Movable service robot walking mechanism

Abstract

The invention discloses a movable service robot walking mechanism, and relates to the technical field of walking mechanisms, the movable service robot walking mechanism comprises a mounting assembly, the mounting assembly comprises a supporting plate, the supporting plate is used for bearing a moving structure, and a driving assembly is fixedly connected to the position, close to the front surface, of the bottom of the supporting plate; the driving assembly is used for driving the service robot to walk, and an auxiliary assembly is fixedly connected to the position, close to the rear surface, of the bottom of the supporting plate. According to the walking mechanism of the movable service robot, each driving trundle is composed of the three grabbing feet, so that during rotation, the three grabbing feet can climb stairs in sequence, at the moment, the two auxiliary trundles make contact with steps behind so as to play a role in elastic supporting, the auxiliary trundles rotate along with rotation of the driving trundle, and the auxiliary trundles can climb stairs in sequence; therefore, the problem that an existing service robot cannot directly go up and down stairs is solved, the service robot can be used for completing carrying work in an area without an elevator, and manual carrying is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of walking mechanisms, in particular to a walking mechanism of a movable service robot. Background Art

[0002] A service robot refers to a robot that can work semi-autonomously or fully autonomously to provide services to humans. From a functional perspective, it can perform a variety of tasks. For example, in a home environment, a sweeping robot can automatically clean up garbage on the ground. In a hotel, a service robot can deliver meals and items to guests. In the medical field, medical service robots can assist doctors in performing surgery and caring for patients.

[0003] In the prior art, such as the Chinese patent number: CN220783976U, a mobile service robot walking mechanism is disclosed, which belongs to the technical field of walking mechanisms, including: a driving wheel, triangular guard plates are provided on both sides of the driving wheel, the center of the driving wheel is fixedly connected to a first rotating shaft, and the two ends of the first rotating shaft are respectively rotatably connected to the triangular guard plate, and driven wheels are provided on both sides of the bottom of the driving wheel, and the center of the driven wheel is fixedly connected to a second rotating shaft, and the two ends of the second rotating shaft are respectively rotatably connected to the triangular guard plate, and the driven wheel is connected to the driving wheel through a crawler track. The beneficial effect of the utility model is that the contact area between the walking mechanism of the mobile service robot and the ground is increased during the use of the device by the cooperation of the driving wheel, the driven wheel, the first rotating shaft, the second rotating shaft, the crawler track and the anti-skid pad, thereby reducing the probability of the mobile service robot slipping when walking.

[0004] However, in the prior art, in public areas of multi-story buildings without elevators, service robots cannot go up and down stairs directly, which will lead to interruption of the item transportation service. For example, in a library, if books need to be transported from one floor to a higher floor and stairs are the only access, the service robot cannot complete the task, and manual transportation is required, which can easily cause service delays. When the service robot cannot be used, more manpower is required to complete the item transportation work, which not only increases labor costs, but also manual transportation may cause damage or loss of items due to fatigue, improper operation and other factors, thereby affecting service quality.

[0005] Therefore, we proposed a mobile service robot walking mechanism to solve the above problems. Summary of the invention

[0006] The object of the present invention is to provide a walking mechanism for a mobile service robot to solve the problem in the above background technology that the existing mobile service robot cannot go up and down stairs directly and needs to be carried manually.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a movable service robot walking mechanism, including a mounting assembly, wherein the mounting assembly includes a support plate, and the support plate is used to carry a moving structure, the bottom of the support plate is fixedly connected to a driving assembly near the front surface, and the driving assembly is used to drive the service robot to walk, the bottom of the support plate is fixedly connected to an auxiliary assembly near the rear surface, and the auxiliary assembly is used to elastically support the mobile service robot, the driving assembly includes a bidirectional synchronous motor, the two output shafts of the bidirectional synchronous motor are fixedly connected to a connecting shaft, and one end of the two connecting shafts is fixedly connected to a reinforcement Block, the outer surfaces of the two reinforcement blocks are fixedly connected with triangular blocks, and the outer surfaces of the two triangular blocks are installed with driving casters through multiple bolts; the auxiliary component, the auxiliary component includes a limiting block, a limiting groove is arranged inside the limiting block, and a connecting rod is movably connected inside the limiting groove, and both ends of the connecting rod are fixedly connected with protective rings, the two protective rings are fixedly connected with fixing rods on the opposite sides, and the two fixing rods are fixedly connected with receiving blocks on the opposite ends, and the two receiving blocks are fixedly connected with reinforcing plates on the opposite sides, and auxiliary casters are installed with multiple bolts on the opposite sides of the two reinforcing plates.

[0008] Preferably, the bidirectional synchronous motor is arranged at the bottom of the support plate, and the outer surfaces of the two connecting shafts are rotatably sleeved with suspension brackets, and the two suspension brackets are fixedly connected to the bottom of the support plate, and the two suspension brackets are used to suspend the connecting shafts to prevent their two ends from sinking.

[0009] Preferably, the limit block is fixedly connected to the bottom of the support plate near the rear surface, the outer surfaces of the two fixing rods are rotatably sleeved with fixing rings, the outer surfaces of the two fixing rings are fixedly connected to dampers, one end of the two dampers is fixedly connected to a reinforcement block, and the two reinforcement blocks are fixedly connected to the bottom of the support plate.

[0010] Preferably, connecting springs are arranged outside the two dampers, one end of the two connecting springs are fixedly connected to the outer surfaces of the two reinforcement blocks respectively, and the other end of the two connecting springs are fixedly connected to the outer surfaces of the two fixing rings respectively.

[0011] Preferably, a controller is arranged on the top of the support plate, a plurality of connecting columns are fixedly connected to the top of the support plate, a mounting seat is fixedly connected between the tops of the plurality of connecting columns, and the mounting seat is used to install the service robot.

[0012] Preferably, a through hole is opened in the middle of the support plate, a plurality of sliding holes are opened on the top of the support plate, a hydraulic rod is arranged at the bottom of the mounting seat, and the hydraulic rod passes through the through hole to the bottom of the support plate.

[0013] Preferably, the inner walls of the plurality of sliding holes are slidably connected to a limiting sliding rod, and the top of each limiting sliding rod is fixedly connected to an anti-drop plate.

[0014] Preferably, an adjustment assembly is fixedly connected between the bottom ends of the plurality of limit slide rods, the bottom end of the hydraulic rod is fixedly connected to the top of the adjustment assembly, the adjustment assembly includes a fixed box, and a fixed plate is fixedly connected to the top of the fixed box.

[0015] Preferably, three positioning blocks are fixedly connected to the top of the fixed box, forward and reverse motors are arranged inside the three positioning blocks, the output shaft of each forward and reverse motor is fixedly connected to a driving wheel, the outer surface of each driving wheel is movably sleeved with a conveying chain, the inner wall of each conveying chain is movably connected to a driven wheel, the inner wall of the fixed box is fixedly connected to a mounting block near each positioning block, each driven wheel is respectively arranged inside each mounting block, and a roller is arranged on one side of each driven wheel.

[0016] Preferably, three movable openings are opened at the bottom of the fixing box, each of the rollers is respectively arranged inside each movable opening, and each roller is used to contact the ground to adjust the moving direction.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. When in use, the service robot is moved by the driving component, and the auxiliary component is used to keep the service robot balanced during movement. The coordination of the damper and the connecting spring can make the height of the two auxiliary casters change elastically. When moving on a flat road, the auxiliary casters and the triangular block are on the same plane. By starting the bidirectional synchronous motor, the two output shafts are rotated, thereby driving the two connecting shafts to rotate. At this time, a suspension frame is set on the outside of the two connecting shafts, and the suspension frame is fixed to the bottom of the support plate. Then the connecting shaft will not sink when rotating and can remain stable. When the connecting shaft rotates, the driving caster connected to it will rotate. The driving caster is composed of three gripping feet. Therefore, when rotating, the three gripping feet can climb the stairs in turn. At this time, the two auxiliary casters are in contact with the steps at the rear, thereby playing a role of elastic support. The auxiliary casters rotate with the rotation of the driving casters, thus solving the problem that the current service robot cannot go up and down the stairs directly. In areas without elevators, service robots can also be used to complete the handling work, reducing manual handling.

[0019] 2. When in use, the service robot must first be installed on the mounting base. The mounting base can be used to install different service robots and has high adaptability when in use. By using multiple sturdy connecting columns, the mounting base and the support plate can be fixed together so that the entire chassis can be stable while being able to install the service robot. Then, in the next step, the drive assembly and auxiliary assembly for movement are installed on the bottom of the support plate so that it can be moved. The top of the mounting base has an arc-shaped anti-slip strip, which has an anti-slip effect and can prevent the service robot from slipping on the surface of the mounting base. The hydraulic rod has a telescopic function and plays a role in adjusting the height. In addition, since multiple limit slide bars slide up and down in the corresponding sliding holes respectively, when the hydraulic rod is telescopic, the limit slide bar can prevent the adjustment assembly from shaking when adjusting the height, and the anti-slip plate can prevent the limit slide bar from automatically withdrawing from the sliding hole.

[0020] 3. When in use, the height of the adjustment component is lowered by extending the hydraulic rod, and the auxiliary component and the driving component will be lifted upward relatively. By starting the forward and reverse motors, the output shafts are rotated to drive the driving wheel to rotate. Since the driving wheel and the driven wheel are connected by a conveyor chain, the rotation of the driving wheel will drive the driven wheel to rotate. The structure of the driven wheel is that a fixed shaft is fixedly embedded at the center of its surface. The fixed shaft at the center of the driven wheel is installed together with the roller, so the roller will rotate with it. The three rollers rotate at the same speed at the same time, and the fixed box can be rotated, thereby driving the mounting seat and the service robot installed above it to rotate, thereby realizing the adjustment of the moving direction. When the direction is adjusted, the hydraulic rod is started again to retract it, which drives the entire adjustment component to move upward and make it suspended. At this time, the roller is not in contact with the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A side perspective view of a walking mechanism of a mobile service robot according to the present invention;

[0022] Figure 2 A bottom-up stereoscopic diagram of a walking mechanism of a mobile service robot according to the present invention;

[0023] Figure 3 This is a front perspective view of a walking mechanism of a mobile service robot according to the present invention;

[0024] Figure 4 A bottom-up stereoscopic diagram of a walking mechanism of a mobile service robot according to the present invention;

[0025] Figure 5 This is a perspective view of the structure of the auxiliary components of the walking mechanism of a mobile service robot according to the present invention;

[0026] Figure 6It is a partial three-dimensional diagram of the installation components of a walking mechanism of a mobile service robot according to the present invention;

[0027] Figure 7 This is a bottom-up stereogram of the structure of the adjustment component of the walking mechanism of a mobile service robot according to the present invention;

[0028] Figure 8 This is a top view of a partial structure of an adjustment component of a walking mechanism of a mobile service robot according to the present invention;

[0029] Fig. 9 For the present invention Figure 8 Enlarged view of point A in the middle.

[0030] In the figure:

[0031] 1. Installation assembly; 101. Support plate; 102. Connecting column; 103. Mounting seat; 104. Sliding hole; 105. Perforation; 106. Hydraulic rod; 107. Anti-slip plate; 108. Limiting slide bar; 2. Adjustment assembly; 201. Fixing box; 202. Movable opening; 203. Fixing plate; 204. Installation block; 205. Roller; 206. Conveyor chain; 207. Forward and reverse motor; 208. Positioning block; 209. Driving wheel; 210. Driven wheel; 3. Auxiliary assembly ; 301, limit block; 302, limit groove; 303, connecting rod; 304, protective ring; 305, fixing rod; 306, damper; 307, connecting spring; 308, reinforcement block; 309, receiving block; 310, reinforcement plate; 311, auxiliary caster; 312, fixing ring; 4, driving assembly; 401, bidirectional synchronous motor; 402, connecting shaft; 403, suspension bracket; 404, reinforcement block; 405, triangle block; 406, driving caster; 5, controller. DETAILED DESCRIPTION

[0032] 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 implementation regulations described 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.

[0033] Example 1: Reference Figure 1 - Fig. 9As shown, the present invention provides a technical solution: a mobile service robot walking mechanism, including an installation component 1, the installation component 1 includes a support plate 101, and the support plate 101 is used to carry a moving structure, the bottom of the support plate 101 is fixedly connected to a driving component 4 near the front surface, and the driving component 4 is used to drive the service robot to walk, the bottom of the support plate 101 is fixedly connected to an auxiliary component 3 near the rear surface, and the auxiliary component 3 is used to elastically support the mobile service robot, the driving component 4 includes a bidirectional synchronous motor 401, and the two output shafts of the bidirectional synchronous motor 401 are fixedly connected There is a connecting shaft 402, one end of the two connecting shafts 402 is fixedly connected to a reinforcement block 404, the outer surfaces of the two reinforcement blocks 404 are fixedly connected to a triangular block 405, and the outer surfaces of the two triangular blocks 405 are installed with driving casters 406 through multiple bolts; an auxiliary component 3, the auxiliary component 3 includes a limit block 301, a limit slot 302 is provided inside the limit block 301, a connecting rod 303 is movably connected inside the limit slot 302, both ends of the connecting rod 303 are fixedly connected to a protective ring 304, and the two protective rings 304 are fixedly connected to a fixed rod 305 on the far side. The two fixed rods 303 05 are fixedly connected with a receiving block 309 at one end away from each other, and a reinforcing plate 310 is fixedly connected to one side away from each other of the two receiving blocks 309. Auxiliary casters 311 are installed on the other side of the two reinforcing plates 310 through multiple bolts. A bidirectional synchronous motor 401 is arranged at the bottom of the support plate 101. The outer surfaces of the two connecting shafts 402 are rotatably sleeved with a suspension bracket 403. The two suspension brackets 403 are fixedly connected to the bottom of the support plate 101. The two suspension brackets 403 are used to suspend the connecting shaft 402 to prevent the two ends from sinking. The limit block 301 is fixedly connected to the bottom of the support plate 101 near the rear surface The outer surfaces of the two fixing rods 305 are rotatably sleeved with fixing rings 312, the outer surfaces of the two fixing rings 312 are fixedly connected with dampers 306, one ends of the two dampers 306 are fixedly connected with reinforcement blocks 308, the two reinforcement blocks 308 are fixedly connected to the bottom of the support plate 101, connecting springs 307 are arranged outside the two dampers 306, one ends of the two connecting springs 307 are respectively fixedly connected to the outer surfaces of the two reinforcement blocks 308, the other ends of the two connecting springs 307 are respectively fixedly connected to the outer surfaces of the two fixing rings 312, and a controller 5 is arranged on the top of the support plate 101.

[0034] In this embodiment, when in use, the service robot is moved by the driving component 4, and the auxiliary component 3 is used to keep the service robot balanced during movement. The cooperation of the damper 306 and the connecting spring 307 can make the height of the two auxiliary casters 311 change elastically. When moving on a flat road, the auxiliary casters 311 and the triangular block 405 are on the same plane. By starting the bidirectional synchronous motor 401, the two output shafts are rotated, thereby driving the two connecting shafts 402 to rotate. At this time, the two connecting shafts 402 are externally sleeved with a suspension frame 403, and the suspension frame 403 is fixed to the bottom of the support plate 101. Then, the connecting shaft 402 will not sink when rotating and can remain stable. When the connecting shaft 402 rotates, it is connected to the support plate 101. The driving caster 406 will rotate. The driving caster 406 is composed of three gripping feet. Therefore, when rotating, the three gripping feet can climb the stairs in turn. At this time, the two auxiliary casters 311 are in contact with the steps at the rear, thereby playing a role of elastic support. The auxiliary casters 311 rotate with the rotation of the driving caster 406, thereby solving the problem that the current service robot cannot go up and down stairs directly. In areas without elevators, service robots can also be used to complete the transportation work, reducing manual transportation. Among them, the connecting rod 303 moves inside the limiting groove 302. The limiting groove 302 is arc-shaped, matching the movement trajectory of the connecting rod 303. The protective ring 304 positions the connecting rod 303 to prevent the lateral position of the connecting rod 303 from changing.

[0035] Embodiment 2: Figure 1 - Fig. 9 As shown, a controller 5 is arranged on the top of the support plate 101, a plurality of connecting columns 102 are fixedly connected to the top of the support plate 101, a mounting seat 103 is fixedly connected between the tops of the plurality of connecting columns 102, and the mounting seat 103 is used to install the service robot, a through hole 105 is opened in the middle of the support plate 101, a plurality of sliding holes 104 are opened on the top of the support plate 101, a hydraulic rod 106 is arranged on the bottom of the mounting seat 103, the hydraulic rod 106 passes through the through hole 105 to the bottom of the support plate 101, the inner walls of the plurality of sliding holes 104 are all slidably connected to a limiting slide bar 108, and the top of each limiting slide bar 108 is fixedly connected to an anti-slip plate 107.

[0036] In this embodiment, when in use, the service robot must first be installed on the mounting seat 103. The mounting seat 103 can be used to install different service robots and has high adaptability when in use. The mounting seat 103 and the support plate 101 can be fixed together by using multiple sturdy connecting columns 102, so that the entire chassis can be stable while being able to install the service robot. Then, in the next step, the driving component 4 and the auxiliary component 3 for movement are installed on the bottom of the support plate 101 so that they can be moved. The top of the mounting seat 103 has an arc-shaped anti-slip strip, which has an anti-slip effect and can prevent the service robot from slipping on the surface of the mounting seat 103. The hydraulic rod 106 has a telescopic function and plays a role in adjusting the height. In addition, since multiple limit slide bars 108 slide up and down in the corresponding sliding holes 104 respectively, when the hydraulic rod 106 is telescopic, the limit slide bar 108 can prevent the adjustment component 2 from shaking when adjusting the height, and the anti-slip plate 107 can prevent the limit slide bar 108 from automatically withdrawing from the sliding hole 104.

[0037] Embodiment three: Figure 1 - Fig. 9 As shown, a controller 5 is arranged on the top of the support plate 101, a hydraulic rod 106 is arranged on the bottom of the mounting seat 103, an adjusting assembly 2 is fixedly connected between the bottom ends of a plurality of limit slide bars 108, the bottom end of the hydraulic rod 106 is fixedly connected to the top of the adjusting assembly 2, the adjusting assembly 2 comprises a fixing box 201, a fixing plate 203 is fixedly connected to the top of the fixing box 201, three positioning blocks 208 are fixedly connected to the top of the fixing box 201, forward and reverse motors 207 are arranged inside the three positioning blocks 208, the output shaft of each forward and reverse motor 207 is fixedly connected to a driving wheel 209, each The outer surface of the driving wheel 209 is movably sleeved with a conveying chain 206, and the inner wall of each conveying chain 206 is movably connected with a driven wheel 210. The inner wall of the fixed box 201 is fixedly connected with a mounting block 204 near each positioning block 208. Each driven wheel 210 is respectively arranged inside each mounting block 204, and a roller 205 is arranged on one side of each driven wheel 210. Three movable openings 202 are opened at the bottom of the fixed box 201, and each roller 205 is respectively arranged inside each movable opening 202, and each roller 205 is used to contact the ground to adjust the moving direction.

[0038] In this embodiment, when in use, it is necessary to change the moving direction of the service robot by adjusting the component 2, wherein the controller 5 is electrically connected to the hydraulic rod 106 and the forward and reverse motor 207, and the hydraulic rod 106 and the forward and reverse motor 207 are automatically started and stopped by the controller 5. When the angle needs to be adjusted, the height of the adjustment component 2 is lowered by extending the hydraulic rod 106, and then the auxiliary component 3 and the driving component 4 are relatively lifted upward, and the forward and reverse motor 207 is started to rotate its output shaft to drive the driving wheel 209 to rotate. Since the driving wheel 209 and the driven wheel 210 are connected by the conveying chain 206, the driving wheel 2 The rotation of 09 will drive the driven wheel 210 to rotate. The structure of the driven wheel 210 is that a fixed shaft is fixedly embedded in the center of its surface. Then the fixed shaft in the center of the driven wheel 210 is installed together with the roller 205, so the roller 205 will follow the rotation. The three rollers 205 rotate at the same speed at the same time, so the fixed box 201 can rotate, thereby driving the mounting seat 103 and the service robot installed above it to rotate, thereby realizing the adjustment of the moving direction. When the direction is adjusted, the hydraulic rod 106 is started again to retract it, which drives the entire adjustment component 2 to move upward and make it suspended. At this time, the roller 205 is not in contact with the ground.

[0039] The method of use and working principle of this device: When in use, the service robot must first be installed on the mounting seat 103. The mounting seat 103 can be installed with different service robots and has high adaptability when in use. By using a plurality of sturdy connecting columns 102, the mounting seat 103 and the support plate 101 can be fixed together, so that the entire chassis can be stable while being able to install the service robot. Then, in the next step, the driving component 4 and the auxiliary component 3 for movement are installed at the bottom of the support plate 101 so that it can be moved. The top of the mounting seat 103 has an arc-shaped anti-slip strip, which has an anti-slip effect and can prevent the service robot from slipping on the surface of the mounting seat 103. The hydraulic rod 106 has a telescopic function to adjust the height In addition, since a plurality of limit slide bars 108 slide up and down in the corresponding sliding holes 104 respectively, when the hydraulic rod 106 is retracted, the limit slide bar 108 can prevent the adjustment component 2 from shaking when adjusting the height, and the anti-drop plate 107 can prevent the limit slide bar 108 from automatically withdrawing from the sliding hole 104. When in use, it is necessary to change the moving direction of the service robot through the adjustment component 2, wherein the controller 5 is electrically connected to the hydraulic rod 106 and the forward and reverse motor 207, and the controller 5 controls the automatic start and stop of the hydraulic rod 106 and the forward and reverse motor 207. When it is necessary to adjust the angle, the height of the adjustment component 2 is lowered by extending the hydraulic rod 106, and then the auxiliary component 3 and the drive component 4 will be relatively lifted upward. By starting the forward and reverse motor 207, the output shaft thereof rotates to drive the driving wheel 209 to rotate. Since the driving wheel 209 and the driven wheel 210 are connected by the conveying chain 206, the rotation of the driving wheel 209 will drive the driven wheel 210 to rotate. The structure of the driven wheel 210 is that a fixed shaft is fixedly embedded at the center of its surface. The fixed shaft at the center of the driven wheel 210 is installed together with the roller 205, so the roller 205 will rotate along. The three rollers 205 rotate at the same speed at the same time, so the fixed box 201 can rotate, thereby driving the mounting seat 103 and the service robot installed thereon to rotate, thereby realizing the adjustment of the moving direction. When the direction is adjusted, the hydraulic rod 106 is started again to retract it, so as to drive the entire The adjusting component 2 moves upward to make it suspended, and at this time, the roller 205 is not in contact with the ground. When in use, the service robot is moved by the driving component 4, and the auxiliary component 3 is cooperated to keep the service robot balanced during the movement. The cooperation of the damper 306 and the connecting spring 307 is to make the height of the two auxiliary casters 311 change elastically. When moving on a flat road, the auxiliary casters 311 and the triangular block 405 are on the same plane. By starting the bidirectional synchronous motor 401, the two output shafts are rotated, thereby driving the two connecting shafts 402 to rotate. At this time, the two connecting shafts 402 are provided with a suspension bracket 403 on the outside, and the suspension bracket 403 is fixed to the bottom of the support plate 101, so that the connecting shaft 402 will not sink when rotating.It can maintain stability. When the connecting shaft 402 rotates, the driving caster 406 connected to it will rotate. The driving caster 406 is composed of three gripping feet. Therefore, when rotating, the three gripping feet can climb the stairs in turn. At this time, the two auxiliary casters 311 are in contact with the steps behind, thereby playing a role of elastic support. The auxiliary casters 311 rotate with the rotation of the driving casters 406. In areas without elevators, service robots can also be used to complete the handling work, reducing manual handling. Among them, the connecting rod 303 moves inside the limiting groove 302. The limiting groove 302 is arc-shaped and matches the movement trajectory of the connecting rod 303. The protective ring 304 positions the connecting rod 303 to prevent the lateral position of the connecting rod 303 from changing.

[0040] The wiring diagram of the hydraulic rod 106, the forward and reverse motor 207, the bidirectional synchronous motor 401 and the controller 5 in the present invention is common knowledge in the art, and its working principle is a well-known technology. The model is selected according to the actual use, so the control method and wiring arrangement of the hydraulic rod 106, the forward and reverse motor 207, the bidirectional synchronous motor 401 and the controller 5 will not be explained in detail.

[0041] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile service robot walking mechanism, comprising a mounting assembly (1), wherein the mounting assembly (1) comprises a support plate (101), and the support plate (101) is used to carry a moving structure, a driving assembly (4) is fixedly connected to the bottom of the support plate (101) near the front surface, and the driving assembly (4) is used to drive the service robot to walk, and an auxiliary assembly (3) is fixedly connected to the bottom of the support plate (101) near the rear surface, and the auxiliary assembly (3) is used to elastically support the mobile service robot, characterized in that: The driving assembly (4) comprises a bidirectional synchronous motor (401), the two output shafts of the bidirectional synchronous motor (401) are fixedly connected to a connecting shaft (402), one end of the two connecting shafts (402) are fixedly connected to a reinforcement block (404), the outer surfaces of the two reinforcement blocks (404) are fixedly connected to a triangular block (405), and the outer surfaces of the two triangular blocks (405) are mounted with driving casters (406) via a plurality of bolts; The auxiliary component (3) comprises a limit block (301), a limit slot (302) is provided inside the limit block (301), a connecting rod (303) is movably connected inside the limit slot (302), both ends of the connecting rod (303) are fixedly connected to protective rings (304), the two protective rings (304) are fixedly connected to fixed rods (305) on the far-away sides, the two fixed rods (305) are fixedly connected to receiving blocks (309) on the far-away ends, the two receiving blocks (309) are fixedly connected to reinforcing plates (310) on the far-away sides, and auxiliary casters (311) are installed on the far-away sides of the two reinforcing plates (310) via a plurality of bolts.

2. The mobile service robot walking mechanism according to claim 1, characterized in that: The bidirectional synchronous motor (401) is arranged at the bottom of the support plate (101), and the outer surfaces of the two connecting shafts (402) are rotatably sleeved with suspension frames (403), and the two suspension frames (403) are fixedly connected to the bottom of the support plate (101), and the two suspension frames (403) are used to suspend the connecting shaft (402) to prevent its two ends from sinking.

3. The walking mechanism of the mobile service robot according to claim 2, characterized in that: The limit block (301) is fixedly connected to the bottom of the support plate (101) near the rear surface, the outer surfaces of the two fixing rods (305) are rotatably sleeved with fixing rings (312), the outer surfaces of the two fixing rings (312) are fixedly connected to dampers (306), one end of the two dampers (306) is fixedly connected to a reinforcing block (308), and the two reinforcing blocks (308) are fixedly connected to the bottom of the support plate (101).

4. The walking mechanism of the mobile service robot according to claim 3, characterized in that: A connecting spring (307) is disposed outside the two dampers (306), one end of the two connecting springs (307) is fixedly connected to the outer surfaces of the two reinforcing blocks (308), and the other end of the two connecting springs (307) is fixedly connected to the outer surfaces of the two fixing rings (312).

5. The walking mechanism of the mobile service robot according to claim 4, characterized in that: A controller (5) is arranged on the top of the support plate (101); a plurality of connection columns (102) are fixedly connected to the top of the support plate (101); a mounting seat (103) is fixedly connected between the tops of the plurality of connection columns (102); and the mounting seat (103) is used for mounting the service robot.

6. The walking mechanism of the mobile service robot according to claim 5, characterized in that: A through hole (105) is provided in the middle of the support plate (101), a plurality of sliding holes (104) are provided on the top of the support plate (101), a hydraulic rod (106) is provided at the bottom of the mounting seat (103), and the hydraulic rod (106) passes through the through hole (105) to the bottom of the support plate (101).

7. The walking mechanism of the mobile service robot according to claim 6, characterized in that: The inner walls of the plurality of sliding holes (104) are all slidably connected to a limiting sliding rod (108), and the top of each limiting sliding rod (108) is fixedly connected to an anti-slip plate (107).

8. The walking mechanism of the mobile service robot according to claim 7, characterized in that: An adjustment component (2) is fixedly connected between the bottom ends of the plurality of limit sliding rods (108), the bottom end of the hydraulic rod (106) is fixedly connected to the top of the adjustment component (2), and the adjustment component (2) includes a fixed box (201), and a fixed plate (203) is fixedly connected to the top of the fixed box (201).

9. The walking mechanism of the mobile service robot according to claim 8, characterized in that: The top of the fixed box (201) is fixedly connected with three positioning blocks (208), and forward and reverse motors (207) are arranged inside the three positioning blocks (208). The output shaft of each forward and reverse motor (207) is fixedly connected with a driving wheel (209), and the outer surface of each driving wheel (209) is movably sleeved with a conveying chain (206), and the inner wall of each conveying chain (206) is movably connected with a driven wheel (210). The inner wall of the fixed box (201) is fixedly connected with a mounting block (204) near each positioning block (208), and each driven wheel (210) is respectively arranged inside each mounting block (204), and a roller (205) is arranged on one side of each driven wheel (210).

10. The walking mechanism of the mobile service robot according to claim 9, characterized in that: The bottom of the fixed box (201) is provided with three movable openings (202), each of the rollers (205) is arranged inside each movable opening (202), and each roller (205) is used to contact the ground to adjust the moving direction.

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