving assembly, the support assembly is provided with a support column, a tooth column part and a pressing part, the tooth column part comprises an upper tooth column, a lower tooth column and a stopper, the tooth groove shape formed by the combination of the upper tooth column and the stopper can be correspondingly engaged with the tooth groove shape of the lower tooth column, the upper tooth column and the lower tooth column can move relative to the stopper respectively, and the lower tooth column is elastically connected with the support column through a second spring; when the upper tooth column pushes the lower tooth column to move in rotation and the stopper and the lower tooth column are engaged, the stopper locks the lower tooth column, the support assembly is in an extended state, and the support column supports the moving assembly to leave the ground; when the upper tooth column pushes the lower tooth column to move in rotation and the upper tooth column and the lower tooth column are engaged separately, the support assembly is in a retracted state, and the support column returns the moving assembly to the ground.

[0006] Preferably, the support assembly and the driving assembly are placed in the shell inner cavity, the moving assembly is connected with the shell bottom, the support assembly and the driving assembly are electrically connected with the upper computer, and the moving assembly is movably connected with the driving assembly; one end of the pressing part is connected with the cavity top, the other end of the pressing part is connected with one end of the tooth column part, the other end of the tooth column part is connected with one end of the support column, the other end of the support column passes through the shell bottom, the support assembly is provided with four, and four support assemblies are respectively arranged at four corners of the shell bottom; during work, the tooth column part presses the support column, the shell is lifted up by the support column against the ground, and the support column is used for supporting the robot.

[0007] Preferably, the pressing part comprises a first motor, a lead screw and a sliding block, the rotor of the first motor is fixedly connected with one end of the lead screw, the other end of the lead screw penetrates through the top of the tooth column part, the lead screw is movably connected with the sliding block through threads, a first spring is arranged between the sliding block and the tooth column part, and the sliding block is elastically connected with the tooth column part through the first spring.

[0008] Preferably, the sliding block is provided with a guide hole, the guide hole is limited by a guide rod, the number of the guide holes is more than one, the number of the guide rods is consistent with the number of the guide holes, one end of the guide rod is fixedly connected with the top of the shell inner cavity, and the other end of the guide rod penetrates through the guide hole, so that the sliding block relatively moves up and down relative to the first motor when the first motor works.

[0009] Preferably, the stopper is fixedly connected with the shell through a support, the upper tooth column is provided with a first limiting groove, the lower tooth column is provided with a second limiting groove, the size of the stopper is less than or equal to the size of the first limiting groove, the stopper relatively moves in the first limiting groove and the second limiting groove in order, the upper tooth column and the lower tooth column are provided with inclined teeth, and the angle of the inclined teeth of the upper tooth column and the lower tooth column is consistent.

[0010] Preferably, the relative moving distance of the lower tooth column is equal to the maximum difference between the size of the first groove and the size of the stopper, the stopper, the first limiting groove and the second limiting groove are respectively provided with two, and two stoppers are arranged at 180°.

[0011] Preferably, the top of the support column is provided with a groove, the diameter size of the groove is less than the diameter size of the lower tooth column, the second spring is arranged in the groove, and the lower tooth column and the support column are provided with a gap, and the second spring is in a compressed state.

[0012] Preferably, the moving assembly comprises wheels and transmission shafts, four wheels are arranged, two transmission shafts are arranged, two wheels and one transmission shaft are arranged as a group, and four wheels are arranged at four corners of the bottom of the shell.

[0013] Preferably, the driving assembly is a second motor, and the driving assembly is movably connected with any transmission shaft in a meshing mode.

[0014] Compared with the prior art, the robot base provided by the application has the following advantages:

[0015] 1. When the robot moves to a slope and needs to stop moving for a long time and work, the moving assembly in contact with the ground is lifted by the supporting assembly, so that the moving assembly is separated from the ground, and the second motor needs to be locked or controlled for a long time to output the blocked torque, which causes the service life of the second motor to be shortened due to the pressure of the robot itself.

[0016] 2. When the lower tooth column and the stopper are in meshing, the supporting assembly is in an extended state, the stopper locks the lower tooth column, and the lower tooth column is prevented from moving upward, at this time, the supporting column lifts the moving assembly away from the ground, the first motor can be reversed through the setting of the displacement limitation of the lower tooth column by the stopper, and the first motor needs to be controlled to output the blocked torque to resist the slider against the upper tooth column for a long time, which causes the service life of the first motor to be shortened.

[0017] 3. Compared with using a cylinder as a power to push the supporting column to lift the moving assembly away from the ground, the cylinder body needs to store compressed gas for a long time, which is easy to cause the cylinder to leak and deform, and the tooth column structure is adopted in the application, the upper tooth column or the lower tooth column is limited by the stopper, the supporting assembly is correspondingly completed in the extended state or the retracted state, and the lifting and recovery of the supporting column are completed. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 is a tooth column structure schematic view of the robot base provided by the application;

[0019] Fig. 2 is an exploded structure schematic view of the supporting assembly in the robot base provided by the application;

[0020] Fig. 3 is a whole structure schematic view of the robot base provided by the application;

[0021] Fig. 4 is a whole structure schematic view of the robot base provided by the application from another perspective.

[0022] REFERENCE SIGNS: 1, robot base;

[0023] 2, support assembly; 21, tooth column part; 211, upper tooth column; 2111, first limiting groove; 212, lower tooth column; 2121, second limiting groove; 213, stop; 22, support column; 221, groove; 222, second spring; 23, pressing part; 231, first motor; 232, screw rod; 233, sliding block; 2331, guide hole; 2332, guide rod; 234, first spring;

[0024] 3, moving assembly; 31, wheel; 32, transmission shaft;

[0025] 4, driving assembly;

[0026] 5, shell. DETAILED DESCRIPTION

[0027] In order to make the purpose of the present application, the technical scheme and the advantages more clear and obvious, the present application will be further described in detail below in combination with the drawings and the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0028] 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 can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0029] Please refer to Figs. 1 to 4 The present application provides a robot base 1, which comprises a shell 5, a moving assembly 3, a support assembly 2 and a driving assembly 4, the support assembly 2 is provided with a support column 22, a tooth column part 21 and a pressing part 23, the tooth column part 21 comprises an upper tooth column 211, a lower tooth column 212 and a stop 213, the tooth groove shape formed by the combination of the upper tooth column 211 and the stop 213 can be correspondingly engaged with the tooth groove shape of the lower tooth column 212, the upper tooth column 211 and the lower tooth column 212 can be relatively moved with the stop 213 respectively, and the lower tooth column 212 is elastically connected with the support column 22 through a second spring 222; when the stop 213 and the lower tooth column 212 are engaged by the rotating movement of the lower tooth column 212 pushed by the upper tooth column 211, the stop 213 locks the lower tooth column 212, the support assembly 2 is in an extended state, and the support column 22 supports the moving assembly 3 to leave the ground; when the upper tooth column 211 and the lower tooth column 212 are individually engaged by the rotating movement of the lower tooth column 212 pushed by the upper tooth column 211, the support assembly 2 is in a contracted state, and the support column 22 puts the moving assembly 3 back to the ground.

[0030] It can be understood that the tooth grooves of the upper tooth column 211, the lower tooth column 212 and the stopper 213 are all inclined, and the tooth groove formed by the combination of the upper tooth column 211 and the stopper 213 can be correspondingly engaged with the tooth groove of the lower tooth column 212, and the stopper 213 is used for limiting the lower tooth column 212. When the upper tooth column 211 presses the lower tooth column 212, the tooth groove of the lower tooth column 212 is lower than the tooth groove of the stopper 213, and because the tooth grooves of the lower tooth column 212 and the stopper 213 are inclined, the lower tooth column 212 is rotated under the elastic force of the second spring 222 and is engaged with the stopper 213, at this time the stopper 213 locks the lower tooth column 212, and the support assembly 2 is in an extended state, and the support column 22 supports the moving assembly 3 to move away from the ground.

[0031] It can be understood that the upper tooth column 211 presses the lower tooth column 212 locked by the stopper, and when the lower tooth column 212 rotates under the elastic force of the second spring 222, the upper tooth column 211 is restored to the original position, and the stopper 213 slides into the second groove 221, at this time the support assembly 2 is in a contracted state, and the moving assembly 3 falls back to the ground.

[0032] Specifically, the support assembly 2 and the driving assembly 4 are placed in the inner cavity of the shell 5, the moving assembly 3 is connected with the bottom of the shell 5, the support assembly 2 and the driving assembly 4 are electrically connected with the upper computer, and the moving assembly 3 is movably connected with the driving assembly 4; one end of the pressing part 23 is connected with the top of the cavity, the other end of the pressing part 23 is connected with one end of the tooth column part 21, the other end of the tooth column part 21 is connected with one end of the support column 22, the other end of the support column 22 penetrates through the bottom of the shell 5, the support assembly 2 is provided with four, and the four support assemblies 2 are correspondingly arranged at four corners of the bottom of the shell 5; in working, the tooth column part 21 presses the support column 22, the shell 5 is lifted by the support column 22 abutting against the ground, and the support column 22 is used for supporting the robot.

[0033] It can be understood that the upper computer provides working signals for the support assembly 2 and the driving assembly 4, the shell 5 is provided with a cavity, the support assembly 2 and the driving assembly 4 are placed in the cavity, so that the support assembly 2 and the driving assembly 4 can be avoided to be placed in the external environment for a long time. The support assembly 2 is provided with four, and is arranged at four corners of the bottom of the shell 5, so that the moving assembly 3 can be relatively stably lifted in the working process of the support assembly 2.

[0034] Specifically, the pressing part 23 comprises a first motor 231, a lead screw 232 and a sliding block 233, the rotor of the first motor 231 is fixedly connected with one end of the lead screw 232, the other end of the lead screw 232 penetrates through the top of the tooth column part 21, the lead screw 232 is movably connected with the sliding block 233 through threads, the first spring 234 is arranged between the sliding block 233 and the tooth column part 21, and the sliding block 233 is elastically connected with the tooth column part 21 through the first spring 234.

[0035] It can be understood that the screw rod 232 is threadedly connected with the sliding block 233, the sliding block 233 is elastically connected with the top of the upper tooth column 211 through the first spring 234, the pressing force of the sliding block 233 pressing the upper tooth column 211 is increased, and the sliding block 233 directly extrudes and pushes the upper tooth column 211.

[0036] Specifically, the sliding block 233 is provided with a guide hole 2331, the guide hole 2331 is limited by a guide rod 2332, there is more than one guide hole 2331, the number of the guide rod 2332 is consistent with the number of the guide hole 2331, one end of the guide rod 2332 is fixedly connected with the top of the inner cavity of the shell 5, and the other end of the guide rod 2332 penetrates through the guide hole 2331, so that the sliding block 233 moves up and down relative to the first motor 231 when the first motor 231 works.

[0037] It can be understood that the guide hole 2331 is arranged on the sliding block 233 and the guide rod 2332 is arranged to limit, so that the sliding block 233 moves up and down stably when the first motor 231 works, one end of the guide rod 2332 is fixedly connected with the top of the inner cavity of the shell 5 through a screw, the guide rod 2332 is used for limiting the sliding block 233, and there is more than one guide rod 2332. The number of the guide hole 2331 and the position correspond to the guide rod 2332.

[0038] Specifically, the stop piece 213 is fixedly connected with the shell 5 through a support, the upper tooth column 211 is provided with a first limiting groove 2111, the lower tooth column 212 is provided with a second limiting groove 2121, the size of the stop piece 213 is less than or equal to the size of the first limiting groove 2111, the stop piece 213 is sequentially moved in the first limiting groove 2111 and the second limiting groove 2121, the upper tooth column 211 and the lower tooth column 212 are provided with inclined teeth, and the angle of the inclined teeth of the upper tooth column 211 and the lower tooth column 212 is consistent.

[0039] It can be understood that one side of the stop piece 213 is fixedly connected with the shell 5 through a support, so that the stop piece 213 can lock the lower tooth column 212, and when the support column 22 supports, the stop piece 213 cannot remain in a relative fixed state after displacement. Meanwhile, the width size of the first limiting groove 2111 and the second limiting groove 2121 is consistent with the width size of the stop piece, the depth size of the first limiting groove 2111 is greater than the corresponding depth size of the stop piece 213, so that the stop piece 213 can completely fall into the first limiting groove 2111, and when the teeth groove of the upper tooth column 211 presses the lower tooth column 212, the depth size of the stop piece 213 is greater than the depth size of the first limiting groove 2111, the lower tooth column 212 cannot rotate due to being locked by the stop piece 213, and the stretching state and the contraction state of the support assembly 2 cannot be switched.

[0040] At the same time, when the support assembly 2 is in the stretched state, the upper tooth column 211 presses the lower tooth column 212, the second limiting groove 2121 in the lower tooth column 212 rotates to the position of the corresponding stopper 213, the upper tooth column 211 stops pressing the lower tooth column 212, and restores the upper tooth column 211 to the original position, when the stopper 213 falls into the second limiting groove 2121, the support assembly 2 is in the contracted state.

[0041] Specifically, the relative movement distance of the lower tooth column 212 is equal to the maximum difference between the size of the first groove 221 and the size of the stopper 213, the stopper 213, the first limiting groove 2111 and the second limiting groove 2121 are respectively provided with 2, 2 stoppers 213 are correspondingly arranged at 180°.

[0042] It can be understood that the position of the stopper 213 and the position of the first groove 221 always correspond, 2 second limiting grooves 2121 are arranged at 180° of the circumference of the lower tooth column 212, and 2 first limiting grooves 2111 are arranged at 180° of the circumference of the upper tooth column 211, because the tooth groove of the lower tooth column 212, the upper tooth column 211 and the stopper 213 is arranged obliquely, the bottom of the lower tooth column 212 is connected with the second spring 222, and the lower tooth column 212 is lifted by the elastic force of the second spring 222 when it works, through the oblique arrangement of the tooth groove of the lower tooth column 212, the upper tooth column 211 and the stopper 213, the lower tooth column 212 is self-rotated, and when the state of the support assembly 2 is switched once between the stretched state and the contracted state, the self-rotation angle of the lower tooth column 212 is 90°.

[0043] Specifically, the top of the support column 22 is provided with a groove 221, the diameter size of the groove 221 is smaller than the diameter size of the lower tooth column 212, the second spring 222 is placed in the groove 221, and the lower tooth column 212 and the support column 22 are provided with a gap, and the second spring 222 is in a compressed state.

[0044] It can be understood that the second spring 222 is placed in the groove 221 at the top of the support column 22, one end of the second spring 222 is connected with the bottom of the lower tooth column 212, and the other end is connected with the bottom of the groove 221, so that the lower tooth column 212 is elastically connected with the support column 22, and the second spring 222 is always in a compressed state, the lower tooth column 212 continuously receives the upward elastic force of the second spring 222, and when the upper tooth column 211 presses the lower tooth column 212, it is ensured that the lower tooth column 212 rotates along the direction of the inclined tooth groove.

[0045] Specifically, the moving assembly 3 includes wheels 31 and transmission shafts 32, the wheels 31 are provided with 4, the transmission shafts 32 are provided with 2, 2 wheels 31 and 1 transmission shaft 32 are set as a group, and 4 wheels 31 are respectively arranged at the bottom of the shell 5 at 4 corners.

[0046] It can be understood that the four wheels 31 are arranged at the four corners of the bottom of the shell 5, and two wheels 31 on one side of the moving direction are arranged as a group and connected by a transmission shaft 32 to make the two wheels 31 of each group move synchronously.

[0047] Specifically, the driving assembly 4 is a second motor, and the driving assembly 4 is movably connected with any transmission shaft 32 in a meshing manner.

[0048] It can be understood that the driving assembly 4 is a second motor, which has the characteristics of high response, high precision and high transmission efficiency. The driving assembly 4 is meshingly connected with any transmission shaft 32. When the driving assembly 4 works, the gear of the rotor of the second motor meshes with the transmission shaft 32 to rotate and drive the wheels 31 to rotate, so that the robot base 1 moves.

[0049] Compared with the prior art, the robot base 1 provided by the application has the following advantages:

[0050] 1. When the robot moves to a slope and needs to stop moving for a long time and work, the moving assembly 3 in contact with the ground is lifted by the supporting assembly 2, so that the moving assembly 3 leaves the ground, avoiding the need for the second motor to be locked or controlled for a long time to output a locked-rotor torque, which causes the service life of the second motor to be shortened due to the pressure of the robot itself for a long time.

[0051] 2. When the lower tooth column 212 and the stopper 213 of the tooth column part 21 are meshed, the supporting assembly 2 is in an extended state, the stopper 213 locks the lower tooth column 212, and the lower tooth column 212 is prevented from moving upward, at this time the supporting column 22 lifts the moving assembly 3 away from the ground, through the setting of the displacement limitation of the stopper 213 to the lower tooth column 212, the first motor 231 can be reversed, avoiding the need for the first motor 231 to control the output locked-rotor torque to resist the slider 233 against the upper tooth column 211, causing the service life of the first motor 231 to be shortened.

[0052] 3. Compared with using a cylinder as a power to push the supporting column 22 to lift the moving assembly 3 away from the ground, the cylinder body needs to store compressed gas for a long time during work, which is easy to cause the cylinder to leak and deform. The application adopts a tooth column structure, which limits the upper tooth column 211 or the lower tooth column 212 through the stopper 213, so that the supporting assembly 2 can correspondingly complete the extended state or the contracted state, and complete the lifting and recovery of the supporting column 22.

[0053] The above only describes the preferred embodiments of the application and is not intended to limit the application. Any modification, equivalent replacement and improvement within the principles of the application shall be included in the protection scope of the application.

Claims

1. A robot base for supporting a fixed wheeled robot, characterised in that: The application relates to a robot support device, which comprises a shell, a moving assembly, a supporting assembly and a driving assembly, wherein the supporting assembly is provided with a supporting column, a tooth column part and a pressing part; the tooth column part comprises an upper tooth column, a lower tooth column and a stopper; the tooth groove formed by the combination of the upper tooth column and the stopper can be correspondingly engaged with the tooth groove of the lower tooth column; the upper tooth column and the lower tooth column can be relatively moved with the stopper; the lower tooth column is elastically connected with the supporting column through a second spring; the upper tooth column pushes the lower tooth column to rotate and move, so that the stopper locks the lower tooth column when the stopper and the lower tooth column are engaged; the supporting assembly is in an extended state, and the supporting column supports the moving assembly to leave the ground; when the upper tooth column and the lower tooth column are independently engaged, the supporting assembly is in a contracted state, and the supporting column puts the moving assembly back to the ground; the pressing part comprises a first motor, a screw rod and a sliding block; the rotor of the first motor is fixedly connected with one end of the screw rod; the other end of the screw rod penetrates the top of the tooth column part; the screw rod is movably connected with the sliding block through threads; a first spring is arranged between the sliding block and the tooth column part; the sliding block is elastically connected with the tooth column part through the first spring; the moving assembly comprises wheels and transmission shafts; the driving assembly is a second motor; the driving assembly is movably connected with any transmission shaft through engagement; the stopper is fixedly connected with the shell through a support; the upper tooth column is provided with a first limiting groove; the lower tooth column is provided with a second limiting groove; the size of the stopper is less than or equal to the size of the first limiting groove; the stopper is sequentially relatively moved in the first limiting groove and the second limiting groove; the upper tooth column and the lower tooth column are provided with inclined teeth, and the inclined tooth angles of the upper tooth column and the lower tooth column are consistent. The supporting assembly and the driving assembly are arranged in the inner cavity of the shell; the moving assembly is connected with the bottom of the shell; the supporting assembly and the driving assembly are electrically connected with an upper computer; the moving assembly is movably connected with the driving assembly; the shell is provided with a cavity; one end of the pressing part is connected with the top of the cavity; the other end of the pressing part is connected with one end of the tooth column part; the other end of the tooth column part is connected with one end of the supporting column; the other end of the supporting column penetrates the bottom of the shell; the supporting assembly is provided with four supporting assemblies which are correspondingly arranged at four corners of the bottom of the shell; during operation, the tooth column part presses the supporting column, the supporting column is abutted against the ground to lift the shell, and the supporting column is used for supporting the robot. The sliding block is provided with a guide hole which is limited through a guide rod; the guide hole is provided with more than one guide rod; the number of the guide rods is consistent with the number of the guide holes; one end of the guide rod is fixedly connected with the top of the inner cavity of the shell; the other end of the guide rod penetrates the guide hole, so that the sliding block is relatively moved up and down relative to the first motor when the first motor works. ​ ​ ​ 2. The robot base of claim 1, wherein: ​ ​ 3. The robot base of claim 1, wherein: ​ 4. The robot base of claim 1, wherein: The relative moving distance of the lower tooth column is equal to the maximum difference between the first groove size and the stopper size, and the stopper, the first limiting groove and the second limiting groove are respectively provided with 2, and the 2 stoppers are correspondingly arranged at 180°.

5. The robot base of claim 1, wherein: The support column top is provided with a groove, the groove diameter size is smaller than the lower tooth column diameter size, the second spring is placed in the groove, and the lower tooth column and the support column are provided with a gap, and the second spring is in a compressed state.

6. The robot base of claim 1, wherein: The wheels are provided with 4, the transmission shafts are provided with 2, 2 wheels and 1 transmission shaft are set as a group, and 4 wheels are respectively arranged at the bottom of the shell.

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