High-stability mobile robot

Abstract

The high-stability mobile robot comprises a mounting frame, a bearing plate, rear walking wheels and front walking wheels, the bearing plate is arranged above the mounting frame, the rear walking wheels are connected to the rear side of the mounting frame through bearings, and the front walking wheels are connected to the front side of the mounting frame through bearings; a first shock absorber is further mounted between the bearing plate and the mounting frame, and the lower end face of the bearing plate is rotationally connected with one end of a second shock absorber. According to the high-stability mobile robot, the adjusting mechanism is adopted, automatic adjustment and conversion of four-wheel drive and two-wheel drive of the device can be achieved, and therefore the robot can operate through two-wheel drive when the road surface is flat, energy is saved, four-wheel drive operation is adopted under the condition that the road surface is complex, the passing performance of the device is improved, and the adaptability of the device is greatly improved; and in addition, the anti-collision mechanism and the linked brake mechanism are matched, the protection effect of the device can be achieved, and the device is prevented from being damaged due to collision.

Description

Technical Field

[0001] The invention relates to the technical field of mobile robots, in particular to a mobile robot with high stability. Background Art

[0002] A mobile robot is an intelligent machine that can work semi-autonomously or fully autonomously. It is widely used in various fields. In order to ensure the walking stability of the mobile robot, it is generally provided with a shock absorbing mechanism.

[0003] In actual use, existing mobile robots are mainly driven by motors. For flat ground, in order to save energy, mobile robots are generally driven by a two-wheel drive structure. For more complex terrain, in order to improve the mobility of the mobile robot, a four-wheel drive structure is generally used for driving. Compared with the two-wheel drive, the four-wheel drive structure consumes more energy. In summary, the existing robots need to design different drive structures for different usage environments, and it is impossible to switch between four-wheel drive and two-wheel drive. Therefore, in response to the above problems, a highly stable mobile robot is designed to better meet the actual usage needs. Summary of the invention

[0004] The object of the present invention is to provide a mobile robot with high stability to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a mobile robot with high stability, comprising a mounting frame, a load-bearing plate, a rear walking wheel and a front walking wheel, wherein a load-bearing plate is arranged above the mounting frame, a rear bearing of the mounting frame is connected to the rear walking wheel, a front bearing of the mounting frame is connected to the front walking wheel, a first shock absorber is also arranged between the load-bearing plate and the mounting frame, a lower end surface of the load-bearing plate is rotatably connected to one end of a second shock absorber, and the other end of the second shock absorber is rotatably connected to the mounting frame, a motor is also fixed in the mounting frame, a driving wheel is fixed on the output shaft of the motor, an adjusting mechanism is arranged on the side of the driving wheel, the adjusting mechanism comprises a hydraulic rod, a disc, a third transmission wheel, a ball shaft, a limit rod and a second spring, and the hydraulic rod is fixed to the mounting frame. A disc is fixed to the output end of the hydraulic rod, a third transmission wheel is arranged on the side of the disc, and the third transmission wheel is slidably connected to the output shaft of the motor, a ball shaft is fixed at an equal angle on the side of the third transmission wheel close to the disc, the ball shaft is slidably nested and connected in the disc, the other side of the third transmission wheel is slidably connected to a limit rod, and there is a one-to-one correspondence between the limit rod and the opening of the driving wheel, one end of the second spring is fixed on the limit rod, and the other end of the second spring is fixed in the third transmission wheel, the position of the disc and the third transmission wheel can be adjusted by controlling the extension of the hydraulic rod, when the limit rod is nested and engaged with the opening of the driving wheel, the third transmission wheel rotates synchronously with the driving wheel, and when the hydraulic rod contracts and causes the limit rod to separate from the driving wheel, the third transmission wheel does not rotate synchronously with the driving wheel.

[0006] Preferably, the mounting frame is symmetrically provided with a protective mechanism at the front and rear ends, the protective mechanism includes a protective plate and a third shock absorber, and the protective plate is interconnected with the mounting frame through the third shock absorber, and a brake mechanism is installed on the protective plate. The protective plate can avoid collision damage to the device, and the protection of the device can be achieved by cooperating with the buffering protection effect of the third shock absorber.

[0007] Preferably, brake wheels are installed on both the rear traveling wheel and the front traveling wheel, and a first transmission wheel is also fixed on the rear traveling wheel, and the first transmission wheel is connected to the driving wheel through a belt. Through the transmission action between the first transmission wheel and the driving wheel, a basic guarantee can be provided for the two-wheel drive operation of the device, and through the action of the brake wheel, a basic guarantee can be provided for the automatic braking of the device in case of collision.

[0008] Preferably, a second transmission wheel is also fixed on the front walking wheel, and the second transmission wheel is connected to the third transmission wheel through a belt. Through the transmission action between the second transmission wheel and the third transmission wheel, a basic guarantee can be provided for realizing the four-wheel drive operation of the device, so as to better meet the actual use needs and improve the adaptability of the device.

[0009] Preferably, the brake mechanism includes a sliding rod, a fixed plate, a brake plate, a guide rod and a first spring, one end of the sliding rod is fixed on the protective plate, and the sliding rod and the mounting frame are slidably connected, and the other end of the sliding rod is fixed with a fixed plate. When the protective plate moves due to a collision, it can provide basic force for the movement of the sliding rod, thereby providing basic guarantee for the operation of the brake mechanism.

[0010] Preferably, a brake plate is provided on the side of the fixed plate, and the brake plate and the brake wheel are distributed in a one-to-one correspondence. The automatic braking effect of the device can be achieved through the cooperation of the brake plate and the brake wheel, thereby ensuring the safe operation of the device.

[0011] Preferably, a guide rod is fixed on the brake plate, and the guide rod is slidably connected to the fixed plate. When the brake plate moves relative to the fixed plate, the sliding guiding effect between the guide rod and the fixed plate can ensure the stability of the movement of the fixed plate.

[0012] Preferably, one end of a first spring is fixed on the brake plate, and the other end of the first spring is fixed on the fixed plate. Through the elastic action of the first spring, it can not only provide a basic guarantee for the automatic resetting of the brake plate, but also adjust the force between the brake plate and the brake wheel, thereby ensuring the normal operation of the device.

[0013] Preferably, a movable rod is also fixed on the disc, and cross bars are symmetrically fixed on the movable rod front and back, and the cross bars are slidably connected to the mounting frame. When the disc moves to drive the movable rod to move, the sliding guiding effect between the cross bars and the mounting frame can ensure the stability of the movement of the movable rod.

[0014] Preferably, a movable frame is fixed on the movable rod at equal intervals, and the movable frame and the belt between the second transmission wheel and the third transmission wheel form a sliding mechanism. When the movable rod moves, the movable frame can be driven to move synchronously. The belt can be pushed by the movable frame to make the belt slide on the third transmission wheel, thereby ensuring the normal operation of the device.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the mobile robot with high stability adopts an adjustment mechanism to realize automatic adjustment and conversion between four-wheel drive and two-wheel drive of the device, so that it can be operated by two-wheel drive when the road surface is flat, saving energy, and adopts four-wheel drive operation under complex road conditions to improve the passing performance of the device, thereby greatly improving the adaptability of the device, so as to better meet the actual use needs, and cooperate with the anti-collision mechanism and the linked brake mechanism to realize the protection function of the device and avoid the device from being damaged due to collision. The specific contents are as follows:

[0016] 1. The highly stable mobile robot can ensure that the device maintains two-wheel drive operation through the action of the first transmission wheel and the driving wheel during the operation of the device. When the road conditions are complicated and four-wheel drive needs to be changed, the disc and the third transmission wheel can be driven to move by extending the hydraulic rod, and the limit rod is nested with the opening on the driving wheel, so that the third transmission wheel rotates with the driving wheel, and the transmission action between the third transmission wheel and the second transmission wheel enables the device to operate in four-wheel drive, thereby improving the adaptability of the device;

[0017] 2. This highly stable mobile robot can protect the device and avoid damage to the device by means of the protective plate and the third shock absorber when a collision occurs during the impact of the device. When the protective plate moves relative to the mounting frame due to the collision, the sliding rod can be driven to move synchronously. With the action of the brake plate and the brake wheel, automatic braking can be achieved when the device collides. With the elastic action of the first spring, the greater the collision force, the better the braking effect, thereby effectively ensuring the safety of the device operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall isometric three-dimensional structure of the device of the present invention;

[0019] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the device of the present invention when viewed from above;

[0020] Figure 3 This is a top view of the three-dimensional structure of the internal structure of the mounting frame of the present invention;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the protection mechanism and the brake mechanism of the present invention;

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the second transmission wheel and the adjustment mechanism of the present invention;

[0023] Figure 6 It is a schematic diagram of the exploded three-dimensional structure of the regulating mechanism of the present invention;

[0024] Figure 7 It is a schematic diagram of the three-dimensional structure composed of the adjusting mechanism and the movable rod of the present invention.

[0025] In the figure: 1, mounting frame; 2, bearing plate; 201, first shock absorber; 202, second shock absorber; 3, rear walking wheel; 4, front walking wheel; 5, brake wheel; 6, first transmission wheel; 7, second transmission wheel; 8, protection mechanism; 801, protection plate; 802, third shock absorber; 9, brake mechanism; 901, slide bar; 902, fixed plate; 903, brake plate; 904, guide rod; 905, first spring; 10, motor; 11, driving wheel; 12, adjustment mechanism; 1201, hydraulic rod; 1202, disc; 1203, third transmission wheel; 1204, ball shaft; 1205, limit rod; 1206, second spring; 13, movable rod; 1301, cross bar; 1302, moving frame. DETAILED DESCRIPTION

[0026] 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.

[0027] See also Figure 1-Figure 7The present invention provides a technical solution: a mobile robot with high stability, comprising a mounting frame 1, a bearing plate 2, a rear running wheel 3 and a front running wheel 4, wherein the bearing plate 2 is arranged above the mounting frame 1, the rear side bearing of the mounting frame 1 is connected to the rear running wheel 3, the front side bearing of the mounting frame 1 is connected to the front running wheel 4, a first shock absorber 201 is also installed between the bearing plate 2 and the mounting frame 1, the lower end surface of the bearing plate 2 is rotatably connected to one end of a second shock absorber 202, and the other end of the second shock absorber 202 is rotatably connected to the lower end surface of the bearing plate 2. The mounting frame 1 is connected to the mounting frame 1, and a motor 10 is also fixed in the mounting frame 1. A driving wheel 11 is fixed to the output shaft of the motor 10, and an adjusting mechanism 12 is arranged on the side of the driving wheel 11. The adjusting mechanism 12 includes a hydraulic rod 1201, a disc 1202, a third transmission wheel 1203, a ball shaft 1204, a limit rod 1205 and a second spring 1206. The hydraulic rod 1201 is fixed to the mounting frame 1, and a disc 1202 is fixed to the output end of the hydraulic rod 1201. The side of the disc 1202 is arranged There is a third transmission wheel 1203, and the third transmission wheel 1203 is slidably connected to the output shaft of the motor 10. A ball shaft 1204 is fixed at an equal angle on one side of the third transmission wheel 1203 close to the disc 1202. The ball shaft 1204 is slidably nested and connected in the disc 1202. A limit rod 1205 is slidably connected to the other side of the third transmission wheel 1203. The limit rod 1205 corresponds to the opening of the driving wheel 11 one by one. A second spring 1206 is fixed on the limit rod 1205. The second spring 1206 is fixed at one end, and the other end of the second spring 1206 is fixed in the third transmission wheel 1203. The positions of the disc 1202 and the third transmission wheel 1203 can be adjusted by controlling the extension of the hydraulic rod 1201. When the limit rod 1205 is nested and engaged with the opening of the driving wheel 11, the third transmission wheel 1203 rotates synchronously with the driving wheel 11. When the hydraulic rod 1201 contracts and causes the limit rod 1205 to separate from the driving wheel 11, the third transmission wheel 1203 does not rotate synchronously with the driving wheel 11.

[0028] Brake wheels 5 are installed on the rear travel wheel 3 and the front travel wheel 4, and a first transmission wheel 6 is also fixed on the rear travel wheel 3, and the first transmission wheel 6 is connected to the driving wheel 11 through a belt; a second transmission wheel 7 is also fixed on the front travel wheel 4, and the second transmission wheel 7 is connected to the third transmission wheel 1203 through a belt; a movable rod 13 is also fixed on the disc 1202, and a cross bar 1301 is symmetrically fixed on the movable rod 13, and the cross bar 1301 is slidably connected to the mounting frame 1; a moving frame 1302 is also fixed on the movable rod 13 at equal intervals, and the belts between the moving frame 1302 and the second transmission wheel 7 and the third transmission wheel 1203 form a sliding mechanism;

[0029] When using this high stability mobile robot, Figure 1-Figure 7As shown, the entire device can be powered by installing an external power supply on the carrier plate 2. During the use of the device, when the road surface is flat, it is only necessary to control the motor 10 to start and drive the driving wheel 11 to rotate, and cooperate with the transmission effect between the driving wheel 11 and the first transmission wheel 6 to make the rear walking wheel 3 run, so as to realize the two-wheel drive operation of the device. When the road condition is more complicated, in order to ensure the passing performance of the device, it is only necessary to control the hydraulic rod 1201 to extend, so as to drive the disc 1202 and the third transmission wheel 1203 to move. When the limit rod 1205 and the opening on the driving wheel 11 are just matched, the limit rod 1205 and the opening on the driving wheel 11 are directly nested. When the limit rod 1205 and the opening on the driving wheel 11 do not match, the limit rod 1205 is forced to slide, so that the second spring 1206 is forced to shrink until the opening on the driving wheel 11 rotates to match the limit rod 1205. At this time, under the elastic action of the second spring 1206, the limit rod 1205 and the opening on the driving wheel 11 can be nested. After the rod 1205 is nested with the opening on the driving wheel 11, when the motor 10 starts to drive the driving wheel 11 to rotate, the third transmission wheel 1203 can be synchronously driven to rotate, and the sliding effect between the ball shaft 1204 and the disc 1202 can ensure the stability of the rotation of the third transmission wheel 1203, and the transmission effect between the third transmission wheel 1203 and the second transmission wheel 7 can make the front walking wheel 4 operate, thereby realizing the four-wheel drive operation of the device, so as to better meet the actual use requirements, and when the disc 1202 moves, the movable rod 13 and the moving frame 1302 are synchronously driven to move, and the sliding guide effect between the cross bar 1301 and the mounting frame 1 can ensure the stability of the movement of the movable rod 13 and the moving frame 1302, and when the moving frame 1302 moves, the belt between the second transmission wheel 7 and the third transmission wheel 1203 can be synchronously pushed to move, thereby ensuring the normal transmission effect between the second transmission wheel 7 and the third transmission wheel 1203, and then ensuring the normal operation of the device;

[0030] The mounting frame 1 is symmetrically provided with a protection mechanism 8 at the front and rear sides, the protection mechanism 8 includes a protection plate 801 and a third shock absorber 802, and the protection plate 801 is connected to the mounting frame 1 through the third shock absorber 802, and a brake mechanism 9 is installed on the protection plate 801; the brake mechanism 9 includes a slide bar 901, a fixed plate 902, a brake plate 903, a guide rod 904 and a first spring 905, one end of the slide bar 901 is fixed on the protection plate 801, and the slide bar 901 and the mounting frame 1 are slidably connected, and the other end of the slide bar 901 is fixed with the fixed plate 902; a brake plate 903 is provided on the side of the fixed plate 902, and the brake plate 903 and the brake wheel 5 are distributed one-to-one; a guide rod 904 is also fixed on the brake plate 903, and the guide rod 904 and the fixed plate 902 are slidably connected; one end of the first spring 905 is also fixed on the brake plate 903, and the other end of the first spring 905 is fixed on the fixed plate 902;

[0031] During use of the device, if Figure 1-Figure 7 As shown, when the device collides during operation, the protective plate 801 first contacts the colliding object, and cooperates with the buffering and protective effect of the third shock absorber 802 to avoid damage to the device due to the collision. In addition, during the collision, when the protective plate 801 moves relative to the mounting frame 1, it can synchronously drive the slide bar 901 to slide, thereby driving the fixed plate 902, the brake plate 903, the guide rod 904 and the first spring 905 to move. When the brake plate 903 contacts the brake wheel 5, an automatic braking effect can be achieved to ensure the safety of the device. When the brake plate 903 contacts the brake wheel 5, and the protective plate 801 and the slide bar 901 continue to move, the fixed plate 902 moves relative to the brake plate 903, and cooperates with the guide rod 905 to move. The sliding guiding action between 904 and the fixed plate 902 can ensure the stability of the movement of the fixed plate 902. At this time, the first spring 905 is forced to contract, and the elastic force of the first spring 905 can provide a force on the brake plate 903, thereby effectively ensuring the braking effect. In addition, since the elastic force of the first spring 905 is related to the contraction distance of the first spring 905, that is, the more serious the collision of the device, the longer the movement distance of the protective plate 801 and the sliding rod 901, the longer the contraction distance of the first spring 905, and the greater the pressure between the brake plate 903 and the brake wheel 5, the better the braking effect, and the safety of the device is effectively guaranteed. This is the working principle of the high-stability mobile robot.

[0032] 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 mobile robot with high stability, comprising a mounting frame (1), a bearing plate (2), a rear running wheel (3) and a front running wheel (4), wherein the mounting frame (1) is provided with a bearing plate (2) above, the rear side bearing of the mounting frame (1) is connected to the rear running wheel (3), and the front side bearing of the mounting frame (1) is connected to the front running wheel (4), characterized in that: A first shock absorber (201) is also installed between the bearing plate (2) and the mounting frame (1); the lower end surface of the bearing plate (2) is rotatably connected to one end of a second shock absorber (202), and the other end of the second shock absorber (202) is rotatably connected to the mounting frame (1); a motor (10) is also fixed in the mounting frame (1); a driving wheel (11) is fixed on the output shaft of the motor (10); an adjusting mechanism (12) is arranged on the side of the driving wheel (11); the adjusting mechanism (12) comprises a hydraulic rod (1201), a disc (1202), a third transmission wheel (1203), a ball shaft (1204), a limit rod (1205) and a second spring (1206); the hydraulic rod (1201) is fixed to the mounting frame (1); the hydraulic rod (1201) ) is fixed with a disc (1202) at the output end, a third transmission wheel (1203) is arranged on the side of the disc (1202), and the third transmission wheel (1203) is slidably connected to the output shaft of the motor (10), a ball shaft (1204) is fixed at an equal angle on one side of the third transmission wheel (1203) close to the disc (1202), and the ball shaft (1204) is slidably nested and connected in the disc (1202), and a limiting rod (1205) is slidably connected to the other side of the third transmission wheel (1203), and the limiting rod (1205) and the opening of the driving wheel (11) are in one-to-one correspondence, and one end of a second spring (1206) is fixed to the limiting rod (1205), and the other end of the second spring (1206) is fixed in the third transmission wheel (1203).

2. A mobile robot with high stability according to claim 1, characterized in that: The mounting frame (1) is symmetrically provided with a protective mechanism (8) at the front and rear, the protective mechanism (8) comprising a protective plate (801) and a third shock absorber (802), the protective plate (801) being connected to the mounting frame (1) via the third shock absorber (802), and a brake mechanism (9) being installed on the protective plate (801).

3. A mobile robot with high stability according to claim 2, characterized in that: The rear walking wheel (3) and the front walking wheel (4) are both equipped with brake wheels (5), and the rear walking wheel (3) is also fixed with a first transmission wheel (6), and the first transmission wheel (6) is connected to the driving wheel (11) via a belt.

4. A mobile robot with high stability according to claim 1, characterized in that: A second transmission wheel (7) is also fixed on the front traveling wheel (4), and the second transmission wheel (7) is connected to the third transmission wheel (1203) via a belt.

5. A mobile robot with high stability according to claim 3, characterized in that: The brake mechanism (9) comprises a slide bar (901), a fixed plate (902), a brake plate (903), a guide bar (904) and a first spring (905); one end of the slide bar (901) is fixed on the protective plate (801), and the slide bar (901) is slidably connected to the mounting frame (1); and the other end of the slide bar (901) is fixed with the fixed plate (902).

6. A mobile robot with high stability according to claim 5, characterized in that: A brake plate (903) is arranged on the side of the fixing plate (902), and the brake plate (903) and the brake wheel (5) are distributed in a one-to-one correspondence.

7. A mobile robot with high stability according to claim 5, characterized in that: A guide rod (904) is also fixed on the brake plate (903), and the guide rod (904) is slidably connected to the fixed plate (902).

8. A mobile robot with high stability according to claim 5, characterized in that: One end of a first spring (905) is also fixed on the brake plate (903), and the other end of the first spring (905) is fixed on the fixing plate (902).

9. A mobile robot with high stability according to claim 1, characterized in that: A movable rod (13) is also fixed on the circular disc (1202), and a cross bar (1301) is symmetrically fixed on the movable rod (13), and the cross bar (1301) is slidably connected to the mounting frame (1).

10. A mobile robot with high stability according to claim 9, characterized in that: The movable rod (13) is also fixed with movable frames (1302) at equal intervals, and the movable frames (1302) and the belts between the second transmission wheel (7) and the third transmission wheel (1203) form a sliding mechanism.

Images